set file descriptor to -1 after close()

failure detector use per index esc current
fix VehicleCommand.msg syntax
2026-06-17 21:31:28 +08:00 · 2024-10-01 13:13:18 -04:00 · 2024-09-30 15:45:56 -04:00 · 2024-09-30 15:28:24 -04:00 · 2024-09-30 15:28:24 -04:00 · 2024-09-25 06:54:51 -07:00
544 changed files with 10481 additions and 18437 deletions
--- a/.devcontainer/devcontainer.json
+++ b/.devcontainer/devcontainer.json
@ -15,7 +15,6 @@
 	"extensions": [
 		"chiehyu.vscode-astyle",
 		"dan-c-underwood.arm",
-		"editorconfig.editorconfig",
 		"fredericbonnet.cmake-test-adapter",
 		"github.vscode-pull-request-github",
 		"marus25.cortex-debug",
--- a/.editorconfig
+++ b/.editorconfig
@ -1,7 +1,7 @@
 root = true

 [*]
-insert_final_newline = true
+insert_final_newline = false

 [{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
 indent_style = tab
--- a/.github/workflows/checks.yml
+++ b/.github/workflows/checks.yml
@ -23,7 +23,6 @@ jobs:
          "shellcheck_all",
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "px4_sitl_allyes",
          "airframe_metadata",
          "module_documentation",
          "parameters_metadata",
--- a/.github/workflows/mavros_mission_tests.yml
+++ b/.github/workflows/mavros_mission_tests.yml
@ -11,8 +11,6 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    env:
-      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
    strategy:
      fail-fast: false
      matrix:
--- a/.github/workflows/mavros_offboard_tests.yml
+++ b/.github/workflows/mavros_offboard_tests.yml
@ -11,8 +11,6 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    env:
-      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
    strategy:
      fail-fast: false
      matrix:
--- a/.vscode/cmake-variants.yaml
+++ b/.vscode/cmake-variants.yaml
@ -151,16 +151,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-rtk-gps_canbootloader
-    ark_septentrio-gps_default:
-      short: ark_septentrio-gps_default
+    ark_septentrio_gps_default:
+      short: ark_septentrio_gps_default
      buildType: MinSizeRel
      settings:
-        CONFIG: ark_septentrio-gps_default
-    ark_septentrio-gps_canbootloader:
-      short: ark_septentrio-gps_canbootloader
+        CONFIG: ark_septentrio_gps_default
+    ark_septentrio_gps_canbootloader:
+      short: ark_septentrio_gps_canbootloader
      buildType: MinSizeRel
      settings:
-        CONFIG: ark_septentrio-gps_canbootloader
+        CONFIG: ark_septentrio_gps_canbootloader
    ark_cannode_default:
      short: ark_cannode_default
      buildType: MinSizeRel
--- a/.vscode/extensions.json
+++ b/.vscode/extensions.json
@ -4,7 +4,6 @@
    "recommendations": [
        "chiehyu.vscode-astyle",
        "dan-c-underwood.arm",
-        "editorconfig.editorconfig",
        "fredericbonnet.cmake-test-adapter",
        "github.vscode-pull-request-github",
        "marus25.cortex-debug",
--- a/.vscode/settings.json
+++ b/.vscode/settings.json
@ -15,7 +15,6 @@
        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
        "cmake.configureOnOpen": true,
        "cmake.ctest.parallelJobs": 1,
-        "cmake.options.statusBarVisibility": "compact",
        "cmake.skipConfigureIfCachePresent": true,
        "cmakeExplorer.buildDir": "${workspaceFolder}/build/px4_sitl_test",
        "cmakeExplorer.parallelJobs": 1,
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10041_sihsim_airplane
@ -24,6 +24,8 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027

+param set-default BAT_N_CELLS 3
+
 param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
 param set-default SIH_IXX 0.00402
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/10042_sihsim_xvert
@ -33,6 +33,8 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027

+param set-default BAT_N_CELLS 3
+
 param set-default SIH_T_MAX 2
 param set-default SIH_Q_MAX 0.0165
 param set-default SIH_MASS 0.2
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1033_jsbsim_rascal
@ -24,6 +24,7 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1034_flightgear_rascal-electric
@ -24,6 +24,7 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1036_jsbsim_malolo
@ -24,6 +24,7 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/1039_flightgear_rascal
@ -25,6 +25,7 @@ param set-default FW_W_EN 1

 param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
+param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4001_gz_x500
@ -52,4 +52,3 @@ param set-default SIM_GZ_EC_MAX3 1000
 param set-default SIM_GZ_EC_MAX4 1000

 param set-default MPC_THR_HOVER 0.60
-param set-default NAV_DLL_ACT 2
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol
@ -101,9 +101,8 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

 param set-default NAV_ACC_RAD 5
-param set-default NAV_DLL_ACT 2

 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.3
+param set-default VT_F_TRANS_THR 0.75
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4006_gz_px4vision
@ -132,5 +132,3 @@ param set-default SIM_GZ_EC_MAX1 1100
 param set-default SIM_GZ_EC_MAX2 1100
 param set-default SIM_GZ_EC_MAX3 1100
 param set-default SIM_GZ_EC_MAX4 1100
-
-param set-default NAV_DLL_ACT 2
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/4012_gz_rover_ackermann
@ -1,47 +0,0 @@
-#!/bin/sh
-# @name Rover Ackermann
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=rover_ackermann}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-# Rover parameters
-param set-default NAV_ACC_RAD 0.5
-param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 3
-param set-default RA_LOOKAHD_GAIN 1
-param set-default RA_LOOKAHD_MAX 10
-param set-default RA_LOOKAHD_MIN 1
-param set-default RA_MAX_ACCEL 1.5
-param set-default RA_MAX_JERK 15
-param set-default RA_MAX_SPEED 3
-param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_MAX_STR_RATE 360
-param set-default RA_MISS_VEL_DEF 3
-param set-default RA_MISS_VEL_GAIN 5
-param set-default RA_MISS_VEL_MIN 1
-param set-default RA_SPEED_I 0.01
-param set-default RA_SPEED_P 2
-param set-default RA_WHEEL_BASE 0.321
-
-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-
-# Wheels
-param set-default SIM_GZ_WH_FUNC1 101
-param set-default SIM_GZ_WH_MIN1 0
-param set-default SIM_GZ_WH_MAX1 200
-param set-default SIM_GZ_WH_DIS1 100
-
-# Steering
-param set-default SIM_GZ_SV_FUNC1 201
-param set-default SIM_GZ_SV_REV 1
--- a/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt
@ -83,7 +83,6 @@ px4_add_romfs_files(
 	4009_gz_r1_rover
 	4010_gz_x500_mono_cam
 	4011_gz_lawnmower
-	4012_gz_rover_ackermann

 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
--- a/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
+++ b/ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator
@ -15,9 +15,6 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 	if [ -n "${PX4_HOME_LON}" ]; then
 		param set SIH_LOC_LON0 ${PX4_HOME_LON}
 	fi
-	if [ -n "${PX4_HOME_ALT}" ]; then
-		param set SIH_LOC_H0 ${PX4_HOME_ALT}
-	fi

 	if simulator_sih start; then

--- a/ROMFS/px4fmu_common/init.d-posix/rcS
+++ b/ROMFS/px4fmu_common/init.d-posix/rcS
@ -157,7 +157,6 @@ param set-default CBRK_SUPPLY_CHK 894281

 # disable check, no CPU load reported on posix yet
 param set-default COM_CPU_MAX -1
-param set-default COM_RAM_MAX -1

 # Don't require RC calibration and configuration
 param set-default COM_RC_IN_MODE 1
--- a/ROMFS/px4fmu_common/init.d/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/CMakeLists.txt
@ -84,13 +84,6 @@ if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
 	)
 endif()

-if(CONFIG_MODULES_ROVER_ACKERMANN)
-	px4_add_romfs_files(
-		rc.rover_ackermann_apps
-		rc.rover_ackermann_defaults
-	)
-endif()
-
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		rc.uuv_apps
--- a/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1101_rc_plane_sih.hil
@ -44,6 +44,8 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027

+param set-default BAT_N_CELLS 3
+
 param set SIH_T_MAX 6
 param set SIH_MASS 0.3
 param set SIH_IXX 0.00402
--- a/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil
+++ b/ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil
@ -62,6 +62,8 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default CBRK_IO_SAFETY 22027

+param set-default BAT_N_CELLS 3
+
 param set SIH_T_MAX 2.0
 param set SIH_Q_MAX 0.0165
 param set SIH_MASS 0.2
--- a/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
+++ b/ROMFS/px4fmu_common/init.d/airframes/13013_deltaquad
@ -66,6 +66,7 @@ param set-default MC_PITCHRATE_I 0.05
 param set-default MC_YAWRATE_MAX 20
 param set-default MC_AIRMODE 1

