new standalone drivers/system_power (split out of adc)

- system_power portion of drivers/adc split into a new standalone module (drivers/system_power) - additional availability flags added to system_power.msg so we know what boards even support (previously certain flags were faked if not available) - drivers/system_power scheduled at minimum rate by default, but now also scheduled immediately on any relevant GPIO events - now instead of running at 100 Hz with heavily reduced logging we can run at a minimal rate, log at full rate, and catch relevant changes immediately
Preflight checks: Airspeed checks update
2026-05-27 02:20:05 +08:00 · 2021-01-16 14:20:54 -05:00 · 2021-01-16 10:26:55 -05:00 · 2021-01-16 09:32:09 +01:00 · 2021-01-15 11:44:21 -08:00 · 2021-01-15 10:57:20 -05:00
667 changed files with 19995 additions and 7321 deletions
@@ -53,6 +53,7 @@ pipeline {
                     "intel_aerofc-v1_default",
                     "modalai_fc-v1_default",
                     "mro_ctrl-zero-f7_default",
+                     "mro_pixracerpro_default",
                     "mro_x21-777_default",
                     "mro_x21_default",
                     "nxp_fmuk66-v3_default",
@@ -7,57 +7,57 @@ pipeline {

      parallel {

-        stage("px4_fmu-v2_test") {
-          stages {
-            stage("build px4_fmu-v2_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
-                sh 'make px4_fmu-v2_test'
-                sh 'make sizes'
-                sh 'ccache -s'
-                stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
-              }
-              post {
-                always {
-                    sh 'make distclean'
-                }
-              }
-            } // stage build
-            stage("test") {
-              agent {
-                label 'px4_fmu-v2'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v2_test'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
-                  }
-                }
-                stage("reset") {
-                  steps {
-                    cleanupFTDI();
-                  }
-                }
-              }
-              options {
-                timeout(time: 90, unit: 'MINUTES')
-              }
-            }
-          }
-        }
+        // stage("px4_fmu-v2_test") {
+        //   stages {
+        //     stage("build px4_fmu-v2_test") {
+        //       agent {
+        //         docker {
+        //           image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+        //           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+        //         }
+        //       }
+        //       steps {
+        //         sh 'export'
+        //         sh 'make distclean'
+        //         sh 'ccache -s'
+        //         sh 'git fetch --tags'
+        //         sh 'make px4_fmu-v2_test'
+        //         sh 'make sizes'
+        //         sh 'ccache -s'
+        //         stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
+        //       }
+        //       post {
+        //         always {
+        //             sh 'make distclean'
+        //         }
+        //       }
+        //     } // stage build
+        //     stage("test") {
+        //       agent {
+        //         label 'px4_fmu-v2'
+        //       }
+        //       stages {
+        //         stage("flash") {
+        //           steps {
+        //             sh 'export'
+        //             sh 'find /dev/serial'
+        //             unstash 'px4_fmu-v2_test'
+        //             // flash board and watch bootup
+        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+        //           }
+        //         }
+        //         stage("reset") {
+        //           steps {
+        //             cleanupFTDI();
+        //           }
+        //         }
+        //       }
+        //       options {
+        //         timeout(time: 90, unit: 'MINUTES')
+        //       }
+        //     }
+        //   }
+        // }

        stage("px4_fmu-v3_default") {
          stages {
@@ -102,6 +102,7 @@ pipeline {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
@@ -175,6 +176,7 @@ pipeline {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
@@ -247,6 +249,7 @@ pipeline {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
@@ -320,6 +323,7 @@ pipeline {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
@@ -471,6 +475,7 @@ pipeline {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
@@ -620,6 +625,7 @@ pipeline {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic vtol standardulticopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot" || true'                // reboot to apply
@@ -694,6 +700,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set DSHOT_CONFIG 600"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_USE_IO 0"'          // for dshot
@@ -770,6 +777,7 @@ pipeline {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
@@ -837,6 +845,7 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_selector_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_sensor_bias"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status_flags"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener logger_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel_fifo"'
@@ -915,6 +924,7 @@ void statusSEGGER() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_selector_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_sensor_bias"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status_flags"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener logger_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel_fifo"'
@@ -15,8 +15,7 @@ jobs:
      matrix:
        config: [
          px4_fmu-v5_default,
-          px4_sitl_default,
-          #tests, # includes px4_sitl
+          tests, # includes px4_sitl
          ]
    steps:
    - uses: actions/checkout@v1
@@ -24,7 +23,7 @@ jobs:
        token: ${{secrets.ACCESS_TOKEN}}

    - name: setup
-      run: ./Tools/setup/macos.sh
+      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -32,6 +32,7 @@ jobs:
          intel_aerofc-v1_default,
          modalai_fc-v1_default,
          mro_ctrl-zero-f7_default,
+          mro_pixracerpro_default,
          mro_x21-777_default,
          mro_x21_default,
          nxp_fmuk66-v3_default,
@@ -0,0 +1,59 @@
+name: NuttX UAVCAN firmware
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2020-11-18
+    strategy:
+      matrix:
+        config: [
+          cuav_can-gps-v1_default,
+          #nxp_ucans32k146_default,
+          px4_fmu-v4_cannode
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: Upload px4 package
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_cannode_${{matrix.config}}
+        path: build/${{matrix.config}}/*.uavcan.bin
@@ -66,6 +66,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cuav_can-gps-v1_default
+    cuav_can-gps-v1_canbootloader:
+      short: cuav_can-gps-v1_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_can-gps-v1_canbootloader
    cuav_nora_default:
      short: cuav_nora
      buildType: MinSizeRel
@@ -1,20 +1,20 @@
 # PX4 Drone Autopilot

-[![Releases](https://img.shields.io/github/release/PX4/Firmware.svg)](https://github.com/PX4/Firmware/releases) [![DOI](https://zenodo.org/badge/22634/PX4/Firmware.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/Firmware)
+[![Releases](https://img.shields.io/github/release/PX4/PX4-Autopilot.svg)](https://github.com/PX4/PX4-Autopilot/releases) [![DOI](https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg)](https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot)

-[![Nuttx Targets](https://github.com/PX4/Firmware/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/Firmware/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/Firmware/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/Firmware/actions?query=workflow%3A%22SITL+Tests%22)
+[![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)

 [![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)

-This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/Firmware/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
+This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.

-* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/Firmware/blob/master/LICENSE))
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
  * [Multicopters](https://docs.px4.io/master/en/airframes/airframe_reference.html#copter)
  * [Fixed wing](https://docs.px4.io/master/en/airframes/airframe_reference.html#plane)
  * [VTOL](https://docs.px4.io/master/en/airframes/airframe_reference.html#vtol)
  * many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
-* Releases: [Downloads](https://github.com/PX4/Firmware/releases)
+* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)


 ## PX4 Users
@@ -44,20 +44,20 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
    * [Lorenz Meier](https://github.com/LorenzMeier)
  * Architecture
    * [Daniel Agar](https://github.com/dagar)
-  * [Dev Call](https://github.com/PX4/Firmware/labels/devcall)
+  * [Dev Call](https://github.com/PX4/PX4-Autopilot/labels/devcall)
    * [Ramon Roche](https://github.com/mrpollo)
  * Communication Architecture
    * [Beat Kueng](https://github.com/bkueng)
    * [Julian Oes](https://github.com/JulianOes)
  * UI in QGroundControl
    * [Gus Grubba](https://github.com/dogmaphobic)
-  * [Multicopter Flight Control](https://github.com/PX4/Firmware/labels/multicopter)
+  * [Multicopter Flight Control](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
    * [Mathieu Bresciani](https://github.com/bresch)
-  * [Multicopter Software Architecture](https://github.com/PX4/Firmware/labels/multicopter)
+  * [Multicopter Software Architecture](https://github.com/PX4/PX4-Autopilot/labels/multicopter)
    * [Matthias Grob](https://github.com/MaEtUgR)
-  * [VTOL Flight Control](https://github.com/PX4/Firmware/labels/vtol)
+  * [VTOL Flight Control](https://github.com/PX4/PX4-Autopilot/labels/vtol)
    * [Roman Bapst](https://github.com/RomanBapst)
-  * [Fixed Wing Flight Control](https://github.com/PX4/Firmware/labels/fixedwing)
+  * [Fixed Wing Flight Control](https://github.com/PX4/PX4-Autopilot/labels/fixedwing)
    * [Roman Bapst](https://github.com/RomanBapst)
  * OS / NuttX
    * [David Sidrane](https://github.com/davids5)
@@ -65,9 +65,9 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
    * [Daniel Agar](https://github.com/dagar)
  * Commander Architecture
    * [Julian Oes](https://github.com/julianoes)
-  * [UAVCAN](https://github.com/PX4/Firmware/labels/uavcan)
+  * [UAVCAN](https://github.com/PX4/PX4-Autopilot/labels/uavcan)
    * [Daniel Agar](https://github.com/dagar)
-  * [State Estimation](https://github.com/PX4/Firmware/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
+  * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
    * [Paul Riseborough](https://github.com/priseborough)
  * Vision based navigation
    * [Julian Kent](https://github.com/jkflying)
@@ -76,7 +76,7 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
  * RTPS/ROS2 Interface
    * [Nuno Marques](https://github.com/TSC21)

-See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/Firmware/graphs/contributors) (Github).
+See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github).

 ## Supported Hardware

@@ -16,20 +16,31 @@ then
 	param set FW_LND_ANG 8
 	param set FW_THR_LND_MAX 0

-	param set FW_L1_PERIOD 15
-
-	param set FW_P_TC 0.5
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
-
-	param set FW_R_TC 0.7
-	param set FW_RR_FF 0.20
-	param set FW_RR_I 0.02
-	param set FW_RR_P 0.22
-
 	param set FW_L1_PERIOD 12

+	param set FW_MAN_P_MAX 30
+
+	param set FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PR_FF 0.2
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
+
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.3
+
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_THR_CRUISE 0.25
+
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2
+
 	param set FW_W_EN 1

 	param set MIS_LTRMIN_ALT 30
@@ -9,40 +9,46 @@

 if [ $AUTOCNF = yes ]
 then
-	param set FW_AIRSPD_MAX 25
-	param set FW_AIRSPD_MIN 14
-	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12
-
+	param set FW_MAN_P_MAX 30
+	param set FW_PR_FF 0.2
+	param set FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
 	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.01
+	param set FW_RR_P 0.3
+	param set FW_THR_CRUISE 0.25
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2

 	param set MC_ROLLRATE_P 0.3
+	param set MC_YAW_P 1.6

-	param set MIS_LTRMIN_ALT 10
 	param set MIS_TAKEOFF_ALT 10
-	param set MIS_YAW_TMT 10

 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_HOVER 0.58
-	param set MPC_TKO_SPEED 1
 	param set MPC_XY_P 0.8
 	param set MPC_XY_VEL_P_ACC 3
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_D_ACC 0.1
-	param set MPC_Z_VEL_MAX_DN 1.5

 	param set NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80

-	param set VT_F_TRANS_DUR 5
+	param set VT_FWD_THRUST_EN 4
 	param set VT_F_TRANS_THR 0.75
-	param set VT_ARSP_TRANS 16
 	param set VT_MOT_ID 1234
 	param set VT_FW_MOT_OFFID 1234
-	param set VT_TYPE 2
 	param set VT_B_TRANS_DUR 8
+	param set VT_TYPE 2

 fi

@@ -9,23 +9,31 @@

 if [ $AUTOCNF = yes ]
 then
-	param set FW_AIRSPD_MAX 25
-	param set FW_AIRSPD_MIN 14
-	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12
+	param set FW_MAN_P_MAX 30
+	param set FW_PR_I 0.2
+	param set FW_PR_P 0.3
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
+	param set FW_RR_P 0.3
+	param set FW_THR_CRUISE 0.33
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2

 	param set MC_ROLLRATE_P 0.3

-	param set MIS_YAW_TMT 10
-
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_MIN 0.3
-	param set MPC_XY_P 0.15
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 3
+	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_D_ACC 0.1
-	param set MPC_XY_VEL_P_ACC 1
-	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_Z_VEL_P_ACC 16

 	param set NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80
@@ -9,40 +9,44 @@

 if [ $AUTOCNF = yes ]
 then
-	param set FW_ARSP_MODE 1
-	param set FW_AIRSPD_MAX 25
-	param set FW_AIRSPD_MIN 14
-	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12
+	param set FW_MAN_P_MAX 30
+	param set FW_PR_FF 0.2
+	param set FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.3
+	param set FW_THR_CRUISE 0.38
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2

