hacks

.ci/Jenkinsfile-compile

@@ -117,8 +117,7 @@ pipeline {
                      "spracing_h7extreme_default",
                      "thepeach_k1_default",
                      "thepeach_r1_default",
-                     "uvify_core_default",
-                     "siyi_n7_default"
+                     "uvify_core_default"
             ],
             image: docker_images.nuttx,
             archive: true

.github/workflows/compile_nuttx.yml

@@ -73,8 +73,7 @@ jobs:
           raspberrypi_pico,
           sky-drones_smartap-airlink,
           spracing_h7extreme,
-          uvify_core,
-          siyi_n7
+          uvify_core
           ]
     steps:
     - uses: actions/checkout@v1

ROMFS/px4fmu_common/init.d-posix/airframes/1010_gazebo-classic_iris_opt_flow

@@ -31,7 +31,6 @@ param set-default PWM_MAIN_FUNC4 104
 
 # EKF2
 param set-default EKF2_GPS_CTRL 0
-param set-default EKF2_HGT_REF 0
 param set-default EKF2_EVP_NOISE 0.05
 param set-default EKF2_EVA_NOISE 0.05
 param set-default EKF2_OF_CTRL 1
@@ -40,9 +39,6 @@ param set-default EKF2_OF_CTRL 1
 param set-default LPE_FUSION 242
 param set-default LPE_FAKE_ORIGIN 1
 
-# Commander
-# param set-default COM_HOME_EN 0 # Disable setting of home position
-
 param set-default MPC_ALT_MODE 2
 
 param set-default SENS_FLOW_ROT 6

ROMFS/px4fmu_common/init.d-posix/airframes/1015_gazebo-classic_iris_depth_camera

@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor with a depth camera (forward-facing)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris

ROMFS/px4fmu_common/init.d-posix/airframes/1016_gazebo-classic_iris_downward_depth_camera

@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# @name 3DR Iris Quadrotor with a depth camera (downward-facing)
-#
-# @type Quadrotor Wide
-#
-
-. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris

ROMFS/px4fmu_common/init.d-posix/airframes/1032_gazebo-classic_plane_catapult

@@ -7,7 +7,6 @@
 
 param set-default FW_LAUN_DETCN_ON 1
 param set-default FW_THR_IDLE 0.1 # needs to be running before throw as that's how gazebo detects arming
-param set-default FW_LAUN_AC_THLD 10
 
 param set-default FW_LND_ANG 8
 

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -39,10 +39,8 @@ px4_add_romfs_files(
 	1012_gazebo-classic_iris_rplidar
 	1013_gazebo-classic_iris_vision
 	1013_gazebo-classic_iris_vision.post
-	1014_gazebo-classic_iris_obs_avoid
-	1014_gazebo-classic_iris_obs_avoid.post
-	1015_gazebo-classic_iris_depth_camera
-	1016_gazebo-classic_iris_downward_depth_camera
+	1015_gazebo-classic_iris_obs_avoid
+	1015_gazebo-classic_iris_obs_avoid.post
 	1017_gazebo-classic_iris_opt_flow_mockup
 	1019_gazebo-classic_iris_dual_gps
 	1021_gazebo-classic_uuv_hippocampus

ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie

@@ -43,6 +43,7 @@ param set-default MC_ROLLRATE_P 0.07
 param set-default MC_YAW_P 3
 
 param set-default MPC_THR_HOVER 0.7
+param set-default MPC_THR_MAX 1
 param set-default MPC_Z_P 1.5
 param set-default MPC_Z_VEL_P_ACC 8
 param set-default MPC_Z_VEL_I_ACC 6

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -42,6 +42,7 @@ param set-default MC_ROLLRATE_P 0.07
 param set-default MC_YAW_P 3
 
 param set-default MPC_THR_HOVER 0.7
+param set-default MPC_THR_MAX 1
 param set-default MPC_Z_P 1.5
 param set-default MPC_Z_VEL_P_ACC 8
 param set-default MPC_Z_VEL_I_ACC 6

