[WIP] Run the ROMFS through a CPP with the boardconfig

.clang-tidy

@@ -105,89 +105,6 @@ Checks:          '*,
                   -readability-redundant-declaration,
                   -readability-static-accessed-through-instance,
                   -readability-static-definition-in-anonymous-namespace,
-                  -altera-struct-pack-align,
-                  -bugprone-easily-swappable-parameters,
-                  -concurrency-mt-unsafe,
-                  -cppcoreguidelines-avoid-const-or-ref-data-members,
-                  -cppcoreguidelines-macro-usage,
-                  -cppcoreguidelines-non-private-member-variables-in-classes,
-                  -hicpp-uppercase-literal-suffix,
-                  -llvm-qualified-auto,
-                  -misc-non-private-member-variables-in-classes,
-                  -misc-use-anonymous-namespace,
-                  -modernize-concat-nested-namespaces,
-                  -readability-const-return-type,
-                  -readability-identifier-length,
-                  -readability-isolate-declaration,
-                  -readability-qualified-auto,
-                  -readability-redundant-access-specifiers,
-                  -cppcoreguidelines-avoid-do-while,
-                  -misc-include-cleaner,
-                  -misc-const-correctness,
-                  -llvm-else-after-return,
-                  -readability-function-cognitive-complexity,
-                  -cppcoreguidelines-init-variables,
-                  -bugprone-reserved-identifier,
-                  -cert-dcl37-c,
-                  -cert-dcl51-cpp,
-                  -modernize-use-nodiscard,
-                  -misc-confusable-identifiers,
-                  -cert-err33-c,
-                  -readability-redundant-inline-specifier,
-                  -readability-uppercase-literal-suffix,
-                  -bugprone-narrowing-conversions,
-                  -cppcoreguidelines-narrowing-conversions,
-                  -bugprone-switch-missing-default-case,
-                  -cppcoreguidelines-avoid-goto,
-                  -hicpp-avoid-goto,
-                  -bugprone-branch-clone,
-                  -bugprone-unhandled-self-assignment,
-                  -cert-oop54-cpp,
-                  -performance-enum-size,
-                  -readability-avoid-nested-conditional-operator,
-                  -cppcoreguidelines-prefer-member-initializer,
-                  -cppcoreguidelines-explicit-virtual-functions,
-                  -cppcoreguidelines-virtual-class-destructor,
-                  -readability-convert-member-functions-to-static,
-                  -readability-make-member-function-const,
-                  -bugprone-assignment-in-if-condition,
-                  -bugprone-implicit-widening-of-multiplication-result,
-                  -bugprone-incorrect-roundings,
-                  -bugprone-macro-parentheses,
-                  -bugprone-multi-level-implicit-pointer-conversion,
-                  -bugprone-signed-char-misuse,
-                  -bugprone-too-small-loop-variable,
-                  -cppcoreguidelines-avoid-non-const-global-variables,
-                  -cppcoreguidelines-use-default-member-init,
-                  -hicpp-multiway-paths-covered,
-                  -hicpp-named-parameter,
-                  -misc-header-include-cycle,
-                  -misc-no-recursion,
-                  -performance-no-int-to-ptr,
-                  -readability-avoid-return-with-void-value,
-                  -readability-avoid-unconditional-preprocessor-if,
-                  -readability-delete-null-pointer,
-                  -readability-duplicate-include,
-                  -readability-redundant-casting,
-                  -readability-redundant-member-init,
-                  -readability-reference-to-constructed-temporary,
-                  -readability-simplify-boolean-expr,
-                  -bugprone-unsafe-functions,
-                  -cert-msc24-c,
-                  -cert-msc32-c,
-                  -cert-msc33-c,
-                  -cert-msc51-cpp,
-                  -cert-str34-c,
-                  -cppcoreguidelines-macro-to-enum,
-                  -modernize-macro-to-enum,
-                  -abseil-string-find-str-contains,
-                  -bugprone-suspicious-include,
-                  -clang-analyzer-security.insecureAPI.DeprecatedOrUnsafeBufferHandling,
-                  -clang-analyzer-optin.core.EnumCastOutOfRange,
-                  -modernize-type-traits,
-                  -misc-definitions-in-headers,
-                  -bugprone-casting-through-void,
-                  -readability-redundant-string-init,
                  '
 WarningsAsErrors: '*'
 CheckOptions:

.github/instructions/docs.en.instructions.md

@@ -21,10 +21,8 @@ applyTo: "docs/en/**"
   - Do not apply bold or italic styling inside a heading.
 - **Formatting:** 
   - **Bold:** Only for UI elements (buttons, menu items).
+  - **Italics (Emphasis):** For tool names (e.g., *QGroundControl*).
   - **Inline Code:** Use backticks for file paths, parameters, and CLI commands (e.g., `prettier`).
-    Backticks are optional for hyperlinked CLI commands and tool names.
-  - **Italics (Emphasis):** Use for application names (e.g., *QGroundControl*).
-    Emphasis is optional for hyperlinked applications.
 - **Structure:** End every line at the end of a sentence (Semantic Line Breaks).
 
 ## Linking & Navigation

.github/workflows/build_all_targets.yml

@@ -2,37 +2,6 @@
 # - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
 #   and comment the "runs-on: [runs-on,runner=..." lines.
 # - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
-#
-# ===================================================================================
-# RELEASE UPLOAD LOGIC
-# ===================================================================================
-# This workflow handles building firmware and uploading to S3 + GitHub Releases.
-#
-# S3 Bucket Structure (s3://px4-travis/Firmware/):
-#   - master/          <- Latest main branch build (for QGC compatibility)
-#   - stable/          <- Latest stable release, controlled by 'stable' branch
-#   - beta/            <- Latest pre-release, controlled by 'beta' branch
-#   - vX.Y.Z/          <- Archived stable release
-#   - vX.Y.Z-beta1/    <- Archived pre-release
-#
-# Trigger Behavior:
-#   - Tag v1.16.1        -> Upload to: v1.16.1/ only (versioned archive)
-#   - Tag v1.17.0-beta1  -> Upload to: v1.17.0-beta1/ only (versioned archive)
-#   - Branch main        -> Upload to: master/ (for QGC compatibility)
-#   - Branch stable      -> Upload to: stable/ (QGC stable firmware)
-#   - Branch beta        -> Upload to: beta/ (QGC beta firmware)
-#   - Branch release/**  -> Build only, no S3 upload (CI validation)
-#   - Pull requests      -> Build only, no S3 upload (CI validation)
-#
-# GitHub Releases:
-#   - All version tags create a draft GitHub Release
-#   - Pre-releases (alpha/beta/rc suffixes) are automatically marked as such
-#
-# IMPORTANT: Version tags do NOT upload to stable/ or beta/. Only the
-# corresponding branch pushes control those directories. This prevents
-# pre-release tags from accidentally overwriting stable firmware (#26340)
-# and avoids race conditions between tag and branch builds.
-# ===================================================================================
 
 name: Build all targets
 
@@ -60,7 +29,6 @@ concurrency:
 permissions:
   contents: write
   actions: read
-  packages: read
 
 jobs:
   group_targets:
@@ -126,9 +94,6 @@ jobs:
       fail-fast: false
     container:
       image: ${{ matrix.container }}
-      credentials:
-        username: ${{ github.actor }}
-        password: ${{ secrets.GITHUB_TOKEN }}
     steps:
       - uses: runs-on/action@v2
       - uses: actions/checkout@v4
@@ -194,13 +159,6 @@ jobs:
           path: ~/.ccache
           key: ${{ steps.cc_restore.outputs.cache-primary-key }}
 
-  # ===========================================================================
-  # ARTIFACT UPLOAD JOB
-  # ===========================================================================
-  # Uploads build artifacts to S3 and creates GitHub Releases.
-  # Runs for version tags (v*), main, stable, and beta branch pushes.
-  # See header comments for full upload logic documentation.
-  # ===========================================================================
   artifacts:
     name: Upload Artifacts
     # runs-on: ubuntu-latest
@@ -219,31 +177,31 @@ jobs:
       - name: Choose Upload Location
         id: upload-location
         run: |
+          # Determine upload location based on branch or tag with the following considerations:
+          # Destination: AWS S3 bucket px4-travis in folder Firmware/
+          # - If branch is main -> upload to master/
+          #   - Older versions of QGC are hardocded to look for master/
+          # - If branch is stable or beta -> upload to stable/ or beta/
+          # - If a tag vX.Y.Z -> upload to vX.Y.Z/
+          #   - Also update stable/ to point to the same version
+          #.  - Older versions of QGC are hardocded to look for stable/
+          # - If a pull request -> do not upload
           set -euo pipefail
 
           ref="${GITHUB_REF}"
           branch=${{ needs.group_targets.outputs.branchname  }}
           location="$branch"
-          is_prerelease="false"
 
-          # Main branch uploads to "master" for QGC backward compatibility
           if [[ "$branch" == "main" ]]; then
             location="master"
           fi
 
-          # Version tags: upload to versioned directory (e.g., v1.16.1/)
           if [[ "$ref" == refs/tags/v[0-9]* ]]; then
             tag="${ref#refs/tags/}"
             location="$tag"
-
-            # Pre-release tags contain -alpha, -beta, or -rc suffix
-            if [[ "$tag" =~ -(alpha|beta|rc) ]]; then
-              is_prerelease="true"
-            fi
           fi
 
           echo "uploadlocation=$location" >> $GITHUB_OUTPUT
-          echo "is_prerelease=$is_prerelease" >> $GITHUB_OUTPUT
 
       - name: Uploading Artifacts to S3 [${{ steps.upload-location.outputs.uploadlocation }}]
         uses: jakejarvis/s3-sync-action@master
@@ -257,13 +215,28 @@ jobs:
           SOURCE_DIR: artifacts/
           DEST_DIR: Firmware/${{ steps.upload-location.outputs.uploadlocation }}/
 
-      # Create a draft GitHub Release for all version tags
-      # Pre-releases are automatically marked as such
+      # if we are uploading artifacts to a versioned folder
+      # we should also update the stable folder in the s3 bucket
+      - name: Uploading Artifacts to S3 [stable]
+        uses: jakejarvis/s3-sync-action@master
+        if: startsWith(github.ref, 'refs/tags/v')
+        with:
+          args: --acl public-read
+        env:
+          AWS_S3_BUCKET: 'px4-travis'
+          AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+          AWS_REGION: 'us-west-1'
+          SOURCE_DIR: artifacts/
+          DEST_DIR: Firmware/stable/
+
+      # if build is a release triggered by a versioned tag then create a github release
+      # and upload the build artifacts. A draft release is created so that the release
+      # can be reviewed before publishing
       - name: Upload Artifacts to GitHub Release
         uses: softprops/action-gh-release@v2
         if: startsWith(github.ref, 'refs/tags/v')
         with:
           draft: true
-          prerelease: ${{ steps.upload-location.outputs.is_prerelease == 'true' }}
           files: artifacts/*.px4
           name: ${{ steps.upload-location.outputs.uploadlocation }}

.github/workflows/checks.yml

@@ -19,10 +19,6 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
     strategy:
       fail-fast: false
       matrix:
@@ -39,17 +35,20 @@ jobs:
           "px4_sitl_allyes",
           "module_documentation",
         ]
-
     steps:
       - uses: actions/checkout@v4
         with:
           fetch-depth: 0
 
       - name: Building [${{ matrix.check }}]
-        run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
-          make ${{ matrix.check }}
+        uses: addnab/docker-run-action@v3
+        with:
+          image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+          options: -v ${{ github.workspace }}:/workspace
+          run: |
+            cd /workspace
+            git config --global --add safe.directory /workspace
+            make ${{ matrix.check }}
 
       - name: Uploading Coverage to Codecov.io
         if: contains(matrix.check, 'coverage')

.github/workflows/clang-tidy.yml

@@ -1,4 +1,4 @@
-name: Static Analysis
+name: Clang Tidy
 
 on:
   push:
@@ -11,59 +11,20 @@ on:
       - '**'
     paths-ignore:
       - 'docs/**'
-
-permissions:
-  contents: read
-
 jobs:
-  clang_tidy:
-    name: Clang-Tidy
-    runs-on: [runs-on, runner=16cpu-linux-x64, "run-id=${{ github.run_id }}", "extras=s3-cache"]
-    container:
-      image: px4io/px4-dev:v1.17.0-beta1
+  build:
+    runs-on: ubuntu-latest
     steps:
-    - uses: runs-on/action@v2
     - uses: actions/checkout@v4
       with:
         fetch-depth: 0
-        fetch-tags: true
 
-    - name: Configure Git Safe Directory
-      run: git config --system --add safe.directory '*'
-
-    - name: Restore Compiler Cache
-      id: cc_restore
-      uses: actions/cache/restore@v4
+    - name: Testing (clang-tidy)
+      uses: addnab/docker-run-action@v3
       with:
-        path: ~/.ccache
-        key: ccache-clang-tidy-${{ github.head_ref || github.ref_name }}
-        restore-keys: |
-          ccache-clang-tidy-${{ github.head_ref || github.ref_name }}-
-          ccache-clang-tidy-main-
-          ccache-clang-tidy-
-
-    - name: Configure Compiler Cache
-      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 = 120M" >> ~/.ccache/ccache.conf
-        echo "hash_dir = false" >> ~/.ccache/ccache.conf
-        echo "compiler_check = content" >> ~/.ccache/ccache.conf
-        ccache -s
-        ccache -z
-
-    - name: Run Clang-Tidy Analysis
-      run: make -j16 clang-tidy
-
-    - name: Compiler Cache Stats
-      if: always()
-      run: ccache -s
-
-    - name: Save Compiler Cache
-      if: always()
-      uses: actions/cache/save@v4
-      with:
-        path: ~/.ccache
-        key: ${{ steps.cc_restore.outputs.cache-primary-key }}
+        image: px4io/px4-dev-clang:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
+        run: |
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make clang-tidy

.github/workflows/compile_macos.yml

@@ -42,7 +42,7 @@ jobs:
       shell: cmake -P {0}
       run: |
         string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        file(APPEND "$ENV{GITHUB_OUTPUT}" "timestamp=${current_date}\n")
+        message("::set-output name=timestamp::${current_date}")
     - name: ccache cache files
       uses: actions/cache@v4
       with:

.github/workflows/docs-orchestrator.yml

@@ -1,416 +0,0 @@
-# Docs - Orchestrator
-#
-# Trigger paths:
-#   push (main, release/**)  → metadata-regen → build-site → deploy-aws
-#   pull_request              → detect-changes → pr-metadata-regen → link-check → build-site (if docs/source changed)
-#   workflow_dispatch         → metadata-regen → build-site → deploy-aws
-#
-# Container jobs (pr-metadata-regen, metadata-regen) run in px4-dev image and
-# require safe.directory + fetch-depth: 0 for git operations.
-
-name: Docs - Orchestrator
-
-on:
-  push:
-    branches:
-      - "main"
-      - "release/**"
-    paths:
-      - "docs/**"
-      - "src/**"
-      - "msg/**"
-      - "ROMFS/**"
-      - "Tools/module_config/**"
-      - ".github/workflows/docs-orchestrator.yml"
-  pull_request:
-    paths:
-      - "docs/**"
-      - ".github/workflows/docs-orchestrator.yml"
-  workflow_dispatch:
-
-concurrency:
-  group: docs-orchestrator-${{ github.ref }}
-  cancel-in-progress: true
-
-jobs:
-  # =============================================================================
-  # Detect Changes (PR only)
-  # =============================================================================
-  detect-changes:
-    name: "T1: Detect Changes"
-    if: github.event_name == 'pull_request'
-    permissions:
-      contents: read
-    runs-on: ubuntu-latest
-    outputs:
-      source_changed: ${{ steps.changes.outputs.source }}
-      docs_changed: ${{ steps.changes.outputs.docs }}
-    steps:
-      - uses: actions/checkout@v4
-      - uses: dorny/paths-filter@v3
-        id: changes
-        with:
-          filters: |
-            source:
-              - 'src/**'
-              - 'msg/**'
-              - 'ROMFS/**'
-              - 'Tools/module_config/**'
-            docs:
-              - 'docs/**'
-
-  # =============================================================================
-  # PR Metadata Regen (conditional - only when PR touches source files)
-  # =============================================================================
-  pr-metadata-regen:
-    name: "T2: PR Metadata"
-    needs: [detect-changes]
-    if: github.event_name == 'pull_request' && needs.detect-changes.outputs.source_changed == 'true'
-    permissions:
-      contents: read
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    container:
-      image: px4io/px4-dev:v1.17.0-beta1
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Cache Restore - ccache
-        id: cache-ccache
-        uses: actions/cache/restore@v4
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-          restore-keys: |
-            ccache-docs-metadata-
-
-      - name: Setup ccache
-        run: |
-          mkdir -p ~/.ccache
-          echo "max_size = 1G" > ~/.ccache/ccache.conf
-
-      - name: Build px4_sitl_default
-        run: |
-          make px4_sitl_default
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Cache Save - ccache
-        uses: actions/cache/save@v4
-        if: always()
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-
-      - name: Generate and sync metadata
-        run: Tools/ci/metadata_sync.sh --generate --sync parameters airframes modules msg_docs failsafe_web
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Upload metadata artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: pr-metadata
-          path: docs/
-          retention-days: 1
-
-  # =============================================================================
-  # Push Metadata Regen (main/release branches)
-  # =============================================================================
-  metadata-regen:
-    name: "T2: Metadata Sync"
-    if: github.event_name == 'push' || github.event_name == 'workflow_dispatch'
-    permissions:
-      contents: write
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    container:
-      image: px4io/px4-dev:v1.17.0-beta1
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-          submodules: recursive
-          token: ${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Cache Restore - ccache
-        id: cache-ccache
-        uses: actions/cache/restore@v4
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-          restore-keys: |
-            ccache-docs-metadata-
-
-      - name: Setup ccache
-        run: |
-          mkdir -p ~/.ccache
-          echo "max_size = 1G" > ~/.ccache/ccache.conf
-
-      - name: Build px4_sitl_default
-        run: |
-          make px4_sitl_default
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Cache Save - ccache
-        uses: actions/cache/save@v4
-        if: always()
-        with:
-          path: ~/.ccache
-          key: ccache-docs-metadata-${{ github.sha }}
-
-      - name: Generate and sync metadata
-        run: Tools/ci/metadata_sync.sh --generate --sync parameters airframes modules msg_docs failsafe_web
-        env:
-          CCACHE_DIR: ~/.ccache
-
-      - name: Install Node.js and Yarn
-        run: |
-          curl -fsSL https://deb.nodesource.com/setup_20.x | bash -
-          apt-get install -y nodejs
-          corepack enable
-
-      - name: Format markdown with Prettier
-        run: |
-          cd docs
-          yarn install --frozen-lockfile
-          yarn prettier --write "en/**/*.md"
-
-      - name: Commit and push changes
-        run: |
-          git config --global user.name "${{ secrets.PX4BUILDBOT_USER }}"
-          git config --global user.email "${{ secrets.PX4BUILDBOT_EMAIL }}"
-          git add docs/
-          if git diff --staged --quiet; then
-            echo "No changes to commit"
-          else
-            git commit -m "docs: auto-sync metadata [skip ci]
-
-            Co-Authored-By: PX4 BuildBot <${{ secrets.PX4BUILDBOT_EMAIL }}>"
-            git push
-          fi
-
-  # =============================================================================
-  # Link Check
-  # =============================================================================
-  link-check:
-    name: "T2: Link Check"
-    needs: [detect-changes, pr-metadata-regen]
-    if: always() && (github.event_name == 'pull_request')
-    permissions:
-      contents: read
-      pull-requests: write
-    runs-on: ubuntu-latest
-    steps:
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ github.event.pull_request.head.sha }}
-          fetch-depth: 0
-
-      - name: Download metadata artifact
-        if: needs.pr-metadata-regen.result == 'success'
-        uses: actions/download-artifact@v4
-        with:
-          name: pr-metadata
-          path: docs/
-
-      - name: Get changed doc files
-        id: changed-files
-        uses: tj-actions/changed-files@v46.0.5
-        with:
-          json: true
-          write_output_files: true
-          output_dir: ./logs
-          base_sha: ${{ github.event.pull_request.base.sha }}
-          sha: ${{ github.event.pull_request.head.sha }}
-          files: |
-            docs/en/**/*.md
-
-      - name: Save changed files list
-        run: |
-          mv ./logs/all_changed_files.json ./logs/prFiles.json
-          echo "Changed files:"
-          cat ./logs/prFiles.json
-
-      - name: Setup Node.js
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-
-      - name: Run filtered link checker (changed files)
-        run: |
-          npm -g install markdown_link_checker_sc@0.0.138
-          if [ "$(jq length ./logs/prFiles.json)" -gt 0 ]; then
-            markdown_link_checker_sc \
-              -r "$GITHUB_WORKSPACE" \
-              -d docs \
-              -e en \
-              -f ./logs/prFiles.json \
-              -i assets \
-              -u docs.px4.io/main/ \
-              > ./logs/filtered-link-check-results.md || true
-          fi
-          if [ ! -s ./logs/filtered-link-check-results.md ]; then
-            echo "No broken links found in changed files." > ./logs/filtered-link-check-results.md
-          fi
-          cat ./logs/filtered-link-check-results.md
-
-      - name: Run full link checker
-        run: |
-          markdown_link_checker_sc \
-            -r "$GITHUB_WORKSPACE" \
-            -d docs \
-            -e en \
-            -i assets \
-            -u docs.px4.io/main/ \
-            > ./logs/link-check-results.md || true
-          cat ./logs/link-check-results.md
-
-      - name: Post PR comment with link check results
-        if: github.event.pull_request.head.repo.full_name == github.repository
-        uses: marocchino/sticky-pull-request-comment@v2
-        with:
-          header: flaws
-          path: ./logs/filtered-link-check-results.md
-
-      - name: Upload link check results
-        uses: actions/upload-artifact@v4
-        with:
-          name: link-check-results
-          path: logs/
-          retention-days: 7
-
-  # =============================================================================
-  # Build Site
-  # =============================================================================
-  build-site:
-    name: "T3: Build Site"
-    needs: [detect-changes, pr-metadata-regen, metadata-regen, link-check]
-    if: >-
-      always() &&
-      (needs.metadata-regen.result == 'success' || needs.metadata-regen.result == 'skipped') &&
-      (needs.link-check.result == 'success' || needs.link-check.result == 'skipped') &&
-      (github.event_name != 'pull_request' || needs.detect-changes.outputs.docs_changed == 'true' || needs.detect-changes.outputs.source_changed == 'true')
-    permissions:
-      contents: read
-    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    outputs:
-      branchname: ${{ steps.set-branch.outputs.branchname }}
-      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-        with:
-          ref: ${{ github.event_name == 'pull_request' && github.event.pull_request.head.sha || github.sha }}
-
-      - name: Download metadata artifact (PR)
-        if: github.event_name == 'pull_request' && needs.pr-metadata-regen.result == 'success'
-        uses: actions/download-artifact@v4
-        with:
-          name: pr-metadata
-          path: docs/
-
-      - id: set-branch
-        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
-
-      - id: set-version
-        run: |
-          branch="${{ steps.set-branch.outputs.branchname }}"
-          if [[ "$branch" == "main" ]]; then
-            version="main"
-          elif [[ "$branch" =~ ^release/ ]]; then
-            version="v${branch#release/}"
-          elif [[ "${{ github.event_name }}" == "pull_request" ]]; then
-            version="main"
-          else
-            echo "::error::Unsupported branch for docs deploy: $branch (expected main or release/*)"
-            exit 1
-          fi
-          echo "releaseversion=$version" >> $GITHUB_OUTPUT
-
-      - name: Setup Node
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-          cache: npm
-          cache-dependency-path: ./docs/yarn.lock
-
-      - name: Install dependencies
-        run: yarn install --frozen-lockfile --cwd ./docs
-
-      - name: Build with VitePress
-        working-directory: ./docs
-        env:
-          BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
-        run: |
-          npm run docs:build_ubuntu
-          touch .vitepress/dist/.nojekyll
-          npm run docs:sitemap
-
-      - name: Upload artifact
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_docs_build
-          path: docs/.vitepress/dist/
-          retention-days: 1
-
-  # =============================================================================
-  # Deploy to AWS (push + workflow_dispatch)
-  # =============================================================================
-  deploy-aws:
-    name: "T4: Deploy"
-    needs: [metadata-regen, build-site]
-    if: >-
-      always() &&
-      needs.metadata-regen.result == 'success' &&
-      needs.build-site.result == 'success' &&
-      (github.event_name == 'push' || github.event_name == 'workflow_dispatch')
-    permissions:
-      id-token: write
-    runs-on: ubuntu-latest
-    steps:
-      - name: Download Artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: px4_docs_build
-          path: ~/_book
-
-      - name: Configure AWS from OIDC
-        uses: aws-actions/configure-aws-credentials@v4
-        with:
-          role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
-          aws-region: us-west-2
-
-      - name: Sanity check AWS credentials
-        run: aws sts get-caller-identity
-
-      - name: Upload HTML with short cache
-        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build-site.outputs.releaseversion }}/ \
-            --delete \
-            --exclude "*" --include "*.html" \
-            --cache-control "public, max-age=60"
-
-      - name: Upload assets with long cache
-        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build-site.outputs.releaseversion }}/ \
-            --delete \
-            --exclude "*.html" \
-            --cache-control "public, max-age=86400, immutable"

.github/workflows/docs_deploy_aws.yml

@@ -0,0 +1,116 @@
+name: Docs - Deploy PX4 User Guide to AWS
+
+on:
+  push:
+    branches:
+      - "main"
+      - "release/**"
+    paths:
+      - "docs/en/**"
+      - "docs/zh/**"
+      - "docs/uk/**"
+      - "docs/ko/**"
+  pull_request:
+    paths:
+      - "docs/en/**"
+      - "docs/zh/**"
+      - "docs/uk/**"
+      - "docs/ko/**"
+
+  workflow_dispatch:
+
+permissions:
+  contents: read
+  actions: read
+  id-token: write # for AWS OIDC
+
+concurrency:
+  group: docs-deploy
+  cancel-in-progress: false
+
+jobs:
+  build:
+    runs-on: [runs-on,runner=4cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    outputs:
+      branchname: ${{ steps.set-branch.outputs.branchname }}
+      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
+    steps:
+      - uses: runs-on/action@v1
+
+      - name: Checkout
+        uses: actions/checkout@v4
+
+      - id: set-branch
+        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
+
+      - id: set-version
+        run: |
+          branch="${{ steps.set-branch.outputs.branchname }}"
+          if [[ "$branch" == "main" ]]; then
+            version="main"
+          else
+            version="v${branch#release/}"
+          fi
+          echo "releaseversion=$version" >> $GITHUB_OUTPUT
+
+      - name: Setup Node
+        uses: actions/setup-node@v4
+        with:
+          node-version: 20
+          cache: npm
+          cache-dependency-path: ./docs/yarn.lock
+
+      - name: Install dependencies
+        run: yarn install --frozen-lockfile --cwd ./docs
+
+      - name: Build with VitePress
+        working-directory: ./docs
+        env:
+          BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
+        run: |
+          npm run docs:build_ubuntu
+          touch .vitepress/dist/.nojekyll
+          npm run docs:sitemap
+
+      - name: Upload artifact
+        if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: px4_docs_build
+          path: docs/.vitepress/dist/
+          retention-days: 1
+
+  deploy:
+    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
+    needs: build
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Download Artifact
+        uses: actions/download-artifact@v4
+        with:
+          name: px4_docs_build
+          path: ~/_book
+
+      - name: Configure AWS from OIDC
+        uses: aws-actions/configure-aws-credentials@v4
+        with:
+          role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
+          aws-region: us-west-2
+
+      - name: Sanity check AWS credentials
+        run: aws sts get-caller-identity
+
+      - name: Upload HTML with short cache
+        run: |
+          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
+            --delete \
+            --exclude "*" --include "*.html" \
+            --cache-control "public, max-age=60"
+
+      - name: Upload assets with long cache
+        run: |
+          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
+            --delete \
+            --exclude "*.html" \
+            --cache-control "public, max-age=86400, immutable"

