parameters: new parameter server backend

- parameter backend is now running in a wq and accessible over pub/sub - parameters library can call into backend directly (with locking), but operations will gradually start moving to pub/sub - majority of parameters migrated as is, only small changes to parameter autosave and parameter notification that are now performed from the WQ thread
systemcmds/bsondump: new command line utility (extracted from parameters)
2026-05-23 23:27:34 +08:00 · 2022-12-20 09:51:48 -05:00 · 2022-12-19 21:46:37 -05:00 · 2022-12-19 16:50:09 -05:00
292 changed files with 7651 additions and 9688 deletions
@@ -773,7 +773,7 @@ void runTests() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params" || true' // expected to fail after erase
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
@@ -119,9 +119,7 @@
                "utility": "cpp",
                "valarray": "cpp",
                "variant": "cpp",
-                "vector": "cpp",
-                "Jenkinsfile*": "groovy",
-                "*.sdf": "xml"
+                "vector": "cpp"
        },
        "search.exclude": {
                "${workspaceFolder}/build": true
@@ -227,7 +227,7 @@ then
 elif [ ! -e "$autostart_file" ] && [ "$SYS_AUTOSTART" -ne "0" ]
 then
 	echo "Error: no autostart file found ($autostart_file)"
-	exit 1
+	#exit 1
 fi

 #user defined params for instances can be in PATH
@@ -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
@@ -122,21 +122,13 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
    for field in spec.parsed_fields():
        field_name_and_type.update({field.name: field.type})

-    # assert if the timestamp field exists
-    try:
-        assert 'timestamp' in field_name_and_type
-    except AssertionError:
-        print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\tNo 'timestamp' field found in " +
-              spec.short_name + " msg definition!")
-        exit(1)
-
    # assert if the timestamp field is of type uint64
-    try:
-        assert field_name_and_type.get('timestamp') == 'uint64'
-    except AssertionError:
-        print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
-              " msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
-        exit(1)
+    # try:
+    #     assert field_name_and_type.get('timestamp') == 'uint64'
+    # except AssertionError:
+    #     print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
+    #           " msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
+    #     exit(1)

    topics = get_topics(filename)

@@ -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. */
@@ -5,11 +5,3 @@ CONFIG_SYSTEMCMDS_UORB=y
 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
@@ -57,8 +57,3 @@
 */
 #include <system_config.h>
 #include <px4_platform_common/board_common.h>
-
-/*
- *  Default port for the ESC
- */
-#define MODALAI_ESC_DEFAULT_PORT 	"2"
@@ -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
@@ -19,5 +19,3 @@ fi
 muorb start

 qshell icm42688p start -s
-
-qshell modalai_esc start
@@ -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
@@ -141,7 +141,7 @@
 /* LPUART0   P2 UART (with flow control) connector */

 #define PIN_LPUART0_CTS   PIN_LPUART0_CTS_1  /* PTA0 */
-#define PIN_LPUART0_RTS   (PIN_PTA1 | GPIO_OUTPUT) /* PIN_LPUART0_RTS_1 PTA1 */
+#define PIN_LPUART0_RTS   PIN_LPUART0_RTS_1  /* PTA1 */
 #define PIN_LPUART0_RX    (PIN_LPUART0_RX_1 | PIN_INPUT_PULLUP)   /* PTA2 */
 #define PIN_LPUART0_TX    PIN_LPUART0_TX_1   /* PTA3 */

@@ -118,20 +118,7 @@ CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_LPI2C0_DMA=y
 CONFIG_LPI2C1_DMA=y
-CONFIG_LPUART0_IFLOWCONTROL=y
-CONFIG_LPUART0_OFLOWCONTROL=y
-CONFIG_LPUART0_RXBUFSIZE=640
-CONFIG_LPUART0_RXDMA=y
-CONFIG_LPUART0_TXDMA=y
-CONFIG_LPUART13_RXDMA=y
-CONFIG_LPUART13_TXDMA=y
-CONFIG_LPUART14_RXDMA=y
-CONFIG_LPUART14_TXDMA=y
-CONFIG_LPUART1_RXDMA=y
-CONFIG_LPUART1_TXDMA=y
-CONFIG_LPUART2_RXDMA=y
 CONFIG_LPUART2_SERIAL_CONSOLE=y
-CONFIG_LPUART2_TXDMA=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
@@ -254,7 +241,6 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1768
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_PREALLOCHOLDERS=32
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -6,14 +6,12 @@ config BOARD_HAS_PROBES
 	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
 	default y
 	---help---
-		This board provides GPIO 6-wr-SPI_INT_N, 6-wr-SPI_CS_N, 6-wr-SPI_RDY_N as
-		PROBE_1-3 to provide timing signals from selected drivers.
+		This board provides GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers.