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -34,7 +34,6 @@ param set-default EKF2_REQ_EPV 10
 param set-default EKF2_REQ_HDRIFT 0.5
 param set-default EKF2_REQ_SACC 1
 param set-default EKF2_REQ_VDRIFT 1.0
-param set-default EKF2_RNG_QLTY_T 3.0
 
 param set-default RTL_TYPE 1
 param set-default RTL_RETURN_ALT 100

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -172,12 +172,6 @@ then
 	ms5525dso start -X
 fi
 
-# TE ASP5033 differential pressure sensor external I2C
-if param compare -s SENS_EN_ASP5033 1
-then
-	asp5033 start -X
-fi
-
 # SHT3x temperature and hygrometer sensor, external I2C
 if param compare -s SENS_EN_SHT3X 1
 then

Tools/auterion/remote_update_fmu.sh

@@ -1,115 +0,0 @@
-#!/bin/bash
-# Flash PX4 to a device running AuterionOS in the local network
-if [ "$1" == "-h" ] || [ "$1" == "--help" ] || [ $# -lt 2 ]; then
-	echo "Usage: $0 -f <firmware.px4|.elf> [-c <configuration_dir>] -d <IP/Device> [-u <user>] [-p <ssh_port>] [--revert]"
-	exit 1
-fi
-
-ssh_port=22
-ssh_user=root
-
-while getopts ":f:c:d:p:u:r" opt; do
-	case ${opt} in
-		f )
-			if [ -n "$OPTARG" ]; then
-				firmware_file="$OPTARG"
-			else
-				echo "ERROR: -f requires a non-empty option argument."
-				exit 1
-			fi
-			;;
-		c )
-			if [ -f "$OPTARG/rc.autostart" ]; then
-				config_dir="$OPTARG"
-			else
-				echo "ERROR: -c configuration directory is empty or does not contain a valid rc.autostart"
-				exit 1
-			fi
-			;;
-		d )
-			if [ "$OPTARG" ]; then
-				device="$OPTARG"
-			else
-				echo "ERROR: -d requires a non-empty option argument."
-				exit 1
-			fi
-			;;
-		p )
-			if [[ "$OPTARG" =~ ^[0-9]+$ ]]; then
-				ssh_port="$OPTARG"
-			else
-				echo "ERROR: -p ssh_port must be a number."
-				exit 1
-			fi
-			;;
-		u )
-			if [ "$OPTARG" ]; then
-				ssh_user="$OPTARG"
-			else
-				echo "ERROR: -u requires a non-empty option argument."
-				exit 1
-			fi
-			;;
-		r )
-			revert=true
-			;;
-	esac
-done
-
-if [ -z "$device" ]; then
-	echo "Error: missing device"
-	exit 1
-fi
-
-target_dir=/shared_container_dir/fmu
-target_file_name="update-dev.tar"
-
-if [ "$revert" == true ]; then
-	# revert to the release version which was originally deployed
-	cmd="cp $target_dir/update.tar $target_dir/$target_file_name"
-	ssh -t -p $ssh_port $ssh_user@$device "$cmd"
-else
-	# create custom update-dev.tar
-	tmp_dir="$(mktemp -d)"
-	config_path=""
-	firmware_path=""
-
-	if [ -d "$config_dir" ]; then
-		cp -r "$config_dir" "$tmp_dir/config"
-		config_path=config
-	fi
-
-	if [ -f "$firmware_file" ]; then
-		extension="${firmware_file##*.}"
-		cp "$firmware_file" "$tmp_dir/firmware.$extension"
-		if [ "$extension" == "elf" ]; then
-			# ensure the file is stripped to reduce file size
-			arm-none-eabi-strip "$tmp_dir/firmware.$extension"
-		fi
-		firmware_path="firmware.$extension"
-	fi
-
-	pushd "$tmp_dir" &>/dev/null
-
-	if [ -z $firmware_path ] && [ -z $config_path ]; then
-		exit 1
-	fi
-
-	tar_name="tar"
-
-	if [ -x "$(command -v gtar)" ]; then
-		# check if gnu-tar is installed on macOS and use that instead
-		tar_name="gtar"
-	fi
-
-	$tar_name -C "$tmp_dir" --sort=name --owner=root:0 --group=root:0 --mtime='2019-01-01 00:00:00' -cvf $target_file_name $firmware_path $config_path
-
-	# send it to the target to start flashing
-	scp -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
-	popd &>/dev/null
-	rm -rf "$tmp_dir"
-fi
-
-# grab status output for flashing progress
-cmd="tail --follow=name $target_dir/update_status 2>/dev/null || true"
-ssh -t -p $ssh_port $ssh_user@$device "$cmd"