.github/workflows/docs_flaw_checker.yml

@@ -0,0 +1,85 @@
+name: Docs - Check for flaws in PX4 Guide Source
+# So far:
+  # Modifications of translations files
+  # Broken internal links
+
+on:
+  pull_request_target:
+    types: [opened, edited, synchronize]
+    paths:
+      - 'docs/en/**'
+
+jobs:
+  check_flaws:
+    runs-on: ubuntu-latest
+    steps:
+      - name: Checkout
+        uses: actions/checkout@v3
+        with:
+          ref: ${{ github.event.pull_request.head.sha }}
+
+      - name: Install Node.js
+        uses: actions/setup-node@v3
+        with:
+          node-version: '18'
+
+      - name: Create logs directory
+        run: |
+          mkdir logs
+
+      - name: Get changed english doc files
+        id: get_changed_markdown_english
+        uses: tj-actions/changed-files@v46.0.5
+        with:
+          json: true
+          base_sha: "${{ github.event.pull_request.base.sha }}"
+          sha: "${{ github.event.pull_request.head.sha }}"
+          # Below are used to output files to a directory. May use in flaw checker.
+          # write_output_files: true
+          # output_dir: "./logs"
+          files: |
+            docs/en/**/*.md
+
+      - name: Save JSON file containing files to link check
+        run: |
+          echo "$ALL_CHANGED_FILES"
+          # echo "$ALL_CHANGED_FILES" > ./logs/prFiles.json
+          echo "$ALL_CHANGED_FILES" | sed 's/\\//g' | jq '.' > ./logs/prFiles.json
+        env:
+          ALL_CHANGED_FILES: ${{ steps.get_changed_markdown_english.outputs.all_changed_files }}
+
+      - name: Run link checker
+        id: link-check
+        run: |
+          npm -g install markdown_link_checker_sc@0.0.138
+          markdown_link_checker_sc \
+            -r "$GITHUB_WORKSPACE" \
+            -d docs \
+            -e en \
+            -f ./logs/prFiles.json \
+            -i assets \
+            -u docs.px4.io/main/ \
+            > ./logs/errorsFilteredByPrPages.md
+          mkdir -p ./pr
+          cp ./logs/errorsFilteredByPrPages.md ./pr/errorsFilteredByPrPages.md
+
+      - name: Read errorsFilteredByPrPages.md file
+        id: read-errors-by-page
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./logs/errorsFilteredByPrPages.md
+
+      - name: Echo Errors by Page
+        run: echo "$ERRORS"
+        env:
+          ERRORS: ${{ steps.read-errors-by-page.outputs.content }}
+
+      - name: Save PR number
+        run: echo "$PR_NUMBER" > ./pr/pr_number
+        env:
+          PR_NUMBER: ${{ github.event.number }}
+
+      - uses: actions/upload-artifact@v4
+        with:
+          name: pr_number
+          path: pr/

.github/workflows/docs_pr_comment.yml

@@ -0,0 +1,111 @@
+name: Docs - Comment Workflow
+on:
+  workflow_run:
+    workflows: ["Docs - Check for flaws in PX4 Guide Source"]
+    types:
+      - completed
+
+jobs:
+  comment:
+    permissions:
+      pull-requests: write # for marocchino/sticky-pull-request-comment
+    name: Comments
+    runs-on: ubuntu-latest
+    steps:
+      - name: 'Download PR artifact'
+        uses: actions/github-script@v6
+        with:
+          script: |
+            let allArtifacts = await github.rest.actions.listWorkflowRunArtifacts({
+               owner: context.repo.owner,
+               repo: context.repo.repo,
+               run_id: context.payload.workflow_run.id,
+            });
+            let matchArtifact = allArtifacts.data.artifacts.filter((artifact) => {
+              return artifact.name == "pr_number"
+            })[0];
+            let download = await github.rest.actions.downloadArtifact({
+               owner: context.repo.owner,
+               repo: context.repo.repo,
+               artifact_id: matchArtifact.id,
+               archive_format: 'zip',
+            });
+            let fs = require('fs');
+            fs.writeFileSync(`${process.env.GITHUB_WORKSPACE}/pr_number.zip`, Buffer.from(download.data));
+
+      - name: 'Unzip artifact'
+        run: unzip pr_number.zip
+
+      # Doesn't work across workflows
+      #- name: Get artifacts from flaw checker workflow
+      #  uses: actions/download-artifact@v3
+      #  with:
+      #    name: logs_and_errors
+      #    #path: ./logs
+
+      - name: Read errorsFilteredByPrPages.md file
+        id: read-errors-by-page
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./errorsFilteredByPrPages.md
+
+      - name: Read PR number
+        id: read-error-pr-number
+        uses: juliangruber/read-file-action@v1
+        with:
+          path: ./pr_number
+
+      - name: File detail info
+        run: |
+          echo "$ERRORS"
+          echo "$PRNUM"
+        env:
+          ERRORS: ${{ steps.read-errors-by-page.outputs.content }}
+          PRNUM: ${{ steps.read-error-pr-number.outputs.content }}
+
+      - name: Create or update comment
+        id: comment_to_pr
+        uses: marocchino/sticky-pull-request-comment@v2
+        with:
+          GITHUB_TOKEN: ${{ secrets.GITHUB_TOKEN }}
+          recreate: true
+          number: ${{ steps.read-error-pr-number.outputs.content }}
+          header: flaws
+          message: ${{ steps.read-errors-by-page.outputs.content || 'No flaws found' }}
+
+      #- name: Dump GitHub context
+      #  env:
+      #    GITHUB_CONTEXT: ${{ toJSON(github) }}
+      #  run: echo "$GITHUB_CONTEXT"
+
+      # Would like to do this, but it doesn't work (for me).
+      # Moving to time-based, or triggering on workflow
+      #- name: Wait for artifacts upload to succeed
+      #  uses: lewagon/wait-on-check-action@v1.3.1
+      #  with:
+      #    ref: ${{ github.ref }}
+      #    check-name: 'Archive production artifacts'
+      #    repo-token: ${{ secrets.GITHUB_TOKEN }}
+      #    wait-interval: 80
+
+      # Not needed for now - trying to trigger off the workflow
+      #- name: Sleep for 80 seconds
+      #  run: sleep 80s
+      #  shell: bash
+      #- name: Find Comment
+      #  uses: peter-evans/find-comment@v2
+      #  id: fc
+      #  with:
+      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
+      #    comment-author: 'github-actions[bot]'
+      #    body-includes: Flaws (may be none)
+
+      #- name: Create or update comment
+      #  uses: peter-evans/create-or-update-comment@v3
+      #  with:
+      #    comment-id: ${{ steps.fc.outputs.comment-id }}
+      #    issue-number: ${{ steps.read-error-pr-number.outputs.content }}
+      #    body: |
+      #      Flaws (may be none)
+      #      ${{ steps.read-errors-by-page.outputs.content }}
+      #    edit-mode: replace

.github/workflows/ekf_functional_change_indicator.yml

@@ -15,21 +15,21 @@ concurrency:
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
     steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
 
-      - name: main test
+    - name: main test
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+        options: -v ${{ github.workspace }}:/workspace
         run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          cd /workspace
+          git config --global --add safe.directory /workspace
           make tests TESTFILTER=EKF
 
-      - name: Check if there is a functional change
-        run: git diff --exit-code
-        working-directory: src/modules/ekf2/test/change_indication
+    - name: Check if there is a functional change
+      run: git diff --exit-code
+      working-directory: src/modules/ekf2/test/change_indication

.github/workflows/ekf_update_change_indicator.yml

@@ -8,47 +8,40 @@ on:
 jobs:
   unit_tests:
     runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
     env:
       GIT_COMMITTER_EMAIL: bot@px4.io
       GIT_COMMITTER_NAME: PX4BuildBot
-
     steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
 
-      - name: main test
+    - name: main test
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+        options: -v ${{ github.workspace }}:/workspace
         run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
+          cd /workspace
+          git config --global --add safe.directory /workspace
           make tests TESTFILTER=EKF
 
-      - name: Check if there exists diff and save result in variable
-        id: diff-check
-        working-directory: src/modules/ekf2/test/change_indication
-        run: |
-          if git diff --quiet; then
-            echo "CHANGE_INDICATED=false" >> $GITHUB_OUTPUT
-          else
-            echo "CHANGE_INDICATED=true" >> $GITHUB_OUTPUT
-          fi
+    - name: Check if there exists diff and save result in variable
+      id: diff-check
+      run: echo "CHANGE_INDICATED=$(git diff --exit-code --output=/dev/null || echo $?)" >> $GITHUB_OUTPUT
+      working-directory: src/modules/ekf2/test/change_indication
 
-      - name: auto-commit any changes to change indication
-        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
-        uses: stefanzweifel/git-auto-commit-action@v4
-        with:
-          file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
-          commit_user_name: ${{ env.GIT_COMMITTER_NAME }}
-          commit_user_email: ${{ env.GIT_COMMITTER_EMAIL }}
-          commit_message: |
-            [AUTO COMMIT] update change indication
+    - name: auto-commit any changes to change indication
+      uses: stefanzweifel/git-auto-commit-action@v4
+      with:
+        file_pattern: 'src/modules/ekf2/test/change_indication/*.csv'
+        commit_user_name: ${GIT_COMMITTER_NAME}
+        commit_user_email: ${GIT_COMMITTER_EMAIL}
+        commit_message: |
+          '[AUTO COMMIT] update change indication'
 
-            See .github/workflows/ekf_update_change_indicator.yml for more details
+          See .github/workflopws/ekf_update_change_indicator.yml for more details
 
-      - name: if there is a functional change, fail check
-        if: steps.diff-check.outputs.CHANGE_INDICATED == 'true'
-        run: exit 1
+    - name: if there is a functional change, fail check
+      if: ${{ steps.diff-check.outputs.CHANGE_INDICATED }}
+      run: exit 1

.github/workflows/mavros_mission_tests.yml

@@ -19,27 +19,25 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-latest
-
     strategy:
       fail-fast: false
+      matrix:
+        config:
+          - {vehicle: "iris",          mission: "MC_mission_box"}
 
     steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
 
-      - name: Build SITL and Run Tests (inside old ROS container)
+    - name: Build SITL and Run Tests
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-ros-melodic:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
         run: |
-          docker run --rm \
-            -v "${GITHUB_WORKSPACE}:/workspace" \
-            -w /workspace \
-            px4io/px4-dev-ros-melodic:2021-09-08 \
-            bash -c '
-              git config --global --add safe.directory /workspace
-              make px4_sitl_default
-              make px4_sitl_default sitl_gazebo-classic
-              ./test/rostest_px4_run.sh \
-                mavros_posix_test_mission.test \
-                mission:=MC_mission_box \
-                vehicle:=iris
-            '
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make px4_sitl_default
+          make px4_sitl_default sitl_gazebo-classic
+          ./test/rostest_px4_run.sh mavros_posix_test_mission.test mission:=${{matrix.config.mission}} vehicle:=${{matrix.config.vehicle}}

.github/workflows/mavros_offboard_tests.yml

@@ -19,26 +19,27 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-latest
-
+    env:
+      ACTIONS_ALLOW_USE_UNSECURE_NODE_VERSION: true
     strategy:
       fail-fast: false
+      matrix:
+        config:
+          - {test_file: "mavros_posix_tests_offboard_posctl.test",    vehicle: "iris"}
 
     steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
 
-      - name: Build SITL and Run Tests (inside old ROS container)
+    - name: Build PX4 and Run Tests
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev-ros-melodic:2021-09-08
+        options: -v ${{ github.workspace }}:/workspace
         run: |
-          docker run --rm \
-            -v "${GITHUB_WORKSPACE}:/workspace" \
-            -w /workspace \
-            px4io/px4-dev-ros-melodic:2021-09-08 \
-            bash -c '
-              git config --global --add safe.directory /workspace
-              make px4_sitl_default
-              make px4_sitl_default sitl_gazebo-classic
-              ./test/rostest_px4_run.sh \
-                mavros_posix_tests_offboard_posctl.test \
-                vehicle:=iris
-            '
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          make px4_sitl_default
+          make px4_sitl_default sitl_gazebo-classic
+          ./test/rostest_px4_run.sh ${{matrix.config.test_file}} vehicle:=${{matrix.config.vehicle}}

.github/workflows/nuttx_env_config.yml

@@ -19,28 +19,27 @@ concurrency:
 jobs:
   build:
     runs-on: ubuntu-latest
-
-    container:
-      image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
-
     strategy:
       matrix:
-        config:
-          - px4_fmu-v5_default
+        config: [
+          px4_fmu-v5_default,
+          ]
 
     steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v4
+      with:
+        fetch-depth: 0
 
-      - name: Build PX4 and Run Test [${{ matrix.config }}]
+    - name: Build PX4 and Run Test [${{ matrix.config }}]
+      uses: addnab/docker-run-action@v3
+      with:
+        image: px4io/px4-dev:v1.16.0-rc1-258-g0369abd556
+        options: -v ${{ github.workspace }}:/workspace
         run: |
-          cd "$GITHUB_WORKSPACE"
-          git config --global --add safe.directory "$GITHUB_WORKSPACE"
-          export PX4_EXTRA_NUTTX_CONFIG='CONFIG_NSH_LOGIN_PASSWORD="test";CONFIG_NSH_CONSOLE_LOGIN=y'
+          cd /workspace
+          git config --global --add safe.directory /workspace
+          export PX4_EXTRA_NUTTX_CONFIG="CONFIG_NSH_LOGIN_PASSWORD=\"test\";CONFIG_NSH_CONSOLE_LOGIN=y"
           echo "PX4_EXTRA_NUTTX_CONFIG: $PX4_EXTRA_NUTTX_CONFIG"
-
           make ${{ matrix.config }} nuttx_context
-
           echo "Check that the config option is set"
           grep CONFIG_NSH_LOGIN_PASSWORD build/${{ matrix.config }}/NuttX/nuttx/.config

.github/workflows/ros_integration_tests.yml

@@ -90,9 +90,6 @@ jobs:
         mkdir -p /opt/px4_ws/src
         cd /opt/px4_ws/src
         git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
-        # Ignore python packages due to compilation issue (can be enabled when updating ROS)
-        touch px4-ros2-interface-lib/px4_ros2_py/COLCON_IGNORE || true
-        touch px4-ros2-interface-lib/examples/python/COLCON_IGNORE || true
         cd ..
         # Copy messages to ROS workspace
         "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"

.github/workflows/sitl_tests.yml

@@ -33,10 +33,8 @@ jobs:
       matrix:
         config:
           - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
-          # VTOL/tailsitter disabled: persistent flaky CI failures (timeouts, erratic
-          # transitions). Re-enable once the test infrastructure is stabilized.
-          # - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
-          # - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
+          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
+          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
 
     steps:
       - uses: actions/checkout@v4

.gitignore

@@ -109,6 +109,3 @@ src/systemcmds/topic_listener/listener_generated.cpp
 # colcon
 log/
 keys/
-
-# metadata
-_emscripten_sdk/

CTestConfig.cmake

@@ -0,0 +1,15 @@
+## This file should be placed in the root directory of your project.
+## Then modify the CMakeLists.txt file in the root directory of your
+## project to incorporate the testing dashboard.
+##
+## # The following are required to submit to the CDash dashboard:
+##   ENABLE_TESTING()
+##   INCLUDE(CTest)
+
+set(CTEST_PROJECT_NAME "PX4 Firmware")
+set(CTEST_NIGHTLY_START_TIME "00:00:00 EST")
+
+set(CTEST_DROP_METHOD "http")
+set(CTEST_DROP_SITE "my.cdash.org")
+set(CTEST_DROP_LOCATION "/submit.php?project=PX4+Firmware")
+set(CTEST_DROP_SITE_CDASH TRUE)

Jenkinsfile

@@ -101,7 +101,6 @@ pipeline {
             echo $0;
             git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
             cd _emscripten_sdk;
-            git checkout 4.0.15;
             ./emsdk install latest;
             ./emsdk activate latest;
             cd ..;

Makefile

@@ -412,7 +412,7 @@ tests:
 	$(call cmake-build,px4_sitl_test)
 
 # work around lcov bug #316; remove once lcov is fixed (see https://github.com/linux-test-project/lcov/issues/316)
-LCOBUG = --ignore-errors mismatch,negative
+LCOBUG = --ignore-errors mismatch
 tests_coverage:
 	@$(MAKE) clean
 	@$(MAKE) --no-print-directory tests PX4_CMAKE_BUILD_TYPE=Coverage
@@ -492,29 +492,13 @@ px4_sitl_default-clang:
 	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && cmake "$(SRC_DIR)" $(CMAKE_ARGS) -G"$(PX4_CMAKE_GENERATOR)" -DCONFIG=px4_sitl_default -DCMAKE_C_COMPILER=clang -DCMAKE_CXX_COMPILER=clang++
 	@$(PX4_MAKE) -C "$(SRC_DIR)"/build/px4_sitl_default-clang
 
-# Paths to exclude from clang-tidy (auto-generated from .gitmodules + manual additions):
-# - All submodules (external code we consume, not edit)
-# - Test code (allowed looser style)
-# - Example code (educational, not production)
-# - Vendored third-party code (e.g., CMSIS_5)
-# - NuttX-only drivers excluded at CMake level (mcp_common); I2C-dependent libs excluded here (smbus)
-# - GPIO excluded here (NuttX platform headers)
-# - Emscripten failsafe web build: source path + Unity build path (failsafe_test.dir)
-#   because CMake Unity Builds merge sources into a generated .cxx under build/
-#
-# To add manual exclusions, append to CLANG_TIDY_EXCLUDE_EXTRA below.
-# Submodules are automatically excluded - no action needed when adding new ones.
-CLANG_TIDY_SUBMODULES := $(shell git config --file .gitmodules --get-regexp path | awk '{print $$2}' | tr '\n' '|' | sed 's/|$$//')
-CLANG_TIDY_EXCLUDE_EXTRA := src/systemcmds/tests|src/examples|src/modules/gyro_fft/CMSIS_5|src/lib/drivers/smbus|src/drivers/gpio|src/modules/commander/failsafe/emscripten|failsafe_test\.dir|\.pb\.cc
-CLANG_TIDY_EXCLUDE := $(CLANG_TIDY_SUBMODULES)|$(CLANG_TIDY_EXCLUDE_EXTRA)
-
 clang-tidy: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -exclude="$(CLANG_TIDY_EXCLUDE)" -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -p .
 
 # to automatically fix a single check at a time, eg modernize-redundant-void-arg
 #  % run-clang-tidy-4.0.py -fix -j4 -checks=-\*,modernize-redundant-void-arg -p .
 clang-tidy-fix: px4_sitl_default-clang
-	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -exclude="$(CLANG_TIDY_EXCLUDE)" -fix -p .
+	@cd "$(SRC_DIR)"/build/px4_sitl_default-clang && "$(SRC_DIR)"/Tools/run-clang-tidy.py -header-filter=".*\.hpp" -j$(j_clang_tidy) -fix -p .
 
 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: px4_sitl_default
@@ -614,10 +598,3 @@ failsafe_web:
 run_failsafe_web_server: failsafe_web
 	@cd build/px4_sitl_default_failsafe_web && \
 		python3 -m http.server
-
-# Generate reference documentation for uORB messages
-.PHONY: msg_docs
-msg_docs:
-	$(call colorecho,'Generating uORB message reference docs')
-	@mkdir -p build/msg_docs
-	@./Tools/msg/generate_msg_docs.py -d build/msg_docs

README.md

@@ -1,109 +1,62 @@
-<p align="center">
-  <a href="https://px4.io">
-    <img src="docs/assets/site/px4_logo.svg" alt="PX4 Autopilot" width="240">
-  </a>
-</p>
+# PX4 Drone Autopilot
 
-<p align="center">
-  <em>The autopilot stack the industry builds on.</em>
-</p>
+[![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)
 
-<p align="center">
-  <a href="https://github.com/PX4/PX4-Autopilot/releases"><img src="https://img.shields.io/github/release/PX4/PX4-Autopilot.svg" alt="Releases"></a>
-  <a href="https://zenodo.org/badge/latestdoi/22634/PX4/PX4-Autopilot"><img src="https://zenodo.org/badge/22634/PX4/PX4-Autopilot.svg" alt="DOI"></a>
-  <a href="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml"><img src="https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main" alt="Build Targets"></a>
-  <a href="https://discord.gg/dronecode"><img src="https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield" alt="Discord"></a>
-</p>
+[![Build Targets](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml/badge.svg?branch=main)](https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml) [![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)
 
----
+[![Discord Shield](https://discordapp.com/api/guilds/1022170275984457759/widget.png?style=shield)](https://discord.gg/dronecode)
 
-## About
+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/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
 
-PX4 is an open-source autopilot stack for drones and unmanned vehicles. It supports multirotors, fixed-wing, VTOL, rovers, and many more experimental platforms from racing quads to industrial survey aircraft. It runs on [NuttX](https://nuttx.apache.org/), Linux, and macOS. Licensed under [BSD 3-Clause](LICENSE).
+PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
 
-## Why PX4
+* Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/main/LICENSE))
+* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](https://px4.io/ecosystem/commercial-systems/)):
+  * [Multicopters](https://docs.px4.io/main/en/frames_multicopter/)
+  * [Fixed wing](https://docs.px4.io/main/en/frames_plane/)
+  * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
+  * [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
+  * [Rover](https://docs.px4.io/main/en/frames_rover/)
+  * many more experimental types (Blimps, Boats, Submarines, High Altitude Balloons, Spacecraft, etc)
+* Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
 
-**Modular architecture.** PX4 is built around [uORB](https://docs.px4.io/main/en/middleware/uorb.html), a [DDS](https://docs.px4.io/main/en/middleware/uxrce_dds.html)-compatible publish/subscribe middleware. Modules are fully parallelized and thread safe. You can build custom configurations and trim what you don't need.
+## Releases
 
-**Wide hardware support.** PX4 runs on a wide range of [autopilot boards](https://docs.px4.io/main/en/flight_controller/) and supports an extensive set of sensors, telemetry radios, and actuators through the [Pixhawk](https://pixhawk.org/) ecosystem.
+Release notes and supporting information for PX4 releases can be found on the [Developer Guide](https://docs.px4.io/main/en/releases/).
 
-**Developer friendly.** First-class support for [MAVLink](https://mavlink.io/) and [DDS / ROS 2](https://docs.px4.io/main/en/ros2/) integration. Comprehensive [SITL simulation](https://docs.px4.io/main/en/simulation/), hardware-in-the-loop testing, and [log analysis](https://docs.px4.io/main/en/log/flight_log_analysis.html) tools. An active developer community on [Discord](https://discord.gg/dronecode) and the [weekly dev call](https://docs.px4.io/main/en/contribute/).
+## Building a PX4 based drone, rover, boat or robot
 
-**Vendor neutral governance.** PX4 is hosted under the [Dronecode Foundation](https://www.dronecode.org/), part of the Linux Foundation. Business-friendly BSD-3 license. No single vendor controls the roadmap.
+The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4. See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
 
-## Supported Vehicles
 
-<table>
-  <tr>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_multicopter/">
-        <img src="docs/assets/airframes/types/QuadRotorX.svg" width="50" alt="Multicopter"><br>
-        <sub>Multicopter</sub>
-      </a>
-    </td>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_plane/">
-        <img src="docs/assets/airframes/types/Plane.svg" width="50" alt="Fixed Wing"><br>
-        <sub>Fixed Wing</sub>
-      </a>
-    </td>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_vtol/">
-        <img src="docs/assets/airframes/types/VTOLPlane.svg" width="50" alt="VTOL"><br>
-        <sub>VTOL</sub>
-      </a>
-    </td>
-    <td align="center">
-      <a href="https://docs.px4.io/main/en/frames_rover/">
-        <img src="docs/assets/airframes/types/Rover.svg" width="50" alt="Rover"><br>
-        <sub>Rover</sub>
-      </a>
-    </td>
-  </tr>
-</table>
+## Changing Code and Contributing
 
-<sub>…and many more: helicopters, autogyros, airships, submarines, boats, and other experimental platforms. These frames have basic support but are not part of the regular flight-test program. See the <a href="https://docs.px4.io/main/en/airframes/airframe_reference.html">full airframe reference</a>.</sub>
+This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
 
-## Quick Start
+Developers should read the [Guide for Contributions](https://docs.px4.io/main/en/contribute/).
+See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!
 
-```bash
-git clone https://github.com/PX4/PX4-Autopilot.git --recursive
-cd PX4-Autopilot
-make px4_sitl
-```
 
-> [!NOTE]
-> See the [Development Guide](https://docs.px4.io/main/en/development/development.html) for toolchain setup and build options.
+## Weekly Dev Call
 
-## Documentation & Resources
+The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).
 
-| Resource | Description |
-| --- | --- |
-| [User Guide](https://docs.px4.io/main/en/) | Build, configure, and fly with PX4 |
-| [Developer Guide](https://docs.px4.io/main/en/development/development.html) | Modify the flight stack, add peripherals, port to new hardware |
-| [Airframe Reference](https://docs.px4.io/main/en/airframes/airframe_reference.html) | Full list of supported frames |
-| [Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/) | Compatible flight controllers |
-| [Release Notes](https://docs.px4.io/main/en/releases/) | What's new in each release |
-| [Contribution Guide](https://docs.px4.io/main/en/contribute/) | How to contribute to PX4 |
+> **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).
 
-## Community
 
-- **Weekly Dev Call** — open to all developers ([Dronecode calendar](https://www.dronecode.org/calendar/))
-- **Discord** — [Join the Dronecode server](https://discord.gg/dronecode)
-- **Discussion Forum** — [PX4 Discuss](https://discuss.px4.io/)
-- **Maintainers** — see [`MAINTAINERS.md`](MAINTAINERS.md)
-- **Contributor Stats** — [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode)
+## Maintenance Team
 
-## Contributing
+See the latest list of maintainers on [MAINTAINERS](MAINTAINERS.md) file at the root of the project.
 
-We welcome contributions of all kinds — bug reports, documentation, new features, and code reviews. Please read the [Contribution Guide](https://docs.px4.io/main/en/contribute/) to get started.
+For the latest stats on contributors please see the latest stats for the Dronecode ecosystem in our project dashboard under [LFX Insights](https://insights.lfx.linuxfoundation.org/foundation/dronecode). For information on how to update your profile and affiliations please see the following support link on how to [Complete Your LFX Profile](https://docs.linuxfoundation.org/lfx/my-profile/complete-your-lfx-profile). Dronecode publishes a yearly snapshot of contributions and achievements on its [website under the Reports section](https://dronecode.org).
 
-## Governance
+## Supported Hardware
 
-The PX4 Autopilot project is hosted by the [Dronecode Foundation](https://www.dronecode.org/), a [Linux Foundation](https://www.linuxfoundation.org/) Collaborative Project. Dronecode holds all PX4 trademarks and serves as the project's legal guardian, ensuring vendor-neutral stewardship — no single company owns the name or controls the roadmap. The source code is licensed under the [BSD 3-Clause](LICENSE) license, so you are free to use, modify, and distribute it in your own projects.
+For the most up to date information, please visit [PX4 User Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).
 