-	param set MC_ROLLRATE_P 0.3
+	param set MC_YAW_P 1.6

-	param set MIS_LTRMIN_ALT 10
 	param set MIS_TAKEOFF_ALT 10
-	param set MIS_YAW_TMT 10

 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_MIN 0.1
-	param set MPC_TKO_SPEED 1
-	param set MPC_XY_P 0.15
-	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 3
 	param set MPC_XY_VEL_I_ACC 4
-	param set MPC_XY_VEL_P_ACC 1
-	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_Z_VEL_P_ACC 16
+	param set MPC_XY_VEL_D_ACC 0.1

 	param set NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80

-	param set VT_F_TRANS_DUR 5.0
-	param set VT_F_TRANS_THR 0.75
-	param set VT_FWD_THRUST_SC 1.1
-	param set VT_TILT_FW 1
-	param set VT_TILT_TRANS 0.6
-	param set VT_ELEV_MC_LOCK 0
-	param set VT_TYPE 1
 	param set VT_B_TRANS_DUR 8
+	param set VT_FWD_THRUST_EN 4
+	param set VT_MOT_ID 1234
+	param set VT_TILT_TRANS 0.6
+	param set VT_TYPE 1

 fi

@@ -9,12 +9,14 @@

 if [ $AUTOCNF = yes ]
 then
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCH_P 6.0
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLL_P 6.0
+	param set MC_PITCHRATE_P 0.1000
+	param set MC_PITCHRATE_I 0.0400
+	param set MC_PITCHRATE_D 0.0010
+	param set MC_PITCH_P 9.0
+	param set MC_ROLLRATE_P 0.1000
+	param set MC_ROLLRATE_I 0.0400
+	param set MC_ROLLRATE_D 0.0010
+	param set MC_ROLL_P 9.0
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_P_ACC 3

@@ -19,6 +19,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -17,6 +17,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -19,6 +19,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -19,6 +19,7 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -7,6 +7,10 @@
 #
 # @maintainer Roman Bapst <roman@auterion.com>
 #
+# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
+# @board bitcraze_crazyflie exclude
+#

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

@@ -16,6 +16,7 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -17,6 +17,10 @@
 # @output AUX4 Rudder
 # @output AUX5 Throttle
 #
+# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
+# @board bitcraze_crazyflie exclude
+#

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

@@ -12,6 +12,10 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
+# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
+# @board bitcraze_crazyflie exclude
+#

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

@@ -47,4 +51,4 @@ set MAV_TYPE 19

 set MIXER vtol_tailsitter_duo

-set PWM_OUT 1234
+set PWM_OUT 123456
@@ -7,6 +7,10 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
+# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
+# @board bitcraze_crazyflie exclude
+#

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

@@ -25,4 +29,4 @@ set MAV_TYPE 20

 set MIXER quad_x_vtol

-set PWM_OUT 1234
+set PWM_OUT 1234
@@ -17,6 +17,7 @@
 # @output AUX4 Rudder
 # @output AUX5 Throttle
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -15,6 +15,7 @@
 # @output AUX2 Left elevon
 # @output AUX3 Motor
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -7,6 +7,7 @@
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -7,6 +7,7 @@
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -7,6 +7,7 @@
 #
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -16,6 +16,7 @@
 # @output MAIN7 Elevon right
 # @output MAIN8 Elevon left
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -16,6 +16,10 @@
 # @output MAIN7 Pusher motor
 # @output MAIN8 Pusher reverse channel
 #
+# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
+# @board bitcraze_crazyflie exclude
+#

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

@@ -50,7 +54,6 @@ then
 	param set FW_T_SINK_MAX 3
 	param set FW_T_SINK_MIN 1
 	param set FW_T_VERT_ACC 6
-	param set FW_T_HRATE_P 0.1
 	param set FW_THR_CRUISE 0.70
 	param set FW_THR_SLEW_MAX 1
 	param set FW_MAN_P_MAX 30
@@ -49,8 +49,6 @@ then
 	param set FW_T_HRATE_FF 0
 	param set FW_T_SINK_MAX	15
 	param set FW_T_SINK_MIN	3
-	param set FW_T_THRO_CONST	6
-	param set FW_T_TIME_CONST	6
 	param set FW_YR_I	0.1
 	param set FW_YR_P	0.15

@@ -12,6 +12,7 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -0,0 +1,49 @@
+#!/bin/sh
+#
+# @name ThunderFly TF-G2
+#
+# @type Autogyro
+# @class Autogyro
+#
+# @output MAIN2 rotor_head_L
+# @output MAIN3 rotor_head_R
+# @output MAIN4 rudder
+# @output MAIN5 throttle
+#
+#
+# @url https://github.com/ThunderFly-aerospace/TF-G2/
+# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
+#
+# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set BAT_CAPACITY 3300
+	param set BAT_N_CELLS 3
+
+	param set PWM_AUX_RATE 50
+	param set PWM_RATE 50
+
+	param set SENS_BOARD_ROT 4
+
+	param set FW_AIRSPD_MAX 20
+	param set FW_AIRSPD_MIN 7
+	param set FW_AIRSPD_TRIM 13
+	param set FW_THR_CRUISE 0.8
+
+	param set FW_MAN_P_MAX 25
+	param set FW_MAN_R_MAX 25
+	param set FW_PR_I 0.02
+	param set FW_R_LIM 40
+	param set FW_P_LIM_MAX 25
+	param set FW_P_LIM_MIN -5
+	param set FW_P_RMAX_NEG 20
+fi
+
+set MIXER TF-G2
+set MIXER_AUX pass
@@ -17,6 +17,7 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -15,6 +15,7 @@
 #
 # @maintainer Julian Oes <julian@px4.io>
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -17,6 +17,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -14,6 +14,7 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
+# @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -17,6 +17,7 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
+# @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -7,6 +7,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -7,6 +7,7 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
+# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -98,7 +98,6 @@ then
 	param set BAT_V_DIV 10.14
 	param set BAT_A_PER_V 18.18
 	#param set CBRK_IO_SAFETY 22027
-	param set COM_ARM_EKF_AB 0.005
 	param set COM_DISARM_LAND 2