Tools/auterion/upload_skynode.sh

@@ -1,51 +0,0 @@
-#!/usr/bin/env bash
-
-DIR="$(dirname $(readlink -f $0))"
-DEFAULT_AUTOPILOT_HOST=10.41.1.1
-DEFAULT_AUTOPILOT_PORT=33333
-DEFAULT_AUTOPILOT_USER=auterion
-
-for i in "$@"
-do
-    case $i in
-        --file=*)
-        PX4_BINARY_FILE="${i#*=}"
-        ;;
-        --default-ip=*)
-        DEFAULT_AUTOPILOT_HOST="${i#*=}"
-        ;;
-        --default-port=*)
-        DEFAULT_AUTOPILOT_PORT="${i#*=}"
-        ;;
-        --default-user=*)
-        DEFAULT_AUTOPILOT_USER="${i#*=}"
-        ;;
-        --revert)
-        REVERT_AUTOPILOT_ARGUMENT=-r
-        ;;
-        --wifi)
-        DEFAULT_AUTOPILOT_HOST=10.41.0.1
-        ;;
-        *)
-            # unknown option
-        ;;
-    esac
-done
-
-# allow these to be overridden
-[ -z "$AUTOPILOT_HOST" ] && AUTOPILOT_HOST=$DEFAULT_AUTOPILOT_HOST
-[ -z "$AUTOPILOT_PORT" ] && AUTOPILOT_PORT=$DEFAULT_AUTOPILOT_PORT
-[ -z "$AUTOPILOT_USER" ] && AUTOPILOT_USER=$DEFAULT_AUTOPILOT_USER
-
-ARGUMENTS=()
-ARGUMENTS+=(-d "$AUTOPILOT_HOST")
-ARGUMENTS+=(-p "$AUTOPILOT_PORT")
-ARGUMENTS+=(-u "$AUTOPILOT_USER")
-ARGUMENTS+=(${PX4_BINARY_FILE:+-f "$PX4_BINARY_FILE"})
-ARGUMENTS+=($REVERT_AUTOPILOT_ARGUMENT)
-
-echo "Flashing $AUTOPILOT_HOST ..."
-
-"$DIR"/remote_update_fmu.sh "${ARGUMENTS[@]}"
-
-exit 0

Tools/msg/templates/ucdr/msg.h.em

@@ -124,9 +124,8 @@ static inline constexpr int ucdr_topic_size_@(topic)()
 	return @(struct_size);
 }
 
-bool ucdr_serialize_@(topic)(const void* data, ucdrBuffer& buf, int64_t time_offset = 0)
+bool ucdr_serialize_@(topic)(const @(uorb_struct)& topic, ucdrBuffer& buf, int64_t time_offset = 0)
 {
-	const @(uorb_struct)& topic = *static_cast<const @(uorb_struct)*>(data);
 @{
 for field_type, field_name, field_size, padding in fields:
 	if padding > 0:

boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig

@@ -140,8 +140,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000

boards/ark/can-flow/nuttx-config/nsh/defconfig

@@ -115,8 +115,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000

boards/ark/can-flow/src/boot_config.h

@@ -65,7 +65,7 @@
 #define OPT_PREFERRED_NODE_ID ANY_NODE_ID
 
 //todo:wrap OPT_x in in ifdefs for command line definitions
-#define OPT_TBOOT_MS                    3000
+#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
@@ -93,7 +93,7 @@
  */
 #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_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
 