+param set-default MIS_DIST_1WP 100
 param set-default MIS_TAKEOFF_ALT 15

 param set-default MPC_XY_P 0.8
--- a/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
+++ b/ROMFS/px4fmu_common/init.d/airframes/4017_nxp_hovergames
@ -6,7 +6,6 @@
 # @class Copter
 #
 # @board px4_fmu-v2 exclude
-# @board px4_fmu-v5x exclude
 # @board bitcraze_crazyflie exclude
 #
 # @maintainer Iain Galloway <iain.galloway@nxp.com>
--- a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
+++ b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
@ -7,10 +7,6 @@
 #
 # @maintainer
 # @board px4_fmu-v2 exclude
-# @board cuav_x7pro exclude
-# @board px4_fmu-v4pro exclude
-# @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@ -40,6 +36,7 @@ param set-default COM_RC_LOSS_T 3


 # ekf2
+param set-default EKF2_TERR_MASK 1
 param set-default EKF2_BARO_NOISE 2

 param set-default EKF2_BCOEF_X 31.5
--- a/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
+++ b/ROMFS/px4fmu_common/init.d/airframes/4071_ifo
@ -12,7 +12,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
 #
--- a/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
+++ b/ROMFS/px4fmu_common/init.d/airframes/4073_ifo-s
@ -10,7 +10,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 # @board bitcraze_crazyflie exclude
 # @board cuav_x7pro exclude
 #
--- a/ROMFS/px4fmu_common/init.d/airframes/4500_clover4
+++ b/ROMFS/px4fmu_common/init.d/airframes/4500_clover4
@ -8,7 +8,6 @@
 # @maintainer Oleg Kalachev <okalachev@gmail.com>
 #
 # @board px4_fmu-v2 exclude
-# @board px4_fmu-v4pro exclude
 # @board bitcraze_crazyflie exclude
 #

--- a/ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5
+++ b/ROMFS/px4fmu_common/init.d/airframes/4601_droneblocks_dexi_5
@ -25,6 +25,7 @@
 param set-default BAT1_CAPACITY 4000
 param set-default BAT1_N_CELLS 6
 param set-default BAT1_V_EMPTY 3.3
+param set-default BAT1_V_LOAD_DROP 0.5
 param set-default BAT_AVRG_CURRENT 13

 # Square quadrotor X PX4 numbering
--- a/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
+++ b/ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21
@ -13,7 +13,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board px4_fmu-v6x exclude
 # @board diatone_mamba-f405-mk2 exclude
 #
 . ${R}etc/init.d/rc.mc_defaults
--- a/ROMFS/px4fmu_common/init.d/airframes/50010_ackermann_rover_generic
+++ b/ROMFS/px4fmu_common/init.d/airframes/50010_ackermann_rover_generic
@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Generic ackermann rover
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
--- a/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
+++ b/ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt
@ -149,12 +149,6 @@ if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
 	)
 endif()

-if(CONFIG_MODULES_ROVER_ACKERMANN)
-	px4_add_romfs_files(
-		50010_ackermann_rover_generic
-	)
-endif()
-
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		# [60000, 61000] (Unmanned) Underwater Robots
--- a/ROMFS/px4fmu_common/init.d/rc.rover_ackermann_apps
+++ b/ROMFS/px4fmu_common/init.d/rc.rover_ackermann_apps
@ -1,8 +0,0 @@
-#!/bin/sh
-# Standard apps for a ackermann drive rover.
-
-# Start rover ackermann drive controller.
-rover_ackermann start
-
-# Start Land Detector.
-land_detector start rover
--- a/ROMFS/px4fmu_common/init.d/rc.rover_ackermann_defaults
+++ b/ROMFS/px4fmu_common/init.d/rc.rover_ackermann_defaults
@ -1,13 +0,0 @@
-#!/bin/sh
-# Ackermann rover parameters.
-
-set VEHICLE_TYPE rover_ackermann
-param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
-param set-default CA_AIRFRAME 5 # Rover (Ackermann)
-param set-default CA_R_REV 1 # Motor is assumed to be reversible
-param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_ANGERR_INIT 0.01
-param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
-param set-default NAV_RCL_ACT 6 # Disarm on manual control loss
-param set-default COM_FAIL_ACT_T 1 # Delay before failsafe after rc loss
--- a/ROMFS/px4fmu_common/init.d/rc.sensors
+++ b/ROMFS/px4fmu_common/init.d/rc.sensors
@ -138,12 +138,6 @@ then
 	adis16507 -S start
 fi

-# SCH16T spi external IMU
-if param compare -s SENS_EN_SCH16T 1
-then
-	sch16t -S start
-fi
-
 # Eagle Tree airspeed sensor external I2C
 if param compare -s SENS_EN_ETSASPD 1
 then
--- a/ROMFS/px4fmu_common/init.d/rc.vehicle_setup
+++ b/ROMFS/px4fmu_common/init.d/rc.vehicle_setup
@ -41,15 +41,6 @@ then
 	. ${R}etc/init.d/rc.rover_differential_apps
 fi

-#
-# Ackermann Rover setup.
-#
-if [ $VEHICLE_TYPE = rover_ackermann ]
-then
-	# Start ackermann drive rover apps.
-	. ${R}etc/init.d/rc.rover_ackermann_apps
-fi
-
 #
 # VTOL setup.
 #
--- a/ROMFS/px4fmu_common/init.d/rcS
+++ b/ROMFS/px4fmu_common/init.d/rcS
@ -36,12 +36,6 @@ set SDCARD_FORMAT no
 set STARTUP_TUNE 1
 set VEHICLE_TYPE none

-# Airframe parameter versioning
-# Value set to 1 by default but can optionally be overridden in the airframe configuration startup script.
-# Airframe maintainers can ensure a reset to the airframe defaults during an update by increasing by one.
-# e.g. add line "set PARAM_DEFAULTS_VER 2" in your airframe file to build the first update that enfoces a reset.
-set PARAM_DEFAULTS_VER 1
-
 #
 # Print full system version.
 #
@ -129,13 +123,6 @@ else
 		set PARAM_FILE /fs/mtd_params
 	fi

-	# Check if /fs/mtd_params is a valid BSON file
-	if ! bsondump docsize /fs/mtd_caldata
-	then
-		echo "New /fs/mtd_caldata size is:"
-		bsondump docsize /fs/mtd_caldata
-	fi
-
 	#
 	# Load parameters.
 	#
@ -188,11 +175,13 @@ else
 		netman update -i eth0
 	fi

-	# To trigger a parameter reset during boot SYS_AUTCONFIG was set to 1 before
+	#
+	# If the airframe has been previously reset SYS_AUTCONFIG will have been set to 1 and other params will be reset on the next boot.
+	#
 	if param greater SYS_AUTOCONFIG 0
 	then
-		# Reset parameters except airframe, parameter version, RC calibration, sensor calibration, flight modes, total flight time, flight UUID
-		param reset_all SYS_AUTOSTART SYS_PARAM_VER RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
+		# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
+		param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
 	fi

 	#
@ -217,42 +206,25 @@ else
 	fi
 	unset BOARD_RC_DEFAULTS

-	# Load airframe configuration based on SYS_AUTOSTART parameter
+	#
+	# Set parameters and env variables for selected SYS_AUTOSTART.
+	#
+	set AUTOSTART_PATH etc/init.d/rc.autostart
 	if ! param compare SYS_AUTOSTART 0
 	then
-		# rc.autostart directly run the right airframe script which sets the VEHICLE_TYPE
-		# Look for airframe in ROMFS
-		. ${R}etc/init.d/rc.autostart
-
-		if [ ${VEHICLE_TYPE} == none ]
+		if param greater SYS_AUTOSTART 1000000
 		then
-			# Look for airframe on SD card
+			# Use external startup file
 			if [ $SDCARD_AVAILABLE = yes ]
 			then
-				. ${R}etc/init.d/rc.autostart_ext
+				set AUTOSTART_PATH etc/init.d/rc.autostart_ext
 			else
-				echo "ERROR [init] SD card not mounted - can't load external airframe"
+				echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
 			fi
 		fi
-
-		if [ ${VEHICLE_TYPE} == none ]
-		then
-			echo "ERROR [init] No airframe file found for SYS_AUTOSTART value"
-			param set SYS_AUTOSTART 0
-			tune_control play error
-		fi
-	fi
-
-	# Check parameter version and reset upon airframe configuration version mismatch.
-	# Reboot required because "param reset_all" would reset all "param set" lines from airframe.
-	if ! param compare SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
-	then
-		echo "Switched to different parameter version. Resetting parameters."
-		param set SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
-		param set SYS_AUTOCONFIG 1
-		param save
-		reboot
+		. ${R}$AUTOSTART_PATH
 	fi
+	unset AUTOSTART_PATH