 	# Filter settings
@@ -77,7 +77,6 @@ then

 	param set BAT_SOURCE 0
 	param set CBRK_IO_SAFETY 22027
-	#param set COM_ARM_EKF_AB 0.005
 	#param set COM_DISARM_LAND 3

 	# Filter settings
@@ -107,7 +107,6 @@ then
 	param set BAT_V_DIV 10.14
 	param set BAT_A_PER_V 18.18
 	#param set CBRK_IO_SAFETY 22027
-	param set COM_ARM_EKF_AB 0.005
 	param set COM_DISARM_LAND 2

 	# Filter settings
@@ -49,7 +49,6 @@ then
 	# sensor calibration
 	param set CAL_MAG_SIDES 63
 	param set SENS_BOARD_ROT 0
-	param set COM_ARM_EKF_AB 0.0032

 	# circuit breakers
 	param set CBRK_IO_SAFETY 22027
@@ -5,8 +5,6 @@
 # @type Rover
 # @class Rover
 #
-# @board px4_fmu-v2 exclude
-#
 # @output MAIN2 steering
 # @output MAIN4 throttle
 #
@@ -146,7 +146,9 @@ px4_add_romfs_files(

 	16001_helicopter

+	# [17000, 17999] Autogyro
 	17002_TF-AutoG2
+	17003_TF-G2

 	24001_dodeca_cox

@@ -62,6 +62,7 @@ mc_att_control start
 # Start Multicopter Position Controller.
 #
 mc_hover_thrust_estimator start
+flight_mode_manager start
 mc_pos_control start

 #
@@ -21,6 +21,7 @@ vtol_att_control start

 mc_rate_control start vtol
 mc_att_control start vtol
+flight_mode_manager start vtol
 mc_pos_control start vtol
 mc_hover_thrust_estimator start

@@ -183,8 +183,8 @@ else
 	then
 		if param compare SYS_AUTOCONFIG 1
 		then
-			# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
-			param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
+			# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
+			param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT* SYS_PARAM_VER
 		fi

 		set AUTOCNF yes
@@ -271,57 +271,6 @@ else
 		param set SYS_AUTOCONFIG 0
 	fi

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

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

 	#
@@ -0,0 +1,39 @@
+TF-G2 autogyro mixer
+==================================================
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+CH1: empty - fixing cuav nano jittering of 1st output. 
+Z:
+
+
+CH2, 3: rotor-head mixer
+-------------
+Two scalers total (output, roll).
+
+M: 2
+O: 10000 10000 0 -10000 10000
+S: 0 0 -10000 -10000 0 -10000 10000
+S: 0 1  10000  10000      0 -10000  10000
+
+M: 2
+O: 10000 10000 0 -10000 10000
+S: 0 0 -10000 -10000 0 -10000 10000
+S: 0 1 -10000 -10000      0 -10000  10000
+
+
+CH4: Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+M: 1
+S: 0 2  10000  10000      0 -10000  10000
+
+
+CH5: Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
@@ -12,9 +12,8 @@ if bst start -X
 then
 fi

-if board_adc start
-then
-fi
+board_adc start
+system_power start

 if sdp3x_airspeed start -X
 then
@@ -31,7 +31,7 @@ function spawn_model() {
 	pushd "$working_dir" &>/dev/null
 	echo "starting instance $N in $(pwd)"
 	../bin/px4 -i $N -d "$build_path/etc" -w sitl_${MODEL}_${N} -s etc/init.d-posix/rcS >out.log 2>err.log &
-	python3 ${src_path}/Tools/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --output-file /tmp/${MODEL}_${N}.sdf
+	python3 ${src_path}/Tools/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf

 	echo "Spawning ${MODEL}_${N}"

@@ -182,7 +182,7 @@ class FirmwareImage(object):
            self._contents.seek(0, os.SEEK_END)
            self._length = self._contents.tell()
            if self._padding:
-                fill = self._length % self._padding
+                fill = self._padding - (self._length % self._padding)
                if fill:
                    self._length += fill
                self._padding = fill
@@ -344,8 +344,9 @@ class uploader(object):
        try:
            self.__getSync(False)
        except:
-            # if it fails we are on a real Serial Port
-            self.ackWindowedMode = True
+            # if it fails we are on a real serial port - only leave this enabled on Windows
+            if _platform.system() == 'Windows':
+                self.ackWindowedMode = True

        self.port.baudrate = self.baudrate_bootloader

@@ -130,6 +130,14 @@ serial_ports = {
        "default_baudrate": 0,
        },

+    # WIFI Port (PixRacer)
+    "WIFI": {
+        "label": "Wifi Port",
+        "index": 301,
+        "default_baudrate": 1, # set default to an unusable value to detect that this serial port has not been configured
+        },
+
+
    }

 parser = argparse.ArgumentParser(description='Generate Serial params & startup script')
@@ -11,6 +11,7 @@ pandas>=0.21
 pkgconfig
 psutil
 pygments
+wheel>=0.31.1
 pymavlink
 pyros-genmsg
 pyserial>=3.0
@@ -20,4 +21,3 @@ requests
 setuptools>=39.2.0
 six>=1.12.0
 toml>=0.9
-wheel>=0.31.1
@@ -238,7 +238,7 @@ class Graph(object):
        special_cases_pub = [
    ('replay', r'Replay\.cpp$', None, r'^sub\.orb_meta$'),