 config BOARD_USE_PROBES
-	bool "Enable the use of the board provided GPIO Probes"
+	bool "Enable the use the board provided GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers"
 	default n
 	depends on BOARD_HAS_PROBES

 	---help---
-		Select to use GPIO GPIO 6-wr-SPI_INT_N, 6-wr-SPI_CS_N, 6-wr-SPI_RDY_N as PROBE_1-3
-		to provide timing signals from selected drivers.
+		Select to use GPIO FMU-CH1-6 to provide timing signals from selected drivers.
@@ -136,7 +136,7 @@
 */

 #define PIN_LPUART0_CTS   PIN_LPUART0_CTS_2 /* PTC8 */
-#define PIN_LPUART0_RTS   (GPIO_OUTPUT | PIN_PORTC | PIN9 ) // PIN_LPUART0_RTS_2 /* PTC9 */
+#define PIN_LPUART0_RTS   PIN_LPUART0_RTS_2 /* PTC9 */
 #define PIN_LPUART0_RX    PIN_LPUART0_RX_1  /* PTB0 */
 #define PIN_LPUART0_TX    PIN_LPUART0_TX_1  /* PTB1 */

@@ -167,29 +167,4 @@
 #define PIN_CAN1_ERRN    (GPIO_PULLDOWN  | PIN_PORTE | PIN6 )
 #define PIN_CAN1_EN      (GPIO_OUTPUT  | PIN_PORTE | PIN2 )

-/* Board provides GPIO or other Hardware for signaling to timing analyzer */
-
-#if defined(CONFIG_BOARD_USE_PROBES)
-# include "s32k1xx_pin.h"
-# include "hardware/s32k1xx_pinmux.h"
-# define PROBE_N(n) (1<<((n)-1))
-# define PROBE_1    (PIN_PTE0  | GPIO_OUTPUT)  /* 6-wr-SPI_RDY_N */
-# define PROBE_2    (PIN_PTE9  | GPIO_OUTPUT)  /* 6-wr-SPI_INT_N */
-# define PROBE_3    (PIN_PTB5  | GPIO_OUTPUT)  /* 6-wr-SPI_CS_N */
-
-# define PROBE_INIT(mask) \
-	do { \
-		if ((mask)& PROBE_N(1)) { s32k1xx_pinconfig(PROBE_1); } \
-		if ((mask)& PROBE_N(2)) { s32k1xx_pinconfig(PROBE_2); } \
-		if ((mask)& PROBE_N(3)) { s32k1xx_pinconfig(PROBE_3); } \
-	} while(0)
-
-# define PROBE(n,s)  do {s32k1xx_gpiowrite(PROBE_##n,(s));}while(0)
-# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
-#else
-# define PROBE_INIT(mask)
-# define PROBE(n,s)
-# define PROBE_MARK(n)
-#endif
-
 #endif  /* __BOARDS_ARM_RDDRONE_UAVCAN146_INCLUDE_BOARD_H */
@@ -46,22 +46,18 @@ CONFIG_I2CTOOL_MAXADDR=0x7f
 CONFIG_I2CTOOL_MAXBUS=0
 CONFIG_I2CTOOL_MINADDR=0x00
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3500
+CONFIG_INIT_STACKSIZE=2276
 CONFIG_INTELHEX_BINARY=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LPI2C0_DMA=y
 CONFIG_LPUART0_BAUD=38400
-CONFIG_LPUART0_IFLOWCONTROL=y
-CONFIG_LPUART0_OFLOWCONTROL=y
 CONFIG_LPUART0_RXBUFSIZE=600
 CONFIG_LPUART0_RXDMA=y
 CONFIG_LPUART0_TXBUFSIZE=1100
 CONFIG_LPUART0_TXDMA=y
 CONFIG_LPUART1_RXBUFSIZE=128
-CONFIG_LPUART1_RXDMA=y
 CONFIG_LPUART1_SERIAL_CONSOLE=y
 CONFIG_LPUART1_TXBUFSIZE=128
-CONFIG_LPUART1_TXDMA=y
 CONFIG_MOTOROLA_SREC=y
 CONFIG_MTD=y
 CONFIG_MTD_PARTITION=y
@@ -100,20 +96,12 @@ CONFIG_S32K1XX_EDMA_NTCD=64
 CONFIG_S32K1XX_EEEPROM=y
 CONFIG_S32K1XX_FLEXCAN0=y
 CONFIG_S32K1XX_FLEXCAN1=y
-CONFIG_S32K1XX_GPIOIRQ=y
 CONFIG_S32K1XX_LPI2C0=y
 CONFIG_S32K1XX_LPI2C_DMA=y
 CONFIG_S32K1XX_LPI2C_DYNTIMEO=y
 CONFIG_S32K1XX_LPSPI0=y
-CONFIG_S32K1XX_LPSPI0_DMA=y
-CONFIG_S32K1XX_LPSPI_DMA=y
 CONFIG_S32K1XX_LPUART0=y
 CONFIG_S32K1XX_LPUART1=y
-CONFIG_S32K1XX_PORTAINTS=y
-CONFIG_S32K1XX_PORTBINTS=y
-CONFIG_S32K1XX_PORTCINTS=y
-CONFIG_S32K1XX_PORTDINTS=y
-CONFIG_S32K1XX_PORTEINTS=y
 CONFIG_S32K1XX_RTC=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
@@ -125,7 +113,6 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SPITOOL_MAXBUS=2
@@ -63,7 +63,7 @@
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBusExternal(SPI::Bus::SPI0, {
 		// Going to assume PTB5 means PortB, Pin5
-		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin5}, SPI::DRDY{GPIO::PortE, GPIO::Pin0}),
+		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin5})
 	}),
 };