-<p align="center">
-  <a href="https://www.dronecode.org/">
-    <img src="docs/assets/site/dronecode_logo.svg" alt="Dronecode Logo" width="180">
-  </a>
-</p>
+## Project Governance
+
+The PX4 Autopilot project including all of its trademarks is hosted under [Dronecode](https://www.dronecode.org/), part of the Linux Foundation.
+
+<a href="https://www.dronecode.org/" style="padding:20px" ><img src="https://dronecode.org/wp-content/uploads/sites/24/2020/08/dronecode_logo_default-1.png" alt="Dronecode Logo" width="110px"/></a>
+<div style="padding:10px">&nbsp;</div>

ROMFS/CMakeLists.txt

@@ -146,6 +146,11 @@ add_custom_command(
 		${romfs_copy_stamp}
 	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
 	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
+	# Preprocess ROMFS files with KConfig definitions
+	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_romfs_preprocess.py
+		--romfs-dir ${romfs_gen_root_dir}
+		--kconfig-header ${PX4_BINARY_DIR}/px4_boardconfig.h
+		--cpp ${CMAKE_C_COMPILER}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -159,8 +164,10 @@ add_custom_command(
 		--params-file ${CONFIG_BOARD_PARAM_FILE}
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
-	DEPENDS ${romfs_tar_file}
-	COMMENT "ROMFS: copying, generating airframes"
+	DEPENDS
+		${romfs_tar_file}
+		${PX4_BINARY_DIR}/px4_boardconfig.h
+	COMMENT "ROMFS: copying, preprocessing, generating airframes"
 	)
 
 # copy extras into ROMFS

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -101,7 +101,6 @@ 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_PITCH_MIN -5
-param set-default VT_F_TRANS_THR 1
+param set-default VT_F_TRANS_THR 0.3
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0

ROMFS/px4fmu_common/init.d-posix/airframes/60002_gz_uuv_bluerov2_heavy

@@ -42,21 +42,23 @@ param set-default FD_FAIL_R 0
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_R_REV 255
 
-param set-default CA_ROTOR0_AX 1
-param set-default CA_ROTOR0_AY -1
+param set-default CA_ROTOR0_AX -1
+param set-default CA_ROTOR0_AY 1
 param set-default CA_ROTOR0_AZ 0
 param set-default CA_ROTOR0_KM 0
 param set-default CA_ROTOR0_PX 0.14
 param set-default CA_ROTOR0_PY 0.10
 param set-default CA_ROTOR0_PZ 0.06
+#param set-default CA_ROTOR0_PZ 0.0
 
-param set-default CA_ROTOR1_AX 1
-param set-default CA_ROTOR1_AY 1
+param set-default CA_ROTOR1_AX -1
+param set-default CA_ROTOR1_AY -1
 param set-default CA_ROTOR1_AZ 0
 param set-default CA_ROTOR1_KM 0
 param set-default CA_ROTOR1_PX 0.14
 param set-default CA_ROTOR1_PY -0.10
 param set-default CA_ROTOR1_PZ 0.06
+#param set-default CA_ROTOR1_PZ 0.0
 
 param set-default CA_ROTOR2_AX 1
 param set-default CA_ROTOR2_AY 1
@@ -65,6 +67,7 @@ param set-default CA_ROTOR2_KM 0
 param set-default CA_ROTOR2_PX -0.14
 param set-default CA_ROTOR2_PY 0.10
 param set-default CA_ROTOR2_PZ 0.06
+#param set-default CA_ROTOR2_PZ 0.0
 
 param set-default CA_ROTOR3_AX 1
 param set-default CA_ROTOR3_AY -1
@@ -76,7 +79,7 @@ param set-default CA_ROTOR3_PZ 0.06
 
 param set-default CA_ROTOR4_AX 0
 param set-default CA_ROTOR4_AY 0
-param set-default CA_ROTOR4_AZ -1
+param set-default CA_ROTOR4_AZ 1
 param set-default CA_ROTOR4_KM 0
 param set-default CA_ROTOR4_PX 0.12
 param set-default CA_ROTOR4_PY 0.22
@@ -100,7 +103,7 @@ param set-default CA_ROTOR6_PZ 0
 
 param set-default CA_ROTOR7_AX 0
 param set-default CA_ROTOR7_AY 0
-param set-default CA_ROTOR7_AZ -1
+param set-default CA_ROTOR7_AZ 1
 param set-default CA_ROTOR7_KM 0
 param set-default CA_ROTOR7_PX -0.12
 param set-default CA_ROTOR7_PY -0.22

ROMFS/px4fmu_common/init.d/CMakeLists.txt

@@ -123,9 +123,3 @@ if(CONFIG_MODULES_TEMPERATURE_COMPENSATION)
 		rc.thermal_cal
 	)
 endif()
-
-if(CONFIG_DRIVERS_VTXTABLE)
-	px4_add_romfs_files(
-		rc.vtxtable
-	)
-endif()

ROMFS/px4fmu_common/init.d/airframes/60002_uuv_bluerov2_heavy

@@ -22,9 +22,6 @@
 
 . ${R}etc/init.d/rc.uuv_defaults
 
-# Overwrite DDS AG IP to `192.168.0.1`
-param set-default UXRCE_DDS_AG_IP -1062731775
-
 # param set-default MAV_1_CONFIG 102
 
 param set-default BAT1_A_PER_V 37.8798

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -8,17 +8,24 @@
 #                           Begin Optional drivers                            #
 ###############################################################################
 
+%ifdef CONFIG_DRIVERS_BATT_SMBUS
 if param compare -s SENS_EN_BATT 1
 then
 	batt_smbus start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_SMART_BATTERY_BATMON
 # Start batmon driver if enabled using BATMON_DRIVER_EN
 if param compare -s BATMON_DRIVER_EN 1
 then
 	batmon start -X  #start on external bus
 fi
+%endif
 
+
+%ifdef CONFIG_DRIVERS_PWM_INPUT
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS
 # Sensors on the PWM interface bank
 if param compare -s SENS_EN_LL40LS 1
 then
@@ -27,92 +34,121 @@ then
 		ll40ls_pwm start
 	fi
 fi
+%endif
 
 # External automatic trigger system
 if param compare FD_EXT_ATS_EN 1
 then
 	pwm_input start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS
 # Lidar-Lite on I2C
 if param compare -s SENS_EN_LL40LS 2
 then
 	ll40ls start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_MAPPYDOT
 # mappydot lidar sensor
 if param compare -s SENS_EN_MPDT 1
 then
 	mappydot start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_MB12XX
 # mb12xx sonar sensor
 if param greater -s SENS_EN_MB12XX 0
 then
 	mb12xx start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_PGA460
 # pga460 sonar sensor
 if param greater -s SENS_EN_PGA460 0
 then
 	pga460 start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C
 # Lightware i2c lidar sensor
 if param greater -s SENS_EN_SF1XX 0
 then
 	lightware_laser_i2c start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05
 # Sensor HY-SRF05 or HC-SR05 ultrasonic sensor
 if param compare -s SENS_EN_SR05 1
 then
 	srf05 start
 fi
+%endif
 
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_TERARANGER
 # Teraranger one tof sensor
 if param greater -s SENS_EN_TRANGER 0
 then
 	teraranger start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PAA3905
 # paa3905 optical flow sensor (external SPI)
 if param greater -s SENS_EN_PAA3905 0
 then
 	paa3905 -S start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902
 # paw3902 optical flow sensor (external SPI)
 if param greater -s SENS_EN_PAW3902 0
 then
 	paw3902 -S start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901
 # pmw3901 optical flow sensor (external SPI)
 if param greater -s SENS_EN_PMW3901 0
 then
 	pmw3901 -S start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X
 # vl53l0x i2c distance sensor
 if param compare -s SENS_EN_VL53L0X 1
 then
 	vl53l0x start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X
 # vl53l1x i2c distance sensor
 if param compare -s SENS_EN_VL53L1X 1
 then
 	vl53l1x start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DISTANCE_SENSOR_TF02PRO
 # tf02 pro i2c distance sensor
 if param compare -s SENS_EN_TF02PRO 1
 then
 	tf02pro start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448
 # ADIS16448 spi external IMU
 if param compare -s SENS_EN_ADIS164X 1
 then
@@ -125,25 +161,33 @@ then
 		adis16448 -S start -R 4
 	fi
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507
 # ADIS16507 spi external IMU
 if param greater -s SENS_EN_ADIS165X 0
 then
 	adis16507 -S start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_IMU_MURATA_SCH16T
 # SCH16T spi external IMU
 if param compare -s SENS_EN_SCH16T 1
 then
 	sch16t -S start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ETS
 # Eagle Tree airspeed sensor external I2C
 if param compare -s SENS_EN_ETSASPD 1
 then
 	ets_airspeed start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_SDP3X
 # Sensirion SDP3X differential pressure sensor external I2C
 if param compare -s SENS_EN_SDP3X 1
 then
@@ -153,116 +197,171 @@ then
 		sdp3x start -X -a 0x22
 	fi
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_TEMPERATURE_SENSOR_MCP9808
 # Microchip MCP9808 temperature sensor external I2C
 if param compare -s SENS_EN_MCP9808 1
 then
 	mcp9808 start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4515
 # TE MS4515 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4515 1
 then
 	ms4515 start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525DO
 # TE MS4525DO differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4525DO 1
 then
 	ms4525do start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS5525DSO
 # TE MS5525DSO differential pressure sensor external I2C
 if param compare -s SENS_EN_MS5525DS 1
 then
 	ms5525dso start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ASP5033
 # TE ASP5033 differential pressure sensor external I2C
 if param compare -s SENS_EN_ASP5033 1
 then
 	asp5033 start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV
 # AUAV absolute/differential pressure sensor external I2C
 if param greater -s SENS_EN_AUAVX 0
 then
 	auav start -D -X
 	auav start -A -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_HYGROMETER_SHT3X
 # SHT3x temperature and hygrometer sensor, external I2C
 if param compare -s SENS_EN_SHT3X 1
 then
 	sht3x start -X
 	sht3x start -X -a 0x45
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_IRLOCK
 # IR-LOCK sensor external I2C
 if param compare -s SENS_EN_IRLOCK 1
 then
 	irlock start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_BAROMETER_GOERTEK_SPL06
 # SPL06 sensor external I2C
 if param compare -s SENS_EN_SPL06 1
 then
 	spl06 -X start
 	spl06 -X -a 0x77 start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06
 # SPA06 sensor external I2C
 if param compare -s SENS_EN_SPA06 1
 then
 	spa06 -X start
 	spa06 -X -a 0x77 start
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_RPM_PCF8583
 # PCF8583 counter (RPM sensor)
 if param compare -s SENS_EN_PCF8583 1
 then
 	pcf8583 start -X
 	pcf8583 start -X -a 0x51
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_ADC_ADS7953
 # ADC sensor ADS7953 external SPI
 if param compare -s ADC_ADS7953_EN 1
 then
 	ads7953 start -S
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_ADC_TLA2528
 # ADC sensor tla2528 external I2C
 if param compare -s ADC_TLA2528_EN 1
 then
 	tla2528 start -X
 fi
+%endif
 
+%ifdef CONFIG_DRIVERS_TEMPERATURE_SENSOR_TMP102
 # Start TMP102 temperature sensor
-if param compare SENS_EN_TMP102 1
+if param compare -s SENS_EN_TMP102 1
 then
 	tmp102 start -X
 fi
+%endif
 
+%ifdef COMMON_MAGNETOMETER
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
+%ifdef CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948
 	icm20948_i2c_passthrough -X -q start
+%endif
 
 	# compasses
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_HMC5883
 	hmc5883 -T -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC
 	iis2mdc -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308
 	ist8308 -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310
 	ist8310 -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL
 	if ! lis3mdl -X -q start
 	then
 		lis3mdl -X -q -a 0x1c start
 	fi
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_QMC5883L
 	qmc5883l -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_QMC5883P
 	qmc5883p -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_RM3100
 	rm3100 -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350
 	bmm350 -X -q start
+%endif
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC
 	iis2mdc -X -q start
+%endif
 
 	# start last (wait for possible icm20948 passthrough mode)
+%ifdef CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916
 	ak09916 -X -q start
+%endif
 fi
+%endif

ROMFS/px4fmu_common/init.d/rc.uuv_defaults

@@ -10,6 +10,9 @@ set VEHICLE_TYPE uuv
 # MAV_TYPE_SUBMARINE 12
 param set-default MAV_TYPE 12
 
+# Set micro-dds-client to use ethernet and IP-address 192.168.0.1
+param set-default UXRCE_DDS_AG_IP -1062731775
+
 # Disable preflight disarm to not interfere with external launching
 param set-default COM_DISARM_PRFLT -1
 param set-default CBRK_SUPPLY_CHK 894281

ROMFS/px4fmu_common/init.d/rc.vtxtable

@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# VTX table loading script.
-#
-# NOTE: Script variables are declared/initialized/unset in the rcS script.
-#
-
-vtxtable load

ROMFS/px4fmu_common/init.d/rcS

@@ -265,12 +265,15 @@ else
 	# Start the tone_alarm driver.
 	# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
 	#
+%ifdef CONFIG_DRIVERS_TONE_ALARM
 	tone_alarm start
+%endif
 
 	#
 	# Waypoint storage.
 	# REBOOTWORK this needs to start in parallel.
 	#
+%ifdef CONFIG_MODULES_DATAMAN
 	if param compare -s SYS_DM_BACKEND 1
 	then
 		dataman start -r
@@ -281,11 +284,14 @@ else
 			dataman start
 		fi
 	fi
+%endif
 
 	#
 	# Start the socket communication send_event handler.
 	#
+%ifdef CONFIG_MODULES_SEND_EVENT
 	send_event start
+%endif
 
 	#
 	# Start the hardfault streamer.
@@ -298,15 +304,25 @@ else
 	#
 	# Start the resource load monitor.
 	#
+%ifdef CONFIG_MODULES_LOAD_MON
 	load_mon start
+%endif
 
 	#
 	# Start system state indicator.
 	#
+%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED
 	rgbled start -X -q
+%endif
+%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C
 	rgbled_ncp5623c start -X -q
+%endif
+%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED_LP5562
 	rgbled_lp5562 start -X -q
+%endif
+%ifdef CONFIG_DRIVERS_LIGHTS_RGBLED_IS31FL3195
 	rgbled_is31fl3195 start -X -q
+%endif
 
 	#
 	# Override parameters from user configuration file.
@@ -331,11 +347,21 @@ else
 		# start the simulator in hardware if needed
 		if param compare SYS_HITL 2
 		then
+%ifdef CONFIG_MODULES_SIMULATION_SIMULATOR_SIH
 			simulator_sih start
+%endif
+%ifdef CONFIG_MODULES_SIMULATION_SENSOR_BARO_SIM
 			sensor_baro_sim start
+%endif
+%ifdef CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM
 			sensor_mag_sim start
+%endif
+%ifdef CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM
 			sensor_gps_sim start
+%endif
+%ifdef CONFIG_MODULES_SIMULATION_SENSOR_AGP_SIM
 			sensor_agp_sim start
+%endif
 		fi
 
 	else
@@ -352,43 +378,58 @@ else
 
 		. ${R}etc/init.d/rc.sensors
 
+%ifdef CONFIG_MODULES_SENSORS
+%ifdef CONFIG_MODULES_ESC_BATTERY
 		if param compare -s BAT1_SOURCE 2
 		then
 			esc_battery start
 		fi
+%endif
 
+%ifdef CONFIG_MODULES_BATTERY_STATUS
 		if ! param compare BAT1_SOURCE 1
 		then
 			battery_status start
 		fi
+%endif
+%endif
 
+%ifdef CONFIG_MODULES_SENSORS
 		sensors start
+%endif
 	fi
 
 	#
 	# state estimator selection
 	#
+%ifdef CONFIG_MODULES_EKF2
 	if param compare -s EKF2_EN 1
 	then
 		ekf2 start &
 	fi
+%endif
 
+%ifdef CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR
 	if param compare -s LPE_EN 1
 	then
 		local_position_estimator start
 	fi
+%endif
 
+%ifdef CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q
 	if param compare -s ATT_EN 1
 	then
 		attitude_estimator_q start
 	fi
+%endif
 
+%ifdef CONFIG_DRIVERS_PX4IO
 	#
 	# px4io
 	#
 	if px4io supported
 	then
-	# Check if PX4IO present and update firmware if needed.
+		# Check if PX4IO present and update firmware if needed.
 		if [ -f $IOFW ]
 		then
 			if ! px4io checkcrc ${IOFW}
@@ -418,40 +459,56 @@ else
 			fi
 		fi
 	fi
+%endif
 
 	# Heater driver for temperature regulated IMUs.
 	# The heater needs to start after px4io.
+%ifdef CONFIG_DRIVERS_HEATER
 	if param compare -s SENS_EN_THERMAL 1
 	then
 		heater start
 	fi
+%endif
 
 
 	#
 	# RC update (map raw RC input to calibrate manual control)
 	#  start before commander
 	#
+%ifdef CONFIG_MODULES_RC_UPDATE
 	rc_update start
+%endif
+%ifdef CONFIG_MODULES_MANUAL_CONTROL
 	manual_control start
+%endif
 
 	# Start camera trigger, capture and PPS before pwm_out as they might access
 	# pwm pins
+%ifdef CONFIG_DRIVERS_CAMERA_TRIGGER
 	if param greater -s TRIG_MODE 0
 	then
 		camera_trigger start
+%ifdef CONFIG_MODULES_CAMERA_FEEDBACK
 		camera_feedback start
+%endif
 	fi
+%endif
 	# PPS capture driver
+%ifdef CONFIG_DRIVERS_PPS_CAPTURE
 	if param greater -s PPS_CAP_ENABLE 0
 	then
 		pps_capture start
 	fi
+%endif
 	# RPM capture driver
+%ifdef CONFIG_DRIVERS_RPM_CAPTURE
 	if param greater -s RPM_CAP_ENABLE 0
 	then
 		rpm_capture start
 	fi
+%endif
 	# Camera capture driver
+%ifdef CONFIG_DRIVERS_CAMERA_CAPTURE
 	if param greater -s CAM_CAP_FBACK 0
 	then
 		if camera_capture start
@@ -459,38 +516,34 @@ else
 			camera_capture on
 		fi
 	fi
+%endif
 
 	#
 	# Commander
 	#
+%ifdef CONFIG_MODULES_COMMANDER
 	if param greater SYS_HITL 0
 	then
 		commander start -h
 
+%ifdef CONFIG_MODULES_SIMULATION_PWM_OUT_SIM
 		if ! pwm_out_sim start -m hil
 		then
 			tune_control play error
 		fi
+%endif
 
 	else
 		commander start
 
+%ifdef CONFIG_DRIVERS_DSHOT
 		dshot start
+%endif
+%ifdef CONFIG_DRIVERS_PWM_OUT
 		pwm_out start
+%endif
 	fi
-
-	#
-	# Optional UAVCAN/DroneCAN or Cyphal
-	#
-	if param greater -s UAVCAN_ENABLE 0
-	then
-		uavcan start
-	else
-		if param greater -s CYPHAL_ENABLE 0
-		then
-			cyphal start
-		fi
-	fi
+%endif
 
 	#
 	# Configure vehicle type specific parameters.
@@ -498,10 +551,12 @@ else
 	. ${R}etc/init.d/rc.vehicle_setup
 
 	# Pre-takeoff continuous magnetometer calibration
+%ifdef CONFIG_MODULES_MAG_BIAS_ESTIMATOR
 	if param compare -s MBE_ENABLE 1
 	then
 		mag_bias_estimator start
 	fi
+%endif
 
 	#
 	# Optional board mavlink streams: rc.board_mavlink
@@ -520,11 +575,6 @@ else
 	#
 	. ${R}etc/init.d/rc.serial
 
-	if param greater -s ZENOH_ENABLE 0
-	then
-		zenoh start
-	fi
-
 	# Must be started after the serial config is read
 	rc_input start $RC_INPUT_ARGS
 
@@ -551,54 +601,67 @@ else
 	#
 	# Start the navigator.
 	#
+%ifdef CONFIG_MODULES_NAVIGATOR
 	navigator start
+%endif
 
+%ifdef CONFIG_MODULES_TEMPERATURE_COMPENSATION
 	#
 	# Start a thermal calibration if required.
 	#
-	set RC_THERMAL_CAL ${R}etc/init.d/rc.thermal_cal
-	if [ -f ${RC_THERMAL_CAL} ]
-	then
-		. ${RC_THERMAL_CAL}
-	fi
-	unset RC_THERMAL_CAL
+	. ${R}etc/init.d/rc.thermal_cal
+%endif
 
 	#
 	# Start gimbal to control mounts such as gimbals, disabled by default.
 	#
+%ifdef CONFIG_MODULES_GIMBAL
 	if param greater -s MNT_MODE_IN -1
 	then
 		gimbal start
 	fi
+%endif
 
 	# Blacksheep telemetry
+%ifdef CONFIG_DRIVERS_TELEMETRY_BST
 	if param compare -s TEL_BST_EN 1
 	then
 		bst start -X
 	fi
+%endif
 
+%ifdef CONFIG_MODULES_GYRO_FFT
 	if param compare -s IMU_GYRO_FFT_EN 1
 	then
 		gyro_fft start
 	fi
+%endif
 
+%ifdef CONFIG_MODULES_GYRO_CALIBRATION
 	if param compare -s IMU_GYRO_CAL_EN 1
 	then
 		gyro_calibration start
 	fi
+%endif
 
 	# Check for px4flow sensor
+%ifdef CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW
 	if param compare -s SENS_EN_PX4FLOW 1
 	then
 		px4flow start -X &
 	fi
+%endif
 
+%ifdef CONFIG_MODULES_PAYLOAD_DELIVERER
 	payload_deliverer start
+%endif
 
+%ifdef CONFIG_MODULES_INTERNAL_COMBUSTION_ENGINE_CONTROL
 	if param compare -s ICE_EN 1
 	then
 		internal_combustion_engine_control start
 	fi
+%endif
 
 	#
 	# Optional board supplied extras: rc.board_extras
@@ -620,25 +683,12 @@ else
 		. $FEXTRAS
 	fi
 
+%ifdef CONFIG_MODULES_LOGGER
 	#
 	# Start the logger.
 	#
-	set RC_LOGGING ${R}etc/init.d/rc.logging
-	if [ -f ${RC_LOGGING} ]
-	then
-		. ${RC_LOGGING}
-	fi
-	unset RC_LOGGING
-
-	#
-	# Start the VTX services.
-	#
-	set RC_VTXTABLE ${R}etc/init.d/rc.vtxtable
-	if [ -f ${RC_VTXTABLE} ]
-	then
-		. ${RC_VTXTABLE}
-	fi
-	unset RC_VTXTABLE
+	. ${R}etc/init.d/rc.logging
+%endif
 
 	#
 	# Set additional parameters and env variables for selected AUTOSTART.
@@ -656,6 +706,40 @@ else
 	fi
 	unset BOARD_BOOTLOADER_UPGRADE
 
+	#
+	# Check if UAVCAN is enabled, default to it for ESCs.
+	#
+%ifdef CONFIG_DRIVERS_UAVCAN
+	if param greater -s UAVCAN_ENABLE 0
+	then
+		# Start core UAVCAN module.
+		if ! uavcan start
+		then
+			tune_control play error
+		fi
+	else
+%ifdef CONFIG_DRIVERS_CYPHAL
+		if param greater -s CYPHAL_ENABLE 0
+		then
+			cyphal start
+		fi
+%endif
+	fi
+%else
+%ifdef CONFIG_DRIVERS_CYPHAL
+	if param greater -s CYPHAL_ENABLE 0
+	then
+		cyphal start
+	fi
+%endif
+%endif
+%ifdef CONFIG_MODULES_ZENOH
+	if param greater -s ZENOH_ENABLE 0
+	then
+		zenoh start
+	fi
+%endif
+
 #
 # End of autostart.
 #

Tools/ci/generate_board_targets_json.py

@@ -36,20 +36,11 @@ if args.filter:
         target_filter.append(target)
 
 default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
-voxl2_container = 'ghcr.io/px4/px4-dev-voxl2:v1.5'
 build_configs = []
 grouped_targets = {}
-excluded_boards = ['px4_ros2', 'espressif_esp32']  # TODO: fix and enable
+excluded_boards = ['modalai_voxl2', 'px4_ros2', 'espressif_esp32']  # TODO: fix and enable
 excluded_manufacturers = ['atlflight']
-excluded_platforms = []
-
-# Container overrides for platforms/boards that need a non-default container
-platform_container_overrides = {
-    'qurt': voxl2_container,
-}
-board_container_overrides = {
-    'modalai_voxl2': voxl2_container,
-}
+excluded_platforms = ['qurt']
 excluded_labels = [
     'stackcheck',
     'nolockstep', 'replay', 'test',
@@ -97,20 +88,7 @@ def process_target(px4board_file, target_name):
 
     if platform not in excluded_platforms:
         container = default_container
-
-        # Extract board name (manufacturer_board) from target name
-        board_name = '_'.join(target_name.split('_')[:2])
-
-        # Apply container overrides for specific platforms or boards
-        if platform in platform_container_overrides:
-            container = platform_container_overrides[platform]
-        if board_name in board_container_overrides:
-            container = board_container_overrides[board_name]
-
-        # Boards with container overrides get their own group
-        if board_name in board_container_overrides or platform in platform_container_overrides:
-            group = 'voxl2'
-        elif platform == 'posix':
+        if platform == 'posix':
             group = 'base'
             if toolchain:
                 if toolchain.startswith('aarch64'):
@@ -225,7 +203,7 @@ if (args.group):
     if(verbose):
         print(f'=:Architectures: [{grouped_targets.keys()}]')
     for arch in grouped_targets:
-        runner = 'x64' if arch in ('nuttx', 'voxl2') else 'arm64'
+        runner = 'x64' if arch == 'nuttx' else 'arm64'
         if(verbose):
             print(f'=:Processing: [{arch}]')
         temp_group = []