-    ('uavcan', r'sensors/.*\.cpp$', r'\bUavcanCDevSensorBridgeBase\([^{]*DEVICE_PATH,([^,)]+)', r'^_orb_topic$'),
+    ('uavcan', r'sensors/.*\.cpp$', None, r'^_orb_topic$'),
    ]
        special_cases_pub = [(a, re.compile(b), re.compile(c) if c is not None else None, re.compile(d))
                                   for a,b,c,d in special_cases_pub]
@@ -45,6 +45,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -45,6 +45,7 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -59,6 +60,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -4,6 +4,7 @@
 #------------------------------------------------------------------------------

 board_adc start
+system_power start

 # Internal I2C bus
 hmc5883 -T -I -R 12 start
@@ -32,6 +32,7 @@ CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -72,39 +72,24 @@
 #define ADC_RC_RSSI_CHANNEL		11
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	15

-/* Define Battery 1 Voltage Divider and A per V
- */
-
+/* Define Battery 1 Voltage Divider and A per V */
 #define BOARD_BATTERY1_V_DIV   (10.177939394f)
 #define BOARD_BATTERY1_A_PER_V (15.391030303f)

-/* Power supply control and monitoring GPIOs */
-// #define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
-// #define GPIO_VDD_BRICK_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
-// #define GPIO_VDD_SERVO_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
-// #define GPIO_VDD_3V3_SENSORS_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
-// #define GPIO_VDD_5V_HIPOWER_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
-// #define GPIO_VDD_5V_PERIPH_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
-
 /* Tone alarm output */
 #define TONE_ALARM_TIMER	14	/* timer 14 */
 #define TONE_ALARM_CHANNEL	1	/* channel 1 */
 #define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
 #define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF9|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN7)

-/* AUX PWMs
- */
+/* AUX PWMs */
 #define DIRECT_PWM_OUTPUT_CHANNELS	8
 #define DIRECT_INPUT_TIMER_CHANNELS	8

-/* USB OTG FS
- *
- * PA9  OTG_FS_VBUS VBUS sensing
- */
+/* USB OTG FS */
 #define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)


-
 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer8 for the HRT */
 #define HRT_TIMER_CHANNEL	2	/* use capture/compare channel */
@@ -143,46 +128,24 @@
 #define SPEKTRUM_RX_AS_UART()         px4_arch_configgpio(GPIO_USART1_RX)
 #define SPEKTRUM_OUT(_one_true)       px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))

-/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
- * this board support the ADC system_power interface, and therefore
- * provides the true logic GPIO BOARD_ADC_xxxx macros.
- */
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
-#define BOARD_ADC_BRICK_VALID   (1)
-#define BOARD_ADC_SERVO_VALID   (1)
-#define BOARD_ADC_PERIPH_5V_OC  (0)
-#define BOARD_ADC_HIPOWER_5V_OC (0)

 #define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS

 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120

-/* This board provides the board_on_reset interface */
-
 #define BOARD_HAS_ON_RESET 1

 __BEGIN_DECLS

-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
 #ifndef __ASSEMBLY__

-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
 /****************************************************************************************************
 * Name: stm32_spiinitialize
 *
 * Description:
- *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *   Called to configure SPI chip select GPIO pins for the board.
 *
 ****************************************************************************************************/

@@ -190,10 +153,8 @@ extern void stm32_spiinitialize(void);

 extern void stm32_usbinitialize(void);

-
 #define board_peripheral_reset(ms)

-
 #include <px4_platform_common/board_common.h>

 #endif /* __ASSEMBLY__ */
@@ -64,6 +64,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -56,6 +56,7 @@ px4_add_board(
 		attitude_estimator_q
 		commander
 		ekf2
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -63,6 +63,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -56,6 +56,7 @@ px4_add_board(
 		attitude_estimator_q
 		commander
 		ekf2
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -59,6 +59,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -8,7 +8,9 @@ param set CBRK_SUPPLY_CHK 894281

 if [ $AUTOCNF = yes ]
 then
-
+	# Multi-EKF
+	param set EKF2_MULTI_IMU 3
+	param set SENS_IMU_MODE 0
 fi

 set LOGGER_BUF 64
@@ -52,6 +52,7 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -49,11 +49,6 @@

 #include <stm32_gpio.h>

-/* Configuration ************************************************************************************/
-
-#define BOARD_HAS_NBAT_V              1 // Only one Vbat to ADC
-#define BOARD_HAS_NBAT_I              0 // No Ibat ADC
-
 /*
 * ADC channels
 *
@@ -88,18 +83,14 @@
 #define ADC_CHANNELS \
 	((1 << ADC_BATTERY1_VOLTAGE_CHANNEL))

-/* Define Battery 1 Voltage Divider and A per V
- */
-
+/* Define Battery 1 Voltage Divider and A per V */
 #define BOARD_BATTERY1_V_DIV         (10.133333333f)
 #define BOARD_BATTERY1_A_PER_V       (36.367515152f)

 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
-
 #define BOARD_ADC_OPEN_CIRCUIT_V               (5.6f)

-/* PWM
- */
+/* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS  9
 #define DIRECT_INPUT_TIMER_CHANNELS  9

@@ -110,7 +101,6 @@
 #define HRT_TIMER_CHANNEL    1  /* use capture/compare channel 3 */

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

 /* Power switch controls ******************************************************/
@@ -118,27 +108,9 @@
 #define SDIO_SLOTNO                    0  /* Only one slot */
 #define SDIO_MINOR                     0

-/* SD card bringup does not work if performed on the IDLE thread because it
- * will cause waiting.  Use either:
- *
- *  CONFIG_LIB_BOARDCTL=y, OR
- *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
- */
-
-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && !defined(CONFIG_BOARD_INITTHREAD)
-#  warning SDIO initialization cannot be perfomed on the IDLE thread
-#endif
-
-/* AV-X_V1 never powers off the Servo rail */
-
-#define BOARD_ADC_SERVO_VALID     (1)
-
 #define ADC_BATTERY_VOLTAGE_CHANNEL  0
 #define ADC_BATTERY_CURRENT_CHANNEL  1 // TODO: review

