ekf2: push preflight filtered innovation checks into backend

- move flags to EstimatorStatusFlags and update commander HealthAndArmingChecks usage
2026-06-20 17:50:34 +08:00 · 2022-12-21 19:25:52 -05:00
207 changed files with 3744 additions and 5413 deletions
@@ -29,6 +29,7 @@ set LOGGER_ARGS ""
 set LOGGER_BUF 8
 set PARAM_FILE ""
 set PARAM_BACKUP_FILE ""
+set RC_INPUT_ARGS ""
 set SDCARD_AVAILABLE no
 set SDCARD_EXT_PATH /fs/microsd/ext_autostart
 set SDCARD_FORMAT no
@@ -410,10 +411,8 @@ else
 	#
 	. ${R}etc/init.d/rc.serial

-	if param compare -s RC_PPM_EN 1
-	then
-		ppm_in start
-	fi
+	# Must be started after the serial config is read
+	rc_input start $RC_INPUT_ARGS

 	#
 	# Play the startup tune (if not disabled or there is an error)
@@ -545,6 +544,7 @@ unset LOGGER_ARGS
 unset LOGGER_BUF
 unset PARAM_FILE
 unset PARAM_BACKUP_FILE
+unset RC_INPUT_ARGS
 unset SDCARD_AVAILABLE
 unset SDCARD_EXT_PATH
 unset SDCARD_FORMAT
@@ -4,7 +4,6 @@ CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS0"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -29,8 +28,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -7,9 +7,9 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
@@ -28,8 +28,7 @@ CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
-CONFIG_COMMON_RC=y
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
@@ -67,6 +66,7 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
@@ -16,13 +16,6 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1

-param set-default SENS_EN_THERMAL 1
-param set-default SENS_TEMP_ID 2818058
-param set-default SENS_IMU_TEMP 10.0
-#param set-default SENS_IMU_TEMP_FF 0.0
-#param set-default SENS_IMU_TEMP_I 0.025
-#param set-default SENS_IMU_TEMP_P 1.0
-
 if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007
 then
 	param set-default SYS_USE_IO 0
@@ -8,7 +8,6 @@ if ver hwtypecmp ARKV6X005000 ARKV6X005001 ARKV6X005002 ARKV6X005003 ARKV6X00500
 then
 	set HAVE_PM2 no
 fi
-
 if param compare -s ADC_ADS1115_EN 1
 then
 	ads1115 start -X
@@ -16,6 +15,7 @@ else
 	board_adc start
 fi

+
 if param compare SENS_EN_INA226 1
 then
 	# Start Digital power monitors
@@ -56,10 +56,16 @@ icm42688p -R 9 -s -b 2 start
 # Internal SPI bus ICM42688p
 icm42688p -R 6 -s -b 3 start

-# Internal magnetometer on I2C
+# Internal magnetometer on I2c
 bmm150 -I start

-# Internal Baro on I2C
+# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
+ist8310 -X -b 1 -R 10 start
+
+# Possible internal Baro
 bmp388 -I start

+# Baro on I2C3
+ms5611 -X start
+
 unset HAVE_PM2
@@ -323,6 +323,7 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
+
 #define RC_SERIAL_PORT                     "/dev/ttyS5"

 /* Input Capture Channels. */
@@ -145,6 +145,10 @@
 #define HRT_TIMER               8  /* use timer8 for the HRT */
 #define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */

+/* RC Serial port */
+#define RC_SERIAL_PORT                     "/dev/ttyS5"
+#define RC_SERIAL_SINGLEWIRE
+
 /* power on/off */
 #define MS_PWR_BUTTON_DOWN 750
 #define KEY_AD_GPIO    (GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTC|GPIO_PIN4)
@@ -6,7 +6,6 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -23,12 +22,14 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_UAVCAN=y
@@ -37,7 +38,6 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -46,7 +46,6 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -62,6 +61,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -74,6 +74,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
@@ -103,6 +103,7 @@
 #define HRT_TIMER_CHANNEL    1  /* use capture/compare channel 3 */

 /* RC Serial port */
+
 #define RC_SERIAL_PORT                     "/dev/ttyS4"