@@ -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
@@ -61,7 +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_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=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=y
 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
@@ -74,7 +74,6 @@ set(msg_files
 	EstimatorAidSource2d.msg
 	EstimatorAidSource3d.msg
 	EstimatorBias.msg
-	EstimatorBias3d.msg
 	EstimatorEventFlags.msg
 	EstimatorGpsStatus.msg
 	EstimatorInnovations.msg
@@ -183,8 +182,8 @@ set(msg_files
 	TrajectoryWaypoint.msg
 	TransponderReport.msg
 	TuneControl.msg
-	UavcanParameterRequest.msg
-	UavcanParameterValue.msg
+	ParameterRequest.msg
+	ParameterValue.msg
 	UlogStream.msg
 	UlogStreamAck.msg
 	UwbDistance.msg
@@ -220,6 +219,14 @@ set(msg_files
 	WheelEncoders.msg
 	Wind.msg
 	YawEstimatorStatus.msg
+
+        Parameter.msg
+
+        SrvParameterGetRequest.msg
+        SrvParameterGetResponse.msg
+
+        SrvParameterSetRequest.msg
+        SrvParameterSetResponse.msg
 )
 list(SORT msg_files)

@@ -9,4 +9,4 @@ float32 innov			# innovation of the last measurement fusion (m)
 float32 innov_var		# innovation variance of the last measurement fusion (m^2)
 float32 innov_test_ratio	# normalized innovation squared test ratio

-# TOPICS estimator_baro_bias estimator_gnss_hgt_bias estimator_rng_hgt_bias
+# TOPICS estimator_baro_bias estimator_gnss_hgt_bias estimator_rng_hgt_bias estimator_ev_hgt_bias
@@ -1,14 +0,0 @@
-uint64 timestamp                # time since system start (microseconds)
-uint64 timestamp_sample         # the timestamp of the raw data (microseconds)
-
-uint32 device_id                # unique device ID for the sensor that does not change between power cycles
-
-float32[3] bias                 # estimated barometric altitude bias (m)
-float32[3] bias_var             # estimated barometric altitude bias variance (m^2)
-
-float32[3] innov                # innovation of the last measurement fusion (m)
-float32[3] innov_var            # innovation variance of the last measurement fusion (m^2)
-float32[3] innov_test_ratio     # normalized innovation squared test ratio
-
-# TOPICS estimator_bias3d
-# TOPICS estimator_ev_pos_bias
@@ -0,0 +1,12 @@
+char[17] name                   # parameter name
+int16 index		# -1 if the param_id field should be used as identifier
+int16 index_used		# -1 if the param_id field should be used as identifier
+
+uint8 TYPE_INVALID = 0
+uint8 TYPE_BOOL    = 1
+uint8 TYPE_INT32   = 2
+uint8 TYPE_FLOAT32 = 3
+uint8 type                # parameter type
+
+int32 int32_value               # current value if param_type is int-like
+float32 float32_value           # current value if param_type is float-like
--- a/Show More
+++ b/Show More