-#define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
-#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_HIPOWER_OC))
-
 #define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS

 /* This board provides a DMA pool and APIs */
@@ -40,6 +40,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -21,6 +21,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		land_detector
 		landing_target_estimator
 		load_mon
@@ -31,6 +31,7 @@ CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F405RG=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -109,13 +109,6 @@
 */
 #define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)

-/*
- * ADC channels
- *
- * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
- */
-#define ADC_CHANNELS 0
-
 /* Tone alarm output : These are only applicable when the buzzer deck is attached */
 #define TONE_ALARM_TIMER	5	/* timer 5 */
 #define TONE_ALARM_CHANNEL 3	/* channel 3 */
@@ -123,9 +116,7 @@
 #define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN2)
 #define GPIO_TONE_ALARM_NEG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)

-/* PWM
-*/
-
+/* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS	4

 /* This board overrides the defaults by providing
@@ -27,45 +27,25 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	ROMFSROOT cannode
 	UAVCAN_INTERFACES 1
-	SERIAL_PORTS
-		GPS1:/dev/ttyS1
 	DRIVERS
-		#adc
 		barometer/ms5611
 		bootloaders
 		gps
 		magnetometer/rm3100
-		#safety_button
-		#tone_alarm
+		safety_button
+		tone_alarm
 		uavcannode
 	MODULES
-		#ekf2
-		#load_mon
-		#sensors
-		#temperature_compensation
+		load_mon
 	SYSTEMCMDS
-		#bl_update
-		#dmesg
-		#dumpfile
-		#esc_calib
-		#hardfault_log
-		#i2cdetect
-		#led_control
-		#mft
-		#mixer
-		#motor_ramp
-		#motor_test
-		#mtd
-		#nshterm
+		i2cdetect
+		led_control
 		param
 		perf
 		reboot
-		#reflect
-		#sd_bench
-		#shutdown
 		top
 		topic_listener
-		#tune_control
+		tune_control
 		ver
 		work_queue
 )
@@ -3,7 +3,7 @@
 # board sensors init
 #------------------------------------------------------------------------------

-#board_adc start
+gps start -d /dev/ttyS1 -g 38400 -p ubx

 # Internal SPI
 ms5611 -s start
@@ -58,8 +58,8 @@
 * LSE - not installed
 */

-#define STM32_BOARD_USEHSE		1
-#define STM32_BOARD_XTAL		8000000
+#define STM32_BOARD_USEHSE      1
+#define STM32_BOARD_XTAL        16000000
 #define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL

 #define STM32_HSI_FREQUENCY     16000000ul
@@ -128,40 +128,22 @@

 /* Alternate function pin selections ************************************************/

-/*
- * UARTs.
- */
+/* UARTs */
 #define GPIO_USART1_RX	GPIO_USART1_RX_2
 #define GPIO_USART1_TX	GPIO_USART1_TX_2

 #define GPIO_USART2_RX	GPIO_USART2_RX_1
 #define GPIO_USART2_TX	GPIO_USART2_TX_1

-/*
- * CAN
- *
- * CAN1 is routed to the onboard transceiver.
- */
+/* CAN */
 #define GPIO_CAN1_RX	GPIO_CAN1_RX_2
 #define GPIO_CAN1_TX	GPIO_CAN1_TX_2

-/*
- * I2C
- *
- * The optional _GPIO configurations allow the I2C driver to manually
- * reset the bus to clear stuck slaves.  They match the pin configuration,
- * but are normally-high GPIOs.
- */
+/* I2C */
 #define GPIO_I2C3_SCL		GPIO_I2C3_SCL_2
 #define GPIO_I2C3_SDA		GPIO_I2C3_SDA_2
-#define GPIO_I2C3_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
-#define GPIO_I2C3_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)

-/*
- * SPI
- *
- * There are sensors on SPI1, and SPI2 is connected to the FRAM.
- */
+/* SPI */
 #define GPIO_SPI1_MISO  (GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI1_MOSI  (GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI1_SCK   (GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
@@ -28,6 +28,7 @@ CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F412CE=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -71,13 +71,15 @@ SECTIONS
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
-		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
+		. = ALIGN(8);
+      /*
+       * This section positions the app_descriptor_t used
+       * by the make_can_boot_descriptor.py tool to set
+       * the application image's descriptor so that the
+       * uavcan bootloader has the ability to validate the
+       * image crc, size etc
+      */
+    KEEP(*(.app_descriptor))
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)
@@ -32,6 +32,7 @@
 ############################################################################

 if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
+
 	add_library(drivers_board
 		boot_config.h
 		boot.c
@@ -48,16 +48,17 @@
 #include <stdint.h>

 /* BUTTON *************************************************************************** */
-#define BUTTON_BOOT0n   (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTB|GPIO_PIN3|GPIO_EXTI)
-#define IRQBUTTON       BUTTON_BOOT0_BIT
+#define BUTTON_SAFETY         /* PB3  */  (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN3|GPIO_EXTI)

+#define GPIO_RGB_S            /* PB0  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
 /* CAN Silence
 *
 * Silent mode control \ ESC Mux select
 */
 #define GPIO_CAN1_SILENT_S0  /* PB5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
-#define GPIO_CAN_CTRL  /* PB5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN5|GPIO_OUTPUT_CLEAR)

+#define GPIO_LED_SAFETY              (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_BTN_SAFETY              (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN3)

 /* Tone alarm output. */
 #define TONE_ALARM_TIMER             2    /* timer 2 */
@@ -65,7 +65,7 @@ __EXPORT void stm32_boardinitialize(void)
 	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
 	stm32_configgpio(GPIO_CAN1_RX);
 	stm32_configgpio(GPIO_CAN1_TX);
-	stm32_configgpio(GPIO_CAN_CTRL);
+	stm32_configgpio(GPIO_CAN1_SILENT_S0);
 	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
 	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);