 	#
 	# Start the tone_alarm driver.
@ -619,7 +591,6 @@ unset LOGGER_ARGS
 unset LOGGER_BUF
 unset PARAM_FILE
 unset PARAM_BACKUP_FILE
-unset PARAM_DEFAULTS_VER
 unset RC_INPUT_ARGS
 unset SDCARD_AVAILABLE
 unset SDCARD_EXT_PATH
--- a/Tools/astyle/check_code_style.sh
+++ b/Tools/astyle/check_code_style.sh
@ -3,20 +3,22 @@
 FILE=$1
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )

-CHECK_FAILED=$(${DIR}/fix_code_style.sh --dry-run --formatted $FILE)
-if [ -n "$CHECK_FAILED" ]; then
-	${DIR}/fix_code_style.sh --quiet < $FILE > $FILE.pretty
+if [ -f "$FILE" ]; then
+	CHECK_FAILED=$(${DIR}/fix_code_style.sh --dry-run --formatted $FILE)
+	if [ -n "$CHECK_FAILED" ]; then
+		${DIR}/fix_code_style.sh --quiet < $FILE > $FILE.pretty

-	echo -e 'Formatting issue found in' $FILE
-	echo
-	git --no-pager diff --no-index --minimal --histogram --color=always $FILE $FILE.pretty | grep -vE -e "^.{,4}diff.*\.pretty.{,3}$" -e "^.{,4}--- a/.*$" -e "^.{,4}\+\+\+ b/.*$" -e "^.{,5}@@ .* @@.*$" -e "^.{,4}index .{10}\.\."
-	rm -f $FILE.pretty
-	echo
+		echo -e 'Formatting issue found in' $FILE
+		echo
+		git --no-pager diff --no-index --minimal --histogram --color=always $FILE $FILE.pretty | grep -vE -e "^.{,4}diff.*\.pretty.{,3}$" -e "^.{,4}--- a/.*$" -e "^.{,4}\+\+\+ b/.*$" -e "^.{,5}@@ .* @@.*$" -e "^.{,4}index .{10}\.\."
+		rm -f $FILE.pretty
+		echo

-	if [[ $PX4_ASTYLE_FIX -eq 1 ]]; then
-		${DIR}/fix_code_style.sh $FILE
-	else
-		echo 'to fix automatically run "make format" or "./Tools/astyle/fix_code_style.sh' $FILE'"'
-		exit 1
+		if [[ $PX4_ASTYLE_FIX -eq 1 ]]; then
+			${DIR}/fix_code_style.sh $FILE
+		else
+			echo 'to fix automatically run "make format" or "./Tools/astyle/fix_code_style.sh' $FILE'"'
+			exit 1
+		fi
 	fi
 fi
--- a/Tools/astyle/files_to_check_code_style.sh
+++ b/Tools/astyle/files_to_check_code_style.sh
@ -18,8 +18,7 @@ exec find boards msg src platforms test \
    -path src/lib/events/libevents -prune -o \
    -path src/lib/parameters/uthash -prune -o \
    -path src/lib/wind_estimator/python/generated -prune -o \
-    -path src/modules/ekf2/EKF/python/ekf_derivation/generated -prune -o \
-    -path src/modules/ekf2/EKF/yaw_estimator/derivation/generated -prune -o \
+    -path src/modules/ekf2/EKF -prune -o \
    -path src/modules/gyro_fft/CMSIS_5 -prune -o \
    -path src/modules/mavlink/mavlink -prune -o \
    -path test/mavsdk_tests/catch2 -prune -o \
@ -32,4 +31,4 @@ exec find boards msg src platforms test \
    -path src/lib/cdrstream/rosidl -prune -o \
    -path src/modules/zenoh/zenoh-pico -prune -o \
    -path boards/modalai/voxl2/libfc-sensor-api -prune -o \
-    \( -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) -print \) | grep $PATTERN
+    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
--- a/Tools/check_submodules.sh
+++ b/Tools/check_submodules.sh
@ -6,7 +6,7 @@ function check_git_submodule {
 if [[ -f $1"/.git" || -d $1"/.git" ]]; then

 	# always update within CI environment or configuring withing VSCode CMake where you can't interact
-	if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ] || [ -n "${CLION_IDE+set}" ]; then
+	if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ]; then
 		git submodule --quiet sync --recursive -- $1
 		git submodule --quiet update --init --recursive --jobs=8 -- $1  || true
 		git submodule --quiet sync --recursive -- $1
--- a/Tools/ecl_ekf/plotting/pdf_report.py
+++ b/Tools/ecl_ekf/plotting/pdf_report.py
@ -223,7 +223,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
        data_plot.save()
        data_plot.close()

-        # plot innovation flags summary
+        # plot innovation_check_flags summary
        data_plot = CheckFlagsPlot(
            status_flags_time, estimator_status_flags, [['reject_hor_vel', 'reject_hor_pos'], ['reject_ver_vel', 'reject_ver_pos',
                                                                               'reject_hagl'],
--- a/Tools/module_config/output_groups_from_timer_config.py
+++ b/Tools/module_config/output_groups_from_timer_config.py
@ -34,41 +34,33 @@ def extract_timer(line):
    if search:
        return search.group(1), 'generic'

-    # NXP FlexPWM format format: initIOPWM(PWM::FlexPWM2),
-    search = re.search('PWM::Flex([0-9a-zA-Z_]+)..PWM::Submodule([0-9])[,\)]', line, re.IGNORECASE)
+    # nxp rt1062 format: initIOPWM(PWM::FlexPWM2),
+    search = re.search('PWM::Flex([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
    if search:
-        return (search.group(1) + '_' +  search.group(2)), 'imxrt'
+        return search.group(1), 'imxrt'

    return None, 'unknown'

-def extract_timer_from_channel(line, timer_names):
+def extract_timer_from_channel(line, num_channels_already_found):
    # Try format: initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
    search = re.search('Timer::([0-9a-zA-Z_]+), ', line, re.IGNORECASE)
    if search:
        return search.group(1)

-    # NXP FlexPWM format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
-    search = re.search('PWM::(PWM[0-9]+).*PWM::Submodule([0-9])', line, re.IGNORECASE)
+    # nxp rt1062 format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
+    search = re.search('PWM::(PWM[0-9]+)[_,\)]', line, re.IGNORECASE)
    if search:
-        return str(timer_names.index((search.group(1) + '_' +  search.group(2))))
+        # imxrt uses a 1:1 timer group to channel association
+        return str(num_channels_already_found)

    return None

-def imxrt_is_dshot(line):
-
-    # NXP FlexPWM format format: initIOPWM(PWM::FlexPWM2),
-    search = re.search('(initIOPWMDshot)', line, re.IGNORECASE)
-    if search:
-        return True
-
-    return False
-
 def get_timer_groups(timer_config_file, verbose=False):
    with open(timer_config_file, 'r') as f:
        timer_config = f.read()

    # timers
-    dshot_support = {str(i): False for i in range(16)}
+    dshot_support = {} # key: timer
    timers_start_marker = 'io_timers_t io_timers'
    timers_start = timer_config.find(timers_start_marker)
    if timers_start == -1:
@ -77,7 +69,6 @@ def get_timer_groups(timer_config_file, verbose=False):
    open_idx, close_idx = find_matching_brackets(('{', '}'), timer_config, verbose)
    timers_str = timer_config[open_idx:close_idx]
    timers = []
-    timer_names = []
    for line in timers_str.splitlines():
        line = line.strip()
        if len(line) == 0 or line.startswith('//'):
@ -86,11 +77,14 @@ def get_timer_groups(timer_config_file, verbose=False):

        if timer_type == 'imxrt':
            if verbose: print('imxrt timer found')
-            timer_names.append(timer)
-            if imxrt_is_dshot(line):
-                dshot_support[str(len(timers))] = True
-            timers.append(str(len(timers)))
-        elif timer:
+            max_num_channels = 16 # Just add a fixed number of timers
+            timers = [str(i) for i in range(max_num_channels)]
+            dshot_support = {str(i): False for i in range(max_num_channels)}
+            for i in range(8): # First 8 channels support dshot
+                dshot_support[str(i)] = True
+            break
+
+        if timer:
            if verbose: print('found timer def: {:}'.format(timer))
            dshot_support[timer] = 'DMA' in line
            timers.append(timer)
@ -117,7 +111,7 @@ def get_timer_groups(timer_config_file, verbose=False):
            continue

        if verbose: print('--'+line+'--')
-        timer = extract_timer_from_channel(line, timer_names)
+        timer = extract_timer_from_channel(line, len(channel_timers))

        if timer:
            if verbose: print('Found timer: {:} in channel line {:}'.format(timer, line))
--- a/Tools/px4airframes/rcout.py
+++ b/Tools/px4airframes/rcout.py
@ -79,6 +79,12 @@ class RCOutput():
        result += "then\n"
        result += "\techo \"Loading airframe: /etc/init.d/airframes/${AIRFRAME}\"\n"
        result += "\t. /etc/init.d/airframes/${AIRFRAME}\n"
+        if not post_start:
+            result += "else\n"
+            result += "\techo \"ERROR [init] No file matches SYS_AUTOSTART value found in : /etc/init.d/airframes\"\n"
+            # Reset the configuration
+            result += "\tparam set SYS_AUTOSTART 0\n"
+            result += "\ttone_alarm ${TUNE_ERR}\n"
        result += "fi\n"
        result += "unset AIRFRAME"
        self.output = result
--- a/Tools/px4moduledoc/srcparser.py
+++ b/Tools/px4moduledoc/srcparser.py
@ -15,7 +15,7 @@ class ModuleDocumentation(object):
    # TOC in https://github.com/PX4/PX4-user_guide/blob/main/en/SUMMARY.md
    valid_categories = ['driver', 'estimator', 'controller', 'system',
                        'communication', 'command', 'template', 'simulation', 'autotune']
-    valid_subcategories = ['', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
+    valid_subcategories = ['', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']

    max_line_length = 80 # wrap lines that are longer than this
--- a/Tools/setup/arch.sh
+++ b/Tools/setup/arch.sh
@ -95,7 +95,7 @@ if [[ $INSTALL_SIM == "true" ]]; then