Tools/ci/metadata_sync.sh

@@ -1,431 +0,0 @@
-#!/usr/bin/env bash
-#
-# metadata_sync.sh - Unified metadata generation and synchronization for PX4 docs
-#
-# Usage:
-#   Tools/ci/metadata_sync.sh [OPTIONS] [TYPES...]
-#
-# Types:
-#   parameters    - Parameter reference (docs/en/advanced_config/parameter_reference.md)
-#   airframes     - Airframe reference (docs/en/airframes/airframe_reference.md)
-#   modules       - Module documentation (docs/en/modules/*.md)
-#   msg_docs      - uORB message docs (docs/en/msg_docs/*.md + docs/en/middleware/dds_topics.md)
-#   uorb_graphs   - uORB graph JSONs (docs/public/middleware/*.json)
-#   failsafe_web  - Failsafe simulator (docs/public/config/failsafe/*.{js,wasm,json})
-#   all           - All of the above (default)
-#
-# Options:
-#   --generate    Build the make targets to generate fresh metadata
-#   --sync        Copy generated files to docs/
-#   --verbose     Show detailed output
-#   --help        Show this help
-#
-# Exit codes:
-#   0 - Success (files synced or already up-to-date)
-#   1 - Error (build failed, missing files, etc.)
-#
-# Examples:
-#   # Full regeneration and sync (orchestrator use case)
-#   Tools/ci/metadata_sync.sh --generate --sync all
-#
-#   # Just sync specific type (assumes already built)
-#   Tools/ci/metadata_sync.sh --sync parameters
-#
-#   # Generate only, don't copy
-#   Tools/ci/metadata_sync.sh --generate uorb_graphs
-#
-set -euo pipefail
-shopt -s nullglob
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Configuration
-# ═══════════════════════════════════════════════════════════════════════════════
-
-EMSCRIPTEN_VERSION="3.1.64"
-EMSDK_DIR="${EMSDK_DIR:-_emscripten_sdk}"
-
-# All available metadata types
-ALL_TYPES=(parameters airframes modules msg_docs uorb_graphs failsafe_web)
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Logging
-# ═══════════════════════════════════════════════════════════════════════════════
-
-VERBOSE=false
-
-log() {
-    echo "[metadata_sync] $*"
-}
-
-log_verbose() {
-    if [[ "$VERBOSE" == "true" ]]; then
-        echo "[metadata_sync] $*"
-    fi
-}
-
-die() {
-    echo "[metadata_sync] ERROR: $*" >&2
-    exit 1
-}
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Help
-# ═══════════════════════════════════════════════════════════════════════════════
-
-show_help() {
-    head -n 35 "$0" | tail -n +2 | sed 's/^# \?//'
-    exit 0
-}
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Emscripten Setup
-# ═══════════════════════════════════════════════════════════════════════════════
-
-ensure_emscripten() {
-    if command -v emcc >/dev/null 2>&1; then
-        log_verbose "Emscripten already available: $(emcc --version | head -1)"
-        return 0
-    fi
-
-    log "Setting up Emscripten ${EMSCRIPTEN_VERSION}..."
-
-    if [[ ! -d "$EMSDK_DIR" ]]; then
-        log_verbose "Cloning emsdk to $EMSDK_DIR"
-        if [[ "$VERBOSE" == "true" ]]; then
-            git clone https://github.com/emscripten-core/emsdk.git "$EMSDK_DIR"
-        else
-            git clone https://github.com/emscripten-core/emsdk.git "$EMSDK_DIR" >/dev/null 2>&1
-        fi
-    fi
-
-    pushd "$EMSDK_DIR" >/dev/null
-    if [[ "$VERBOSE" == "true" ]]; then
-        ./emsdk install "$EMSCRIPTEN_VERSION"
-        ./emsdk activate "$EMSCRIPTEN_VERSION"
-    else
-        ./emsdk install "$EMSCRIPTEN_VERSION" >/dev/null 2>&1
-        ./emsdk activate "$EMSCRIPTEN_VERSION" >/dev/null 2>&1
-    fi
-    popd >/dev/null
-
-    # shellcheck source=/dev/null
-    source "${EMSDK_DIR}/emsdk_env.sh" >/dev/null 2>&1
-
-    log_verbose "Emscripten ready: $(emcc --version | head -1)"
-}
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Generation Functions
-# ═══════════════════════════════════════════════════════════════════════════════
-
-generate_parameters() {
-    log "Generating parameters metadata..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make parameters_metadata
-    else
-        make parameters_metadata >/dev/null
-    fi
-}
-
-generate_airframes() {
-    log "Generating airframes metadata..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make airframe_metadata
-    else
-        make airframe_metadata >/dev/null
-    fi
-}
-
-generate_modules() {
-    log "Generating modules documentation..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make module_documentation
-    else
-        make module_documentation >/dev/null
-    fi
-}
-
-generate_msg_docs() {
-    log "Generating message documentation..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make msg_docs
-    else
-        make msg_docs >/dev/null
-    fi
-}
-
-generate_uorb_graphs() {
-    log "Generating uORB graphs..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make uorb_graphs
-    else
-        make uorb_graphs >/dev/null
-    fi
-}
-
-generate_failsafe_web() {
-    ensure_emscripten
-    log "Generating failsafe web..."
-    if [[ "$VERBOSE" == "true" ]]; then
-        make failsafe_web
-    else
-        make failsafe_web >/dev/null
-    fi
-}
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Sync Functions
-# ═══════════════════════════════════════════════════════════════════════════════
-
-sync_parameters() {
-    local src="build/px4_sitl_default/docs/parameters.md"
-    local dest="docs/en/advanced_config/parameter_reference.md"
-
-    log "Syncing parameters..."
-
-    if [[ ! -f "$src" ]]; then
-        die "Source file not found: $src (did you run --generate?)"
-    fi
-
-    mkdir -p "$(dirname "$dest")"
-    cp "$src" "$dest"
-    log_verbose "  $src -> $dest"
-}
-
-sync_airframes() {
-    local src="build/px4_sitl_default/docs/airframes.md"
-    local dest="docs/en/airframes/airframe_reference.md"
-
-    log "Syncing airframes..."
-
-    if [[ ! -f "$src" ]]; then
-        die "Source file not found: $src (did you run --generate?)"
-    fi
-
-    mkdir -p "$(dirname "$dest")"
-    cp "$src" "$dest"
-    log_verbose "  $src -> $dest"
-}
-
-sync_modules() {
-    local src_dir="build/px4_sitl_default/docs/modules"
-    local dest_dir="docs/en/modules"
-
-    log "Syncing modules..."
-
-    if [[ ! -d "$src_dir" ]]; then
-        die "Source directory not found: $src_dir (did you run --generate?)"
-    fi
-
-    local src_files=("$src_dir"/*.md)
-    if [[ ${#src_files[@]} -eq 0 ]]; then
-        die "No .md files found in $src_dir"
-    fi
-
-    mkdir -p "$dest_dir"
-
-    for src in "${src_files[@]}"; do
-        local name
-        name=$(basename "$src")
-        cp "$src" "$dest_dir/$name"
-        log_verbose "  $src -> $dest_dir/$name"
-    done
-}
-
-sync_msg_docs() {
-    local src_dir="build/msg_docs"
-    local dest_dir="docs/en/msg_docs"
-    local middleware_dir="docs/en/middleware"
-
-    log "Syncing message docs..."
-
-    if [[ ! -d "$src_dir" ]]; then
-        die "Source directory not found: $src_dir (did you run --generate?)"
-    fi
-
-    local src_files=("$src_dir"/*.md)
-    if [[ ${#src_files[@]} -eq 0 ]]; then
-        die "No .md files found in $src_dir"
-    fi
-
-    mkdir -p "$dest_dir"
-    mkdir -p "$middleware_dir"
-
-    for src in "${src_files[@]}"; do
-        local name
-        name=$(basename "$src")
-
-        # dds_topics.md goes to middleware dir
-        if [[ "$name" == "dds_topics.md" ]]; then
-            cp "$src" "$middleware_dir/$name"
-            log_verbose "  $src -> $middleware_dir/$name"
-        else
-            cp "$src" "$dest_dir/$name"
-            log_verbose "  $src -> $dest_dir/$name"
-        fi
-    done
-}
-
-sync_uorb_graphs() {
-    local src_dir="Tools/uorb_graph"
-    local dest_dir="docs/public/middleware"
-
-    log "Syncing uORB graphs..."
-
-    local src_files=("$src_dir"/*.json)
-    if [[ ${#src_files[@]} -eq 0 ]]; then
-        die "No .json files found in $src_dir (did you run --generate?)"
-    fi
-
-    mkdir -p "$dest_dir"
-
-    for src in "${src_files[@]}"; do
-        local name
-        name=$(basename "$src")
-        cp "$src" "$dest_dir/$name"
-        log_verbose "  $src -> $dest_dir/$name"
-    done
-}
-
-sync_failsafe_web() {
-    local src_dir="build/px4_sitl_default_failsafe_web"
-    local dest_dir="docs/public/config/failsafe"
-
-    log "Syncing failsafe web..."
-
-    if [[ ! -d "$src_dir" ]]; then
-        die "Source directory not found: $src_dir (did you run --generate?)"
-    fi
-
-    # Gather js, wasm, json files
-    local src_files=()
-    for ext in js wasm json; do
-        src_files+=("$src_dir"/*."$ext")
-    done
-
-    if [[ ${#src_files[@]} -eq 0 ]]; then
-        die "No .js/.wasm/.json files found in $src_dir"
-    fi
-
-    mkdir -p "$dest_dir"
-
-    for src in "${src_files[@]}"; do
-        local name
-        name=$(basename "$src")
-        cp "$src" "$dest_dir/$name"
-        log_verbose "  $src -> $dest_dir/$name"
-    done
-}
-
-# ═══════════════════════════════════════════════════════════════════════════════
-# Main Logic
-# ═══════════════════════════════════════════════════════════════════════════════
-
-DO_GENERATE=false
-DO_SYNC=false
-SELECTED_TYPES=()
-
-parse_args() {
-    while [[ $# -gt 0 ]]; do
-        case "$1" in
-            --generate)
-                DO_GENERATE=true
-                shift
-                ;;
-            --sync)
-                DO_SYNC=true
-                shift
-                ;;
-            --verbose)
-                VERBOSE=true
-                shift
-                ;;
-            --help|-h)
-                show_help
-                ;;
-            -*)
-                die "Unknown option: $1"
-                ;;
-            *)
-                # It's a type
-                SELECTED_TYPES+=("$1")
-                shift
-                ;;
-        esac
-    done
-
-    # Default to all types if none specified
-    if [[ ${#SELECTED_TYPES[@]} -eq 0 ]]; then
-        SELECTED_TYPES=("all")
-    fi
-
-    # Expand "all" to all types
-    local expanded_types=()
-    for t in "${SELECTED_TYPES[@]}"; do
-        if [[ "$t" == "all" ]]; then
-            expanded_types+=("${ALL_TYPES[@]}")
-        else
-            expanded_types+=("$t")
-        fi
-    done
-    SELECTED_TYPES=("${expanded_types[@]}")
-
-    # Validate types
-    for t in "${SELECTED_TYPES[@]}"; do
-        local valid=false
-        for valid_type in "${ALL_TYPES[@]}"; do
-            if [[ "$t" == "$valid_type" ]]; then
-                valid=true
-                break
-            fi
-        done
-        if [[ "$valid" == "false" ]]; then
-            die "Unknown type: $t (valid: ${ALL_TYPES[*]})"
-        fi
-    done
-
-    # Must specify at least one action
-    if [[ "$DO_GENERATE" == "false" && "$DO_SYNC" == "false" ]]; then
-        die "Must specify at least one of: --generate, --sync"
-    fi
-}
-
-main() {
-    parse_args "$@"
-
-    log "Selected types: ${SELECTED_TYPES[*]}"
-    [[ "$DO_GENERATE" == "true" ]] && log "Actions: generate"
-    [[ "$DO_SYNC" == "true" ]] && log "Actions: sync"
-
-    # Remove duplicates from SELECTED_TYPES
-    local -A seen
-    local unique_types=()
-    for t in "${SELECTED_TYPES[@]}"; do
-        if [[ -z "${seen[$t]:-}" ]]; then
-            seen[$t]=1
-            unique_types+=("$t")
-        fi
-    done
-    SELECTED_TYPES=("${unique_types[@]}")
-
-    # Generate phase
-    if [[ "$DO_GENERATE" == "true" ]]; then
-        log "=== Generation Phase ==="
-        for t in "${SELECTED_TYPES[@]}"; do
-            "generate_$t"
-        done
-    fi
-
-    # Sync phase
-    if [[ "$DO_SYNC" == "true" ]]; then
-        log "=== Sync Phase ==="
-        for t in "${SELECTED_TYPES[@]}"; do
-            "sync_$t"
-        done
-    fi
-
-    log "Done."
-    exit 0
-}
-
-main "$@"

Tools/ci/package_build_artifacts.sh

@@ -1,8 +1,8 @@
 #!/bin/bash
 
 mkdir artifacts
-cp **/**/*.px4 artifacts/ 2>/dev/null || true
-cp **/**/*.elf artifacts/ 2>/dev/null || true
+cp **/**/*.px4 artifacts/
+cp **/**/*.elf artifacts/
 for build_dir_path in build/*/ ; do
   build_dir_path=${build_dir_path::${#build_dir_path}-1}
   build_dir=${build_dir_path#*/}

Tools/ci/test_metadata_sync.sh

@@ -1,163 +0,0 @@
-#!/usr/bin/env bash
-#
-# test_metadata_sync.sh - Test metadata_sync.sh locally using Docker
-#
-# Usage:
-#   Tools/ci/test_metadata_sync.sh [OPTIONS] [TYPES...]
-#
-# Options:
-#   --shell       Drop into interactive shell instead of running sync
-#   --verbose     Pass --verbose to metadata_sync.sh
-#   --skip-build  Skip SITL build (use existing build artifacts)
-#   --help        Show this help
-#
-# Types:
-#   Same as metadata_sync.sh: parameters, airframes, modules, msg_docs, uorb_graphs, failsafe_web, all
-#
-# Examples:
-#   # Test full regeneration
-#   Tools/ci/test_metadata_sync.sh all
-#
-#   # Test just parameters (faster)
-#   Tools/ci/test_metadata_sync.sh parameters
-#
-#   # Drop into shell for debugging
-#   Tools/ci/test_metadata_sync.sh --shell
-#
-#   # Skip build if you already have artifacts
-#   Tools/ci/test_metadata_sync.sh --skip-build --verbose all
-#
-set -euo pipefail
-
-SCRIPT_DIR="$(cd "$(dirname "${BASH_SOURCE[0]}")" && pwd)"
-REPO_ROOT="$(cd "$SCRIPT_DIR/../.." && pwd)"
-
-DOCKER_IMAGE="px4io/px4-dev:v1.17.0-alpha1"
-CONTAINER_NAME="px4-metadata-test-$$"
-
-SHELL_MODE=false
-VERBOSE=""
-SKIP_BUILD=false
-TYPES=()
-
-show_help() {
-    head -n 28 "$0" | tail -n +2 | sed 's/^# \?//'
-    exit 0
-}
-
-cleanup() {
-    echo "[test] Cleaning up container..."
-    docker rm -f "$CONTAINER_NAME" 2>/dev/null || true
-}
-
-parse_args() {
-    while [[ $# -gt 0 ]]; do
-        case "$1" in
-            --shell)
-                SHELL_MODE=true
-                shift
-                ;;
-            --verbose)
-                VERBOSE="--verbose"
-                shift
-                ;;
-            --skip-build)
-                SKIP_BUILD=true
-                shift
-                ;;
-            --help|-h)
-                show_help
-                ;;
-            -*)
-                echo "Unknown option: $1" >&2
-                exit 1
-                ;;
-            *)
-                TYPES+=("$1")
-                shift
-                ;;
-        esac
-    done
-
-    # Default to all types
-    if [[ ${#TYPES[@]} -eq 0 ]]; then
-        TYPES=("all")
-    fi
-}
-
-main() {
-    parse_args "$@"
-
-    cd "$REPO_ROOT"
-
-    echo "[test] Using Docker image: $DOCKER_IMAGE"
-    echo "[test] Repository root: $REPO_ROOT"
-
-    # Pull image if not present
-    if ! docker image inspect "$DOCKER_IMAGE" >/dev/null 2>&1; then
-        echo "[test] Pulling Docker image..."
-        docker pull "$DOCKER_IMAGE"
-    fi
-
-    trap cleanup EXIT
-
-    # Handle git worktrees: the .git file points to the main repo's .git directory
-    # We need to mount that directory too so git works inside the container
-    local git_mounts=()
-    if [[ -f "$REPO_ROOT/.git" ]]; then
-        # It's a worktree - read the gitdir path and mount it
-        local gitdir
-        gitdir=$(grep '^gitdir:' "$REPO_ROOT/.git" | cut -d' ' -f2)
-        if [[ -n "$gitdir" ]]; then
-            # Mount the gitdir at the same path so the .git file reference works
-            git_mounts+=("-v" "$gitdir:$gitdir:ro")
-            # Also need the main .git directory (parent of worktrees/)
-            local main_git_dir
-            main_git_dir=$(dirname "$(dirname "$gitdir")")
-            git_mounts+=("-v" "$main_git_dir:$main_git_dir:ro")
-            echo "[test] Detected git worktree, mounting git directories"
-        fi
-    fi
-
-    if [[ "$SHELL_MODE" == "true" ]]; then
-        echo "[test] Starting interactive shell..."
-        echo "[test] Run: Tools/ci/metadata_sync.sh --generate --sync all"
-        docker run -it --rm \
-            --name "$CONTAINER_NAME" \
-            -v "$REPO_ROOT:/src" \
-            "${git_mounts[@]}" \
-            -w /src \
-            "$DOCKER_IMAGE" \
-            /bin/bash
-    else
-        echo "[test] Running metadata sync for: ${TYPES[*]}"
-
-        # Build the command
-        local cmd=""
-
-        if [[ "$SKIP_BUILD" == "false" ]]; then
-            cmd="Tools/ci/metadata_sync.sh --generate --sync $VERBOSE ${TYPES[*]}"
-        else
-            cmd="Tools/ci/metadata_sync.sh --sync $VERBOSE ${TYPES[*]}"
-        fi
-
-        echo "[test] Command: $cmd"
-
-        docker run --rm \
-            --name "$CONTAINER_NAME" \
-            -v "$REPO_ROOT:/src" \
-            "${git_mounts[@]}" \
-            -w /src \
-            "$DOCKER_IMAGE" \
-            /bin/bash -c "$cmd"
-
-        echo ""
-        echo "[test] Done! Check git status for changes:"
-        echo "  git status -s docs/"
-        echo ""
-        echo "[test] To see what changed:"
-        echo "  git diff docs/"
-    fi
-}
-
-main "$@"

Tools/docker_run.sh

@@ -1,27 +1,47 @@
 #! /bin/bash
 
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev:v1.17.0-beta1"
+	echo "guessing PX4_DOCKER_REPO based on input";
+	if [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
+		# clang tools
+		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
+	elif [[ $@ =~ .*tests* ]]; then
+		# run all tests with simulation
+		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
+	fi
 else
 	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
 fi
 
+# otherwise default to nuttx
+if [ -z ${PX4_DOCKER_REPO+x} ]; then
+	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-rc1-258-g0369abd556"
+fi
+
 echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";
 
-SCRIPT_DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
-SRC_DIR=${SCRIPT_DIR}/../
+PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+SRC_DIR=$PWD/../
 
 CCACHE_DIR=${HOME}/.ccache
 mkdir -p "${CCACHE_DIR}"
 
 docker run -it --rm -w "${SRC_DIR}" \
 	--user="$(id -u):$(id -g)" \
+	--env=AWS_ACCESS_KEY_ID \
+	--env=AWS_SECRET_ACCESS_KEY \
+	--env=BRANCH_NAME \
 	--env=CCACHE_DIR="${CCACHE_DIR}" \
+	--env=CI \
+	--env=CODECOV_TOKEN \
+	--env=COVERALLS_REPO_TOKEN \
 	--env=PX4_ASAN \
 	--env=PX4_MSAN \
 	--env=PX4_TSAN \
 	--env=PX4_UBSAN \
+	--env=TRAVIS_BRANCH \
+	--env=TRAVIS_BUILD_ID \
 	--publish 14556:14556/udp \
 	--volume=${CCACHE_DIR}:${CCACHE_DIR}:rw \
 	--volume=${SRC_DIR}:${SRC_DIR}:rw \
-	${PX4_DOCKER_REPO} /bin/bash -c "$@"
+	${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"