 #define OPT_ENABLE_WD           1
 

boards/ark/can-flow/uavcan_board_identity

@@ -1,6 +1,6 @@
 # UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
-set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
 add_definitions(
 	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
 	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
@@ -14,4 +14,4 @@ add_definitions(
 	-DHW_UAVCAN_NAME=${uavcanblid_name}
 	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
 	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
-)
+)

boards/ark/can-gps/nuttx-config/nsh/defconfig

@@ -117,8 +117,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000

boards/ark/can-gps/src/boot_config.h

@@ -65,7 +65,7 @@
 #define OPT_PREFERRED_NODE_ID ANY_NODE_ID
 
 //todo:wrap OPT_x in in ifdefs for command line definitions
-#define OPT_TBOOT_MS                    3000
+#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
@@ -93,7 +93,7 @@
  */
 #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_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
 
 #define OPT_ENABLE_WD           1
 

boards/ark/can-gps/uavcan_board_identity

@@ -1,6 +1,6 @@
 # UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
-set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
 add_definitions(
 	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
 	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}

boards/ark/can-rtk-gps/nuttx-config/nsh/defconfig

@@ -117,8 +117,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000

boards/ark/can-rtk-gps/src/boot_config.h

@@ -65,7 +65,7 @@
 #define OPT_PREFERRED_NODE_ID ANY_NODE_ID
 
 //todo:wrap OPT_x in in ifdefs for command line definitions
-#define OPT_TBOOT_MS                    3000
+#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
@@ -93,7 +93,7 @@
  */
 #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_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
 
 #define OPT_ENABLE_WD           1
 

boards/ark/can-rtk-gps/uavcan_board_identity

@@ -1,6 +1,6 @@
 # UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
-set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
 add_definitions(
 	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
 	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}

boards/ark/cannode/nuttx-config/nsh/defconfig

@@ -117,8 +117,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000

boards/ark/cannode/src/boot_config.h

@@ -65,7 +65,7 @@
 #define OPT_PREFERRED_NODE_ID ANY_NODE_ID
 
 //todo:wrap OPT_x in in ifdefs for command line definitions
-#define OPT_TBOOT_MS                    3000
+#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
@@ -92,12 +92,8 @@
  *
  */
 #define OPT_WAIT_FOR_GETNODEINFO                    0
-/* The ARK CANnode uses PH1 for GPIO_BOOT_CONFIG but it is not
- * compatible with px4_arch_gpioread as Port H = 7 which is greater
- * than STM32_NPORTS
- * #define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        0
- */
-#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 1
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        1
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
 
 #define OPT_ENABLE_WD           1
 

boards/ark/cannode/uavcan_board_identity

@@ -1,6 +1,6 @@
 # UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
-set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
 add_definitions(
 	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
 	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}

boards/ark/fmu-v6x/init/rc.board_defaults

@@ -17,21 +17,12 @@ 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 ARKV6X000000 ARKV6X001000 ARKV6X002000 ARKV6X003000 ARKV6X004000 ARKV6X005000 ARKV6X006000 ARKV6X007000
-then
-	param set-default SENS_TEMP_ID 2818058
-fi
-
-if ver hwtypecmp ARKV6X000001 ARKV6X001001 ARKV6X002001 ARKV6X003001 ARKV6X004001 ARKV6X005001 ARKV6X006001 ARKV6X007001
-then
-	param set-default SENS_TEMP_ID 3014666
-fi
-
 if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007
 then
 	param set-default SYS_USE_IO 0

boards/ark/fmu-v6x/nuttx-config/nsh/defconfig

@@ -189,8 +189,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/ark/fmu-v6x/src/mtd.cpp