 /* Power switch controls ******************************************************/
@@ -3,7 +3,6 @@ CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
 CONFIG_BOARD_ARCHITECTURE="cortex-a8"
 CONFIG_BOARD_TESTING=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
@@ -17,7 +16,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_LINUX_PWM_OUT=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
@@ -31,9 +31,7 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
@@ -4,7 +4,6 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -32,8 +31,7 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -16,9 +16,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS0"
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
@@ -132,6 +132,7 @@
 #define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)

 #define RC_SERIAL_PORT               "/dev/ttyS0"
+#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /*
 * One RC_IN
@@ -3,7 +3,6 @@ CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
 CONFIG_BOARD_ARCHITECTURE="cortex-a53"
 CONFIG_BOARD_TESTING=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
@@ -19,7 +18,7 @@ CONFIG_DRIVERS_IMU_ST_LSM9DS1=y
 CONFIG_DRIVERS_LINUX_PWM_OUT=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_MAGNETOMETER_LSM9DS1_MAG=y
-CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
@@ -5,7 +5,6 @@ CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS0"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_DSHOT=y
@@ -135,6 +135,7 @@
 #define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)

 #define RC_SERIAL_PORT               "/dev/ttyS0"
+#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /*
 * One RC_IN
@@ -12,8 +12,9 @@ CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
@@ -111,6 +111,7 @@
 #define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 1 */

 /* RC Serial port */
+
 #define RC_SERIAL_PORT                     "/dev/ttyS4"

 #define GPIO_RSSI_IN                       /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
@@ -18,10 +18,12 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -34,9 +34,7 @@ CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_PX4IO=y
-CONFIG_COMMON_RC=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
@@ -283,6 +283,7 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
+
 #define RC_SERIAL_PORT                     "/dev/ttyS4"
 #define RC_SERIAL_SINGLEWIRE

@@ -22,8 +22,7 @@ CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT_SIM=n
-CONFIG_COMMON_RC=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_RPM=n
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -159,6 +159,7 @@

 /* RC Serial port */
 #define RC_SERIAL_PORT          "/dev/ttyS4"
+#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 // #define GPIO_RSSI_IN            /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)

@@ -21,8 +21,7 @@ CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT_SIM=n
-CONFIG_COMMON_RC=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_RPM=n
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -150,6 +150,7 @@

 /* RC Serial port */
 #define RC_SERIAL_PORT          "/dev/ttyS4"
+#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 // #define GPIO_RSSI_IN            /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)

@@ -22,8 +22,7 @@ CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT_SIM=n
-CONFIG_COMMON_RC=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_RPM=n
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -159,6 +159,7 @@

 /* RC Serial port */
 #define RC_SERIAL_PORT          "/dev/ttyS4"
+#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 // #define GPIO_RSSI_IN            /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)

@@ -30,9 +30,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -182,7 +182,9 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
+
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
+#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /* Safety Switch: Enable the FMU to control it as there is no px4io in ModalAI FC-v1 */
 #define GPIO_SAFETY_SWITCH_IN              /* PF3 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTF|GPIO_PIN3)
@@ -3,7 +3,6 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ACTUATORS_MODALAI_ESC=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
@@ -30,7 +29,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_UAVCAN=y
@@ -237,6 +237,7 @@
 //#define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
+
 #define RC_SERIAL_PORT                     "/dev/ttyS5"

 /* Input Capture Channels. */
@@ -6,10 +6,3 @@ CONFIG_ORB_COMMUNICATOR=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
 CONFIG_DRIVERS_ACTUATORS_MODALAI_ESC=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_EKF2=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-CONFIG_MODULES_LAND_DETECTOR=y
@@ -31,11 +31,6 @@
 #
 ############################################################################

-# Need to make sure that the DSP processor on VOXL2
-# knows about all parameters since some modules need parameters
-# from other modules that are not running on the DSP.
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)
-
 add_library(drivers_board
 	board_config.h
 	init.c
@@ -9,10 +9,3 @@ CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_DRIVERS_QSHELL_POSIX=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
-CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_NAVIGATOR=y
-CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_MAVLINK=y
@@ -31,12 +31,6 @@
 #
 ############################################################################