 	# java (jmavsim)
 	sudo pacman -S --noconfirm --needed \
-		ant \
+		ant
 		;

 	# Gazebo setup
--- a/Tools/setup/requirements.txt
+++ b/Tools/setup/requirements.txt
@ -1,4 +1,5 @@
 argcomplete
+argparse>=1.2
 cerberus
 coverage
 empy==3.3.4
@ -7,7 +8,7 @@ jinja2>=2.8
 jsonschema
 kconfiglib
 lxml
-matplotlib>=3.0
+matplotlib>=3.0.*
 numpy>=1.13
 nunavut>=1.1.0
 packaging
--- a/Tools/setup/ubuntu.sh
+++ b/Tools/setup/ubuntu.sh
@ -66,8 +66,6 @@ elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
 elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
 	echo "Ubuntu 22.04"
-elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
-	echo "Linux Mint 21.3"
 fi


@ -148,7 +146,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		util-linux \
 		vim-common \
 		;
-	if [[ "${UBUNTU_RELEASE}" == "20.04" || "${UBUNTU_RELEASE}" == "22.04" || "${UBUNTU_RELEASE}" == "21.3" ]]; then
+	if [[ "${UBUNTU_RELEASE}" == "20.04" || "${UBUNTU_RELEASE}" == "22.04" ]]; then
 		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		kconfig-frontends \
 		;
@ -207,8 +205,6 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		java_version=13
 	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
 		java_version=11
-	elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
-		java_version=11
 	else
 		java_version=14
 	fi
@ -232,17 +228,6 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
 		sudo apt-get update -y --quiet

-		# Install Gazebo
-		gazebo_packages="gz-garden"
-	elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
-		echo "Gazebo (Garden) will be installed"
-		echo "Earlier versions will be removed"
-		# Add Gazebo binary repository
-		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
-		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable jammy main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-
-		sudo apt-get update -y --quiet
-
 		# Install Gazebo
 		gazebo_packages="gz-garden"
 	else
--- a/Tools/simulation/gazebo-classic/sitl_gazebo-classic
+++ b/Tools/simulation/gazebo-classic/sitl_gazebo-classic
@ -1 +1 @@
-Subproject commit 67431d233f0f08de647f0eb11239816f9c8bd6c6
+Subproject commit da7206e057703cc645770f02437013358b71e1c0
--- a/Tools/simulation/gz
+++ b/Tools/simulation/gz
@ -1 +1 @@
-Subproject commit 312cd002ff9602644efef58eef93e447c10dcbe8
+Subproject commit d754381a1cecdd7f17050acd72bf5bf1327bced6
--- a/boards/airmind/mindpx-v2/default.px4board
+++ b/boards/airmind/mindpx-v2/default.px4board
@ -10,9 +10,9 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
--- a/boards/ark/can-rtk-gps/init/rc.board_defaults
+++ b/boards/ark/can-rtk-gps/init/rc.board_defaults
@ -6,7 +6,6 @@
 param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
-param set-default GPS_1_GNSS 63
 param set-default MBE_ENABLE 1
 param set-default SENS_IMU_CLPNOTI 0

--- a/boards/ark/can-rtk-gps/src/board_config.h
+++ b/boards/ark/can-rtk-gps/src/board_config.h
@ -47,7 +47,7 @@
 #define GPIO_BTN_SAFETY       /* PB15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)

 /* Safety LED */
-#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)

 /* Tone alarm output. */
 #define TONE_ALARM_TIMER             2    /* timer 2 */
--- a/boards/ark/cannode/default.px4board
+++ b/boards/ark/cannode/default.px4board
@ -14,7 +14,6 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
-CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
--- a/boards/ark/fmu-v6x/default.px4board
+++ b/boards/ark/fmu-v6x/default.px4board
@ -8,11 +8,11 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
-CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
@ -59,7 +58,6 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
-CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
--- a/boards/ark/fmu-v6x/extras/ark_fmu-v6x_bootloader.bin
+++ b/boards/ark/fmu-v6x/extras/ark_fmu-v6x_bootloader.bin
--- a/boards/ark/fmu-v6x/nuttx-config/nsh/defconfig
+++ b/boards/ark/fmu-v6x/nuttx-config/nsh/defconfig
@ -147,8 +147,8 @@ CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0xA290AFE
-CONFIG_NETINIT_DRIPADDR=0xA290AFE
+CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
+CONFIG_NETINIT_DRIPADDR=0XC0A800FE
 CONFIG_NETINIT_MONITOR=y
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
--- a/boards/ark/pi6x/default.px4board
+++ b/boards/ark/pi6x/default.px4board
@ -7,8 +7,8 @@ CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_DSHOT=y
@ -41,7 +41,6 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
-CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
--- a/boards/ark/pi6x/extras/ark_pi6x_bootloader.bin
+++ b/boards/ark/pi6x/extras/ark_pi6x_bootloader.bin
--- a/boards/ark/pi6x/nuttx-config/nsh/defconfig
+++ b/boards/ark/pi6x/nuttx-config/nsh/defconfig
@ -14,6 +14,7 @@
 # CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_ARP is not set
 # CONFIG_NSH_DISABLE_CAT is not set
 # CONFIG_NSH_DISABLE_CD is not set
 # CONFIG_NSH_DISABLE_CP is not set
@ -36,6 +37,7 @@
 # CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_MOUNT is not set
 # CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_NSLOOKUP is not set
 # CONFIG_NSH_DISABLE_PS is not set
 # CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
 # CONFIG_NSH_DISABLE_PWD is not set
@ -115,6 +117,8 @@ CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
 CONFIG_INIT_STACKSIZE=3194
+CONFIG_IOB_NBUFFERS=24
+CONFIG_IOB_THROTTLE=0
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
--- a/boards/ark/septentrio-gps/default.px4board
+++ b/boards/ark/septentrio-gps/default.px4board
@ -1,13 +1,13 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
-CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
--- a/boards/ark/septentrio-gps/init/rc.board_sensors
+++ b/boards/ark/septentrio-gps/init/rc.board_sensors
@ -8,7 +8,4 @@ icm42688p -R 0 -s start

 bmp388 -I -b 1 start

-if ! iis2mdc -R 4 -I -b 1 start
-then
-	bmm150 -I -b 1 start
-fi
+bmm150 -I -b 1 start
--- a/boards/ark/septentrio-gps/src/board_config.h
+++ b/boards/ark/septentrio-gps/src/board_config.h
@ -47,7 +47,7 @@
 #define GPIO_BTN_SAFETY       /* PB15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)

 /* Safety LED */
-#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)