Tools/msg/generate_msg_docs.py

@@ -8,803 +8,6 @@ Also generates docs/en/middleware/dds_topics.md from dds_topics.yaml
 import os
 import argparse
 import sys
-import re
-
-VALID_FIELDS = { #Note, also have to add the message types as those can be fields
-    'uint64',
-    'uint16',
-    'uint8',
-    'uint32'
-}
-
-ALLOWED_UNITS = set(["m", "m/s", "m/s^2", "(m/s)^2", "deg", "deg/s", "rad", "rad/s", "rad^2", "rpm" ,"V", "A", "mA", "mAh", "W", "dBm", "h", "s", "ms", "us", "Ohm", "MB", "Kb/s", "degC","Pa","%","-"])
-invalid_units = set()
-ALLOWED_FRAMES = set(["NED","Body"])
-ALLOWED_INVALID_VALUES = set(["NaN", "0"])
-ALLOWED_CONSTANTS_NOT_IN_ENUM = set(["ORB_QUEUE_LENGTH","MESSAGE_VERSION"])
-
-class Error:
-    def __init__(self, type, message, linenumber=None, issueString = None, field = None):
-        self.type = type
-        self.message = message
-        self.linenumber = linenumber
-        self.issueString = issueString
-        self.field = field
-
-    def display_error(self):
-        #print(f"Debug: Error: display_error")
-
-
-        if 'trailing_whitespace' == self.type:
-            if self.issueString.strip():    
-                print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber}): {self.issueString}")
-            else:
-                print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber})")
-        elif 'leading_whitespace_field_or_constant' == self.type:
-            print(f"NOTE: Whitespace before field or constant ({self.message}: {self.linenumber}): {self.issueString}")             
-        elif 'field_or_constant_has_multiple_whitepsace' == self.type:
-            print(f"NOTE: Field/constant has more than one sequential whitespace character ({self.message}: {self.linenumber}): {self.issueString}") 
-        elif 'empty_start_line' == self.type:
-            print(f"NOTE: Empty line at start of file ({self.message}: {self.linenumber})")
-        elif 'internal_comment' == self.type:
-            print(f"NOTE: Internal Comment ({self.message}: {self.linenumber})\n {self.issueString}")
-        elif 'internal_comment_empty' == self.type:
-            print(f"NOTE: Empty Internal Comment ({self.message}: {self.linenumber})")
-        elif 'summary_missing' == self.type:
-            print(f"WARNING: No message description ({self.message})")
-        elif 'topic_error' == self.type:
-            print(f"NOTE: TOPIC ISSUE: {self.issueString}")
-        elif 'unknown_unit' == self.type:
-            print(f"WARNING: Unknown Unit: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
-        elif 'constant_not_in_assigned_enum' == self.type:
-            print(f"WARNING: `{self.issueString}` constant: Prefix not in `@enum` field metadata ({self.message}: {self.linenumber})")
-        elif 'unknown_invalid_value' == self.type:
-            print(f"WARNING: Unknown @invalid value: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
-        elif 'unknown_frame' == self.type:
-            print(f"WARNING: Unknown @frame: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
-        elif 'command_no_params_pipes' == self.type:
-            print(f"WARNING: `{self.field}` command has no parameters (pipes): [{self.issueString}] ({self.message}: {self.linenumber})")
-        elif 'command_missing_params' == self.type:
-            print(f"WARNING: `{self.field}` command missing params - should be 7 params surrounded by 8 pipes: [{self.issueString}] ({self.message}: {self.linenumber})")
-        elif 'command_too_many_params' == self.type:
-            print(f"WARNING: `{self.field}` command too many params (should be 7). Extras: [{self.issueString}] ({self.message}: {self.linenumber})")
-
-
-        else:
-            self.display_info()
-
-    def display_info(self):
-        """
-        Display info about an error.
-        Used as a fallback if error does not have specific printout in display_error()
-        """
-        #print(f"Debug: Error: display_info")
-        print(f" type: {self.type}, message: {self.message}, linenumber: {self.linenumber}, issueString: {self.issueString}, field: {self.field}")
-
-class Enum:
-    def __init__(self, name, parentMessage):
-        self.name = name
-        self.parent = parentMessage
-        self.enumValues = dict()
-
-    def display_info(self):
-        """
-        Display info about an enum
-        """
-        print(f"Debug: Enum: display_info")
-        print(f" name: {self.name}")
-        for key, value in self.enumValues.items():
-            value.display_info()
-
-class ConstantValue:
-    def __init__(self, name, type, value, comment, line_number):
-        self.name = name.strip()
-        self.type = type.strip()
-        self.value = value.strip()
-        self.comment = comment
-        self.line_number = line_number
-
-        if not self.value:
-            print(f"Debug WARNING: NO VALUE in ConstantValue: {self.name}")  ## TODO make into ERROR
-            exit()
-
-        # TODO if value or name are empty, error
-
-    def display_info(self):
-        print(f"Debug: ConstantValue: display_info")
-        print(f" name: {self.name}, type: {self.type}, value: {self.value}, comment: {self.comment}, line: {self.line_number}")
-
-
-class CommandParam:
-    """
-    Represents an individual param in a command constant
-    Encapsulates parsing of the param to extract units etc.
-    """
-
-    def __init__(self, num, paramText, line_number, parentCommand):
-        self.paramNum = num
-        self.paramText = paramText.strip()
-        self.enum = None
-        self.range = None
-        #self.type = type
-        self.units = []
-        self.enums = []
-        self.minValue = None
-        self.maxValue = None
-        self.invalidValue = None
-        self.frameValue = None
-        self.lineNumber = line_number
-        self.parent = parentCommand
-        self.parentMessage = self.parent.parent
-
-        match = None
-        if self.paramText:
-            match = re.match(r'^((?:\[[^\]]*\]\s*)+)(.*)$', paramText)
-        self.description = paramText
-        bracketed_part = None
-        if match:
-            bracketed_part = match.group(1).strip() # .strip() removes trailing whitespace from the bracketed part
-            self.description = match.group(2).strip()
-        if bracketed_part:
-          # get units
-            bracket_content_matches = re.findall(r'\[(.*?)\]', bracketed_part)
-            #print(f"DEBUG: bracket_content_matches: {bracket_content_matches}")
-            for item in bracket_content_matches:
-                item = item.strip()
-                if item.startswith('@'): # Not a unit:
-                    if item.startswith('@enum'):
-                        item = item.split(" ")
-                        enum = item[1].strip()
-                        if enum and enum not in self.enums:
-                            self.enums.append(enum)
-
-                        # Create parent enum objects for any enums created in this step
-                        for enumName in self.enums:
-                            if not enumName in self.parentMessage.enums:
-                                self.parentMessage.enums[enumName]=Enum(enumName,self.parentMessage)
-
-                    elif item.startswith('@range'):
-                        item = item[6:].strip().split(",")
-                        self.range = item
-                        self.minValue = item[0].strip()
-                        self.maxValue = item[1].strip()
-                    elif item.startswith('@invalid'):
-                        self.invalidValue = item[8:].strip()
-                        #TODO: Do we require a description? (not currently)
-                        if self.invalidValue.split(" ")[0] not in ALLOWED_INVALID_VALUES:
-                            print(f"TODO: Command param do not support @invalid: {self.invalidValue}")
-                            """
-                            error = Error("unknown_invalid_value", self.parent.filename, self.lineNumber, self.invalidValue, self.name)
-                            #error.display_error()
-                            if not "unknown_invalid_value" in self.parent.errors:
-                                self.parent.errors["unknown_invalid_value"] = []
-                            self.parent.errors["unknown_invalid_value"].append(error)
-                            """
-
-                    elif item.startswith('@frame'):
-                        self.frameValue = item[6:].strip()
-                        print(f"TODO: Command param do not support @frame: {self.frameValue}")
-                        """
-                        if self.frameValue not in ALLOWED_FRAMES:
-                            error = Error("unknown_frame", self.parent.filename, self.lineNumber, self.frameValue, self.name)
-                            #error.display_error()
-                            if not "unknown_frame" in self.parent.errors:
-                                self.parent.errors["unknown_frame"] = []
-                            self.parent.errors["unknown_frame"].append(error)
-                        """    
-                    else:
-                        print(f"WARNING: Unhandled metadata in message comment: {item}")
-                        # TODO - report errors for different kinds of metadata
-                        exit()
-
-                else: # bracket is a unit
-                    unit = item.strip()
-
-                    if item == "-":
-                        unit = ""
-                    
-                    if unit and unit not in self.units:
-                        self.units.append(unit) 
-
-                    if unit not in ALLOWED_UNITS:
-                        invalid_units.add(unit)
-                        error = Error("unknown_unit", self.parentMessage.filename, self.lineNumber, unit, self.parent.name)
-                        #error.display_error()
-                        if not "unknown_unit" in self.parentMessage.errors:
-                            self.parentMessage.errors["unknown_unit"] = []
-                        self.parentMessage.errors["unknown_unit"].append(error)
-
-
-    def display_info(self):
-        print(f"Debug: CommandParam: display_info")
-        print(f" id: {self.paramNum}")
-        print(f"   paramText: {self.paramText}\n  unit:  {self.units}\n  enums: {self.enums}\n  lineNumber: {self.lineNumber}\n  range: {self.range}\n  minValue: {self.minValue}\n  maxValue: {self.maxValue}\n  invalidValue: {self.invalidValue}\n  frameValue: {self.frameValue}\n  parent: {self.parent}\n  ")
-
-
-        
-class CommandConstant:
-    """
-    Represents a constant that is a command definition.
-    Encapsulates parsing of the command format.
-    The individual params are further parsed in CommandParam
-    """
-    def __init__(self, name, type, value, comment, line_number, parentMessage):
-        self.name = name.strip()
-        self.type = type.strip()
-        self.value = value.strip()
-        self.comment = comment
-        self.line_number = line_number
-        self.parent = parentMessage
-
-        self.description = self.comment
-        self.param1 = None
-        self.param2 = None
-        self.param3 = None
-        self.param4 = None
-        self.param5 = None
-        self.param6 = None
-        self.param7 = None
-
-        if not self.value:
-            print(f"Debug WARNING: NO VALUE in CommandConstant: {self.name}")  ## TODO make into ERROR
-            exit()
-
-        if not self.comment: # This is an bug for a command
-            #print(f"Debug WARNING: NO COMMENT in CommandConstant: {self.name}")  ## TODO make into ERROR
-            return
-            
-        # Parse command comment to get the description and parameters.
-        # print(f"Debug CommandConstant: {self.comment}") 
-        if not "|" in self.comment:
-            # This is an error for a command constant
-            error = Error("command_no_params_pipes", self.parent.filename, self.line_number, self.comment, self.name)
-            #error.display_error()
-            if not "command_no_params_pipes" in self.parent.errors:
-                self.parent.errors["command_no_params_pipes"] = []
-            self.parent.errors["command_no_params_pipes"].append(error)
-            return
-        
-        # Split on pipes
-        commandSplit = self.comment.split("|")
-        if len(commandSplit) < 9:
-            # Should 7 pipes, so each command is fully surrounded
-            error = Error("command_missing_params", self.parent.filename, self.line_number, self.comment, self.name)
-            #error.display_error()
-            if not "command_missing_params" in self.parent.errors:
-                self.parent.errors["command_missing_params"] = []
-            self.parent.errors["command_missing_params"].append(error)
-
-        self.description = commandSplit[0].strip()
-        self.description = self.description if self.description else None
-
-        params_to_update = commandSplit[1:8]
-
-        for i, value in enumerate(params_to_update, start=1):
-            if value.strip():
-                # parse the param
-                param = CommandParam(i, value, self.line_number, self)
-                #param.display_info() # DEBUG CODE XXX
-                setattr(self, f"param{i}", param)
-                # parse the param
-
-        if len(commandSplit) > 8:
-            extras = commandSplit[8:]
-            error = Error("command_too_many_params", self.parent.filename, self.line_number, extras, self.name)
-            if not "command_too_many_params" in self.parent.errors:
-                self.parent.errors["command_too_many_params"] = []
-            self.parent.errors["command_too_many_params"].append(error)
-
-
-        # TODO if value or name are empty, error
-
-    def markdown_out(self):
-        #print("DEBUG: CommandConstant.markdown_out")
-        output = f"""### {self.name} ({self.value})
-
-{self.description}
-
-Param | Units | Range/Enum | Description
---- | --- | --- | ---
-"""
-        for i in range(1, 8):
-            attr_name = f"param{i}"
-            # getattr returns None if the attribute doesn't exist
-            val = getattr(self, attr_name, None)
-
-            if val is not None:
-                rangeVal = ""
-                if val.minValue or val.maxValue:
-                    rangeVal = f"[{val.minValue if val.minValue else '-'} : {val.maxValue if val.maxValue else '-' }]"
-
-                output+=f"{i} | {", ".join(val.units)}|{', '.join(f"[{e}](#{e})" for e in val.enums)}{rangeVal} | {val.description}\n"
-            else:
-                output+=f"{i} | | | ?\n"                
-
-        output+=f"\n"
-        return output
-
-
-    def display_info(self):
-        print(f"Debug: CommandConstant: display_info")
-        print(f" name: {self.name}, type: {self.type}, value: {self.value}, comment: {self.comment}, line: {self.line_number}")
-        print(f"   description: {self.description}\n  param1: {self.param1}\n  param2: {self.param2}\n  param3: {self.param3}\n  param4: {self.param4}\n  param5: {self.param5}\n  param6: {self.param6}\n  param7: {self.param7}")
-
-class MessageField:
-    """
-    Represents a field.
-    Encapsulates parsing of the field information.
-    """
-    def __init__(self, name, type, comment, line_number, parentMessage):
-        self.name = name
-        self.type = type
-        self.comment = comment
-        self.unit = None
-        self.enums = None
-        self.minValue = None
-        self.maxValue = None
-        self.invalidValue = None
-        self.frameValue = None
-        self.lineNumber = line_number
-        self.parent = parentMessage
-
-        #print(f"MessageComment: {comment}")
-        match = None
-        if self.comment:
-            match = re.match(r'^((?:\[[^\]]*\]\s*)+)(.*)$', comment)
-        self.description = comment
-        bracketed_part = None
-        if match:
-            bracketed_part = match.group(1).strip() # .strip() removes trailing whitespace from the bracketed part
-            self.description = match.group(2).strip()
-        if bracketed_part:
-          # get units
-            bracket_content_matches = re.findall(r'\[(.*?)\]', bracketed_part)
-            #print(f"bracket_content_matches: {bracket_content_matches}")
-            for item in bracket_content_matches:
-                item = item.strip()
-                if item.startswith('@'): # Not a unit:
-                    if item.startswith('@enum'):
-                        item = item.split(" ")
-                        self.enums = item[1:]
-                        # Create parent enum objects
-                        for enumName in self.enums:
-                            if not enumName in parentMessage.enums:
-                                parentMessage.enums[enumName]=Enum(enumName,parentMessage)
-                    elif item.startswith('@range'):
-                        item = item[6:].strip().split(",")
-                        self.minValue = item[0].strip()
-                        self.maxValue = item[1].strip()
-                    elif item.startswith('@invalid'):
-                        self.invalidValue = item[8:].strip()
-                        #TODO: Do we require a description? (not currently)
-                        if self.invalidValue.split(" ")[0] not in ALLOWED_INVALID_VALUES:
-                            error = Error("unknown_invalid_value", self.parent.filename, self.lineNumber, self.invalidValue, self.name)
-                            #error.display_error()
-                            if not "unknown_invalid_value" in self.parent.errors:
-                                self.parent.errors["unknown_invalid_value"] = []
-                            self.parent.errors["unknown_invalid_value"].append(error)
-                    elif item.startswith('@frame'):
-                        self.frameValue = item[6:].strip()
-                        if self.frameValue not in ALLOWED_FRAMES:
-                            error = Error("unknown_frame", self.parent.filename, self.lineNumber, self.frameValue, self.name)
-                            #error.display_error()
-                            if not "unknown_frame" in self.parent.errors:
-                                self.parent.errors["unknown_frame"] = []
-                            self.parent.errors["unknown_frame"].append(error)
-                    else:
-                        print(f"WARNING: Unhandled metadata in message comment: {item}")
-                        # TODO - report errors for different kinds of metadata
-                        exit()
-
-                else: # bracket is a unit
-                    self.unit = item
-
-                    if self.unit not in ALLOWED_UNITS:
-                        invalid_units.add(self.unit)
-                        error = Error("unknown_unit", self.parent.filename, self.lineNumber, self.unit, self.name)
-                        #error.display_error()
-                        if not "unknown_unit" in self.parent.errors:
-                            self.parent.errors["unknown_unit"] = []
-                        self.parent.errors["unknown_unit"].append(error)
-
-                    if item == "-":
-                        self.unit = ""
-
-
-    def display_info(self):
-        print(f"Debug: MessageField: display_info")
-        print(f" name: {self.name}, type: {self.type}, description: {self.description}, enums: {self.enums}, minValue: {self.minValue}, maxValue: {self.maxValue}, invalidValue: {self.invalidValue}, frameValue: {self.frameValue}")
-
-
-class UORBMessage:
-    """
-    Represents a whole message, including fields, enums, commands, constants.
-    The parser function delegates the parsing of each part of the message to 
-    more appropriate classes, once the specific type of line has been identified.
-    """
-
-    def __init__(self, filename):
-
-        self.filename = filename
-        msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
-        self.msg_filename = os.path.join(msg_path, self.filename)
-        self.name = os.path.splitext(os.path.basename(msg_file))[0]
-        self.shortDescription = ""
-        self.longDescription = ""
-        self.fields = []
-        self.constantFields = dict()
-        self.commandConstants = dict()
-        self.enums = dict()
-        self.output_file = os.path.join(output_dir, f"{self.name}.md")
-        self.topics = []
-        self.errors = dict()
-
-        self.parseFile()
-
-        if args.errors:
-            #print(f"DEBUG: args.errors: {args.errors}")
-            if args.error_messages:
-                messages = args.error_messages.split(" ")
-                #print(f"DEBUG: args.errors: {messages},self.name: {self.name}")
-                if self.name in messages:
-                    self.reportErrors()
-                    #print(f"Debug: {self.name} in {messages}")
-            else:
-              self.reportErrors()
-
-    def reportErrors(self):
-        #print(f"Debug: UORBMessage: reportErrors()")
-        for errorType, errors in self.errors.items():
-            for error in errors:
-               error.display_error()
-
-    def markdown_out(self):
-        #print(f"Debug: UORBMessage: markdown_out()")
-
-        # Add page header (forces wide pages)
-        markdown = f"""---
-pageClass: is-wide-page
----
-
-# {self.name} (UORB message)
-
-"""
-        ## Append description info if present
-        markdown += f"{self.shortDescription}\n\n" if self.shortDescription else ""
-        markdown += f"{self.longDescription}\n\n" if self.longDescription else ""
-
-        topicList = " ".join(self.topics)
-        markdown += f"**TOPICS:** {topicList}\n\n"
-
-        # Generate field docs
-        markdown += f"## Fields\n\n"
-        markdown += "Name | Type | Unit [Frame] | Range/Enum | Description\n"
-        markdown += "--- | --- | --- | --- | ---\n"
-        for field in self.fields:
-            unit = f"{field.unit}" if field.unit else ""
-            frame = f"[{field.frameValue}]" if field.frameValue else ""
-            unit = f"{unit} {frame}"
-            unit.strip()
-            unit = f" {unit}"
-
-            value = " "
-            if field.enums:
-                value = ""
-                for enum in field.enums:
-                    value += f"[{enum}](#{enum})"
-                value = value.strip()
-                value = f"{value}"
-            elif field.minValue or field.maxValue:
-                value = f"[{field.minValue if field.minValue else '-'} : {field.maxValue if field.maxValue else '-' }]"
-
-            description = f" {field.description}" if field.description else ""
-            invalid = f" (Invalid: {field.invalidValue}) " if field.invalidValue else ""
-            markdown += f"{field.name} | `{field.type}` |{unit}|{value}|{description}{invalid}\n"
-
-        # Generate table for command docs
-        if len(self.commandConstants) > 0:
-            #print("DEBUGCOMMAND")
-            markdown += f"\n## Commands\n\n"
-
-            """
-            markdown += "Name | Type | Value | Description\n"
-            markdown += "--- | --- | --- |---\n"
-            for name, command in self.commandConstants.items():
-                description = f" {command.comment} " if enum.comment else " "
-                markdown += f'<a href="#{name}"></a> {name} | `{command.type}` | {command.value} |{description}\n'            
-            """
-            for commandConstant in self.commandConstants.values():
-                #print(commandConstant)
-                markdown += commandConstant.markdown_out()     
-
-        # Generate enum docs
-        if len(self.enums) > 0:
-            markdown += f"\n## Enums\n"
-
-            for name, enum in self.enums.items():
-                markdown += f"\n### {name} {{#{name}}}\n\n"
-
-                markdown += "Name | Type | Value | Description\n"
-                markdown += "--- | --- | --- | ---\n"
-
-                for enumValueName, enumValue in enum.enumValues.items():
-                    description = f" {enumValue.comment} " if enumValue.comment else " "
-                    markdown += f'<a href="#{enumValueName}"></a> {enumValueName} | `{enumValue.type}` | {enumValue.value} |{description}\n'
-
-        # Generate table for constants docs
-        if len(self.constantFields) > 0:
-            markdown += f"\n## Constants\n\n"
-            markdown += "Name | Type | Value | Description\n"
-            markdown += "--- | --- | --- |---\n"
-            for name, enum in self.constantFields.items():
-                description = f" {enum.comment} " if enum.comment else " "
-                markdown += f'<a href="#{name}"></a> {name} | `{enum.type}` | {enum.value} |{description}\n'
-
-
-
-        # Append msg contents to the end
-        with open(self.msg_filename, 'r') as source_file:
-            msg_contents = source_file.read()
-            msg_contents = msg_contents.strip()
-
-        #Format markdown using msg name, comment, url, contents.
-        markdown += f"""
-
-## Source Message
-
-[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/{self.filename})
-
-::: details Click here to see original file
-
-```c
-{msg_contents}
-```
-
-:::
-"""
-
-        with open(self.output_file, 'w') as content_file:
-            content_file.write(markdown)
-
-        #exit()
-
-
-    def display_info(self):
-        print(f"UORBMessage: display_info")
-        print(f" name: {self.name}")
-        print(f" filename: {self.filename}, ")
-        print(f" msg_filename: {self.msg_filename}, ")
-        print(f"self.shortDescription: {self.shortDescription}")
-        print(f"self.longDescription: {self.longDescription}")
-        print(f"self.enums: {self.enums}")
-
-        for enum, enumObject in self.enums.items():
-            enumObject.display_info()
-
-        # Output our data so far
-        for field in self.fields:
-            field.display_info()
-
-        for enumvalue in self.constantFields:
-            print(enumvalue)
-            self.constantFields[enumvalue].display_info()
-
-    def handleField(self, line, line_number, parentMessage):
-        #print(f"debug: handleField: (line): \n {line}")
-        # Note, here we know we don't have a comment or a topic.
-        # We expect it to be a field.
-
-        # Check field doesn't have leading whitespace (trailing spaces already checked)
-        if line[:1].isspace(): # Returns True for ' ', '\t', '\n', '\r', etc.
-            #print("First character is whitespace")
-            error = Error("leading_whitespace_field_or_constant", self.filename, line_number, line)
-            if not "leading_whitespace_field_or_constant" in self.errors:
-                self.errors["leading_whitespace_field_or_constant"] = []
-                self.errors["leading_whitespace_field_or_constant"].append(error)
-
-        # Now we can parse the stripped line
-        fieldOrConstant = line.strip()
-
-        # Check that the field or constant has only single whitespace separators
-        stripped_fieldOrConstant = re.sub(r'\s+', ' ', fieldOrConstant) # Collapse all spaces to a single space (LHS already stripped).
-        if stripped_fieldOrConstant != fieldOrConstant:
-            #print("Field/Constant has multiple whitespace characters") # Since the collapsed version shows them.
-            error = Error("field_or_constant_has_multiple_whitepsace", self.filename, line_number, line)
-            if not "field_or_constant_has_multiple_whitepsace" in self.errors:
-                self.errors["field_or_constant_has_multiple_whitepsace"] = []
-                self.errors["field_or_constant_has_multiple_whitepsace"].append(error)
-
-        fieldOrConstant = stripped_fieldOrConstant
-
-
-
-        comment = None
-        if "#" in line:
-            commentExtract = line.split("#", 1) # Split once on left-most '#'
-            fieldOrConstant = commentExtract[0].strip()
-            comment = commentExtract[-1].strip()
-
-        if "=" not in fieldOrConstant:
-            # Is a field:
-            field = fieldOrConstant.split(" ")
-            type = field[0].strip()
-            name = field[1].strip()
-            field = MessageField(name, type, comment, line_number, parentMessage)
-            self.fields.append(field)
-        else:
-            temp = fieldOrConstant.split("=")
-            value = temp[-1]
-            typeAndName = temp[0].split(" ")
-            type = typeAndName[0]
-            name = typeAndName[1]
-            if name.startswith("VEHICLE_CMD_") and parentMessage.name == 'VehicleCommand': #it's a command.
-                #print(f"DEBUG: startswith VEHICLE_CMD_ {name}")
-                commandConstant = CommandConstant(name, type, value, comment, line_number, parentMessage)
-                #commandConstant.display_info()
-                self.commandConstants[name]=commandConstant
-            else: #it's a constant (or part of an enum)
-                constantField = ConstantValue(name, type, value, comment, line_number)
-                self.constantFields[name]=constantField
-
-
-    def parseFile(self):
-        initial_block_lines = []
-        #stopping_token = None
-        found_first_relevant_content = False
-        gettingInitialComments = False
-        gettingFields = False
-
-        with open(self.msg_filename, 'r', encoding='utf-8') as uorbfile:
-            lines = uorbfile.read().splitlines()
-            for line_number, line in enumerate(lines, 1):
-
-                if line != line.rstrip():
-                    #print(f"[{self.filename}] Trailing whitespace on line {line_number}: XX{line}YY")
-                    error = Error("trailing_whitespace", self.filename, line_number, line)
-                    if not "trailing_whitespace" in self.errors:
-                        self.errors["trailing_whitespace"] = []
-                    self.errors["trailing_whitespace"].append(error)
-
-                #print(f"line: {line}")
-                stripped_line = re.sub(r'\s+', ' ', line).strip() # Collapse all spaces to a single space and strip stuff off end.
-                #print(f"stripped_line: {stripped_line}")
-                # TODO? Perhaps report whitespace if the size of those two is different and it is empty
-                # Or perhaps we just fix it on request
-
-                isEmptyLine = False if line.strip() else True
-                if not found_first_relevant_content and isEmptyLine: #Empty line
-                    #print(f"{self.filename}: Empty line at start of file: [{line_number}]\n {line}")
-                    error = Error("empty_start_line", self.filename, line_number, line)
-                    if not "empty_start_line" in self.errors:
-                        self.errors["empty_start_line"] = []
-                    self.errors["empty_start_line"].append(error)
-                    #error.display_error()
-                    continue
-                if not found_first_relevant_content and not isEmptyLine:
-                    found_first_relevant_content = True
-
-                    if stripped_line.startswith("#"):
-                        gettingInitialComments = True
-                    else:
-                        gettingInitialComments = False
-                        gettingFields = True
-
-                if gettingInitialComments and stripped_line.startswith("#"):
-                    stripped_line=stripped_line[1:].strip()
-                    #print(f"DEBUG: gettingInitialComments: comment line: {stripped_line}")
-                    initial_block_lines.append(stripped_line)
-                else:
-                    gettingInitialComments = False
-                    gettingFields = True #Getting fields and constants
-                if gettingFields:
-                    if isEmptyLine:
-                        continue # empty line
-                    if stripped_line.startswith("# TOPICS "):
-                        stripped_line = stripped_line[9:]
-                        stripped_line = stripped_line.split(" ")
-                        self.topics+= stripped_line
-                        # Note, default topic and topic errors handled after all lines parsed
-                        continue
-                    if stripped_line.startswith("#"):
-                        # Its an internal comment
-                        stripped_line=stripped_line[1:].strip()
-                        
-                        if stripped_line:
-                            #print(f"{self.filename}: Internal comment: [{line_number}]\n {line}")
-                            error = Error("internal_comment", self.filename, line_number, line)
-                            if not "internal_comment" in self.errors:
-                                self.errors["internal_comment"] = []
-                            self.errors["internal_comment"].append(error)
-                        else:
-                            #print(f"{self.filename}: Empty internal comment: [{line_number}]\n {line}")
-                            error = Error("internal_comment_empty", self.filename, line_number, line)
-                            if not "internal_comment_empty" in self.errors:
-                                self.errors["internal_comment_empty"] = []
-                            self.errors["internal_comment_empty"].append(error)
-                            #pass # Empty comment
-                        continue
-                    
-                    # Must be a field or a comment.
-                    self.handleField(line, line_number, parentMessage=self)
-
-            # Fix up topics if the topic is empty
-            def camel_to_snake(name):
-                # Insert underscore between lowercase/digit and uppercase letter
-                s1 = re.sub('([a-z0-9])([A-Z])', r'\1_\2', name)
-                # Insert underscore between consecutive uppercase and uppercase+lowercase
-                return re.sub('([A-Z]+)([A-Z][a-z])', r'\1_\2', s1).lower()
-
-            defaultTopic = camel_to_snake(self.name)
-            if len(self.topics) == 0:
-                # We have no topic declared, so set the default topic
-                self.topics.append(defaultTopic)
-            elif len(self.topics) == 1:
-                # We have 1 topic declared - either it is default or there is some issue.
-                if defaultTopic in self.topics:
-                    # Declared topic is default topic
-                    error = Error("topic_error", self.filename, "", f"WARNING: TOPIC {defaultTopic} unnecessarily declared for {self.name}")
-                else:
-                    # Declared topic is not default topic
-                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC {self.topics[0]}: Only Declared topic is not default topic {defaultTopic} for {self.name}")
-                if not "topic_error" in self.errors:
-                    self.errors["topic_error"] = []
-                    self.errors["topic_error"].append(error)
-            elif len(self.topics) > 1:
-                if defaultTopic not in self.topics:
-                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC - Default topic {defaultTopic} for {self.name} not in {self.topics}")
-
-            # Parse our short and long description
-            #print(f"DEBUG: initial_block_lines: {initial_block_lines}")
-            doingLongDescription = False
-            for summaryline in initial_block_lines:
-                if not self.shortDescription and summaryline.strip() == '':
-                    continue
-                if not doingLongDescription and not summaryline.strip() == '':
-                   self.shortDescription += f" {summaryline}"
-                   self.shortDescription = self.shortDescription.strip()
-                   if not self.shortDescription[-1:] == ".": # Add terminating fullstop if not present.
-                       self.shortDescription += "."
-                if not doingLongDescription and summaryline.strip() == '':
-                   doingLongDescription = True
-                   continue
-                if doingLongDescription:
-                    self.longDescription += f"{summaryline}\n"
-
-            if self.longDescription:
-                self.longDescription.strip()
-
-            if not self.shortDescription:
-                # Summary has not been defined
-                error = Error("summary_missing", self.filename)
-                if not "summary_missing" in self.errors:
-                    self.errors["summary_missing"] = []
-                self.errors["summary_missing"].append(error)
-
-
-            # TODO Parse our constantValues into enums, leaving only constants
-            constantValuesToRemove = []
-            #print(f"DEBUG: Self.enums: {self.enums}")
-            for enumName, enumObject in self.enums.items():
-                for enumValueName, enumValueObject in self.constantFields.items():
-                    if enumValueName.startswith(enumName):
-                        # Copy this value into the object (cant be duplicate because parent is dict)
-                        enumObject.enumValues[enumValueName]=enumValueObject
-                        constantValuesToRemove.append(enumValueName)
-            # Now delete the original enumvalues
-            for enumValName in constantValuesToRemove:
-                del self.constantFields[enumValName]
-            constantsNotAssignedToEnums = len(self.constantFields)
-            if constantsNotAssignedToEnums > 0:
-                #print(f"Debug: WARNING constantsNotAssignedToEnums: {constantsNotAssignedToEnums}")
-                for enumValueName, enumValue in self.constantFields.items():
-                    if enumValueName in ALLOWED_CONSTANTS_NOT_IN_ENUM: # Ignore constants
-                        pass
-                    else:
-                        error = Error("constant_not_in_assigned_enum", self.filename, enumValue.line_number, enumValueName)
-                        if not "constant_not_in_assigned_enum" in self.errors:
-                            self.errors["constant_not_in_assigned_enum"] = []
-                        self.errors["constant_not_in_assigned_enum"].append(error)
-                # TODO Maybe present as list of possible enums.
 
 
 import yaml
@@ -924,50 +127,83 @@ if __name__ == "__main__":
 
     parser = argparse.ArgumentParser(description='Generate docs from .msg files')
     parser.add_argument('-d', dest='dir', help='output directory', required=True)
-    parser.add_argument('-e', dest='errors', action='store_true', help='Report errors')
-    parser.add_argument('-m', dest='error_messages', help='Message to report errors against (by default all)')
     args = parser.parse_args()
 
     output_dir = args.dir
     if not os.path.isdir(output_dir):
-        print(f"making output_dir {output_dir}")
         os.mkdir(output_dir)
 
     msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
     msg_files = get_msgs_list(msg_path)
-
     msg_files.sort()
 
     versioned_msgs_list = ''
     unversioned_msgs_list = ''
-    msgTypes = set()
 
     for msg_file in msg_files:
-        # Add messages to set of allowed types (compound types)
-        #msg_type = msg_file.rsplit('/')[-1]
-        #msg_type = msg_type.rsplit('\\')[-1]
-        #msg_type = msg_type.rsplit('.')[0]
         msg_name = os.path.splitext(os.path.basename(msg_file))[0]
-        msgTypes.add(msg_name)
+        output_file = os.path.join(output_dir, msg_name+'.md')
+        msg_filename = os.path.join(msg_path, msg_file)
+        print("{:} -> {:}".format(msg_filename, output_file))
 
-    for msg_file in msg_files:
-        message = UORBMessage(msg_file)
-        # Any additional tests that can't be in UORBMessage parser go here.
-        message.markdown_out()
+        #Format msg url
+        msg_url="[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/%s)" % msg_file
+
+        msg_description = ""
+        summary_description = ""
+
+        #Get msg description (first non-empty comment line from top of msg)
+        with open(msg_filename, 'r') as lineparser:
+            line = lineparser.readline()
+            while line.startswith('#') or (line.strip() == ''):
+                print('DEBUG: line: %s' % line)
+                line=line[1:].strip()+'\n'
+                stripped_line=line.strip()
+                if msg_description and not summary_description and stripped_line=='':
+                    summary_description = msg_description.strip()
+
+                msg_description+=line
+                line = lineparser.readline()
+            msg_description=msg_description.strip()
+            if not summary_description and msg_description:
+                summary_description = msg_description
+            print('msg_description: Z%sZ' % msg_description)
+            print('summary_description: Z%sZ' % summary_description)
+            summary_description
+        msg_contents = ""
+        #Get msg contents (read the file)
+        with open(msg_filename, 'r') as source_file:
+            msg_contents = source_file.read()
+
+        #Format markdown using msg name, comment, url, contents.
+        markdown_output="""# %s (UORB message)
+
+%s
+
+%s
+
+```c
+%s
+```
+""" % (msg_name, msg_description, msg_url, msg_contents)
+
+        with open(output_file, 'w') as content_file:
+            content_file.write(markdown_output)
 
         # Categorize as versioned or unversioned
         if "versioned" in msg_file:
-            versioned_msgs_list += f"- [{message.name}]({message.name}.md)"
-            if message.shortDescription:
-                versioned_msgs_list += f" — {message.shortDescription}"
+            versioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
+            if summary_description:
+                versioned_msgs_list += " — %s" % summary_description
             versioned_msgs_list += "\n"
         else:
-            unversioned_msgs_list += f"- [{message.name}]({message.name}.md)"
-            if message.shortDescription:
-                unversioned_msgs_list += f" — {message.shortDescription}"
+            unversioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
+            if summary_description:
+                unversioned_msgs_list += " — %s" % summary_description
             unversioned_msgs_list += "\n"
+
     # Write out the index.md file
-    index_text=f"""# uORB Message Reference
+    index_text="""# uORB Message Reference
 
 ::: info
 This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
@@ -982,14 +218,14 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 
 ## Versioned Messages
 
-{versioned_msgs_list}
+%s
 
 ## Unversioned Messages
 
-{unversioned_msgs_list}
-    """
+%s
+    """ % (versioned_msgs_list, unversioned_msgs_list)
     index_file = os.path.join(output_dir, 'index.md')
-    with open(index_file, 'w', encoding='utf-8') as content_file:
+    with open(index_file, 'w') as content_file:
             content_file.write(index_text)
 
     generate_dds_yaml_doc(msg_files)

Tools/process_sensor_caldata.py

@@ -1138,8 +1138,6 @@ if num_mags >= 1:
 
     if not math.isnan(sensor_mag_0['temperature'][0]):
 
-        mag_0_params['TC_M0_ID'] = int(np.median(sensor_mag_0['device_id']))
-
         # find the min, max and reference temperature
         mag_0_params['TC_M0_TMIN'] = np.amin(sensor_mag_0['temperature'])
         mag_0_params['TC_M0_TMAX'] = np.amax(sensor_mag_0['temperature'])

Tools/px_romfs_preprocess.py

@@ -0,0 +1,188 @@
+#!/usr/bin/env python3
+"""
+Preprocesses ROMFS files with C preprocessor to enable KConfig support.
+
+This script processes all rc* files in the ROMFS directory through the C preprocessor,
+allowing use of #ifdef, #ifndef, #if, #else, #endif directives with KConfig definitions.
+"""
+
+import argparse
+import os
+import subprocess
+import sys
+import tempfile
+from pathlib import Path
+
+
+def preprocess_file(file_path, kconfig_header, cpp_command):
+    """
+    Preprocess a single file through the C preprocessor.
+
+    Uses % as the preprocessor directive symbol (instead of #) to avoid conflicts
+    with shell comments. Converts %ifdef, %ifndef, %if, %else, %endif to
+    #ifdef, #ifndef, #if, #else, #endif before preprocessing.
+
+    Args:
+        file_path: Path to the file to preprocess
+        kconfig_header: Path to the px4_boardconfig.h header
+        cpp_command: C preprocessor command (usually the C compiler)
+    """
+    # Read original file
+    with open(file_path, 'r') as f:
+        original_content = f.read()
+
+    # Process the file line by line:
+    # 1. Remove shell comment lines (to avoid conflicts with CPP)
+    # 2. Convert % preprocessor directives to # directives
+    lines = original_content.split('\n')
+    converted_lines = []
+
+    for line in lines:
+        stripped = line.lstrip()
+
+        # Check if line starts with % followed by a preprocessor keyword
+        if stripped.startswith('%ifdef ') or stripped.startswith('%ifdef\t'):
+            # Preserve leading whitespace, convert %ifdef to #ifdef
+            converted_lines.append(line.replace('%ifdef', '#ifdef', 1))
+        elif stripped.startswith('%ifndef ') or stripped.startswith('%ifndef\t'):
+            converted_lines.append(line.replace('%ifndef', '#ifndef', 1))
+        elif stripped.startswith('%if '):
+            converted_lines.append(line.replace('%if', '#if', 1))
+        elif stripped.startswith('%elif '):
+            converted_lines.append(line.replace('%elif', '#elif', 1))
+        elif stripped.startswith('%else'):
+            converted_lines.append(line.replace('%else', '#else', 1))
+        elif stripped.startswith('%endif'):
+            converted_lines.append(line.replace('%endif', '#endif', 1))
+        elif stripped.startswith('#') and not stripped.startswith('#!'):
+            # Remove shell comment lines (but keep shebang)
+            # This prevents "# if ..." comments from being interpreted as "#if" by CPP
+            continue
+        else:
+            converted_lines.append(line)
+    converted_content = '\n'.join(converted_lines)
+
+    # Create temporary file with include directive and converted content
+    with tempfile.NamedTemporaryFile(mode='w', suffix='.in', delete=False) as tmp:
+        tmp.write(f'#include "{kconfig_header}"\n')
+        tmp.write(converted_content)
+        tmp_path = tmp.name
+
+    try:
+        # Run C preprocessor
+        # -P: don't generate #line directives
+        # -E: preprocess only
+        # -undef: don't predefine any non-standard macros
+        # -nostdinc: don't search standard include directories
+        # -x assembler-with-cpp: treat input as assembly (allows # comments to pass through)
+        result = subprocess.run(
+            [cpp_command, '-P', '-E', '-undef', '-nostdinc', '-x', 'assembler-with-cpp', tmp_path],
+            capture_output=True,
+            text=True,
+            check=True
+        )
+
+        preprocessed = result.stdout
+
+        # Clean up the output:
+        # 1. Remove empty lines at the beginning
+        # 2. Remove lines that are just whitespace
+        lines = preprocessed.split('\n')
+        cleaned_lines = []
+        started = False
+
+        for line in lines:
+            # Skip empty lines at the beginning
+            if not started and not line.strip():
+                continue
+            started = True
+            cleaned_lines.append(line)
+
+        # Remove trailing empty lines
+        while cleaned_lines and not cleaned_lines[-1].strip():
+            cleaned_lines.pop()
+
+        # Write preprocessed content back
+        with open(file_path, 'w') as f:
+            f.write('\n'.join(cleaned_lines))
+            if cleaned_lines:  # Add final newline if file is not empty
+                f.write('\n')
+
+        return True
+
+    except subprocess.CalledProcessError as e:
+        print(f"Error preprocessing {file_path}: {e}")
+        print(f"stderr: {e.stderr}")
+        return False
+    finally:
+        # Clean up temporary file
+        try:
+            os.unlink(tmp_path)
+        except:
+            pass
+
+
+def main():
+    parser = argparse.ArgumentParser(description='Preprocess ROMFS files with KConfig definitions')
+    parser.add_argument('--romfs-dir', required=True, help='ROMFS root directory')
+    parser.add_argument('--kconfig-header', required=True, help='Path to px4_boardconfig.h')
+    parser.add_argument('--cpp', required=True, help='C preprocessor command')
+    parser.add_argument('--pattern', default='rc*', help='File pattern to preprocess (default: rc*)')
+
+    args = parser.parse_args()
+
+    # Verify inputs
+    romfs_dir = Path(args.romfs_dir)
+    kconfig_header = Path(args.kconfig_header)
+
+    if not romfs_dir.exists():
+        print(f"Error: ROMFS directory not found: {romfs_dir}")
+        return 1
+
+    if not kconfig_header.exists():
+        print(f"Error: KConfig header not found: {kconfig_header}")
+        return 1
+
+    # Find all files to preprocess in init.d directory
+    init_d_dir = romfs_dir / 'init.d'
+    if not init_d_dir.exists():
+        print(f"Warning: init.d directory not found in {romfs_dir}")
+        return 0
+
+    # Find all rc* files (shell scripts)
+    files_to_process = []
+    for pattern in ['rc*', 'rcS']:
+        files_to_process.extend(init_d_dir.glob(pattern))
+
+    # Also check subdirectories like airframes
+    for subdir in init_d_dir.iterdir():
+        if subdir.is_dir():
+            for pattern in ['rc*']:
+                files_to_process.extend(subdir.glob(pattern))
+
+    # Remove duplicates and filter only files
+    files_to_process = list(set([f for f in files_to_process if f.is_file()]))
+
+    if not files_to_process:
+        print(f"Warning: No files matching pattern '{args.pattern}' found in {init_d_dir}")
+        return 0
+
+    print(f"Preprocessing {len(files_to_process)} ROMFS files with KConfig definitions...")
+
+    # Process each file
+    success_count = 0
+    for file_path in sorted(files_to_process):
+        rel_path = file_path.relative_to(romfs_dir)
+        print(f"  Processing: {rel_path}")
+        if preprocess_file(file_path, kconfig_header.absolute(), args.cpp):
+            success_count += 1
+        else:
+            print(f"  Warning: Failed to preprocess {rel_path}")
+
+    print(f"Successfully preprocessed {success_count}/{len(files_to_process)} files")
+
+    return 0 if success_count == len(files_to_process) else 1
+
+
+if __name__ == '__main__':
+    sys.exit(main())