-# Need to make sure that the Linux processor on VOXL2
-# knows about all parameters since it is acting as the
-# parameter server for other processors that may define
-# parameters that it doesn't normally know about.
-set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)
-
 add_library(drivers_board
 	board_config.h
 	init.c
@@ -47,6 +47,3 @@

 #include <system_config.h>
 #include <px4_platform_common/board_common.h>
-
-#define BOARD_OVERRIDE_UUID "MODALAIVOXL20000" // must be of length 16
-#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_VOXL2
@@ -26,9 +26,7 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -26,9 +26,7 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
@@ -25,9 +25,7 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
@@ -26,9 +26,7 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -25,9 +25,7 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -26,9 +26,7 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -118,6 +118,7 @@

 /* RC Serial port */
 #define RC_SERIAL_PORT          "/dev/ttyS4"
+#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 #define GPIO_RSSI_IN            /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)

@@ -27,9 +27,7 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS2"
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -131,6 +131,7 @@ __END_DECLS
 #define SPEKTRUM_OUT(_one_true)      px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))

 /* RC input */
+
 #define RC_SERIAL_PORT          "/dev/ttyS2"      /* UART1 */
 #define GPIO_RSSI_IN            PIN_ADC1_SE13

@@ -4,7 +4,6 @@ CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS2"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -29,8 +28,7 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -131,6 +131,7 @@ __END_DECLS
 #define SPEKTRUM_OUT(_one_true)      px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))

 /* RC input */
+
 #define RC_SERIAL_PORT          "/dev/ttyS2"      /* UART1 */
 #define GPIO_RSSI_IN            PIN_ADC1_SE13

@@ -19,9 +19,7 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_COMMON_UWB=y
@@ -14,9 +14,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS0"
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
@@ -123,6 +123,7 @@
 #define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)

 #define RC_SERIAL_PORT               "/dev/ttyS0"
+#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /*
 * One RC_IN
@@ -4,7 +4,6 @@ CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_WIFI="/dev/ttyS0"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
@@ -31,8 +30,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -114,6 +114,7 @@
 #define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)

 /* RC Serial port */
+
 #define RC_SERIAL_PORT               "/dev/ttyS4"

 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2. */
@@ -4,7 +4,6 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -36,8 +35,7 @@ CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_RC=y
-CONFIG_COMMON_RC=y
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -297,8 +297,10 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
+
 #define RC_SERIAL_PORT                     "/dev/ttyS4"
 #define RC_SERIAL_SINGLEWIRE
+#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
 #define PWMIN_TIMER                       4
@@ -18,10 +18,8 @@ CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_CAMERA_FEEDBACK=n
 CONFIG_MODULES_ESC_BATTERY=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-# CONFIG_MODULES_GYRO_FFT is not set
+CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MICRODDS_CLIENT=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
@@ -6,7 +6,6 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
@@ -37,6 +36,7 @@ CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -59,6 +59,7 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -301,6 +301,7 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
+
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE

@@ -29,9 +29,7 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -257,6 +257,7 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
+
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE
 #define RC_SERIAL_SWAP_RXTX
@@ -6,7 +6,7 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
@@ -28,13 +28,13 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
-CONFIG_COMMON_RC=y
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
@@ -333,6 +333,7 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
+
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE

@@ -3,7 +3,6 @@ CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
 CONFIG_BOARD_ARCHITECTURE="cortex-a53"
 CONFIG_BOARD_TESTING=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
@@ -15,7 +14,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
-CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_RPI_RC_IN=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
@@ -4,14 +4,13 @@ CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
@@ -71,6 +71,7 @@
 #define HRT_PPM_CHANNEL 1	// Number really doesn't matter for this board
 #define GPIO_PPM_IN		(16 | GPIO_FUN(RP2040_GPIO_FUNC_SIO))
 #define RC_SERIAL_PORT               "/dev/ttyS3"
+#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /* This board provides a DMA pool and APIs */			// Needs to be figured out
 #define BOARD_DMA_ALLOC_POOL_SIZE 2048
@@ -3,7 +3,6 @@ CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
 CONFIG_BOARD_ARCHITECTURE="cortex-a53"
 CONFIG_BOARD_TESTING=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
@@ -17,14 +16,14 @@ CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
-CONFIG_COMMON_RC=y
+CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
@@ -32,7 +31,6 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -48,6 +46,7 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -58,6 +57,7 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
@@ -31,9 +31,7 @@ CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_PX4IO=y
-CONFIG_COMMON_RC=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
@@ -251,6 +251,7 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
+
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE

@@ -1,6 +1,5 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS0"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
@@ -14,8 +13,9 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
@@ -25,9 +25,7 @@ CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
-CONFIG_DRIVERS_RC_PPM_IN=y
+CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
@@ -113,12 +113,6 @@ uint8 reset_count_quat   # number of quaternion reset events (allow to wrap if c

 float32 time_slip # cumulative amount of time in seconds that the EKF inertial calculation has slipped relative to system time

-bool pre_flt_fail_innov_heading
-bool pre_flt_fail_innov_vel_horiz
-bool pre_flt_fail_innov_vel_vert
-bool pre_flt_fail_innov_height
-bool pre_flt_fail_mag_field_disturbed
-
 uint32 accel_device_id
 uint32 gyro_device_id
 uint32 baro_device_id
@@ -73,3 +73,10 @@ bool reject_sideslip                      #  9 - true if the synthetic sideslip
 bool reject_hagl                          # 10 - true if the height above ground observation has been rejected
 bool reject_optflow_x                     # 11 - true if the X optical flow observation has been rejected
 bool reject_optflow_y                     # 12 - true if the Y optical flow observation has been rejected
+
+# preflight failure checks
+bool pre_flt_fail_innov_heading
+bool pre_flt_fail_innov_vel_horiz
+bool pre_flt_fail_innov_vel_vert
+bool pre_flt_fail_innov_pos_horiz
+bool pre_flt_fail_innov_height
@@ -351,8 +351,6 @@ typedef enum PX4_SOC_ARCH_ID_t {

 	PX4_SOC_ARCH_ID_BBBLUE         =  0x1008,

-	PX4_SOC_ARCH_ID_VOXL2          =  0x100A,
-
 } PX4_SOC_ARCH_ID_t;


@@ -234,7 +234,7 @@ void PAA3905::RunImpl()
 				}

 				// push backup schedule back
-				ScheduleDelayed(kBackupScheduleIntervalUs);
+				ScheduleDelayed(1_s);
 			}

 			struct TransferBuffer {
@@ -415,7 +415,7 @@ void PAA3905::RunImpl()
 					}

 					// only publish when there's motion or at least every second
-					if (motion_reported || (hrt_elapsed_time(&_last_publish) >= kBackupScheduleIntervalUs)) {
+					if (motion_reported || (hrt_elapsed_time(&_last_publish) >= 1_s)) {

 						sensor_optical_flow.timestamp = hrt_absolute_time();
 						_sensor_optical_flow_pub.publish(sensor_optical_flow);
@@ -121,7 +121,6 @@ private:
 	bool _data_ready_interrupt_enabled{false};

 	uint32_t _scheduled_interval_us{SAMPLE_INTERVAL_MODE_0 / 2};
-	static constexpr uint32_t kBackupScheduleIntervalUs{200_ms};

 	Mode _mode{Mode::LowLight};

@@ -239,7 +239,7 @@ void PAW3902::RunImpl()
 				}

 				// push backup schedule back
-				ScheduleDelayed(kBackupScheduleIntervalUs);
+				ScheduleDelayed(1_s);
 			}

 			struct TransferBuffer {
@@ -418,7 +418,7 @@ void PAW3902::RunImpl()
 					}

 					// only publish when there's motion or at least every second
-					if (motion_reported || (hrt_elapsed_time(&_last_publish) >= kBackupScheduleIntervalUs)) {
+					if (motion_reported || (hrt_elapsed_time(&_last_publish) >= 1_s)) {

 						sensor_optical_flow.timestamp = hrt_absolute_time();
 						_sensor_optical_flow_pub.publish(sensor_optical_flow);
@@ -121,7 +121,6 @@ private:
 	bool _data_ready_interrupt_enabled{false};

 	uint32_t _scheduled_interval_us{SAMPLE_INTERVAL_MODE_0 / 2};
-	static constexpr uint32_t kBackupScheduleIntervalUs{200_ms};