 /* Tone alarm output. */
 #define TONE_ALARM_TIMER             2    /* timer 2 */
--- a/boards/av/x-v1/nuttx-config/nsh/defconfig
+++ b/boards/av/x-v1/nuttx-config/nsh/defconfig
@ -139,8 +139,8 @@ CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0xA290AFE
-CONFIG_NETINIT_DRIPADDR=0xA290AFE
+CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
+CONFIG_NETINIT_DRIPADDR=0XC0A800FE
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
 CONFIG_NETUTILS_TELNETD=y
--- a/boards/beaglebone/blue/default.px4board
+++ b/boards/beaglebone/blue/default.px4board
@ -14,6 +14,7 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+CONFIG_DRIVERS_LINUX_PWM_OUT=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
--- a/boards/bitcraze/crazyflie/default.px4board
+++ b/boards/bitcraze/crazyflie/default.px4board
@ -3,8 +3,8 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
-CONFIG_DRIVERS_BAROMETER_LPS25H=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_DRIVERS_BAROMETER_LPS25H=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
--- a/boards/cuav/nora/default.px4board
+++ b/boards/cuav/nora/default.px4board
@ -7,10 +7,10 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@ -39,6 +39,7 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 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
@ -57,6 +58,7 @@ CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@ -68,6 +70,7 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@ -95,3 +98,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_FAKE_GPS=y
--- a/boards/cuav/nora/extras/cuav_nora_bootloader.bin
+++ b/boards/cuav/nora/extras/cuav_nora_bootloader.bin
--- a/boards/cuav/x7pro/default.px4board
+++ b/boards/cuav/x7pro/default.px4board
@ -6,11 +6,11 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
--- a/boards/cuav/x7pro/extras/cuav_x7pro_bootloader.bin
+++ b/boards/cuav/x7pro/extras/cuav_x7pro_bootloader.bin
--- a/boards/cubepilot/cubeorange/console.px4board
+++ b/boards/cubepilot/cubeorange/console.px4board
@ -1 +0,0 @@
-# Same as default, only defconfig is different
--- a/boards/cubepilot/cubeorange/extras/cubepilot_cubeorange_bootloader.bin
+++ b/boards/cubepilot/cubeorange/extras/cubepilot_cubeorange_bootloader.bin
--- a/boards/cubepilot/cubeorange/nuttx-config/console/defconfig
+++ b/boards/cubepilot/cubeorange/nuttx-config/console/defconfig
@ -1,257 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorange/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743ZI=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=768
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DTCM=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=79954
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x1016
-CONFIG_CDCACM_PRODUCTSTR="CubeOrange"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x2DAE
-CONFIG_CDCACM_VENDORSTR="CubePilot"
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_EXPERIMENTAL=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3194
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_MAX_EXITFUNS=1
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=4
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_OTG_ID_GPIO_DISABLE=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_READLINE_CMD_HISTORY=y
-CONFIG_READLINE_TABCOMPLETION=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=256
-CONFIG_STM32H7_ADC1=y
-CONFIG_STM32H7_ADC3=y
-CONFIG_STM32H7_BBSRAM=y
-CONFIG_STM32H7_BBSRAM_FILES=5
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
-CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32H7_I2C1=y
-CONFIG_STM32H7_I2C2=y
-CONFIG_STM32H7_I2C_DYNTIMEO=y
-CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_RTC=y
-CONFIG_STM32H7_RTC_HSECLOCK=y
-CONFIG_STM32H7_RTC_MAGIC_REG=1
-CONFIG_STM32H7_SAVE_CRASHDUMP=y
-CONFIG_STM32H7_SDMMC1=y
-CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_SPI1=y
-CONFIG_STM32H7_SPI1_DMA=y
-CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI2=y
-CONFIG_STM32H7_SPI4=y
-CONFIG_STM32H7_SPI4_DMA=y
-CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_TIM3=y
-CONFIG_STM32H7_TIM4=y
-CONFIG_STM32H7_UART4=y
-CONFIG_STM32H7_UART7=y
-CONFIG_STM32H7_UART8=y
-CONFIG_STM32H7_USART2=y
-CONFIG_STM32H7_USART3=y
-CONFIG_STM32H7_USART6=y
-CONFIG_STM32H7_USART_BREAKS=y
-CONFIG_STM32H7_USART_INVERT=y
-CONFIG_STM32H7_USART_SINGLEWIRE=y
-CONFIG_STM32H7_USART_SWAP=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGINT_CHAR=0x03
-CONFIG_TTY_SIGTSTP=y
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_SERIAL_CONSOLE=y
-CONFIG_UART7_TXBUFSIZE=1500
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_IFLOWCONTROL=y
-CONFIG_USART3_OFLOWCONTROL=y
-CONFIG_USART3_RXBUFSIZE=600
-CONFIG_USART3_TXBUFSIZE=3000
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_WATCHDOG=y
--- a/boards/cubepilot/cubeorange/nuttx-config/include/board.h
+++ b/boards/cubepilot/cubeorange/nuttx-config/include/board.h
@ -194,6 +194,12 @@

 #define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */

+/* UART clock selection */
+/* reset to default to overwrite any changes done by any bootloader */
+
+#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
+#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
+
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2

--- a/boards/cubepilot/cubeorangeplus/console.px4board
+++ b/boards/cubepilot/cubeorangeplus/console.px4board
@ -1 +0,0 @@
-# Same as default, only defconfig is different
--- a/boards/cubepilot/cubeorangeplus/extras/cubepilot_cubeorangeplus_bootloader.bin
+++ b/boards/cubepilot/cubeorangeplus/extras/cubepilot_cubeorangeplus_bootloader.bin
--- a/boards/cubepilot/cubeorangeplus/nuttx-config/console/defconfig
+++ b/boards/cubepilot/cubeorangeplus/nuttx-config/console/defconfig
@ -1,259 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorangeplus/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H747XI=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=768
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DTCM=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=79954
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x1058
-CONFIG_CDCACM_PRODUCTSTR="CubeOrange+"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x2DAE
-CONFIG_CDCACM_VENDORSTR="CubePilot"
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_EXPERIMENTAL=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3194
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_MAX_EXITFUNS=1
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=4
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_OTG_ID_GPIO_DISABLE=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_READLINE_CMD_HISTORY=y
-CONFIG_READLINE_TABCOMPLETION=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=256
-CONFIG_STM32H7_ADC1=y
-CONFIG_STM32H7_ADC3=y
-CONFIG_STM32H7_BBSRAM=y
-CONFIG_STM32H7_BBSRAM_FILES=5
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
-CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32H7_I2C1=y
-CONFIG_STM32H7_I2C2=y
-CONFIG_STM32H7_I2C4=y
-CONFIG_STM32H7_I2C_DYNTIMEO=y
-CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_PWR_DIRECT_SMPS_SUPPLY=y
-CONFIG_STM32H7_RTC=y
-CONFIG_STM32H7_RTC_HSECLOCK=y
-CONFIG_STM32H7_RTC_MAGIC_REG=1
-CONFIG_STM32H7_SAVE_CRASHDUMP=y
-CONFIG_STM32H7_SDMMC1=y
-CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_SPI1=y
-CONFIG_STM32H7_SPI1_DMA=y
-CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI2=y
-CONFIG_STM32H7_SPI4=y
-CONFIG_STM32H7_SPI4_DMA=y
-CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_TIM3=y
-CONFIG_STM32H7_TIM4=y
-CONFIG_STM32H7_UART4=y
-CONFIG_STM32H7_UART7=y
-CONFIG_STM32H7_UART8=y
-CONFIG_STM32H7_USART2=y
-CONFIG_STM32H7_USART3=y
-CONFIG_STM32H7_USART6=y
-CONFIG_STM32H7_USART_BREAKS=y
-CONFIG_STM32H7_USART_INVERT=y
-CONFIG_STM32H7_USART_SINGLEWIRE=y
-CONFIG_STM32H7_USART_SWAP=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGINT_CHAR=0x03
-CONFIG_TTY_SIGTSTP=y
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_SERIAL_CONSOLE=y
-CONFIG_UART7_TXBUFSIZE=1500
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_IFLOWCONTROL=y
-CONFIG_USART3_OFLOWCONTROL=y
-CONFIG_USART3_RXBUFSIZE=600
-CONFIG_USART3_TXBUFSIZE=3000
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_WATCHDOG=y
--- a/boards/cubepilot/cubeorangeplus/nuttx-config/include/board.h
+++ b/boards/cubepilot/cubeorangeplus/nuttx-config/include/board.h
@ -195,6 +195,12 @@

 #define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */

+/* UART clock selection */
+/* reset to default to overwrite any changes done by any bootloader */
+
+#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
+#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
+
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2