Tools/px_uploader.py

@@ -0,0 +1,947 @@
+#!/usr/bin/env python3
+############################################################################
+#
+#   Copyright (c) 2012-2024 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+#
+# Serial firmware uploader for the PX4FMU bootloader
+#
+# The PX4 firmware file is a JSON-encoded Python object, containing
+# metadata fields and a zlib-compressed base64-encoded firmware image.
+#
+# The uploader uses the following fields from the firmware file:
+#
+# image
+#       The firmware that will be uploaded.
+# image_size
+#       The size of the firmware in bytes.
+# board_id
+#       The board for which the firmware is intended.
+# board_revision
+#       Currently only used for informational purposes.
+#
+
+import sys
+import argparse
+import binascii
+import socket
+import struct
+import json
+import zlib
+import base64
+import time
+import array
+import os
+
+from sys import platform as _platform
+
+try:
+    import serial
+except ImportError as e:
+    print(f"Failed to import serial: {e}")
+    print("")
+    print("You may need to install it using:")
+    print("    python -m pip install pyserial")
+    print("")
+    sys.exit(1)
+
+
+# Detect python version
+if sys.version_info[0] < 3:
+    raise RuntimeError("Python 2 is not supported. Please try again using Python 3.")
+    sys.exit(1)
+
+
+# Use monotonic time where available
+def _time():
+    try:
+        return time.monotonic()
+    except Exception:
+        return time.time()
+
+class FirmwareNotSuitableException(Exception):
+    def __init__(self, message):
+        super(FirmwareNotSuitableException, self).__init__(message)
+
+
+class firmware(object):
+    '''Loads a firmware file'''
+
+    desc = {}
+    image = bytes()
+
+    def __init__(self, path):
+
+        # read the file
+        f = open(path, "r")
+        self.desc = json.load(f)
+        f.close()
+
+        self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image'])))
+
+        # pad image to 4-byte length
+        while ((len(self.image) % 4) != 0):
+            self.image.extend(b'\xff')
+
+    def property(self, propname):
+        return self.desc[propname]
+
+    def crc(self, padlen):
+        state = 0xFFFFFFFF
+        state = zlib.crc32(self.image, state)
+        padding_length = padlen - len(self.image)
+        if padding_length > 0:
+            padding = b'\xff' * padding_length
+            state = zlib.crc32(padding, state)
+
+        return (state ^ 0xFFFFFFFF) & 0xFFFFFFFF
+
+
+class uploader:
+    '''Uploads a firmware file to the PX4 bootloader'''
+
+    # protocol bytes
+    INSYNC          = b'\x12'
+    EOC             = b'\x20'
+
+    # reply bytes
+    OK              = b'\x10'
+    FAILED          = b'\x11'
+    INVALID         = b'\x13'     # rev3+
+    BAD_SILICON_REV = b'\x14'     # rev5+
+
+    # command bytes
+    NOP             = b'\x00'     # guaranteed to be discarded by the bootloader
+    GET_SYNC        = b'\x21'
+    GET_DEVICE      = b'\x22'
+    CHIP_ERASE      = b'\x23'
+    CHIP_VERIFY     = b'\x24'     # rev2 only
+    PROG_MULTI      = b'\x27'
+    READ_MULTI      = b'\x28'     # rev2 only
+    GET_CRC         = b'\x29'     # rev3+
+    GET_OTP         = b'\x2a'     # rev4+  , get a word from OTP area
+    GET_SN          = b'\x2b'     # rev4+  , get a word from SN area
+    GET_CHIP        = b'\x2c'     # rev5+  , get chip version
+    SET_BOOT_DELAY  = b'\x2d'     # rev5+  , set boot delay
+    GET_CHIP_DES    = b'\x2e'     # rev5+  , get chip description in ASCII
+    GET_VERSION     = b'\x2f'     # rev5+  , get bootloader version in ASCII
+    CHIP_FULL_ERASE = b'\x40'     # full erase of flash, rev6+
+    MAX_DES_LENGTH  = 20
+
+    REBOOT          = b'\x30'
+
+    INFO_BL_REV     = b'\x01'        # bootloader protocol revision
+    BL_REV_MIN      = 2              # minimum supported bootloader protocol
+    BL_REV_MAX      = 5              # maximum supported bootloader protocol
+    INFO_BOARD_ID   = b'\x02'        # board type
+    INFO_BOARD_REV  = b'\x03'        # board revision
+    INFO_FLASH_SIZE = b'\x04'        # max firmware size in bytes
+
+    PROG_MULTI_MAX  = 252            # protocol max is 255, must be multiple of 4
+    READ_MULTI_MAX  = 252            # protocol max is 255
+
+    NSH_INIT        = bytearray(b'\x0d\x0d\x0d')
+    NSH_REBOOT_BL   = b"reboot -b\n"
+    NSH_REBOOT      = b"reboot\n"
+    MAVLINK_REBOOT_ID1 = bytearray(b'\xfe\x21\x72\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x01\x00\x00\x53\x6b')
+    MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x00\x00\x00\xcc\x37')
+
+    MAX_FLASH_PRGRAM_TIME  = 0.001  # Time on an F7 to send SYNC, RESULT from last data in multi RXed
+
+    def __init__(self, portname, baudrate_bootloader, baudrate_flightstack):
+        # Open the port, keep the default timeout short so we can poll quickly.
+        # On some systems writes can suddenly get stuck without having a
+        # write_timeout > 0 set.
+        # chartime 8n1 * bit rate is us
+        self.chartime = 10 * (1.0 / baudrate_bootloader)
+
+        # we use a window approche to SYNC,<result> gathring
+        self.window = 0
+        self.window_max = 256
+        self.window_per = 2  # Sync,<result>
+        self.ackWindowedMode = False  # Assume Non Widowed mode for all USB CDC
+        self.port = serial.Serial(portname, baudrate_bootloader, timeout=0.5, write_timeout=0)
+        self.otp = b''
+        self.sn = b''
+        self.baudrate_bootloader = baudrate_bootloader
+        self.baudrate_flightstack = baudrate_flightstack
+        self.baudrate_flightstack_idx = -1
+        self.force_erase = False
+
+    def close(self):
+        if self.port is not None:
+            self.port.close()
+
+    def open(self):
+        # upload timeout
+        timeout = _time() + 0.2
+
+        # attempt to open the port while it exists and until timeout occurs
+        while self.port is not None:
+            portopen = True
+            try:
+                portopen = self.port.is_open
+            except AttributeError:
+                portopen = self.port.isOpen()
+
+            if not portopen and _time() < timeout:
+                try:
+                    self.port.open()
+                except OSError:
+                    # wait for the port to be ready
+                    time.sleep(0.04)
+                except serial.SerialException:
+                    # if open fails, try again later
+                    time.sleep(0.04)
+            else:
+                break
+
+    # debugging code
+    def __probe(self, state):
+        # self.port.setRTS(state)
+        return
+
+    def __send(self, c):
+        # print("send " + binascii.hexlify(c))
+        self.port.write(c)
+
+    def __recv(self, count=1):
+        c = self.port.read(count)
+        if len(c) < 1:
+            raise RuntimeError("timeout waiting for data (%u bytes)" % count)
+        # print("recv " + binascii.hexlify(c))
+        return c
+
+    def __recv_int(self):
+        raw = self.__recv(4)
+        val = struct.unpack("<I", raw)
+        return val[0]
+
+    def __getSync(self, doFlush=True):
+        if (doFlush):
+            self.port.flush()
+        c = bytes(self.__recv())
+        if c != self.INSYNC:
+            raise RuntimeError("unexpected %s instead of INSYNC" % c)
+        c = self.__recv()
+        if c == self.INVALID:
+            raise RuntimeError("bootloader reports INVALID OPERATION")
+        if c == self.FAILED:
+            raise RuntimeError("bootloader reports OPERATION FAILED")
+        if c != self.OK:
+            raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c))
+
+    # The control flow for receiving Sync is on the order of 16 Ms per Sync
+    # This will validate all the SYNC,<results> for a window of programing
+    # in about 13.81 Ms for 256 blocks written
+    def __ackSyncWindow(self, count):
+        if (count > 0):
+            data =  bytearray(bytes(self.__recv(count)))
+            if (len(data) != count):
+                raise RuntimeError("Ack Window %i not %i " % (len(data), count))
+            for i in range(0, len(data), 2):
+                if bytes([data[i]]) != self.INSYNC:
+                    raise RuntimeError("unexpected %s instead of INSYNC" % data[i])
+                if bytes([data[i+1]]) == self.INVALID:
+                    raise RuntimeError("bootloader reports INVALID OPERATION")
+                if bytes([data[i+1]]) == self.FAILED:
+                    raise RuntimeError("bootloader reports OPERATION FAILED")
+                if bytes([data[i+1]]) != self.OK:
+                    raise RuntimeError("unexpected response 0x%x instead of OK" % ord(data[i+1]))
+
+    # attempt to get back into sync with the bootloader
+    def __sync(self):
+        # send a stream of ignored bytes longer than the longest possible conversation
+        # that we might still have in progress
+        # self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2))
+        self.port.flushInput()
+        self.__send(uploader.GET_SYNC +
+                    uploader.EOC)
+        self.__getSync()
+
+    def __trySync(self):
+        try:
+            self.port.flush()
+            if (self.__recv() != self.INSYNC):
+                # print("unexpected 0x%x instead of INSYNC" % ord(c))
+                return False
+            c = self.__recv()
+            if (c == self.BAD_SILICON_REV):
+                raise NotImplementedError()
+            if (c != self.OK):
+                # print("unexpected 0x%x instead of OK" % ord(c))
+                return False
+            return True
+
+        except NotImplementedError:
+            raise RuntimeError("Programing not supported for this version of silicon!\n"
+                               "See https://docs.px4.io/main/en/flight_controller/silicon_errata.html")
+        except RuntimeError:
+            # timeout, no response yet
+            return False
+
+    # attempt to determins if the device is CDCACM or A FTDI
+    def __determineInterface(self):
+        self.port.flushInput()
+        # Set a baudrate that can not work on a real serial port
+        # in that it is 233% off.
+        try:
+            self.port.baudrate = self.baudrate_bootloader * 2.33
+        except NotImplementedError as e:
+            # This error can occur because pySerial on Windows does not support odd baudrates
+            print(f"{e} -> could not check for FTDI device, assuming USB connection")
+            return
+
+        self.__send(uploader.GET_SYNC +
+                    uploader.EOC)
+        try:
+            self.__getSync(False)
+        except RuntimeError:
+            # if it fails we are on a real serial port - only leave this enabled on Windows
+            if sys.platform.startswith('win'):
+                self.ackWindowedMode = True
+        finally:
+            try:
+                self.port.baudrate = self.baudrate_bootloader
+            except Exception:
+                pass
+
+    # send the GET_DEVICE command and wait for an info parameter
+    def __getInfo(self, param):
+        self.__send(uploader.GET_DEVICE + param + uploader.EOC)
+        value = self.__recv_int()
+        self.__getSync()
+        return value
+
+    # send the GET_OTP command and wait for an info parameter
+    def __getOTP(self, param):
+        t = struct.pack("I", param)  # int param as 32bit ( 4 byte ) char array.
+        self.__send(uploader.GET_OTP + t + uploader.EOC)
+        value = self.__recv(4)
+        self.__getSync()
+        return value
+
+    # send the GET_SN command and wait for an info parameter
+    def __getSN(self, param):
+        t = struct.pack("I", param)  # int param as 32bit ( 4 byte ) char array.
+        self.__send(uploader.GET_SN + t + uploader.EOC)
+        value = self.__recv(4)
+        self.__getSync()
+        return value
+
+    # send the GET_CHIP command
+    def __getCHIP(self):
+        self.__send(uploader.GET_CHIP + uploader.EOC)
+        value = self.__recv_int()
+        self.__getSync()
+        return value
+
+    # send the GET_CHIP command
+    def __getCHIPDes(self):
+        self.__send(uploader.GET_CHIP_DES + uploader.EOC)
+        length = self.__recv_int()
+        value = self.__recv(length)
+        self.__getSync()
+        pieces = value.split(b",")
+        return pieces
+
+    def __getVersion(self):
+        self.__send(uploader.GET_VERSION + uploader.EOC)
+        try:
+            length = self.__recv_int()
+            value = self.__recv(length)
+            self.__getSync()
+        except RuntimeError:
+            # Bootloader doesn't support version call
+            return "unknown"
+        return value.decode()
+
+    def __drawProgressBar(self, label, progress, maxVal):
+        if maxVal < progress:
+            progress = maxVal
+
+        percent = (float(progress) / float(maxVal)) * 100.0
+
+        redraw = "\r" if sys.stdout.isatty() else "\n"
+        sys.stdout.write("%s%s: [%-20s] %.1f%%" % (redraw, label, '='*int(percent/5.0), percent))
+        sys.stdout.flush()
+
+    # send the CHIP_ERASE command and wait for the bootloader to become ready
+    def __erase(self, label):
+        print(f"Windowed mode: {self.ackWindowedMode}")
+        print("\n", end='')
+
+        if self.force_erase:
+            print("Trying force erase of full chip...\n")
+            self.__send(uploader.CHIP_FULL_ERASE +
+                        uploader.EOC)
+        else:
+            self.__send(uploader.CHIP_ERASE +
+                        uploader.EOC)
+
+        # erase is very slow, give it 30s
+        deadline = _time() + 30.0
+        while _time() < deadline:
+
+            usualEraseDuration = 15.0
+            estimatedTimeRemaining = deadline-_time()
+            if estimatedTimeRemaining >= usualEraseDuration:
+                self.__drawProgressBar(label, 30.0-estimatedTimeRemaining, usualEraseDuration)
+            else:
+                self.__drawProgressBar(label, 10.0, 10.0)
+                sys.stdout.write(" (timeout: %d seconds) " % int(deadline-_time()))
+                sys.stdout.flush()
+
+            if self.__trySync():
+                self.__drawProgressBar(label, 10.0, 10.0)
+                if self.force_erase:
+                    print("\nForce erase done.\n")
+                return
+
+        if self.force_erase:
+            raise RuntimeError("timed out waiting for erase, force erase is likely not supported by bootloader!")
+        else:
+            raise RuntimeError("timed out waiting for erase")
+
+    # send a PROG_MULTI command to write a collection of bytes
+    def __program_multi(self, data, windowMode):
+
+        length = len(data).to_bytes(1, byteorder='big')
+
+        self.__send(uploader.PROG_MULTI)
+        self.__send(length)
+        self.__send(data)
+        self.__send(uploader.EOC)
+        if (not windowMode):
+            self.__getSync(False)
+        else:
+            # The following is done to have minimum delay on the transmission
+            # of the ne fw. The per block cost of __getSync was about 16 mS per.
+            # Passively wait on Sync and Result using board rates and
+            # N.B. attempts to activly wait on InWating still carried 8 mS of overhead
+            self.__probe(False)
+            self.__probe(True)
+            time.sleep((ord(length) * self.chartime) + uploader.MAX_FLASH_PRGRAM_TIME)
+            self.__probe(False)
+
+    # verify multiple bytes in flash
+    def __verify_multi(self, data):
+
+        length = len(data).to_bytes(1, byteorder='big')
+
+        self.__send(uploader.READ_MULTI)
+        self.__send(length)
+        self.__send(uploader.EOC)
+        self.port.flush()
+        programmed = self.__recv(len(data))
+        if programmed != data:
+            print("got    " + binascii.hexlify(programmed))
+            print("expect " + binascii.hexlify(data))
+            return False
+        self.__getSync()
+        return True
+
+    # send the reboot command
+    def __reboot(self):
+        self.__send(uploader.REBOOT +
+                    uploader.EOC)
+        self.port.flush()
+
+        # v3+ can report failure if the first word flash fails
+        if self.bl_rev >= 3:
+            self.__getSync()
+
+    # split a sequence into a list of size-constrained pieces
+    def __split_len(self, seq, length):
+        return [seq[i:i+length] for i in range(0, len(seq), length)]
+
+    # upload code
+    def __program(self, label, fw):
+        self.__probe(False)
+        print("\n", end='')
+        code = fw.image
+        groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
+        # Give imedate feedback
+        self.__drawProgressBar(label, 0, len(groups))
+        uploadProgress = 0
+        for bytes in groups:
+            self.__program_multi(bytes, self.ackWindowedMode)
+            # If in Window mode, extend the window size for the __ackSyncWindow
+            if self.ackWindowedMode:
+                self.window += self.window_per
+
+            # Print upload progress (throttled, so it does not delay upload progress)
+            uploadProgress += 1
+            if uploadProgress % 256 == 0:
+                self.__probe(True)
+                self.__probe(False)
+                self.__probe(True)
+                self.__ackSyncWindow(self.window)
+                self.__probe(False)
+                self.window = 0
+                self.__drawProgressBar(label, uploadProgress, len(groups))
+
+        # Do any remaining fragment
+        self.__ackSyncWindow(self.window)
+        self.window = 0
+        self.__drawProgressBar(label, 100, 100)
+
+    # verify code
+    def __verify_v2(self, label, fw):
+        print("\n", end='')
+        self.__send(uploader.CHIP_VERIFY +
+                    uploader.EOC)
+        self.__getSync()
+        code = fw.image
+        groups = self.__split_len(code, uploader.READ_MULTI_MAX)
+        verifyProgress = 0
+        for bytes in groups:
+            verifyProgress += 1
+            if verifyProgress % 256 == 0:
+                self.__drawProgressBar(label, verifyProgress, len(groups))
+            if (not self.__verify_multi(bytes)):
+                raise RuntimeError("Verification failed")
+        self.__drawProgressBar(label, 100, 100)
+
+    def __verify_v3(self, label, fw):
+        print("\n", end='')
+        self.__drawProgressBar(label, 1, 100)
+        expect_crc = fw.crc(self.fw_maxsize)
+        self.__send(uploader.GET_CRC + uploader.EOC)
+        time.sleep(0.5)
+        report_crc = self.__recv_int()
+        self.__getSync()
+        if report_crc != expect_crc:
+            print("Expected 0x%x" % expect_crc)
+            print("Got      0x%x" % report_crc)
+            raise RuntimeError("Program CRC failed")
+        self.__drawProgressBar(label, 100, 100)
+
+    def __set_boot_delay(self, boot_delay):
+        self.__send(uploader.SET_BOOT_DELAY +
+                    struct.pack("b", boot_delay) +
+                    uploader.EOC)
+        self.__getSync()
+
+    # get basic data about the board
+    def identify(self):
+        self.__determineInterface()
+        # make sure we are in sync before starting
+        self.__sync()
+
+        # get the bootloader protocol ID first
+        self.bl_rev = self.__getInfo(uploader.INFO_BL_REV)
+        if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX):
+            print("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV)
+            raise RuntimeError("Bootloader protocol mismatch")
+
+        self.board_type = self.__getInfo(uploader.INFO_BOARD_ID)
+        self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
+        self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
+
+        self.version = self.__getVersion()
+
+    # upload the firmware
+    def upload(self, fw_list, force=False, boot_delay=None, boot_check=False, force_erase=False):
+        self.force_erase = force_erase
+        # select correct binary
+        found_suitable_firmware = False
+        for file in fw_list:
+            fw = firmware(file)
+            if self.board_type == fw.property('board_id'):
+                if len(fw_list) > 1: print("using firmware binary {}".format(file))
+                found_suitable_firmware = True
+                break
+
+        if not found_suitable_firmware:
+            msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
+                self.board_type, fw.property('board_id'))
+            print("WARNING: %s" % msg)
+            if force:
+                if len(fw_list) > 1:
+                    raise FirmwareNotSuitableException("force flashing failed, more than one file provided, none suitable")
+                print("FORCED WRITE, FLASHING ANYWAY!")
+            else:
+                raise FirmwareNotSuitableException(msg)
+
+        percent = fw.property('image_size') / fw.property('image_maxsize')
+        binary_size = float(fw.property('image_size'))
+        binary_max_size = float(fw.property('image_maxsize'))
+        percent = (binary_size / binary_max_size) * 100
+
+        print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%) " % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
+        print()
+
+        print(f"Bootloader version: {self.version}")
+
+        # Make sure we are doing the right thing
+        start = _time()
+        if self.board_type != fw.property('board_id'):
+            msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
+                self.board_type, fw.property('board_id'))
+            print("WARNING: %s" % msg)
+            if force:
+                print("FORCED WRITE, FLASHING ANYWAY!")
+            else:
+                raise FirmwareNotSuitableException(msg)
+
+        # Prevent uploads where the image would overflow the flash
+        if self.fw_maxsize < fw.property('image_size'):
+            raise RuntimeError("Firmware image is too large for this board")
+
+        # OTP added in v4:
+        if self.bl_rev >= 4:
+            for byte in range(0, 32*6, 4):
+                x = self.__getOTP(byte)
+                self.otp = self.otp + x
+                # print(binascii.hexlify(x).decode('Latin-1') + ' ', end='')
+            # see src/modules/systemlib/otp.h in px4 code:
+            self.otp_id = self.otp[0:4]
+            self.otp_idtype = self.otp[4:5]
+            self.otp_vid = self.otp[8:4:-1]
+            self.otp_pid = self.otp[12:8:-1]
+            self.otp_coa = self.otp[32:160]
+            # show user:
+            try:
+                print("Sn: ", end='')
+                for byte in range(0, 12, 4):
+                    x = self.__getSN(byte)
+                    x = x[::-1]  # reverse the bytes
+                    self.sn = self.sn + x
+                    print(binascii.hexlify(x).decode('Latin-1'), end='')  # show user
+                print('')
+                print("Chip: %08x" % self.__getCHIP())
+
+                otp_id = self.otp_id.decode('Latin-1')
+                if ("PX4" in otp_id):
+                    print("OTP id: " + otp_id)
+                    print("OTP idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1'))
+                    print("OTP vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1'))
+                    print("OTP pid: " + binascii.hexlify(self.otp_pid).decode('Latin-1'))
+                    print("OTP coa: " + binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
+
+            except Exception as e:
+                # ignore bad character encodings
+                print(f"Exception ignored: {e}")
+                pass
+
+        # Silicon errata check was added in v5
+        if (self.bl_rev >= 5):
+            des = self.__getCHIPDes()
+            if (len(des) == 2):
+                family, revision = des
+                print(f"Family: {family.decode()}")
+                print(f"Revision: {revision.decode()}")
+                print(f"Flash: {self.fw_maxsize} bytes")
+
+                # Prevent uploads where the maximum image size of the board config is smaller than the flash
+                # of the board. This is a hint the user chose the wrong config and will lack features
+                # for this particular board.
+
+                # This check should also check if the revision is an unaffected revision
+                # and thus can support the full flash, see
+                # https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144
+
+                if self.fw_maxsize > fw.property('image_maxsize') and not force:
+                    print(f"WARNING: Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes)")
+        else:
+            # If we're still on bootloader v4 on a Pixhawk, we don't know if we
+            # have the silicon errata and therefore need to flash px4_fmu-v2
+            # with 1MB flash or if it supports px4_fmu-v3 with 2MB flash.
+            if fw.property('board_id') == 9 \
+                    and fw.property('image_size') > 1032192 \
+                    and not force:
+                raise RuntimeError("\nThe Board uses bootloader revision 4 and can therefore not determine\n"
+                                   "if flashing more than 1 MB (px4_fmu-v3_default) is safe, chances are\n"
+                                   "high that it is not safe! If unsure, use px4_fmu-v2_default.\n"
+                                   "\n"
+                                   "If you know you that the board does not have the silicon errata, use\n"
+                                   "this script with --force, or update the bootloader. If you are invoking\n"
+                                   "upload using make, you can use force-upload target to force the upload.\n")
+        self.__erase("Erase  ")
+        self.__program("Program", fw)
+
+        if self.bl_rev == 2:
+            self.__verify_v2("Verify ", fw)
+        else:
+            self.__verify_v3("Verify ", fw)
+
+        if boot_delay is not None:
+            self.__set_boot_delay(boot_delay)
+
+        print("\nRebooting.", end='')
+        self.__reboot()
+        self.port.close()
+        print(" Elapsed Time %3.3f\n" % (_time() - start))
+
+    def __next_baud_flightstack(self):
+        if self.baudrate_flightstack_idx + 1 >= len(self.baudrate_flightstack):
+            return False
+        try:
+            self.port.baudrate = self.baudrate_flightstack[self.baudrate_flightstack_idx + 1]
+            self.baudrate_flightstack_idx = self.baudrate_flightstack_idx + 1
+        except serial.SerialException:
+            # Sometimes _configure_port fails
+            time.sleep(0.04)
+
+        return True
+
+    def send_protocol_splitter_format(self, data):
+        # Header Structure:
+        #      bits:   1 2 3 4 5 6 7 8
+        # header[0] - |     Magic     | (='S')
+        # header[1] - |T|   LenH      | (T - 0: mavlink; 1: rtps)
+        # header[2] - |     LenL      |
+        # header[3] - |   Checksum    |
+
+        MAGIC = 83
+
+        len_bytes = len(data).to_bytes(2, "big")
+        LEN_H = len_bytes[0] & 127
+        LEN_L = len_bytes[1] & 255
+        CHECKSUM = MAGIC ^ LEN_H ^ LEN_L
+
+        header_ints = [MAGIC, LEN_H, LEN_L, CHECKSUM]
+        header_bytes = struct.pack("{}B".format(len(header_ints)), *header_ints)
+
+        self.__send(header_bytes)
+        self.__send(data)
+
+    def send_reboot(self, use_protocol_splitter_format=False):
+        if (not self.__next_baud_flightstack()):
+            return False
+
+        print("Attempting reboot on %s with baudrate=%d..." % (self.port.port, self.port.baudrate), file=sys.stderr)
+        if "ttyS" in self.port.port:
+            print("If the board does not respond, check the connection to the Flight Controller")
+        else:
+            print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr)
+
+        try:
+            send_fct = self.__send
+            if use_protocol_splitter_format:
+                send_fct = self.send_protocol_splitter_format
+
+            # try MAVLINK command first
+            self.port.flush()
+            send_fct(uploader.MAVLINK_REBOOT_ID1)
+            send_fct(uploader.MAVLINK_REBOOT_ID0)
+            # then try reboot via NSH
+            send_fct(uploader.NSH_INIT)
+            send_fct(uploader.NSH_REBOOT_BL)
+            send_fct(uploader.NSH_INIT)
+            send_fct(uploader.NSH_REBOOT)
+            self.port.flush()
+            self.port.baudrate = self.baudrate_bootloader
+        except Exception:
+            try:
+                self.port.flush()
+                self.port.baudrate = self.baudrate_bootloader
+            except Exception:
+                pass
+
+        return True
+
+
+def main():
+    # Parse commandline arguments
+    parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
+    parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
+    parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.")
+    parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
+    parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
+    parser.add_argument('--force-erase', action="store_true", help="Do not perform the blank check, always erase every sector of the application space")
+    parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
+    parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
+    parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
+    args = parser.parse_args()
+
+    if args.use_protocol_splitter_format:
+        print("Using protocol splitter format to reboot pixhawk!")
+
+    # warn people about ModemManager which interferes badly with Pixhawk
+    if os.path.exists("/usr/sbin/ModemManager"):
+        print("==========================================================================================================")
+        print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
+        print("==========================================================================================================")
+
+    print("Waiting for bootloader...")
+    # tell any GCS that might be connected to the autopilot to give up
+    # control of the serial port
+
+    # send to localhost and default GCS port
+    ipaddr = '127.0.0.1'
+    portnum = 14550
+
+    # COMMAND_LONG in MAVLink 1
+    heartbeatpacket = bytearray.fromhex('fe097001010000000100020c5103033c8a')
+    commandpacket = bytearray.fromhex('fe210101014c00000000000000000000000000000000000000000000803f00000000f6000000008459')
+
+    # initialize an UDP socket
+    s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
+
+    # send heartbeat to initialize connection and command to free the link
+    s.sendto(heartbeatpacket, (ipaddr, portnum))
+    s.sendto(commandpacket, (ipaddr, portnum))
+
+    # close the socket
+    s.close()
+
+    # Spin waiting for a device to show up
+    try:
+        while True:
+            portlist = []
+            patterns = args.port.split(",")
+            # on unix-like platforms use glob to support wildcard ports. This allows
+            # the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from
+            # causing modem hangups etc
+            if "linux" in _platform or "darwin" in _platform or "cygwin" in _platform:
+                import glob
+                for pattern in patterns:
+                    portlist += glob.glob(pattern)
+            else:
+                portlist = patterns
+
+            baud_flightstack = [int(x) for x in args.baud_flightstack.split(',')]
+
+            successful = False
+            unsuitable_board = False
+            for port in portlist:
+
+                # print("Trying %s" % port)
+
+                # create an uploader attached to the port
+                try:
+                    if "linux" in _platform:
+                        # Linux, don't open Mac OS and Win ports
+                        if "COM" not in port and "tty.usb" not in port:
+                            up = uploader(port, args.baud_bootloader, baud_flightstack)
+                    elif "darwin" in _platform:
+                        # OS X, don't open Windows and Linux ports
+                        if "COM" not in port and "ACM" not in port:
+                            up = uploader(port, args.baud_bootloader, baud_flightstack)
+                    elif "cygwin" in _platform:
+                        # Cygwin, don't open native Windows COM and Linux ports
+                        if "COM" not in port and "ACM" not in port:
+                            up = uploader(port, args.baud_bootloader, baud_flightstack)
+                    elif "win" in _platform:
+                        # Windows, don't open POSIX ports
+                        if "/" not in port:
+                            up = uploader(port, args.baud_bootloader, baud_flightstack)
+                except Exception as e:
+                    # open failed, rate-limit our attempts
+                    time.sleep(0.05)
+                    print(f"Exception ignored: {e}")
+
+                    # and loop to the next port
+                    continue
+
+                found_bootloader = False
+                while True:
+                    up.open()
+
+                    # port is open, try talking to it
+                    try:
+                        # identify the bootloader
+                        up.identify()
+                        found_bootloader = True
+                        print()
+                        print(f"Found board id: {up.board_type},{up.board_rev} bootloader protocol revision {up.bl_rev} on {port}")
+                        break
+
+                    except (RuntimeError, serial.SerialException):
+
+                        if not up.send_reboot(args.use_protocol_splitter_format):
+                            break
+
+                        # wait for the reboot, without we might run into Serial I/O Error 5
+                        time.sleep(0.25)
+
+                        # always close the port
+                        up.close()
+
+                        # wait for the close, without we might run into Serial I/O Error 6
+                        time.sleep(0.3)
+
+                if not found_bootloader:
+                    # Go to the next port
+                    continue
+
+                try:
+                    # ok, we have a bootloader, try flashing it
+                    up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay, force_erase=args.force_erase)
+
+                    # if we made this far without raising exceptions, the upload was successful
+                    successful = True
+
+                except RuntimeError as e:
+                    # print the error
+                    print(f"\n\nError: {e}")
+
+                except FirmwareNotSuitableException:
+                    unsuitable_board = True
+                    up.close()
+                    continue
+
+                except IOError:
+                    up.close()
+                    continue
+
+                finally:
+                    # always close the port
+                    up.close()
+
+                # we could loop here if we wanted to wait for more boards...
+                if successful:
+                    sys.exit(0)
+                else:
+                    sys.exit(1)
+
+            if unsuitable_board:
+                # If we land here, we went through all ports, did not flash any
+                # board and found at least one unsuitable board.
+                # Exit with 2, so a caller can distinguish from other errors
+                sys.exit(2)
+
+            # Delay retries to < 20 Hz to prevent spin-lock from hogging the CPU
+            time.sleep(0.05)
+
+    # CTRL+C aborts the upload/spin-lock by interrupt mechanics
+    except KeyboardInterrupt:
+        print("\n Upload aborted by user.")
+        sys.exit(0)
+
+
+if __name__ == '__main__':
+    main()
+
+# vim: tabstop=4 expandtab shiftwidth=4 softtabstop=4