@@ -155,33 +155,33 @@ size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
 #define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}

 typedef begin_packed_struct struct led_t {
-	uint16_t red    :       5;
-	uint16_t green  :       6;
-	uint16_t blue   :       5;
+	uint8_t red;
+	uint8_t green;
+	uint8_t blue;
 	uint8_t hz;
 } end_packed_struct led_t;

 static const  led_t i2l[] = {

-	led(0, off,                             0,    0,    0,     0),
-	led(1, reset,                          10,   63,   31,   255),
-	led(2, autobaud_start,                  0,   63,    0,     1),
-	led(3, autobaud_end,                    0,   63,    0,     2),
-	led(4, allocation_start,                0,    0,   31,     2),
-	led(5, allocation_end,                  0,   63,   31,     3),
-	led(6, fw_update_start,                15,   63,   31,     3),
-	led(7, fw_update_erase_fail,           15,   63,   15,     3),
-	led(8, fw_update_invalid_response,     31,    0,    0,     1),
-	led(9, fw_update_timeout,              31,    0,    0,     2),
-	led(a, fw_update_invalid_crc,          31,    0,    0,     4),
-	led(b, jump_to_app,                     0,   63,    0,    10),
+	led(0, off,                             0,     0,     0,     0),
+	led(1, reset,                          128,   128,   128,   30),
+	led(2, autobaud_start,                  0,   128,     0,     1),
+	led(3, autobaud_end,                    0,   128,     0,     2),
+	led(4, allocation_start,                0,     0,    64,     2),
+	led(5, allocation_end,                  0,   128,    64,     3),
+	led(6, fw_update_start,                32,   128,    64,     3),
+	led(7, fw_update_erase_fail,           32,   128,    32,     3),
+	led(8, fw_update_invalid_response,     64,     0,     0,     1),
+	led(9, fw_update_timeout,              64,     0,     0,     2),
+	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
+	led(b, jump_to_app,                     0,   128,     0,    10),

 };

 void board_indicate(uiindication_t indication)
 {
-	rgb_led(i2l[indication].red << 3,
-		i2l[indication].green << 2,
-		i2l[indication].blue << 3,
+	rgb_led(i2l[indication].red,
+		i2l[indication].green,
+		i2l[indication].blue,
 		i2l[indication].hz);
 }
@@ -101,7 +101,7 @@
 #define OPT_RESTART_TIMEOUT_MS          20000

 /* Reserved for the Booloader */
-#define OPT_BOOTLOADER_SIZE_IN_K        (1024*8)
+#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)

 /* Reserved for the application out of the total
 * system flash minus the BOOTLOADER_SIZE_IN_K
@@ -132,9 +132,5 @@

 /* Bootloader Option*****************************************************************
 *
- *   GPIO      Function                                     MPU        Board
- *                                                          Pin #      Name
- * -- ----- --------------------------------             ----------------------------
- *  *  PC[09] PC9/TIM3_CH4                                     40       BOOT0
 */
-#define GPIO_GETNODEINFO_JUMPER (BUTTON_BOOT0n&~(GPIO_EXTI))
+#define GPIO_GETNODEINFO_JUMPER (BUTTON_SAFETY & ~GPIO_EXTI)
@@ -90,6 +90,9 @@ stm32_boardinitialize(void)

 	stm32_configgpio(GPIO_CAN1_SILENT_S0);

+	stm32_configgpio(GPIO_LED_SAFETY);
+	stm32_configgpio(GPIO_BTN_SAFETY);
+
 	// Configure SPI all interfaces GPIO & enable power.
 	stm32_spiinitialize();
 }
@@ -39,17 +39,83 @@
 #include <arch/board/board.h>

 #include <hardware/stm32_tim.h>
+#include <dwt.h>
+#include <nvic.h>

 #include "led.h"

-#define TMR_BASE        STM32_TIM3_BASE
-#define TMR_FREQUENCY   STM32_APB1_TIM3_CLKIN
+#define TMR_BASE        STM32_TIM1_BASE
+#define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
 #define TMR_REG(o)      (TMR_BASE+(o))

+#define LED_COUNT       8 // Eight LEDs in ring
+
+typedef union {
+	uint8_t  grb[3];
+	uint32_t l;
+} led_data_t;
+
+static  uint8_t off[] =  {0, 0, 0};
+
+#define REG(_addr)       (*(volatile uint32_t *)(_addr))
+#define rDEMCR           REG(NVIC_DEMCR)
+#define rDWT_CTRL        REG(DWT_CTRL)
+#define rDWT_CNT         REG(DWT_CYCCNT)
+#define PORT_B           REG(STM32_GPIOB_ODR)
+#define D0               REG(STM32_GPIOB_ODR) &= ~1;
+#define D1               REG(STM32_GPIOB_ODR) |= 1;
+
+#define DWT_DEADLINE(t)  rDWT_CNT + (t)
+#define DWT_WAIT(v, D)   while((rDWT_CNT - (v)) < (D));
+
+#define T0H              (STM32_SYSCLK_FREQUENCY/3333333)
+#define T1H              (STM32_SYSCLK_FREQUENCY/1666666)
+#define TW               (STM32_SYSCLK_FREQUENCY/800000)
+
+static void setled(uint8_t *p, int count)
+{
+	rDEMCR    |= NVIC_DEMCR_TRCENA;
+	rDWT_CTRL |= DWT_CTRL_CYCCNTENA_MASK;
+
+	while (count--) {
+		uint8_t l = *p++;
+		uint32_t  deadline = DWT_DEADLINE(TW);
+
+		for (uint32_t mask = (1 << 7);  mask != 0;  mask >>= 1) {
+			DWT_WAIT(deadline, TW);
+			deadline = rDWT_CNT;
+			D1;
+
+			if (l & mask) {
+				DWT_WAIT(deadline, T1H);
+
+			} else {
+				DWT_WAIT(deadline, T0H);
+			}
+
+			D0;
+		}
+
+		DWT_WAIT(deadline, TW);
+	}
+}
+
+
+static led_data_t led_data = {0};
+
+static int timerInterrupt(int irq, void *context, void *arg)
+{
+	putreg16(~getreg16(TMR_REG(STM32_GTIM_SR_OFFSET)), TMR_REG(STM32_GTIM_SR_OFFSET));
+
+	static int d2 = 1;
+	setled((d2++ & 1) ? led_data.grb : off, sizeof(led_data.grb));
+	return 0;
+}
+
 void rgb_led(int r, int g, int b, int freqs)
 {
 	long fosc = TMR_FREQUENCY;
-	long prescale = 2048;
+	long prescale = 1536;
 	long p1s = fosc / prescale;
 	long p0p5s  = p1s / 2;
 	uint16_t val;
@@ -58,8 +124,15 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		/* Enabel Clock to Block */
-		modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_TIM3EN);
+		stm32_configgpio(GPIO_RGB_S);
+
+		for (int i = 0; i < LED_COUNT; i++) {
+			setled(off, sizeof(off));
+		}
+
+		/* Enable Clock to Block */
+
+		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);