@@ -34,7 +34,7 @@
 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/px4_manifest.h>
 //                                                              KiB BS    nB
-static const px4_mft_device_t spi5 = {             // FM25V02A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
+static const px4_mft_device_t spi5 = {             // FM25V02A on FMUM 32K 512 X 64
 	.bus_type = px4_mft_device_t::SPI,
 	.devid    = SPIDEV_FLASH(0)
 };
@@ -45,12 +45,18 @@ static const px4_mft_device_t i2c3 = {             // 24LC64T on Base  8K 32 X 2
 
 static const px4_mtd_entry_t fmum_fram = {
 	.device = &spi5,
-	.npart = 1,
+	.npart = 2,
 	.partd = {
 		{
 			.type = MTD_PARAMETERS,
 			.path = "/fs/mtd_params",
-			.nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT))
+			.nblocks = 32
+		},
+		{
+			.type = MTD_WAYPOINTS,
+			.path = "/fs/mtd_waypoints",
+			.nblocks = 32
+
 		}
 	},
 };

boards/atl/mantis-edu/nuttx-config/nsh/defconfig

@@ -147,8 +147,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/bitcraze/crazyflie/src/mtd.cpp

@@ -42,12 +42,18 @@ static const px4_mft_device_t i2c1 = {             // 24AA64FT on Base  8K 32 X
 
 static const px4_mtd_entry_t fmu_eeprom = {
 	.device = &i2c1,
-	.npart = 1,
+	.npart = 2,
 	.partd = {
 		{
 			.type = MTD_PARAMETERS,
 			.path = "/fs/mtd_params",
 			.nblocks = 128
+		},
+		{
+			.type = MTD_WAYPOINTS,
+			.path = "/fs/mtd_waypoints",
+			.nblocks = 128
+
 		}
 	},
 };

boards/bitcraze/crazyflie21/default.px4board

@@ -15,7 +15,6 @@ CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 # CONFIG_EKF2_GNSS_YAW is not set
-# CONFIG_EKF2_MAGNETOMETER is not set
 # CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
@@ -34,7 +33,6 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MTD=y

boards/cuav/can-gps-v1/nuttx-config/nsh/defconfig

@@ -119,8 +119,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000

boards/cuav/can-gps-v1/uavcan_board_identity

@@ -1,6 +1,6 @@
 # UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
-set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
 add_definitions(
 	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
 	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}

boards/cuav/nora/nuttx-config/nsh/defconfig

@@ -147,8 +147,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/cuav/x7pro/nuttx-config/nsh/defconfig

@@ -147,8 +147,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/cuav/x7pro/nuttx-config/test/defconfig

@@ -147,8 +147,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/cubepilot/cubeorange/default.px4board

@@ -19,7 +19,6 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-CONFIG_COMMON_INS=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
@@ -50,6 +49,7 @@ CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=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

boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig

@@ -148,8 +148,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/cubepilot/cubeorange/nuttx-config/test/defconfig

@@ -148,8 +148,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/cubepilot/cubeorangeplus/default.px4board

@@ -20,7 +20,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
-CONFIG_COMMON_INS=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y

boards/cubepilot/cubeorangeplus/init/rc.board_sensors

@@ -8,21 +8,16 @@ board_adc start
 # 1. Isolated {ICM42688p, ICM20948(with mag)}, body-fixed {ICM20649}
 # 2. Isolated {ICM42688p, ICM42688p}, body-fixed  {ICM20649, ICM45686, AK09918}
 # 3. Isolated {ICM42688p, ICM42688p}, body-fixed  {ICM45686, AK09918}
-# 4. Isolated {ICM45686, ICM45686}, body-fixed  {ICM45686, AK09918}
 