Tools/run-clang-tidy.py

@@ -144,8 +144,6 @@ def main():
                       help='number of tidy instances to be run in parallel.')
   parser.add_argument('files', nargs='*', default=['.*'],
                       help='files to be processed (regex on path)')
-  parser.add_argument('-exclude', dest='exclude', default=None,
-                      help='regular expression matching files to exclude')
   parser.add_argument('-fix', action='store_true', help='apply fix-its')
   parser.add_argument('-format', action='store_true', help='Reformat code '
                       'after applying fixes')
@@ -194,7 +192,6 @@ def main():
 
   # Build up a big regexy filter from all command line arguments.
   file_name_re = re.compile('(' + ')|('.join(args.files) + ')')
-  exclude_re = re.compile(args.exclude) if args.exclude else None
 
   try:
     # Spin up a bunch of tidy-launching threads.
@@ -208,8 +205,6 @@ def main():
     # Fill the queue with files.
     for name in files:
       if file_name_re.search(name):
-        if exclude_re and exclude_re.search(name):
-          continue
         queue.put(name)
 
     # Wait for all threads to be done.

Tools/setup/docker-entrypoint.sh

@@ -4,7 +4,7 @@ GREEN='\033[0;32m'
 NO_COLOR='\033[0m' # No Color
 SCRIPTID="${GREEN}[docker-entrypoint.sh]${NO_COLOR}"
 
-echo -e "$SCRIPTID $( uname -m ) | $(date -u +%FT%TZ)"
+echo -e "$SCRIPTID Starting"
 
 # Start virtual X server in the background
 # - DISPLAY default is :99, set in dockerfile
@@ -22,4 +22,6 @@ if [ -n "${ROS_DISTRO}" ]; then
 	source "/opt/ros/$ROS_DISTRO/setup.bash"
 fi
 
+echo -e "$SCRIPTID ($( uname -m ))"
+
 exec "$@"

Tools/setup/macos.sh

@@ -74,7 +74,7 @@ python3 -m pip install --user -r ${DIR}/requirements.txt
 
 # Optional, but recommended additional simulation tools:
 if [[ $INSTALL_SIM == "--sim-tools" ]]; then
-	if ! brew ls --versions px4-sim > /dev/null; then
+	if brew ls --versions px4-sim > /dev/null; then
 		brew install px4-sim
 	elif [[ $REINSTALL_FORMULAS == "--reinstall" ]]; then
 		brew reinstall px4-sim

Tools/setup/ubuntu.sh

@@ -6,9 +6,9 @@ set -e
 ## Can also be used in docker.
 ##
 ## Installs:
-## - Common dependencies and tools for nuttx, Gazebo
+## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
 ## - NuttX toolchain (omit with arg: --no-nuttx)
-## - Gazebo Harmonic simulator (omit with arg: --no-sim-tools)
+## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
 ##
 
 INSTALL_NUTTX="true"
@@ -176,10 +176,8 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 
 		echo
 		echo "Fetching Xtensa compilers"
-		XTENSA_FILE_NAME=xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz
-		wget -q -P $DIR https://github.com/espressif/crosstool-NG/releases/download/esp-13.2.0_20240530/$XTENSA_FILE_NAME
-		sudo tar -xf $DIR/$XTENSA_FILE_NAME -C /opt
-		rm $DIR/$XTENSA_FILE_NAME
+		wget -q -P $DIR https://github.com/espressif/crosstool-NG/releases/download/esp-13.2.0_20240530/xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz
+		sudo tar -xf $DIR/xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz -C /opt
 		echo 'export PATH=$PATH:/opt/xtensa-esp-elf/bin/' >> /home/$USER/.bashrc
 	fi
 
@@ -207,18 +205,37 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		bc \
 		;
 
-	# Gazebo Harmonic installation (Ubuntu 22.04+)
-	echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
-	# 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 $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
-	sudo apt-get update -y --quiet
+	# Gazebo / Gazebo classic installation
+	if [[ "${UBUNTU_RELEASE}" == "18.04" || "${UBUNTU_RELEASE}" == "20.04" ]]; then
+		sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+		wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+		# Update list, since new gazebo-stable.list has been added
+		sudo apt-get update -y --quiet
 
-	# Install Gazebo
-	gazebo_packages="gz-harmonic libunwind-dev"
+		# Install Gazebo classic
+		if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+			gazebo_classic_version=9
+			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
+		else
+			# default and Ubuntu 20.04
+			gazebo_classic_version=11
+			gazebo_packages="gazebo$gazebo_classic_version libgazebo$gazebo_classic_version-dev"
+		fi
+	else
+		# Expects Ubuntu 22.04 > by default
+		echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
+		echo "[ubuntu.sh] Earlier versions will be removed"
+		# Add Gazebo binary repository
+		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
+		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
+		sudo apt-get update -y --quiet
 
-	if [[ "${UBUNTU_RELEASE}" == "24.04" ]]; then
-		gazebo_packages="$gazebo_packages cppzmq-dev"
+		# Install Gazebo
+		gazebo_packages="gz-harmonic libunwind-dev"
+
+		if [[ "${UBUNTU_RELEASE}" == "24.04" ]]; then
+			gazebo_packages="$gazebo_packages cppzmq-dev"
+		fi
 	fi
 
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \

boards/ark/cannode/default.px4board

@@ -31,7 +31,6 @@ CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
 CONFIG_UAVCANNODE_ESC_STATUS=y
 CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
 CONFIG_UAVCANNODE_GNSS_FIX=y
-CONFIG_UAVCANNODE_HARDPOINT_COMMAND=y
 CONFIG_UAVCANNODE_HYGROMETER_MEASUREMENT=y
 CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
 CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y

boards/ark/fmu-v6x/src/board_config.h

@@ -243,6 +243,15 @@
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS   9
 
+#define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
+#define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
+#define GPIO_FMU_CH3                    /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
+#define GPIO_FMU_CH4                    /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
+#define GPIO_FMU_CH5                    /* PD13 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN13)
+#define GPIO_FMU_CH6                    /* PD14 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN14)
+#define GPIO_FMU_CH7                    /* PH6  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN6)
+#define GPIO_FMU_CH8                    /* PH9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN9)
+
 #define GPIO_FMU_CAP                    /* PE11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN11)
 #define GPIO_SPIX_SYNC                  /* PE9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
 
@@ -456,6 +465,14 @@
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_PG6,                         \
 		GPIO_nARMED_INIT,                 \
+		GPIO_FMU_CH1,     	          \
+		GPIO_FMU_CH2,     	          \
+		GPIO_FMU_CH3,     	          \
+		GPIO_FMU_CH4,     	          \
+		GPIO_FMU_CH5,     	          \
+		GPIO_FMU_CH6,     	          \
+		GPIO_FMU_CH7,     	          \
+		GPIO_FMU_CH8,     	          \
 		GPIO_FMU_CAP,     	          \
 		GPIO_SPIX_SYNC                    \
 	}

boards/ark/fmu-v6x/zenoh.px4board

@@ -1,5 +0,0 @@
-# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
-CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_MODULES_UXRCE_DDS_CLIENT=n
-CONFIG_MODULES_ZENOH=y

boards/ark/fpv/init/rc.board_defaults

@@ -26,8 +26,6 @@ then
 fi
 
 param set-default BAT1_V_DIV 21.0
-param set-default BAT1_V_FILT 0.075
-param set-default BAT1_I_FILT 0.5
 
 param set-default RC_CRSF_PRT_CFG 300
 param set-default RC_SBUS_PRT_CFG 0

boards/ark/fpv/src/board_config.h

@@ -176,6 +176,9 @@
 
 #define BOARD_BATTERY1_V_DIV	 (21.0f) // (20k + 1k) / 1k = 21
 
+#define BOARD_BATTERY_ADC_VOLTAGE_FILTER_S 0.075f
+#define BOARD_BATTERY_ADC_CURRENT_FILTER_S 0.125f
+
 #define ADC_SCALED_PAYLOAD_SENSE ADC_SCALED_12V_CHANNEL
 
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
@@ -223,6 +226,16 @@
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS   9
 
+#define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
+#define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
+#define GPIO_FMU_CH3                    /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
+#define GPIO_FMU_CH4                    /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
+#define GPIO_FMU_CH5                    /* PI5  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN5)
+#define GPIO_FMU_CH6                    /* PI6  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN6)
+#define GPIO_FMU_CH7                    /* PI7  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN7)
+#define GPIO_FMU_CH8                    /* PI2  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN2)
+#define GPIO_FMU_CH9                    /* PD12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN12)
+
 #define GPIO_SPIX_SYNC                  /* PE9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
 
 /* Power supply control and monitoring GPIOs */
@@ -326,6 +339,15 @@
 		GPIO_VDD_3V3_SD_CARD_EN,          \
 		GPIO_nARMED_INIT,                 \
 		SPI6_nRESET_EXTERNAL1,            \
+		GPIO_FMU_CH1,     	          \
+		GPIO_FMU_CH2,     	          \
+		GPIO_FMU_CH3,     	          \
+		GPIO_FMU_CH4,     	          \
+		GPIO_FMU_CH5,     	          \
+		GPIO_FMU_CH6,     	          \
+		GPIO_FMU_CH7,     	          \
+		GPIO_FMU_CH8,     	          \
+		GPIO_FMU_CH9,     	          \
 		GPIO_SPIX_SYNC                    \
 	}
 

boards/ark/pi6x/src/board_config.h

@@ -206,6 +206,15 @@
  */
 #define DIRECT_PWM_OUTPUT_CHANNELS   8
 
+#define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
+#define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
+#define GPIO_FMU_CH3                    /* PH11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN11)
+#define GPIO_FMU_CH4                    /* PH10 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN10)
+#define GPIO_FMU_CH5                    /* PD13 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN13)
+#define GPIO_FMU_CH6                    /* PD14 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTD|GPIO_PIN14)
+#define GPIO_FMU_CH7                    /* PH6  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN6)
+#define GPIO_FMU_CH8                    /* PH9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN9)
+
 #define GPIO_FMU_CAP                    /* PE11 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN11)
 #define GPIO_SPIX_SYNC                  /* PE9  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTE|GPIO_PIN9)
 
@@ -332,6 +341,14 @@
 		GPIO_NFC_GPIO,                    \
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_nARMED_INIT,                 \
+		GPIO_FMU_CH1,     	          \
+		GPIO_FMU_CH2,     	          \
+		GPIO_FMU_CH3,     	          \
+		GPIO_FMU_CH4,     	          \
+		GPIO_FMU_CH5,     	          \
+		GPIO_FMU_CH6,     	          \
+		GPIO_FMU_CH7,     	          \
+		GPIO_FMU_CH8,     	          \
 		GPIO_FMU_CAP,     	          \
 		GPIO_SPIX_SYNC                    \
 	}

boards/auterion/fmu-v6s/default.px4board

@@ -15,8 +15,6 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
-CONFIG_DRIVERS_VTX=y
-CONFIG_VTX_CRSF_MSP_SUPPORT=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_BMI088_ACCELEROMETER_INT2=y
 CONFIG_COMMON_LIGHT=y
@@ -94,4 +92,3 @@ CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_WQ_TTY_STACKSIZE=2500

boards/auterion/fmu-v6s/nuttx-config/nsh/defconfig

@@ -160,7 +160,7 @@ CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=24
+CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y

boards/auterion/fmu-v6x/zenoh.px4board

@@ -1,6 +1,4 @@
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_UXRCE_DDS_CLIENT=n
-CONFIG_SYSTEMCMDS_SD_BENCH=n
-CONFIG_SYSTEMCMDS_I2CDETECT=n
 CONFIG_MODULES_ZENOH=y

boards/cuav/fmu-v6x/init/rc.board_sensors

@@ -66,15 +66,15 @@ then
 	fi
 fi
 
-iim42652 -R 6 -s -C 32768 start
 bmi088 -A -R 4 -s start
 bmi088 -G -R 4 -s start
+iim42652 -R 6 -s -C 32768 start
 icm45686 -R 2 -s start
 
 rm3100 -I -b 4 start
 
-bmp581 -b 2 -X -a 0x47 start
 icp201xx -I -a 0x64 start
+bmp581 -b 2 -X -a 0x47 start
 
 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
 ist8310 -X -b 1 -R 10 start

boards/cuav/nora/src/board_config.h

@@ -127,8 +127,8 @@
 #define GPIO_VDD_5V_RC_EN               /* PG5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PG7  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)
 
-#define GPIO_VDD_5V_HIPOWER_OC          /* PJ3 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN3)
-#define GPIO_nVDD_5V_PERIPH_OC          /* PJ4 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTJ|GPIO_PIN4)
+#define GPIO_VDD_5V_HIPOWER_OC          /* PJ3 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN3)
+#define GPIO_nVDD_5V_PERIPH_OC          /* PJ4 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN4)
 
 /* Power switch controls ******************************************************/
 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, (on_true))

boards/cuav/x25-evo/core_heater/core_heater.cpp

@@ -43,8 +43,6 @@
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_io_heater.h>
 
-ModuleBase::Descriptor Core_Heater::desc{task_spawn, custom_command, print_usage};
-
 #  ifndef GPIO_CORE_HEATER_OUTPUT
 #  error "To use the heater driver, the board_config.h must define and initialize GPIO_CORE_HEATER_OUTPUT"
 #  endif
@@ -64,7 +62,7 @@ Core_Heater::~Core_Heater()
 int Core_Heater::custom_command(int argc, char *argv[])
 {
 	// Check if the driver is running.
-	if (!is_running(desc)) {
+	if (!is_running()) {
 		PX4_INFO("not running");
 		return PX4_ERROR;
 	}
@@ -119,7 +117,7 @@ bool Core_Heater::initialize_topics()
 void Core_Heater::Run()
 {
 	if (should_exit()) {
-		exit_and_cleanup(desc);
+		exit_and_cleanup();
 		return;
 	}
 
@@ -218,8 +216,8 @@ int Core_Heater::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	desc.object.store(core_heater);
-	desc.task_id = task_id_is_work_queue;
+	_object.store(core_heater);
+	_task_id = task_id_is_work_queue;
 
 	core_heater->start();
 	return 0;
@@ -259,5 +257,5 @@ Background process running periodically on the LP work queue to regulate IMU tem
 
 extern "C" __EXPORT int core_heater_main(int argc, char *argv[])
 {
-	return ModuleBase::main(Core_Heater::desc, argc, argv);
+	return Core_Heater::main(argc, argv);
 }

boards/cuav/x25-evo/core_heater/core_heater.h

@@ -56,11 +56,9 @@ using namespace time_literals;
 #define CONTROLLER_PERIOD_DEFAULT    10000
 #define TEMPERATURE_TARGET_THRESHOLD 2.5f
 
-class Core_Heater : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
+class Core_Heater : public ModuleBase<Core_Heater>, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
-	static Descriptor desc;
-
 	Core_Heater();
 
 	virtual ~Core_Heater();

boards/emlid/navio2/navio_rgbled/NavioRGBLed.cpp

@@ -33,8 +33,6 @@
 
 #include "NavioRGBLed.hpp"
 
-ModuleBase::Descriptor NavioRGBLed::desc{task_spawn, custom_command, print_usage};
-
 NavioRGBLed::NavioRGBLed() :
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
 {
@@ -132,8 +130,8 @@ int NavioRGBLed::task_spawn(int argc, char *argv[])
 	NavioRGBLed *instance = new NavioRGBLed();
 
 	if (instance) {
-		desc.object.store(instance);
-		desc.task_id = task_id_is_work_queue;
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;
 
 		if (instance->init() == PX4_OK) {
 			return PX4_OK;
@@ -144,8 +142,8 @@ int NavioRGBLed::task_spawn(int argc, char *argv[])
 	}
 
 	delete instance;
-	desc.object.store(nullptr);
-	desc.task_id = -1;
+	_object.store(nullptr);
+	_task_id = -1;
 
 	return PX4_ERROR;
 }
@@ -172,5 +170,5 @@ Emlid Navio2 RGB LED driver.
 
 extern "C" __EXPORT int navio_rgbled_main(int argc, char *argv[])
 {
-	return ModuleBase::main(NavioRGBLed::desc, argc, argv);
+	return NavioRGBLed::main(argc, argv);
 }

boards/emlid/navio2/navio_rgbled/NavioRGBLed.hpp

@@ -40,11 +40,9 @@
 
 #include <lib/led/led.h>
 
-class NavioRGBLed : public ModuleBase, public px4::ScheduledWorkItem
+class NavioRGBLed : public ModuleBase<NavioRGBLed>, public px4::ScheduledWorkItem
 {
 public:
-	static Descriptor desc;
-
 	NavioRGBLed();
 	~NavioRGBLed() override;
 

boards/gearup/airbrainh743/bootloader.px4board

@@ -1,3 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROMFSROOT=""

boards/gearup/airbrainh743/default.px4board

@@ -1,86 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROOT_PATH="/fs/flash"
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS6"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
-CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS2"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS1"
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BAROMETER_DPS310=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_COMMON_LIGHT=y
-CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
-CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
-CONFIG_DRIVERS_OSD_MSP_OSD=y
-CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_COMMON_TELEMETRY=y
-CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
-CONFIG_MODULES_BATTERY_STATUS=y
-CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
-# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
-# CONFIG_EKF2_AUXVEL is not set
-# CONFIG_EKF2_BARO_COMPENSATION is not set
-# CONFIG_EKF2_DRAG_FUSION is not set
-# CONFIG_EKF2_GNSS_YAW is not set
-# CONFIG_EKF2_SIDESLIP is not set
-CONFIG_MODULES_EVENTS=y
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
-CONFIG_MODULES_FW_RATE_CONTROL=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_LOGGER=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_MAVLINK=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_NAVIGATOR=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_UXRCE_DDS_CLIENT=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MTD=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_USB_CONNECTED=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/gearup/airbrainh743/firmware.prototype

@@ -1,13 +0,0 @@
-{
-    "board_id": 1209,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the AirBrainH743 by Gear Up",
-    "image": "",
-    "build_time": 0,
-    "summary": "AirBrainH743",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 1966080,
-    "git_identity": "",
-    "board_revision": 0
-}

boards/gearup/airbrainh743/init/rc.board_defaults

@@ -1,17 +0,0 @@
-#!/bin/sh
-#
-# AirBrainH743 board specific defaults
-#------------------------------------------------------------------------------
-
-# Battery voltage divider and current scale
-param set-default BAT1_V_DIV 15.0
-param set-default BAT1_A_PER_V 101.0
-
-# system_power unavailable
-param set-default CBRK_SUPPLY_CHK 894281
-
-param set-default IMU_GYRO_RATEMAX 2000
-
-# W25N NAND flash with littlefs (128 MB): larger buffer, auto-rotate
-set LOGGER_BUF 32
-param set-default SDLOG_DIRS_MAX 3

boards/gearup/airbrainh743/init/rc.board_extras

@@ -1,6 +0,0 @@
-#!/bin/sh
-#
-# AirBrainH743 specific board extras init
-#------------------------------------------------------------------------------
-
-# No extras configured by default

boards/gearup/airbrainh743/init/rc.board_sensors

@@ -1,16 +0,0 @@
-#!/bin/sh
-#
-# AirBrainH743 specific board sensors init
-#------------------------------------------------------------------------------
-
-board_adc start
-
-# Internal SPI bus IMU - ICM42688P (Invensensev3)
-icm42688p -R 2 -b 1 -s start
-
-# Internal I2C bus barometer - DPS310 @ 0x76 (118 decimal)
-dps310 -I -a 118 start
-
-# Internal I2C bus magnetometer - LIS2MDL @ 0x1E (30 decimal)
-# Using iis2mdc driver (functionally equivalent to LIS2MDL)
-iis2mdc -I -R 2 -a 30 start

boards/gearup/airbrainh743/nuttx-config/Kconfig

@@ -1,3 +0,0 @@
-#
-# Board-specific Kconfig for AirBrainH743
-#

boards/gearup/airbrainh743/nuttx-config/bootloader/defconfig

@@ -1,89 +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_DEV_CONSOLE is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_SPI_EXCHANGE is not set
-# CONFIG_STM32H7_SYSCFG is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/gearup/airbrainh743/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743VI=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=768
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
-CONFIG_BOARD_INITTHREAD_PRIORITY=254
-CONFIG_BOARD_LATE_INITIALIZE=y
-CONFIG_BOARD_LOOPSPERMSEC=22114
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_CDCACM=y
-CONFIG_CDCACM_PRODUCTID=0x004b
-CONFIG_CDCACM_PRODUCTSTR="AirBrainH743 BL"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x3162
-CONFIG_CDCACM_VENDORSTR="Gear Up"
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_EXPERIMENTAL=y
-CONFIG_FDCLONE_DISABLE=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3194
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=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_SPI=y
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_USART1=y
-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_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=300
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000

boards/gearup/airbrainh743/nuttx-config/include/board.h

@@ -1,346 +0,0 @@
-/************************************************************************************
- * nuttx-config/include/board.h
- *
- *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************************************/
-#ifndef __NUTTX_CONFIG_AIRBRAINH743_INCLUDE_BOARD_H
-#define __NUTTX_CONFIG_AIRBRAINH743_INCLUDE_BOARD_H
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include "board_dma_map.h"
-
-#include <nuttx/config.h>
-
-#ifndef __ASSEMBLY__
-# include <stdint.h>
-#endif
-
-#include "stm32_rcc.h"
-#include "stm32_sdmmc.h"
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-
-/* Clocking *************************************************************************/
-/* The AirBrainH743 board provides the following clock sources:
- *
- *   X1: 8 MHz crystal for HSE
- */
-
-#define STM32_BOARD_XTAL        8000000ul
-
-#define STM32_HSI_FREQUENCY     16000000ul
-#define STM32_LSI_FREQUENCY     32000
-#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-#define STM32_LSE_FREQUENCY     32768
-
-/* Main PLL Configuration.
- *
- * PLL source is HSE = 8,000,000
- *
- * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
- *
- * SYSCLK  = PLL_VCO / PLLP
- * CPUCLK  = SYSCLK / D1CPRE
- */
-
-#define STM32_BOARD_USEHSE
-
-#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
-
-/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
- *
- *   PLL1_VCO = (8,000,000 / 1) * 120 = 960 MHz
- *
- *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
- *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
- *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
- */
-
-#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
-				 RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
-				 RCC_PLLCFGR_DIVP1EN | \
-				 RCC_PLLCFGR_DIVQ1EN | \
-				 RCC_PLLCFGR_DIVR1EN)
-#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
-#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(120)
-#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
-#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(5)
-#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
-
-#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 120)
-#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
-#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 5)
-#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
-
-/* PLL2 */
-
-#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
-				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
-				  RCC_PLLCFGR_DIVP2EN | \
-				  RCC_PLLCFGR_DIVQ2EN | \
-				  RCC_PLLCFGR_DIVR2EN)
-#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(2)
-#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(48)
-#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
-#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
-#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
-
-#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 2) * 48)
-#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-
-/* PLL3 */
-
-#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
-				 RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
-				 RCC_PLLCFGR_DIVQ3EN)
-#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(2)
-#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(48)
-#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
-#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
-#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
-
-#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 2) * 48)
-#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
-#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
-#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
-
-/* SYSCLK = PLL1P = 480MHz
- * CPUCLK = SYSCLK / 1 = 480 MHz
- */
-
-#define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
-#define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
-#define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
-
-/* Configure Clock Assignments */
-
-/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
- * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
- */
-
-#define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
-#define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
-#define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
-#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */
-
-/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
-#define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
-#define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
-#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB4 clock (PCLK4) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
-#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* Timer clock frequencies */
-
-/* Timers driven from APB1 will be twice PCLK1 */
-
-#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-
-/* Timers driven from APB2 will be twice PCLK2 */
-
-#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-
-/* Kernel Clock Configuration */
-
-/* I2C123 clock source */
-
-#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
-
-/* I2C4 clock source */
-
-#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
-
-/* SPI123 clock source */
-
-#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
-
-/* SPI45 clock source */
-
-#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2
-
-/* SPI6 clock source */
-
-#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2
-
-/* USB 1 and 2 clock source */
-
-#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3
-
-/* ADC 1 2 3 clock source */
-
-#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
-
-/* FDCAN 1 clock source */
-
-#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE
-#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
-
-/* FLASH wait states */
-
-#define BOARD_FLASH_WAITSTATES 2
-
-/* LED definitions ******************************************************************/
-
-#define BOARD_LED1        0
-#define BOARD_LED2        1
-#define BOARD_LED3        2
-#define BOARD_NLEDS       3
-
-#define BOARD_LED_RED     BOARD_LED1
-#define BOARD_LED_GREEN   BOARD_LED2
-#define BOARD_LED_BLUE    BOARD_LED3
-
-/* LED bits for use with board_userled_all() */
-
-#define BOARD_LED1_BIT    (1 << BOARD_LED1)
-#define BOARD_LED2_BIT    (1 << BOARD_LED2)
-#define BOARD_LED3_BIT    (1 << BOARD_LED3)
-
-#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
-#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
-#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
-#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
-#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
-#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
-#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
-#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
-#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
-
-/* Alternate function pin selections ************************************************/
-
-/* USART1 - Debug (PA9 TX, PA10 RX) */
-#define GPIO_USART1_RX   GPIO_USART1_RX_2   /* PA10 */
-#define GPIO_USART1_TX   GPIO_USART1_TX_2   /* PA9  */
-
-/* USART2 - RC input (PD5 TX, PD6 RX) */
-#define GPIO_USART2_RX   GPIO_USART2_RX_2   /* PD6  */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5  */
-
-/* USART3 - DJI/MSP (PD8 TX, PD9 RX) */
-#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9  */
-#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8  */
-
-/* UART4 - General (PB9 TX, PB8 RX) */
-#define GPIO_UART4_RX    GPIO_UART4_RX_3    /* PB8  */
-#define GPIO_UART4_TX    GPIO_UART4_TX_3    /* PB9  */
-
-/* UART5 - Companion (PB13 TX, PB12 RX) */
-#define GPIO_UART5_RX    GPIO_UART5_RX_1    /* PB12 */
-#define GPIO_UART5_TX    GPIO_UART5_TX_1    /* PB13 */
-
-/* UART7 - ESC telemetry (PE8 TX, PE7 RX) */
-#define GPIO_UART7_RX    GPIO_UART7_RX_3    /* PE7  */
-#define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
-
-/* UART8 - GPS (PE1 TX, PE0 RX) */
-#define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0  */
-#define GPIO_UART8_TX    GPIO_UART8_TX_1    /* PE1  */
-
-
-/* SPI
- *
- * SPI1: IMU (PA5 SCK, PA6 MISO, PA7 MOSI)
- * SPI2: W25N Flash (PD3 SCK, PB14 MISO, PC3 MOSI)
- * SPI4: External (PE12 SCK, PE5 MISO, PE6 MOSI)
- */
-
-#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6  */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1   /* PA7  */
-#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_1    /* PA5  */
-
-#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1   /* PB14 */
-#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_3   /* PC3  */
-#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_5    /* PD3  */
-
-#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_2   /* PE5  */
-#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2   /* PE6  */
-#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_1    /* PE12 */
-
-/* I2C
- *
- * I2C1: Internal (PB6 SCL, PB7 SDA)
- * I2C4: External (PD12 SCL, PD13 SDA)
- */
-
-#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1       /* PB6  */
-#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1       /* PB7  */
-
-#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
-#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
-
-#define GPIO_I2C4_SCL GPIO_I2C4_SCL_1       /* PD12 */
-#define GPIO_I2C4_SDA GPIO_I2C4_SDA_1       /* PD13 */
-
-#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN12)
-#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN13)
-
-
-/* USB
- *
- *      OTG_FS_DM                           PA11
- *      OTG_FS_DP                           PA12
- *      VBUS                                PD0
- */
-
-
-#endif  /*__NUTTX_CONFIG_AIRBRAINH743_INCLUDE_BOARD_H  */