--- a/boards/emlid/navio2/default.px4board
+++ b/boards/emlid/navio2/default.px4board
@ -15,6 +15,7 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IMU_ST_LSM9DS1=y
+CONFIG_DRIVERS_LINUX_PWM_OUT=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_MAGNETOMETER_LSM9DS1_MAG=y
 CONFIG_DRIVERS_RC_INPUT=y
--- a/boards/hkust/nxt-dual/extras/hkust_nxt-dual_bootloader.bin
+++ b/boards/hkust/nxt-dual/extras/hkust_nxt-dual_bootloader.bin
--- a/boards/hkust/nxt-dual/nuttx-config/bootloader/defconfig
+++ b/boards/hkust/nxt-dual/nuttx-config/bootloader/defconfig
@ -29,12 +29,14 @@ CONFIG_BOARD_INITTHREAD_PRIORITY=254
 CONFIG_BOARD_LATE_INITIALIZE=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004b
 CONFIG_CDCACM_PRODUCTSTR="HKUST UAV NxtPX4"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
+#TODO：ally for VENDOR ID in the future
 CONFIG_CDCACM_VENDORID=0x3162
 CONFIG_CDCACM_VENDORSTR="Matek"
 CONFIG_DEBUG_FULLOPT=y
@ -75,15 +77,15 @@ CONFIG_STM32H7_OTGFS=y
 CONFIG_STM32H7_PROGMEM=y
 CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_USART6=y
+CONFIG_STM32H7_USART6=y #debug port, can be modified to UART8
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_TXBUFSIZE=300
 CONFIG_SYSTEMTICK_HOOK=y
 CONFIG_SYSTEM_CDCACM=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_TTY_SIGINT=y
 CONFIG_TTY_SIGINT_CHAR=0x03
 CONFIG_TTY_SIGTSTP=y
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=300
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
--- a/boards/hkust/nxt-dual/nuttx-config/nsh/defconfig
+++ b/boards/hkust/nxt-dual/nuttx-config/nsh/defconfig
@ -73,6 +73,7 @@ CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0036
@ -81,10 +82,12 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x1B8C
 CONFIG_CDCACM_VENDORSTR="Matek"
+CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_MEMFAULT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=n
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@ -111,10 +114,10 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3194
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_NCHAINS=24
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3194
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@ -126,6 +129,7 @@ CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
 CONFIG_MM_IOB=y
 CONFIG_MM_REGIONS=4
+# Avaible in Dual Version TODO: MTD IO error
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@ -160,6 +164,7 @@ CONFIG_RAW_BINARY=y
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
@ -170,6 +175,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@ -185,7 +191,7 @@ CONFIG_START_MONTH=11
 CONFIG_STDIO_BUFFER_SIZE=256
 CONFIG_STM32H7_ADC1=y
 CONFIG_STM32H7_ADC2=y
-CONFIG_STM32H7_ADC3=y
+CONFIG_STM32H7_ADC3=y #should always enable otherwsie got ADC timeout error this is for tempreature compenstae
 CONFIG_STM32H7_BBSRAM=y
 CONFIG_STM32H7_BBSRAM_FILES=5
 CONFIG_STM32H7_BDMA=y
@ -206,28 +212,40 @@ CONFIG_STM32H7_RTC_HSECLOCK=y
 CONFIG_STM32H7_RTC_MAGIC_REG=1
 CONFIG_STM32H7_SAVE_CRASHDUMP=y
 CONFIG_STM32H7_SDMMC1=y
+CONFIG_STM32H7_SDMMC1_DMA=y
+CONFIG_STM32H7_SDMMC1_DMA_BUFFER=1024
 CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32H7_SPI1=y
+# CONFIG_STM32H7_SPI1_DMA=y
+# CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI2=y
 CONFIG_STM32H7_SPI2_DMA=y
 CONFIG_STM32H7_SPI2_DMA_BUFFER=4096
 CONFIG_STM32H7_SPI3=y
+# CONFIG_STM32H7_SPI3_DMA=y
+# CONFIG_STM32H7_SPI3_DMA_BUFFER=1024
 CONFIG_STM32H7_SPI4=y
+# CONFIG_STM32H7_SPI4_DMA=y
+# CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI_DMA=y
 CONFIG_STM32H7_SPI_DMATHRESHOLD=8
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM2=y
 CONFIG_STM32H7_TIM3=y
 CONFIG_STM32H7_TIM4=y
+# CONFIG_STM32H7_TIM5=y
+# CONFIG_STM32H7_TIM6=y
+# CONFIG_STM32H7_TIM7=y
 CONFIG_STM32H7_TIM8=y
-CONFIG_STM32H7_UART4=y
-CONFIG_STM32H7_UART5=y
-CONFIG_STM32H7_UART7=y
-CONFIG_STM32H7_UART8=y
-CONFIG_STM32H7_USART1=y
-CONFIG_STM32H7_USART2=y
-CONFIG_STM32H7_USART3=y
-CONFIG_STM32H7_USART6=y
+CONFIG_STM32H7_USART1=y #ttyS0
+CONFIG_STM32H7_USART2=y #ttyS1
+CONFIG_STM32H7_USART3=y #ttyS2
+CONFIG_STM32H7_UART4=y #ttyS3
+CONFIG_STM32H7_UART5=y #ttyS4
+CONFIG_STM32H7_USART6=y #ttyS5 NC
+CONFIG_STM32H7_UART7=y #ttyS6
+CONFIG_STM32H7_UART8=y #ttyS7
 CONFIG_STM32H7_USART_BREAKS=y
 CONFIG_STM32H7_USART_INVERT=y
 CONFIG_STM32H7_USART_SINGLEWIRE=y
@ -235,20 +253,6 @@ CONFIG_STM32H7_USART_SWAP=y
 CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
-CONFIG_UART4_BAUD=921600
-CONFIG_UART4_RXBUFSIZE=3000
-CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=3000
-CONFIG_UART4_TXDMA=y
-CONFIG_UART5_BAUD=57600
-CONFIG_UART5_RXBUFSIZE=600
-CONFIG_UART5_TXBUFSIZE=1500
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_TXBUFSIZE=3000
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_TXBUFSIZE=3000
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
 CONFIG_USART1_TXBUFSIZE=1500
@ -258,12 +262,27 @@ CONFIG_USART2_TXBUFSIZE=3000
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_RXBUFSIZE=180
 CONFIG_USART3_TXBUFSIZE=1500
+CONFIG_UART4_BAUD=921600
+CONFIG_UART4_RXBUFSIZE=3000
+CONFIG_UART4_TXBUFSIZE=3000
+CONFIG_UART4_RXDMA=y
+CONFIG_UART4_TXDMA=y
+CONFIG_UART5_BAUD=57600
+CONFIG_UART5_RXBUFSIZE=600
+CONFIG_UART5_TXBUFSIZE=1500
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=180
 CONFIG_USART6_SERIAL_CONSOLE=y
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_TXBUFSIZE=3000
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_TXBUFSIZE=3000
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_WATCHDOG=y
 CONFIG_WQUEUE_NOTIFIER=y
--- a/boards/hkust/nxt-v1/default.px4board
+++ b/boards/hkust/nxt-v1/default.px4board
@ -17,25 +17,32 @@ CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
+CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_DRIVERS_RPM=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+#CONFIG_DRIVERS_UAVCAN=y
+#CONFIG_BOARD_UAVCAN_INTERFACES=1
+#CONFIG_MODULES_AIRSPEED_SELECTOR=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_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
@ -43,13 +50,13 @@ CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
+# CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@ -59,15 +66,18 @@ 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
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIH=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@ -75,9 +85,13 @@ CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_TEST=y
+#CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
--- a/boards/hkust/nxt-v1/extras/hkust_nxt-v1_bootloader.bin
+++ b/boards/hkust/nxt-v1/extras/hkust_nxt-v1_bootloader.bin
--- a/boards/hkust/nxt-v1/nuttx-config/bootloader/defconfig
+++ b/boards/hkust/nxt-v1/nuttx-config/bootloader/defconfig
@ -29,12 +29,14 @@ CONFIG_BOARD_INITTHREAD_PRIORITY=254
 CONFIG_BOARD_LATE_INITIALIZE=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004b
 CONFIG_CDCACM_PRODUCTSTR="HKUST UAV NxtPX4"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
+#TODO：ally for VENDOR ID in the future
 CONFIG_CDCACM_VENDORID=0x3162
 CONFIG_CDCACM_VENDORSTR="Matek"
 CONFIG_DEBUG_FULLOPT=y
--- a/boards/hkust/nxt-v1/nuttx-config/nsh/defconfig
+++ b/boards/hkust/nxt-v1/nuttx-config/nsh/defconfig
@ -73,6 +73,7 @@ CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0036
@ -81,10 +82,12 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x1B8C
 CONFIG_CDCACM_VENDORSTR="Matek"
+CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_MEMFAULT=y
 CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=n
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
@ -111,10 +114,10 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3194
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_NCHAINS=24
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3194
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@ -126,6 +129,12 @@ CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
 CONFIG_MM_IOB=y
 CONFIG_MM_REGIONS=4
+# Avaible in Dual Version
+# CONFIG_MTD=y
+# CONFIG_MTD_BYTE_WRITE=y
+# CONFIG_MTD_PARTITION=y
+# CONFIG_MTD_PROGMEM=y
+# CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARGCAT=y
@ -146,12 +155,14 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
@ -162,6 +173,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@ -177,7 +189,7 @@ CONFIG_START_MONTH=11
 CONFIG_STDIO_BUFFER_SIZE=256
 CONFIG_STM32H7_ADC1=y
 CONFIG_STM32H7_ADC2=y
-CONFIG_STM32H7_ADC3=y
+CONFIG_STM32H7_ADC3=y #should always enable otherwsie got ADC timeout error this is for tempreature compenstae
 CONFIG_STM32H7_BBSRAM=y
 CONFIG_STM32H7_BBSRAM_FILES=5
 CONFIG_STM32H7_BDMA=y
@ -198,6 +210,8 @@ CONFIG_STM32H7_RTC_HSECLOCK=y
 CONFIG_STM32H7_RTC_MAGIC_REG=1
 CONFIG_STM32H7_SAVE_CRASHDUMP=y
 CONFIG_STM32H7_SDMMC1=y
+CONFIG_STM32H7_SDMMC1_DMA=y
+CONFIG_STM32H7_SDMMC1_DMA_BUFFER=1024
 CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32H7_SPI1=y
@ -209,18 +223,19 @@ CONFIG_STM32H7_SPI2_DMA_BUFFER=4096
 CONFIG_STM32H7_SPI3=y
 CONFIG_STM32H7_SPI3_DMA=y
 CONFIG_STM32H7_SPI3_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI_DMA=y
 CONFIG_STM32H7_SPI_DMATHRESHOLD=8
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM3=y
 CONFIG_STM32H7_TIM4=y
 CONFIG_STM32H7_TIM5=y
 CONFIG_STM32H7_TIM8=y
-CONFIG_STM32H7_UART4=y
-CONFIG_STM32H7_UART5=y
-CONFIG_STM32H7_UART7=y
-CONFIG_STM32H7_USART1=y
-CONFIG_STM32H7_USART2=y
-CONFIG_STM32H7_USART3=y
+CONFIG_STM32H7_USART1=y #ttyS0
+CONFIG_STM32H7_USART2=y #ttyS1
+CONFIG_STM32H7_USART3=y #ttyS2
+CONFIG_STM32H7_UART4=y #ttyS3
+CONFIG_STM32H7_UART5=y #ttyS4
+CONFIG_STM32H7_UART7=y #ttyS5
 CONFIG_STM32H7_USART_BREAKS=y
 CONFIG_STM32H7_USART_INVERT=y
 CONFIG_STM32H7_USART_SINGLEWIRE=y
@ -228,15 +243,6 @@ CONFIG_STM32H7_USART_SWAP=y
 CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
-CONFIG_UART4_BAUD=921600
-CONFIG_UART4_RXBUFSIZE=3000
-CONFIG_UART4_TXBUFSIZE=1200
-CONFIG_UART5_BAUD=57600
-CONFIG_UART5_RXBUFSIZE=600
-CONFIG_UART5_TXBUFSIZE=1500
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_TXBUFSIZE=3000
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
 CONFIG_USART1_TXBUFSIZE=1500
@ -247,9 +253,20 @@ CONFIG_USART3_BAUD=57600
 CONFIG_USART3_RXBUFSIZE=180
 CONFIG_USART3_SERIAL_CONSOLE=y
 CONFIG_USART3_TXBUFSIZE=1500
+CONFIG_UART4_BAUD=921600
+CONFIG_UART4_RXBUFSIZE=3000
+CONFIG_UART4_TXBUFSIZE=1200
+CONFIG_UART5_BAUD=57600
+CONFIG_UART5_RXBUFSIZE=600
+CONFIG_UART5_TXBUFSIZE=1500
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_TXBUFSIZE=3000
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
 CONFIG_WQUEUE_NOTIFIER=y
--- a/boards/holybro/durandal-v1/extras/holybro_durandal-v1_bootloader.bin
+++ b/boards/holybro/durandal-v1/extras/holybro_durandal-v1_bootloader.bin
--- a/boards/holybro/kakutef7/init/rc.board_defaults
+++ b/boards/holybro/kakutef7/init/rc.board_defaults
@ -15,7 +15,7 @@ param set-default SYS_AUTOSTART 4050
 param set-default SYS_HAS_MAG 0