 	Mode _mode{Mode::LowLight};

@@ -58,7 +58,7 @@
 #include <lib/mixer_module/mixer_module.hpp>
 #include <lib/parameters/param.h>
 #include <lib/perf/perf_counter.h>
-#include <lib/rc/dsm/dsm.h>
+#include <lib/rc/dsm.h>
 #include <lib/systemlib/mavlink_log.h>
 #include <lib/button/ButtonPublisher.hpp>

@@ -1,15 +1,9 @@
 menu "RC"
    menuconfig COMMON_RC
-        bool "Common RC drivers"
+        bool "Common RC"
        default n
-        select DRIVERS_RC_CRSF
-        select DRIVERS_RC_SPEKTRUM_DSM
-        select DRIVERS_RC_GHST_RC
-        #select DRIVERS_RC_PPM_IN
-        select DRIVERS_RC_SBUS
-        #select DRIVERS_RC_ST24_RC
-        #select DRIVERS_RC_SUMD_RC
+        select DRIVERS_RC_CRSF_RC
        ---help---
-            Enable default set of RC drivers
+            Enable default set of magnetometer drivers
    rsource "*/Kconfig"
 endmenu
@@ -31,8 +31,8 @@
 #
 ############################################################################
 px4_add_module(
-	MODULE drivers__rc__crsf
-	MAIN crsf
+	MODULE drivers__rc__crsf_rc
+	MAIN crsf_rc
 	COMPILE_FLAGS
 	SRCS
 		CrsfRc.cpp
@@ -47,5 +47,5 @@ px4_add_module(
 	MODULE_CONFIG
 		module.yaml
 	DEPENDS
-		px4_work_queue
+		rc
 	)
@@ -500,12 +500,12 @@ int CrsfRc::print_status()
 	perf_print_counter(_cycle_interval_perf);
 	perf_print_counter(_publish_interval_perf);

-	PX4_INFO("Disposed bytes: %" PRIu32, _packet_parser_statistics.disposed_bytes);
-	PX4_INFO("Valid known packet CRCs: %" PRIu32, _packet_parser_statistics.crcs_valid_known_packets);
-	PX4_INFO("Valid unknown packet CRCs: %" PRIu32, _packet_parser_statistics.crcs_valid_unknown_packets);
-	PX4_INFO("Invalid CRCs: %" PRIu32, _packet_parser_statistics.crcs_invalid);
-	PX4_INFO("Invalid known packet sizes: %" PRIu32, _packet_parser_statistics.invalid_known_packet_sizes);
-	PX4_INFO("Invalid unknown packet sizes: %" PRIu32, _packet_parser_statistics.invalid_unknown_packet_sizes);
+	PX4_INFO("Disposed bytes: %li",  _packet_parser_statistics.disposed_bytes);
+	PX4_INFO("Valid known packet CRCs: %li",  _packet_parser_statistics.crcs_valid_known_packets);
+	PX4_INFO("Valid unknown packet CRCs: %li",  _packet_parser_statistics.crcs_valid_unknown_packets);
+	PX4_INFO("Invalid CRCs: %li",  _packet_parser_statistics.crcs_invalid);
+	PX4_INFO("Invalid known packet sizes: %li",  _packet_parser_statistics.invalid_known_packet_sizes);
+	PX4_INFO("Invalid unknown packet sizes: %li",  _packet_parser_statistics.invalid_unknown_packet_sizes);

 	return 0;
 }
@@ -528,7 +528,7 @@ This module parses the CRSF RC uplink protocol and generates CRSF downlink telem

 )DESCR_STR");

-	PRINT_MODULE_USAGE_NAME("crsf", "driver");
+	PRINT_MODULE_USAGE_NAME("crsf_rc", "driver");
 	PRINT_MODULE_USAGE_COMMAND("start");
 	PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "RC device", true);

@@ -537,7 +537,7 @@ This module parses the CRSF RC uplink protocol and generates CRSF downlink telem
 	return 0;
 }

-extern "C" __EXPORT int crsf_main(int argc, char *argv[])
+extern "C" __EXPORT int crsf_rc_main(int argc, char *argv[])
 {
 	return CrsfRc::main(argc, argv);
 }
--- a/Show More
+++ b/Show More