 # SPI4 is isolated, SPI1 is body-fixed
 
 # SPI4, isolated
 ms5611 -s -b 4 start
 
-if icm42688p -s -b 4 -R 10 -q start -c 15
-	if ! icm20948 -s -b 4 -R 10 -M -q start
-	then
-		icm42688p -s -b 4 -R 6 start -c 13
-	fi
-else
-	icm45686 -s -b 4 -R 10 start -c 15
-	icm45686 -s -b 4 -R 6 start -c 13
+icm42688p -s -b 4 -R 10 start -c 15
+if ! icm20948 -s -b 4 -R 10 -M -q start
+then
+	icm42688p -s -b 4 -R 6 start -c 13
 fi
 
 # SPI1, body-fixed

boards/cubepilot/cubeorangeplus/nuttx-config/nsh/defconfig

@@ -148,8 +148,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/cubepilot/cubeorangeplus/nuttx-config/test/defconfig

@@ -148,8 +148,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/cubepilot/cubeyellow/nuttx-config/nsh/defconfig

@@ -147,8 +147,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/freefly/can-rtk-gps/nuttx-config/nsh/defconfig

@@ -132,8 +132,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/freefly/can-rtk-gps/uavcan_board_identity

@@ -1,6 +1,6 @@
 # UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
-set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
 add_definitions(
 	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
 	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}

boards/holybro/can-gps-v1/nuttx-config/nsh/defconfig

@@ -120,8 +120,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000

boards/holybro/can-gps-v1/uavcan_board_identity

@@ -1,6 +1,6 @@
 # UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
-set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
 add_definitions(
 	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
 	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}

boards/holybro/durandal-v1/nuttx-config/nsh/defconfig

@@ -149,8 +149,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/holybro/kakutef7/default.px4board

@@ -17,19 +17,11 @@ CONFIG_DRIVERS_OSD_ATXXXX=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
-# CONFIG_EKF2_AUXVEL is not set
-# CONFIG_EKF2_BARO_COMPENSATION is not set
-# CONFIG_EKF2_DRAG_FUSION is not set
-# CONFIG_EKF2_EXTERNAL_VISION is not set
-# CONFIG_EKF2_GNSS_YAW is not set
-# CONFIG_EKF2_MAGNETOMETER is not set
-# CONFIG_EKF2_RANGE_FINDER is not set
-# CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOGGER=y
@@ -41,9 +33,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
-# CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW is not set
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_TOP=y

boards/holybro/kakutef7/init/rc.board_defaults

@@ -12,10 +12,12 @@ param set-default CBRK_SUPPLY_CHK 894281
 # Select the Generic 250 Racer by default
 param set-default SYS_AUTOSTART 4050
 
-param set-default SYS_HAS_MAG 0
+# use the Q attitude estimator, it works w/o mag or GPS.
+param set-default SYS_MC_EST_GROUP 3
+param set-default ATT_W_ACC 0.4
+param set-default ATT_W_GYRO_BIAS 0
 
-# enable gravity fusion
-param set-default EKF2_IMU_CONTROL 7
+param set-default SYS_HAS_MAG 0
 
 # the startup tune is not great on a binary output buzzer, so disable it
 param set-default CBRK_BUZZER 782090

boards/holybro/kakutef7/nuttx-config/nsh/defconfig

@@ -150,8 +150,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/holybro/kakuteh7/default.px4board

@@ -33,12 +33,6 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
-# CONFIG_EKF2_AUXVEL is not set
-# CONFIG_EKF2_BARO_COMPENSATION is not set
-# CONFIG_EKF2_DRAG_FUSION is not set
-# CONFIG_EKF2_EXTERNAL_VISION is not set
-# CONFIG_EKF2_GNSS_YAW is not set
-# CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y

boards/holybro/kakuteh7/init/rc.board_defaults

@@ -22,10 +22,12 @@ param set-default CBRK_SUPPLY_CHK 894281
 # Select the Generic 250 Racer by default
 param set-default SYS_AUTOSTART 4050
 