 		/* Reload */
 		val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
@@ -72,28 +145,21 @@ void rgb_led(int r, int g, int b, int freqs)
 		/* Enable STM32_TIM_SETMODE*/
 		putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));

+		putreg32(p0p5s + 1, TMR_REG(STM32_BTIM_ARR_OFFSET));

-		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
-			 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
-		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
-		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
-			 ATIM_CCER_CC2E | ATIM_CCER_CC2P |
-			 ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));

-		// TODO: verify
-		stm32_configgpio(GPIO_TIM3_CH1OUT_1);
-		stm32_configgpio(GPIO_TIM3_CH2OUT_1);
-		stm32_configgpio(GPIO_TIM3_CH3OUT_1);
+		irq_attach(STM32_IRQ_TIM1CC, timerInterrupt, NULL);
+		up_enable_irq(STM32_IRQ_TIM1CC);
+		putreg16(GTIM_DIER_CC1IE, TMR_REG(STM32_GTIM_DIER_OFFSET));
 	}

-	long p  = freqs == 0 ? p1s : p1s / freqs;
-	putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
-
-	p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
-
-	putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
-	putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
-	putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
+	long p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
+	putreg32(p + 1, TMR_REG(STM32_BTIM_ARR_OFFSET));
+	putreg32(p, TMR_REG(STM32_GTIM_CCR1_OFFSET));
+	led_data.grb[0] = g;
+	led_data.grb[1] = r;
+	led_data.grb[2] = b;
+	setled(led_data.grb, sizeof(led_data.grb));

 	val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));

@@ -50,6 +50,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -64,6 +65,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -31,6 +31,12 @@ then
 	param set BAT1_A_PER_V 24
 	param set BAT2_A_PER_V 24

+	# Multi-EKF
+	param set EKF2_MULTI_IMU 3
+	param set SENS_IMU_MODE 0
+	param set EKF2_MULTI_MAG 3
+	param set SENS_MAG_MODE 0
+
 	# Enable IMU thermal control
 	param set SENS_EN_THERMAL 1
 fi
@@ -3,6 +3,7 @@
 # board specific sensors init
 #------------------------------------------------------------------------------
 board_adc start
+system_power start

 # SPI1 (internal)
 rm3100 -s start
@@ -20,6 +20,7 @@ CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -35,6 +35,7 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -110,8 +110,6 @@
 #define DIRECT_PWM_OUTPUT_CHANNELS   8

 /* Power supply control and monitoring GPIOs */
-#define BOARD_NUMBER_BRICKS             2
-
 #define GPIO_nPOWER_IN_ADC              /* PG1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
 #define GPIO_nPOWER_IN_CAN              /* PG2  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
 #define GPIO_nPOWER_IN_C                /* PG0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN0)
@@ -53,6 +53,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -67,6 +68,7 @@ px4_add_board(
 		dataman
 		ekf2
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -31,6 +31,12 @@ then
 	param set BAT1_A_PER_V 24
 	param set BAT2_A_PER_V 24

+	# Multi-EKF
+	param set EKF2_MULTI_IMU 3
+	param set SENS_IMU_MODE 0
+	param set EKF2_MULTI_MAG 3
+	param set SENS_MAG_MODE 0
+
 	# Enable IMU thermal control
 	param set SENS_EN_THERMAL 1
 fi
@@ -3,6 +3,7 @@
 # CUAV X7Pro specific board sensors init
 #------------------------------------------------------------------------------
 board_adc start
+system_power start

 # SPI1 (internal)
 #adis16470 -s start
@@ -20,6 +20,7 @@ CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -35,6 +35,7 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -110,8 +110,6 @@
 #define DIRECT_PWM_OUTPUT_CHANNELS   8

 /* Power supply control and monitoring GPIOs */
-#define BOARD_NUMBER_BRICKS             2
-
 #define GPIO_nPOWER_IN_ADC              /* PG1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
 #define GPIO_nPOWER_IN_CAN              /* PG2  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
 #define GPIO_nPOWER_IN_C                /* PG0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN0)
@@ -179,10 +177,7 @@

 #define GPIO_LED_SAFETY FMU_LED_AMBER

-/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
- * this board support the ADC system_power interface, and therefore
- * provides the true logic GPIO BOARD_ADC_xxxx macros.
- */
+
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
 #define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
 #define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
@@ -52,6 +52,7 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -67,6 +68,7 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -52,6 +52,7 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -67,6 +68,7 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
+		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -31,6 +31,12 @@ then
 	param set BAT1_A_PER_V 17
 	param set BAT2_A_PER_V 17

+	# Multi-EKF
+	param set EKF2_MULTI_IMU 3
+	param set SENS_IMU_MODE 0
+	param set EKF2_MULTI_MAG 3
+	param set SENS_MAG_MODE 0
+
 	# Disable IMU thermal control
 	param set SENS_EN_THERMAL 0
 fi
--- a/Show More
+++ b/Show More