 # enable gravity fusion
-param set-default EKF2_IMU_CTRL 7
+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
--- a/boards/holybro/kakuteh7/extras/holybro_kakuteh7_bootloader.bin
+++ b/boards/holybro/kakuteh7/extras/holybro_kakuteh7_bootloader.bin
--- a/boards/holybro/kakuteh7/init/rc.board_defaults
+++ b/boards/holybro/kakuteh7/init/rc.board_defaults
@ -25,7 +25,7 @@ param set-default SYS_AUTOSTART 4050
 # use EKF2 without mag
 param set-default SYS_HAS_MAG 0
 # and enable gravity fusion
-param set-default EKF2_IMU_CTRL 7
+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
--- a/boards/holybro/kakuteh7mini/extras/holybro_kakuteh7mini_bootloader.bin
+++ b/boards/holybro/kakuteh7mini/extras/holybro_kakuteh7mini_bootloader.bin
--- a/boards/holybro/kakuteh7mini/init/rc.board_defaults
+++ b/boards/holybro/kakuteh7mini/init/rc.board_defaults
@ -25,7 +25,7 @@ param set-default SYS_AUTOSTART 4050
 # use EKF2 without mag
 param set-default SYS_HAS_MAG 0
 # and enable gravity fusion
-param set-default EKF2_IMU_CTRL 7
+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
--- a/boards/holybro/kakuteh7v2/extras/holybro_kakuteh7v2_bootloader.bin
+++ b/boards/holybro/kakuteh7v2/extras/holybro_kakuteh7v2_bootloader.bin
--- a/boards/holybro/kakuteh7v2/init/rc.board_defaults
+++ b/boards/holybro/kakuteh7v2/init/rc.board_defaults
@ -25,7 +25,7 @@ param set-default SYS_AUTOSTART 4050
 # use EKF2 without mag
 param set-default SYS_HAS_MAG 0
 # and enable gravity fusion
-param set-default EKF2_IMU_CTRL 7
+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
--- a/boards/matek/h743-mini/extras/matek_h743-mini_bootloader.bin
+++ b/boards/matek/h743-mini/extras/matek_h743-mini_bootloader.bin
--- a/boards/matek/h743-slim/extras/matek_h743-slim_bootloader.bin
+++ b/boards/matek/h743-slim/extras/matek_h743-slim_bootloader.bin
--- a/boards/matek/h743/default.px4board
+++ b/boards/matek/h743/default.px4board
@ -7,8 +7,8 @@ CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
--- a/boards/matek/h743/extras/matek_h743_bootloader.bin
+++ b/boards/matek/h743/extras/matek_h743_bootloader.bin
--- a/boards/micoair/h743/bootloader.px4board
+++ b/boards/micoair/h743/bootloader.px4board
@ -1,3 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROMFSROOT=""
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Jacob Dahl	93eef0c787	set file descriptor to -1 after close()	2024-10-01 13:13:18 -04:00
alexklimaj	dd5e81470c	failure detector use per index esc current	2024-09-30 15:45:56 -04:00
Mathieu Bresciani	1d06f62399	fix VehicleCommand.msg syntax	2024-09-30 15:28:24 -04:00
Daniel Agar	f5f7dfc45e	commander: ignore REQUEST_CAMERA_INFORMATION - add answer command logging	2024-09-30 15:28:24 -04:00
Ramon Roche	cf1c03e412	drivers/gnss/septentrio: disable default assignment of GPS1	2024-09-25 06:54:51 -07:00
Ramon Roche	30e763b678	Commander: lock down mav sys and comp id - keeps them as local params at init - only allow to set at init	2024-08-27 15:27:32 -04:00
Julian Oes	fe26cdebc0	stm32h7: Reset USART clock selection (#23498 ) (#23516 ) This resets the USARTs' clock source selection to the default, in case it has been changed by the bootloader. This is required if booting from the ArduPilot bootloader which happens to reset the clock selection to PLL. Without this fix, UARTs (including the console) is garbled, so presumably at an invalid baudrate.	2024-08-09 10:25:19 +12:00
Silvan Fuhrer	631f36b1ee	TECS: reduce default of FW_T_SPD_STD to reduce airspeed measurement delay Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-08-07 17:45:20 +02:00
Beat Küng	96cddf5ed1	fix metadata.cmake: add missing paths to json & xml parameter outputs (#23464 )	2024-08-07 08:39:43 +02:00
chiara-septentrio	5216453b39	drivers/gnss/septentrio : 1.15-compatible extracted septentrio driver, with new features and fixes (#23386 ) Co-authored-by: Chiara de Saint Giniez <chiarastginiez@gmail.com>	2024-07-25 11:39:38 -04:00
David Sidrane	3dc97908db	spracing_h7extreme:rcc Tack upstream name fix	2024-07-15 13:52:44 +02:00
Matthias Grob	762d87285c	Jankinsfile-compile: add missing comma after `ark_pi6x_default`	2024-07-15 13:52:44 +02:00
Matthias Grob	5216d5c569	SubscriptionInterval: move updated, update, copy function to a cpp file Saves 17.3 kilobytes of flash 😮	2024-07-15 11:31:52 +02:00
Matthias Grob	920005a235	uORB: SubscriptionInterval fix timestamp wrapping when initializing less than the interval time after boot (#23384 ) * SubscriptionInterval: ensure _last_update is never before timer start	2024-07-11 16:36:55 +02:00
Peter van der Perk	50dd011c5e	Update NuttX Backports: stm32h755II backport stm32h7: allow Ethernet MAC without PHY imxrt: imxrt11xx set core clock to 1p15v regardless of ocotp imxrt: Correctly update PLL, bit has to toggled instead of being set	2024-07-10 22:00:47 -04:00
Peter van der Perk	e00101b771	[BACKPORT] imxrt: Change PLL settings for more accurate dshot timing	2024-07-10 22:00:47 -04:00
Peter van der Perk	c8fedda09a	[BACKPORT] fmu-v6xrt: MTD use full FRAM (32KB)	2024-07-10 22:00:47 -04:00
alexklimaj	de07e2bef0	boards ark pi6x add vl53l0x	2024-06-26 17:09:48 -04:00
fury1895	9a422dbfe8	gimbal - input_mavlink: return NoUpdate by default	2024-06-19 14:49:04 +02:00
Julian Oes	e2558046b8	mavlink: enable gimbal controls in QGC over USB	2024-06-11 15:08:38 +12:00
Julian Oes	00b6df1de5	gimbal: fix auto RC and MAVLink mode This fixes various edge cases when input is set to both: RC and MAVLink gimbal protocol v2. Specifically: - We no longer immediately reset primary control if there is no update, otherwise this will reset immediately after an commands. - Talking of commands: GIMBAL_MANAGER_CONFIGURE no longer switches control to MAVLink but only an actual incoming setpoint command does. - And incoming setpoint command only triggers UpdatedActiveOnce which means we will check RC again afterwards and if there is big movement switch back to RC. That's the intuitive thing to do until we have better reporting about who/what is in control. - Also, with RC we no longer always set us to be in control but only on major movement.	2024-06-11 15:08:38 +12:00
Jacob Dahl	061373f45b	cdcacm_autostart: handle USB power only	2024-06-07 08:05:15 -04:00
Silvan Fuhrer	f3787708d7	VTOL: remove _dt passing as it's no longer used (and was wrong) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-06-06 21:52:40 -04:00