-# use EKF2 without mag
+# use the Q attitude estimator, it works w/o mag or GPS.
+param set-default SYS_MC_EST_GROUP 3
+param set-default ATT_W_ACC 0.4
+param set-default ATT_W_GYRO_BIAS 0
+
 param set-default SYS_HAS_MAG 0
-# and enable gravity fusion
-param set-default EKF2_IMU_CONTROL 7
 
 # the startup tune is not great on a binary output buzzer, so disable it
 param set-default CBRK_BUZZER 782090

boards/holybro/kakuteh7/nuttx-config/nsh/defconfig

@@ -149,8 +149,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/holybro/kakuteh7mini/default.px4board

@@ -32,12 +32,6 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
-# CONFIG_EKF2_AUXVEL is not set
-# CONFIG_EKF2_BARO_COMPENSATION is not set
-# CONFIG_EKF2_DRAG_FUSION is not set
-# CONFIG_EKF2_EXTERNAL_VISION is not set
-# CONFIG_EKF2_GNSS_YAW is not set
-# CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y

boards/holybro/kakuteh7mini/nuttx-config/nsh/defconfig

@@ -148,8 +148,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/holybro/kakuteh7v2/default.px4board

@@ -33,12 +33,6 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
-# CONFIG_EKF2_AUXVEL is not set
-# CONFIG_EKF2_BARO_COMPENSATION is not set
-# CONFIG_EKF2_DRAG_FUSION is not set
-# CONFIG_EKF2_EXTERNAL_VISION is not set
-# CONFIG_EKF2_GNSS_YAW is not set
-# CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y

boards/holybro/kakuteh7v2/nuttx-config/nsh/defconfig

@@ -148,8 +148,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/holybro/pix32v5/nuttx-config/nsh/defconfig

@@ -147,8 +147,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/matek/gnss-m9n-f4/nuttx-config/nsh/defconfig

@@ -138,8 +138,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=131072
 CONFIG_RAM_START=0x20000000

boards/matek/gnss-m9n-f4/uavcan_board_identity

@@ -1,6 +1,6 @@
 # UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
-set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
 add_definitions(
 	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
 	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}

boards/modalai/fc-v1/nuttx-config/nsh/defconfig

@@ -146,8 +146,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/modalai/fc-v2/nuttx-config/nsh/defconfig

@@ -152,8 +152,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/modalai/fc-v2/src/mtd.cpp

@@ -34,19 +34,25 @@
 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/px4_manifest.h>
 //                                                              KiB BS    nB
-static const px4_mft_device_t spi5 = {             // FM25V02A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
+static const px4_mft_device_t spi5 = {             // FM25V02A on FMUM 32K 512 X 64
 	.bus_type = px4_mft_device_t::SPI,
 	.devid    = SPIDEV_FLASH(0)
 };
 
 static const px4_mtd_entry_t fmum_fram = {
 	.device = &spi5,
-	.npart = 1,
+	.npart = 2,
 	.partd = {
 		{
 			.type = MTD_PARAMETERS,
 			.path = "/fs/mtd_params",
-			.nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT))
+			.nblocks = 32
+		},
+		{
+			.type = MTD_WAYPOINTS,
+			.path = "/fs/mtd_waypoints",
+			.nblocks = 32
+
 		}
 	},
 };

boards/mro/ctrl-zero-classic/nuttx-config/nsh/defconfig

@@ -149,8 +149,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/mro/ctrl-zero-f7-oem/nuttx-config/nsh/defconfig

@@ -146,8 +146,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig

@@ -146,8 +146,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig

@@ -147,8 +147,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig

@@ -147,8 +147,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/mro/pixracerpro/nuttx-config/nsh/defconfig

@@ -148,8 +148,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/mro/x21-777/nuttx-config/nsh/defconfig

@@ -146,8 +146,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/mro/x21/nuttx-config/nsh/defconfig

@@ -141,8 +141,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000

boards/nxp/fmuk66-e/nuttx-config/nsh/defconfig

@@ -168,8 +168,6 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x1fff0000

boards/nxp/fmuk66-e/nuttx-config/socketcan/defconfig

@@ -171,8 +171,6 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x1fff0000

boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig

@@ -171,8 +171,6 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x1fff0000

boards/nxp/fmuk66-v3/nuttx-config/socketcan/defconfig

@@ -170,8 +170,6 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x1fff0000

boards/nxp/fmuk66-v3/nuttx-config/test/defconfig

@@ -171,8 +171,6 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x1fff0000

boards/nxp/fmurt1062-v1/nuttx-config/nsh/defconfig

@@ -184,8 +184,6 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=1048576
 CONFIG_RAM_START=0x20200000

boards/nxp/ucans32k146/uavcan_board_identity

@@ -1,6 +1,6 @@
 # UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
-set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
 add_definitions(
 	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
 	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}

boards/px4/fmu-v2/nuttx-config/nsh/defconfig

@@ -136,8 +136,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_DEFAULT_PRIO_INHERIT=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000

boards/px4/fmu-v3/nuttx-config/nsh/defconfig

@@ -141,8 +141,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000

boards/px4/fmu-v4/nuttx-config/nsh/defconfig

@@ -140,8 +140,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000

boards/px4/fmu-v4/nuttx-config/test/defconfig

@@ -141,8 +141,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000

boards/px4/fmu-v4/uavcan_board_identity

@@ -1,6 +1,6 @@
 # UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
-set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
 add_definitions(
 	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
 	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}

boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig

@@ -140,8 +140,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=393216
 CONFIG_RAM_START=0x20000000

boards/px4/fmu-v4pro/nuttx-config/test/defconfig

@@ -141,8 +141,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=393216
 CONFIG_RAM_START=0x20000000

boards/px4/fmu-v4pro/src/mtd.cpp

@@ -34,7 +34,7 @@
 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/px4_manifest.h>
 //                                                              KiB BS    nB
-static const px4_mft_device_t spi2 = {             // FM25V01A on FMUM native: 16K X 8, emulated as (512 Blocks of 32)
+static const px4_mft_device_t spi2 = {             // FM25V01A on FMUM 16K
 	.bus_type = px4_mft_device_t::SPI,
 	.devid    = SPIDEV_FLASH(0)
 };
@@ -46,7 +46,7 @@ static const px4_mtd_entry_t fmum_fram = {
 		{
 			.type = MTD_PARAMETERS,
 			.path = "/fs/mtd_params",
-			.nblocks = (16384 / (1 << CONFIG_RAMTRON_EMULATE_PAGE_SHIFT))
+			.nblocks = 32
 		},
 	},
 };

boards/px4/fmu-v5/nuttx-config/cryptotest/defconfig

@@ -148,8 +148,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/px4/fmu-v5/nuttx-config/cyphal/defconfig

@@ -148,8 +148,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/px4/fmu-v5/nuttx-config/debug/defconfig

@@ -192,8 +192,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/px4/fmu-v5/nuttx-config/nsh/defconfig

@@ -146,8 +146,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/px4/fmu-v5/nuttx-config/protected/defconfig

@@ -152,8 +152,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig

@@ -147,8 +147,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/px4/fmu-v5/nuttx-config/test/defconfig

@@ -146,8 +146,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/px4/fmu-v5x/cmake/upload.cmake

@@ -1,49 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-
-set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
-
-add_custom_target(upload_skynode_usb
-	COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME}
-	DEPENDS ${PX4_FW_NAME}
-	COMMENT "Uploading PX4"
-	USES_TERMINAL
-)
-
-add_custom_target(upload_skynode_wifi
-	COMMAND ${PX4_SOURCE_DIR}/Tools/auterion/upload_skynode.sh --file=${PX4_FW_NAME} --wifi
-	DEPENDS ${PX4_FW_NAME}
-	COMMENT "Uploading PX4"
-	USES_TERMINAL
-)