Silvan Fuhrer	4fe51d4911	VTOL Standard: fix transition pusher motor slew rate Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-06-06 21:52:40 -04:00
Julian Oes	71bf06af56	boards: update all bootloaders	2024-06-07 09:24:40 +12:00
Peize-Liu	5f2568231d	[Fix][hkust_nxt-dual]:board hkust_nxt-dual fix hw_config.h missing APP_RESERVATION_SIZE param (#23204 )	2024-06-07 09:24:40 +12:00
Julian Oes	ce9109cf5e	Makefile: add missing bootloader targets Quite a few were missing, and everything on one line was hard to diff.	2024-06-07 09:24:40 +12:00
David Sidrane	ec2c91fa90	nxp/imxrt_common/main:Fix Breakage from a9962dc	2024-06-07 09:24:40 +12:00
Julian Oes	9f07f2a076	px_uploader: catch serial exception correctly Signed-off-by: Julian Oes <julian@oes.ch>	2024-06-07 09:24:40 +12:00
Julian Oes	9dc3f6ea12	bootloader: remove unused/duplicate defines	2024-06-07 09:24:40 +12:00
Julian Oes	0d957e9e87	bootloader: track ArduPilot protocol Just so we don't conflict on these commands in the future.	2024-06-07 09:24:40 +12:00
Julian Oes	62e61a3d7e	px_uploader.py: clean up various tidbits Includes: - Remove some of the outdated Python2 checks and compatibility. - Try not catch all exceptions but only the expected ones. Otherwise, this makes it really hard to debug if anything unexpected actually goes wrong. - Make use of fstrings. - Make output slightly prettier. Signed-off-by: Julian Oes <julian@oes.ch>	2024-06-07 09:24:40 +12:00
Julian Oes	cc83186dcc	bootloader: add bootloader version This adds a new protocol extension which allows to get the bootloader version. The bootloader version is different from the bootloader protocol revision which has stabilized at 5 and is not easy to update unless a bootloader is actually breaking the protocol. The reason being that both the Python script as well as the uploader used in QGC will not attempt to load firmware if they don't know the bootloader version, so it could basically be considered a "breaking" protocol revision. Signed-off-by: Julian Oes <julian@oes.ch>	2024-06-07 09:24:40 +12:00
Julian Oes	eb9fd7ec76	tools/bootloader: add force-erase option If the STM32H7 fails to program or erase a full chunk of 256 bytes, the ECC check will trigger a busfault when trying to read from it. To speed up erasing and optimize wear, we read before erasing to check if it actually needs erasing. That's when a busfault happens and the erase time outs. The workaround is to add an option to do a full erase without check. Credit goes to: https://github.com/ArduPilot/ardupilot/pull/22090 And the protocol option added to the bootloader is the same as for ArduPilot, so compatible. Signed-off-by: Julian Oes <julian@oes.ch>	2024-06-07 09:24:40 +12:00
Peter van der Perk	d8655fdde9	[BACKPORT] fmu-v6xrt: Support RC telemetry	2024-06-05 11:15:45 -04:00
Peter van der Perk	d8b6b2a5ad	[BACKPORT] fmu-v6xrt: Fix flash configuration Fixes correct dummy cycle count of 20	2024-06-05 11:15:45 -04:00
David Sidrane	ef9b1b75c3	[BACKPORT] Update px4_fmu-v6xrt Bootloader	2024-06-05 11:15:45 -04:00
David Sidrane	f10650e114	[BACKPORT] px4_fmu-v6xrt & bootloader:Bootloader enusres that ITCM memory is writable before jump to APP	2024-06-05 11:15:45 -04:00
David Sidrane	82a259cebe	[BACKPORT] bootloader/common/bl.c:Fixed Wrong vec_base caculation - only effects imxrt	2024-06-05 11:15:45 -04:00
David Sidrane	5903a815b7	NuttX with imxrt:lpuart & 1170 MPU Backports [BACKPORT] imxrt: lpuart singlewire transfer support These correctly enables mpu_rest on MPU init if CONFIG_ARM_MPU_RESET is defined. [BACKPORT] imxrt: 1170 MPU config ensure no lockups can occur [BACKPORT] armv{7\|8}-{m\|r}:MPU fix CONFIG naming to include ARM	2024-06-05 11:15:45 -04:00
Peter van der Perk	b5e5b2a186	[BACKPORT] dronecan: SocketCAN driver check size before copying Avoids memory corruption if we get packets to big	2024-06-05 11:15:45 -04:00
Peter van der Perk	901ac16583	[BACKPORT] fmu-v6xrt: Add I2C driver launcher	2024-06-05 11:15:45 -04:00
Peter van der Perk	27ed745b95	[BACKPORT] fmu-v6xrt: Enable debug features for more verbose hardfault output	2024-06-05 11:15:45 -04:00
David Sidrane	0ca57a5547	NuttX with imxrt_sd-preflight backport	2024-06-05 11:15:45 -04:00
David Sidrane	d182b202c8	[BACKPORT] px4_fmu-v6xrt:Support_MMCSD_MULTIBLOCK with preflight	2024-06-05 11:15:45 -04:00
alexklimaj	192bbd177b	airframes: dexi remove EKF2_HGT_REF default	2024-05-29 20:39:10 -04:00
alexklimaj	bb1f104a1a	boards: ark-pi6x remove ekf delay param defaults	2024-05-29 11:23:16 -04:00
Jacob Dahl	e173520273	boards: ark: pi6x: CONFIG_DRIVERS_CDCACM_AUTOSTART=y (#23163 )	2024-05-29 11:23:16 -04:00
Jacob Dahl	b8e43e1649	[mavlink] Parameter to always start on USB (#22234 ) * usb: Added parameter to enable always starting mavlink on USB. Refactored cdcacm_init into a module and added a paramter to allow always starting mavlink on USB, also added a paramter to choose the mode. The current default behavior is to wait and listen for data on USB and auto-detect the protocol (mavlink, nsh, ublox). This results in the mavlink stream not starting until something else on the mavlink network sends a packet first. The new default behavior is to always start mavlink. Added parameters MAV_USB_ENABLE -- default 1 (always start mavlink on USB) MAV_USE_MODE -- default 3 (onboard) * added 3 retries for opening serial port in mavlink, removed sleep before sercon * added DRIVERS_CDCACM_AUTOSTART to ark-v6x default.px4board * added CONFIG_DRIVERS_CDCACM_AUTOSTART=y to default.px4board for boards with CONFIG_CDCACM in their nsh/defconfig * format * remove PGA460 from COMMON_DISTANCE_SENSOR to save flash * remove LIS2MDL from COMMON_MAGNETOMETER to save flash * disable CONFIG_DRIVERS_CDCACM_AUTOSTART for fmu-v5 protected.px4board * moved and renamed parameters, removed mode logic in mavlink * changed parameter names, added mode none * remove parameters from mavlink	2024-05-29 11:23:16 -04:00
alexklimaj	a59b6fe5e9	boards: add iis2mdc mag to ark pi6x	2024-05-29 11:23:16 -04:00
Jacob Dahl	3b0a712c70	drivers/magnetometer: new ST IIS2MDC Magnetometer driver	2024-05-29 11:23:16 -04:00
Alexis Guijarro	60138da56b	mRo Control Zero Classic: Definition for GPS2 by default added	2024-05-23 18:29:10 -07:00
				`@ -1 +0,0 @@`
				`# Same as default, only defconfig is different`