boards/gearup/airbrainh743/nuttx-config/include/board_dma_map.h

@@ -1,42 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-/* DMA mapping for SPI1 (IMU) */
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
-
-/* DMA mapping for SPI2 (W25N Flash) */
-#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */
-#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */

boards/gearup/airbrainh743/nuttx-config/nsh/defconfig

@@ -1,258 +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_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_PRINTF 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_SPI_CALLBACK is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/gearup/airbrainh743/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743VI=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-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=95150
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x0050
-CONFIG_CDCACM_PRODUCTSTR="AirBrainH743"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x3162
-CONFIG_CDCACM_VENDORSTR="Gear Up"
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_MEMFAULT=y
-CONFIG_DEBUG_SYMBOLS=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_FS_LITTLEFS=y
-CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
-CONFIG_FS_LITTLEFS_READ_SIZE_FACTOR=1
-CONFIG_FS_LITTLEFS_CACHE_SIZE_FACTOR=1
-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_MM_REGIONS=4
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_W25N=y
-CONFIG_W25N_SPIFREQUENCY=104000000
-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_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_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_BDMA=y
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
-CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_DMAMUX1=y
-CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32H7_I2C1=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_RTC=y
-CONFIG_STM32H7_RTC_HSECLOCK=y
-CONFIG_STM32H7_RTC_MAGIC_REG=1
-CONFIG_STM32H7_SAVE_CRASHDUMP=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=4096
-CONFIG_STM32H7_SPI2=y
-CONFIG_STM32H7_SPI2_DMA=y
-CONFIG_STM32H7_SPI2_DMA_BUFFER=4096
-CONFIG_STM32H7_SPI4=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_TIM2=y
-CONFIG_STM32H7_TIM3=y
-CONFIG_STM32H7_TIM5=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_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_SIGTSTP=y
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART5_BAUD=57600
-CONFIG_UART5_RXBUFSIZE=600
-CONFIG_UART5_TXBUFSIZE=1500
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_TXBUFSIZE=1500
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_TXBUFSIZE=1500
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_SERIAL_CONSOLE=y
-CONFIG_USART1_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_RXBUFSIZE=600
-CONFIG_USART3_TXBUFSIZE=1500
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_WATCHDOG=y

boards/gearup/airbrainh743/nuttx-config/scripts/bootloader_script.ld

@@ -1,213 +0,0 @@
-/****************************************************************************
- * scripts/script.ld
- *
- *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory.
- * The flash memory is partitioned into a User Flash memory and a System
- * Flash memory. Each of these memories has two banks:
- *
- *   1) User Flash memory:
- *
- *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
- *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
- *
- *   2) System Flash memory:
- *
- *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
- *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
- *
- *   3) User option bytes for user configuration, only in Bank 1.
- *
- * In the STM32H743II, two different boot spaces can be selected through
- * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
- * BOOT_ADD1 option bytes:
- *
- *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
- *      ST programmed value: Flash memory at 0x0800:0000
- *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
- *      ST programmed value: System bootloader at 0x1FF0:0000
- *
- * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
- * drepresed, then the boot will be from 0x1FF0:0000
- *
- * The STM32H743ZI also has 1024Kb of data SRAM.
- * SRAM is split up into several blocks and into three power domains:
- *
- *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
- *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
- *
- *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
- *
- *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
- *           DTCM ports. The DTCM-RAM could be used for critical real-time
- *           data, such as interrupt service routines or stack / heap memory.
- *           Both DTCM-RAMs can be used in parallel (for load/store operations)
- *           thanks to the Cortex-M7 dual issue capability.
- *
- *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
- *
- *           This RAM is connected to ITCM 64-bit interface designed for
- *           execution of critical real-times routines by the CPU.
- *
- *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
- *      through D1 domain AXI bus matrix
- *
- *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
- *
- *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
- *      through D2 domain AHB bus matrix
- *
- *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
- *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
- *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
- *
- *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
- *
- *   4) AHB SRAM (D3 domain) accessible by most of system masters
- *      through D3 domain AHB bus matrix
- *
- *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
- *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- */
-
-MEMORY
-{
-	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	flash (rx)  : ORIGIN = 0x08000000, LENGTH = 2048K
-	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
-	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
-	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
-	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
-	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
-	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-ENTRY(_stext)
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.glue_7)
-		*(.glue_7t)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > flash
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-	.init_section : {
-		_sinit = ABSOLUTE(.);
-		KEEP(*(.init_array .init_array.*))
-		_einit = ABSOLUTE(.);
-	} > flash
-
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > flash
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > flash
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > sram AT > flash
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > sram
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-}

boards/gearup/airbrainh743/nuttx-config/scripts/script.ld

@@ -1,228 +0,0 @@
-/****************************************************************************
- * scripts/script.ld
- *
- *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The board uses an STM32H743II and has 2048Kb of main FLASH memory.
- * The flash memory is partitioned into a User Flash memory and a System
- * Flash memory. Each of these memories has two banks:
- *
- *   1) User Flash memory:
- *
- *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
- *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
- *
- *   2) System Flash memory:
- *
- *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
- *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
- *
- *   3) User option bytes for user configuration, only in Bank 1.
- *
- * In the STM32H743II, two different boot spaces can be selected through
- * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
- * BOOT_ADD1 option bytes:
- *
- *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
- *      ST programmed value: Flash memory at 0x0800:0000
- *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
- *      ST programmed value: System bootloader at 0x1FF0:0000
- *
- * There's a switch on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
- * drepresed, then the boot will be from 0x1FF0:0000
- *
- * The STM32H743ZI also has 1024Kb of data SRAM.
- * SRAM is split up into several blocks and into three power domains:
- *
- *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
- *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
- *
- *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
- *
- *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
- *           DTCM ports. The DTCM-RAM could be used for critical real-time
- *           data, such as interrupt service routines or stack / heap memory.
- *           Both DTCM-RAMs can be used in parallel (for load/store operations)
- *           thanks to the Cortex-M7 dual issue capability.
- *
- *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
- *
- *           This RAM is connected to ITCM 64-bit interface designed for
- *           execution of critical real-times routines by the CPU.
- *
- *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
- *      through D1 domain AXI bus matrix
- *
- *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
- *
- *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
- *      through D2 domain AHB bus matrix
- *
- *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
- *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
- *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
- *
- *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
- *
- *   4) AHB SRAM (D3 domain) accessible by most of system masters
- *      through D3 domain AHB bus matrix
- *
- *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
- *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- */
-
-MEMORY
-{
-	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
-
-	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
-	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
-	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
-	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-ENTRY(_stext)
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.glue_7)
-		*(.glue_7t)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > FLASH
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-	.init_section : {
-		_sinit = ABSOLUTE(.);
-		KEEP(*(.init_array .init_array.*))
-		_einit = ABSOLUTE(.);
-	} > FLASH
-
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > FLASH
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > FLASH
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > AXI_SRAM
-
-	/* Emit the the D3 power domain section for locating BDMA data */
-
-	.sram4_reserve (NOLOAD) :
-	{
-		*(.sram4)
-		. = ALIGN(4);
-		_sram4_heap_start = ABSOLUTE(.);
-	} > SRAM4
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-}

boards/gearup/airbrainh743/src/CMakeLists.txt

@@ -1,67 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2026 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
-	add_library(drivers_board
-		bootloader_main.c
-		usb.c
-	)
-	target_link_libraries(drivers_board
-		PRIVATE
-			nuttx_arch
-			nuttx_drivers
-			bootloader
-	)
-	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
-
-else()
-	add_library(drivers_board
-		i2c.cpp
-		init.c
-		led.c
-		spi.cpp
-		timer_config.cpp
-		usb.c
-	)
-	add_dependencies(drivers_board arch_board_hw_info)
-
-	target_link_libraries(drivers_board
-		PRIVATE
-			arch_io_pins
-			arch_spi
-			arch_board_hw_info
-			drivers__led
-			nuttx_arch
-			nuttx_drivers
-			px4_layer
-	)
-endif()

boards/gearup/airbrainh743/src/board_config.h

@@ -1,223 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * AirBrainH743 (Gear Up) internal definitions
- */
-
-#pragma once
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-#include <stm32_gpio.h>
-
-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-
-/* Enable small flash logging support (for W25N NAND flash) */
-#ifdef CONFIG_MTD_W25N
-#  define BOARD_SMALL_FLASH_LOGGING 1
-#endif
-
-/* LEDs are active low
- * STAT RGB LED:
- *   PB15 = Blue
- *   PD11 = Green
- *   PD15 = Red
- * BAT LED (orange): hardwired to power input
- */
-#define GPIO_nLED_BLUE       /* PB15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
-#define GPIO_nLED_GREEN      /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
-#define GPIO_nLED_RED        /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN15)
-
-#define BOARD_HAS_CONTROL_STATUS_LEDS   1
-#define BOARD_OVERLOAD_LED              LED_RED
-#define BOARD_ARMED_STATE_LED           LED_GREEN
-
-/*
- * 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
- */
-
-/* ADC defines to be used in sensors.cpp to read from a particular channel */
-#define ADC1_CH(n)                  (n)
-
-/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
-#define PX4_ADC_GPIO  \
-	/* PC4 */  GPIO_ADC12_INP4, \
-	/* PC5 */  GPIO_ADC12_INP8
-
-/* Define Channel numbers must match above GPIO pin IN(n)*/
-#define ADC_BATTERY_VOLTAGE_CHANNEL     /* PC4 */  ADC1_CH(4)
-#define ADC_BATTERY_CURRENT_CHANNEL     /* PC5 */  ADC1_CH(8)
-
-#define ADC_CHANNELS \
-	((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
-	 (1 << ADC_BATTERY_CURRENT_CHANNEL))
-
-
-/* Define Battery Voltage Divider and A per V
- */
-#define BOARD_BATTERY1_V_DIV         (15.0f)
-#define BOARD_BATTERY1_A_PER_V       (101.0f)
-
-
-/* PWM
- * 8 PWM outputs for motors + 1 for LED strip
- */
-#define DIRECT_PWM_OUTPUT_CHANNELS   9
-#define DIRECT_INPUT_TIMER_CHANNELS  9
-
-#define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
-
-
-/* Tone alarm output (directly connected to transistor switch of external buzzer)
- *
- * GPIO mode only (active buzzer) - passive buzzer with different tones is not
- * supported because PA15 can only use TIM2, which is also used for motor outputs
- * M7 (PB10, TIM2_CH3) and M8 (PB11, TIM2_CH4). The PWM tone alarm driver changes
- * the timer's prescaler and auto-reload registers (shared across all channels),
- * which would affect M7/M8 PWM frequency during tone playback.
- */
-#define GPIO_TONE_ALARM_IDLE    /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
-#define GPIO_TONE_ALARM_GPIO    /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN15)
-
-
-/* ICM42688P FSYNC - directly connected to IMU via GPIO (no timer).
- * The driver clears TMST_FSYNC_EN and FIFO_TMST_FSYNC_EN, so FSYNC is unused.
- * This GPIO is kept low to prevent spurious triggers.
- */
-#define GPIO_42688P_FSYNC       /* PC7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN7)
-
-
-/* USB OTG FS
- *
- * PD0 VBUS sensing (active high input)
- */
-#define GPIO_OTGFS_VBUS         /* PD0 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTD|GPIO_PIN0)
-
-
-/* High-resolution timer */
-#define HRT_TIMER               8  /* use timer8 for the HRT */
-#define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
-
-
-/*
- * Serial Port Mapping:
- *
- *   UART    Device    Pins          Function
- *   ----    ------    ----          --------
- *   USART1  /dev/ttyS0  PA9/PA10    Console/Debug
- *   USART2  /dev/ttyS1  PD5/PD6     RC Input
- *   USART3  /dev/ttyS2  PD8/PD9     TEL4 (DJI/MSP)
- *   UART4   /dev/ttyS3  PA0/PA1     TEL1
- *   UART5   /dev/ttyS4  PB13/PB12   TEL2
- *   UART7   /dev/ttyS5  PE8/PE7     TEL3 (ESC Telemetry)
- *   UART8   /dev/ttyS6  PE1/PE0     GPS1
- */
-
-/* RC Serial port - USART2 (PD5/PD6) */
-#define RC_SERIAL_PORT          "/dev/ttyS1"
-#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
-
-
-/* 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
-
-
-#define PX4_GPIO_INIT_LIST { \
-		PX4_ADC_GPIO, \
-		GPIO_nLED_RED, \
-		GPIO_nLED_GREEN, \
-		GPIO_nLED_BLUE, \
-		GPIO_TONE_ALARM_IDLE, \
-		GPIO_42688P_FSYNC, \
-	}
-
-#define BOARD_ENABLE_CONSOLE_BUFFER
-
-#define BOARD_NUM_IO_TIMERS 4
-
-
-__BEGIN_DECLS
-
-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
-/****************************************************************************
- * Name: stm32_spiinitialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the board.
- *
- ****************************************************************************/
-
-extern void stm32_spiinitialize(void);
-
-extern void stm32_usbinitialize(void);
-
-extern void board_peripheral_reset(int ms);
-
-/* Parameters stored in internal flash */
-#define FLASH_BASED_PARAMS
-
-#include <px4_platform_common/board_common.h>
-
-#endif /* __ASSEMBLY__ */
-
-__END_DECLS

boards/gearup/airbrainh743/src/bootloader_main.c

@@ -1,75 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file bootloader_main.c
- *
- * AirBrainH743-specific early startup code for bootloader
- */
-
-#include "board_config.h"
-#include "bl.h"
-
-#include <nuttx/config.h>
-#include <nuttx/board.h>
-#include <chip.h>
-#include <stm32_uart.h>
-#include <arch/board/board.h>
-#include "arm_internal.h"
-#include <px4_platform_common/init.h>
-
-extern int sercon_main(int c, char **argv);
-
-__EXPORT void board_on_reset(int status) {}
-
-__EXPORT void stm32_boardinitialize(void)
-{
-	/* configure USB interfaces */
-	stm32_usbinitialize();
-}
-
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-	return 0;
-}
-
-void board_late_initialize(void)
-{
-	sercon_main(0, NULL);
-}
-
-extern void sys_tick_handler(void);
-void board_timerhook(void)
-{
-	sys_tick_handler();
-}

boards/gearup/airbrainh743/src/hw_config.h

@@ -1,85 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-#define APP_LOAD_ADDRESS               0x08020000
-#define BOOTLOADER_DELAY               5000
-#define INTERFACE_USB                  1
-#define INTERFACE_USB_CONFIG           "/dev/ttyACM0"
-#define BOARD_VBUS                     MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
-
-#define INTERFACE_USART                1
-#define INTERFACE_USART_CONFIG         "/dev/ttyS0,57600"
-#define BOOT_DELAY_ADDRESS             0x000001a0
-#define BOARD_TYPE                     1209
-#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
-#define BOARD_FLASH_SECTORS            (14)
-#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
-
-#define OSC_FREQ                       8
-
-#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_BLUE
-#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_GREEN
-#define BOARD_LED_ON                   0
-#define BOARD_LED_OFF                  1
-
-#define SERIAL_BREAK_DETECT_DISABLED   1
-
-#if !defined(ARCH_SN_MAX_LENGTH)
-# define ARCH_SN_MAX_LENGTH 12
-#endif
-
-/* Reserve 128KB (1 sector) at end of flash for parameters */
-#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
-
-#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
-#  define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
-#endif
-
-#if !defined(USB_DATA_ALIGN)
-# define USB_DATA_ALIGN
-#endif
-
-#ifndef BOOT_DEVICES_SELECTION
-#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
-#endif
-
-#ifndef BOOT_DEVICES_FILTER_ONUSB
-#  define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
-#endif
-
-/* Boot device selection list*/
-#define USB0_DEV       0x01
-#define SERIAL0_DEV    0x02
-#define SERIAL1_DEV    0x04

boards/gearup/airbrainh743/src/i2c.cpp

@@ -1,47 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/i2c_hw_description.h>
-
-/*
- * I2C bus configuration for AirBrainH743
- *
- * I2C1: Internal bus - PB6 (SCL), PB7 (SDA)
- *       Devices: DPS310 baro @ 0x76, LIS2MDL compass @ 0x1E
- * I2C4: External bus - PD12 (SCL), PD13 (SDA)
- */
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusInternal(1),
-	initI2CBusExternal(4),
-};

boards/gearup/airbrainh743/src/init.c

@@ -1,249 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file init.c
- *
- * AirBrainH743-specific early startup code.
- */
-
-#include "board_config.h"
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <string.h>
-#include <debug.h>
-#include <errno.h>
-#include <syslog.h>
-#include <fcntl.h>
-#include <unistd.h>
-
-#include <nuttx/config.h>
-#include <nuttx/board.h>
-#include <nuttx/spi/spi.h>
-#include <nuttx/mtd/mtd.h>
-#include <nuttx/fs/fs.h>
-#include <arch/board/board.h>
-#include "arm_internal.h"
-
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_board_led.h>
-#include <systemlib/px4_macros.h>
-#include <px4_arch/io_timer.h>
-#include <px4_platform_common/init.h>
-#include <px4_platform/gpio.h>
-#include <px4_platform/board_dma_alloc.h>
-
-#if defined(FLASH_BASED_PARAMS)
-#include <parameters/flashparams/flashfs.h>
-#endif
-
-#ifdef CONFIG_MTD_W25N
-extern FAR struct mtd_dev_s *w25n_initialize(FAR struct spi_dev_s *dev, uint32_t spi_devid);
-#endif
-
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-__END_DECLS
-
-/************************************************************************************
- * Name: board_peripheral_reset
- *
- * Description:
- *
- ************************************************************************************/
-__EXPORT void board_peripheral_reset(int ms)
-{
-	UNUSED(ms);
-}
-
-/************************************************************************************
- * Name: board_on_reset
- *
- * Description:
- * Optionally provided function called on entry to board_system_reset
- * It should perform any house keeping prior to the rest.
- *
- * status - 1 if resetting to boot loader
- *          0 if just resetting
- *
- ************************************************************************************/
-__EXPORT void board_on_reset(int status)
-{
-	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
-	}
-
-	if (status >= 0) {
-		up_mdelay(100);
-	}
-}
-
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- *   All STM32 architectures must provide the following entry point.
- *
- ************************************************************************************/
-__EXPORT void stm32_boardinitialize(void)
-{
-	/* Reset PWM first thing */
-	board_on_reset(-1);
-
-	/* configure LEDs */
-	board_autoled_initialize();
-
-	/* configure pins */
-	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
-	px4_gpio_init(gpio, arraySize(gpio));
-
-	/* configure USB interfaces */
-	stm32_usbinitialize();
-}
-
-/****************************************************************************
- * Name: board_app_initialize
- *
- * Description:
- *   Perform application specific initialization.
- *
- ****************************************************************************/
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-	/* Need hrt running before using the ADC */
-	px4_platform_init();
-
-	/* configure SPI interfaces */
-	stm32_spiinitialize();
-
-	/* configure the DMA allocator */
-	if (board_dma_alloc_init() < 0) {
-		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
-	}
-
-	/* initial LED state */
-	drv_led_start();
-	led_off(LED_RED);
-	led_off(LED_GREEN);
-	led_off(LED_BLUE);
-
-	if (board_hardfault_init(2, true) != 0) {
-		led_on(LED_RED);
-	}
-
-#ifdef CONFIG_MTD_W25N
-	/* Initialize W25N01GV NAND Flash on SPI2 */
-	struct spi_dev_s *spi2 = stm32_spibus_initialize(2);
-
-	if (!spi2) {
-		syslog(LOG_ERR, "[boot] FAILED to initialize SPI2 for W25N\n");
-		led_on(LED_RED);
-
-	} else {
-		struct mtd_dev_s *mtd = w25n_initialize(spi2, 0);
-
-		if (!mtd) {
-			syslog(LOG_ERR, "[boot] FAILED to initialize W25N MTD driver\n");
-			led_on(LED_RED);
-
-		} else {
-			int ret = register_mtddriver("/dev/mtd0", mtd, 0755, NULL);
-
-			if (ret < 0) {
-				syslog(LOG_ERR, "[boot] FAILED to register MTD driver: %d\n", ret);
-				led_on(LED_RED);
-
-			} else {
-				syslog(LOG_INFO, "[boot] W25N MTD registered at /dev/mtd0\n");
-
-#ifdef CONFIG_FS_LITTLEFS
-				ret = nx_mount("/dev/mtd0", CONFIG_BOARD_ROOT_PATH, "littlefs", 0, NULL);
-
-				if (ret == 0) {
-					/* Verify the filesystem is usable by creating a test file */
-					int fd = open(CONFIG_BOARD_ROOT_PATH "/.mount_test", O_CREAT | O_WRONLY | O_TRUNC);
-
-					if (fd >= 0) {
-						close(fd);
-						unlink(CONFIG_BOARD_ROOT_PATH "/.mount_test");
-
-					} else {
-						syslog(LOG_WARNING, "[boot] littlefs mounted but not usable, reformatting\n");
-						nx_umount2(CONFIG_BOARD_ROOT_PATH, 0);
-						ret = -1;
-					}
-				}
-
-				if (ret < 0) {
-					ret = nx_mount("/dev/mtd0", CONFIG_BOARD_ROOT_PATH, "littlefs", 0, "forceformat");
-				}
-
-				if (ret < 0) {
-					syslog(LOG_ERR, "[boot] FAILED to mount littlefs: %d\n", ret);
-					led_on(LED_RED);
-
-				} else {
-					syslog(LOG_INFO, "[boot] LittleFS mounted at %s\n", CONFIG_BOARD_ROOT_PATH);
-				}
-
-#endif
-			}
-		}
-	}
-
-#endif
-
-#if defined(FLASH_BASED_PARAMS)
-	/* Initialize parameters in internal flash (sector 15, 128KB at 0x081E0000) */
-	static sector_descriptor_t params_sector_map[] = {
-		{15, 128 * 1024, 0x081E0000},
-		{0, 0, 0},
-	};
-
-	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
-
-	if (result != OK) {
-		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
-		led_on(LED_RED);
-	}
-
-#endif
-
-	/* Configure the HW based on the manifest */
-	px4_platform_configure();
-
-	return OK;
-}

boards/gearup/airbrainh743/src/led.c

@@ -1,205 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-
-#include <stdbool.h>
-
-#include "chip.h"
-#include "stm32_gpio.h"
-#include "board_config.h"
-
-#include <nuttx/board.h>
-#include <arch/board/board.h>
-
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-extern void led_toggle(int led);
-__END_DECLS
-
-#ifdef CONFIG_ARCH_LEDS
-static bool nuttx_owns_leds = true;
-static const uint8_t xlatpx4[] = {1, 2, 4, 0};
-#  define xlat(p) xlatpx4[(p)]
-static uint32_t g_ledmap[] = {
-	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
-	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
-	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
-};
-
-#else
-
-#  define xlat(p) (p)
-static uint32_t g_ledmap[] = {
-	GPIO_nLED_RED,     // LED_RED
-	GPIO_nLED_GREEN,   // LED_GREEN
-	GPIO_nLED_BLUE,    // LED_BLUE
-};
-
-#endif
-
-__EXPORT void led_init(void)
-{
-	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
-		if (g_ledmap[l] != 0) {
-			stm32_configgpio(g_ledmap[l]);
-		}
-	}
-}
-
-static void phy_set_led(int led, bool state)
-{
-	/* Drive Low to switch on (active low LEDs) */
-	if (led < (int)(sizeof(g_ledmap) / sizeof(g_ledmap[0])) && g_ledmap[led] != 0) {
-		stm32_gpiowrite(g_ledmap[led], !state);
-	}
-}
-
-static bool phy_get_led(int led)
-{
-	/* If Low it is on */
-	if (led < (int)(sizeof(g_ledmap) / sizeof(g_ledmap[0])) && g_ledmap[led] != 0) {
-		return !stm32_gpioread(g_ledmap[led]);
-	}
-
-	return false;
-}
-
-__EXPORT void led_on(int led)
-{
-	phy_set_led(xlat(led), true);
-}
-
-__EXPORT void led_off(int led)
-{
-	phy_set_led(xlat(led), false);
-}
-
-__EXPORT void led_toggle(int led)
-{
-	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
-}
-
-#ifdef CONFIG_ARCH_LEDS
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-void board_autoled_initialize(void)
-{
-	led_init();
-}
-
-void board_autoled_on(int led)
-{
-	if (!nuttx_owns_leds) {
-		return;
-	}
-
-	switch (led) {
-	default:
-		break;
-
-	case LED_HEAPALLOCATE:
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_IRQSENABLED:
-		phy_set_led(BOARD_LED_BLUE, false);
-		phy_set_led(BOARD_LED_GREEN, true);
-		break;
-
-	case LED_STACKCREATED:
-		phy_set_led(BOARD_LED_GREEN, true);
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_INIRQ:
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_SIGNAL:
-		phy_set_led(BOARD_LED_GREEN, true);
-		break;
-
-	case LED_ASSERTION:
-		phy_set_led(BOARD_LED_RED, true);
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_PANIC:
-		phy_set_led(BOARD_LED_RED, true);
-		break;
-
-	case LED_IDLE:
-		phy_set_led(BOARD_LED_RED, true);
-		break;
-	}
-}
-
-void board_autoled_off(int led)
-{
-	if (!nuttx_owns_leds) {
-		return;
-	}
-
-	switch (led) {
-	default:
-		break;
-
-	case LED_SIGNAL:
-		phy_set_led(BOARD_LED_GREEN, false);
-		break;
-
-	case LED_INIRQ:
-		phy_set_led(BOARD_LED_BLUE, false);
-		break;
-
-	case LED_ASSERTION:
-		phy_set_led(BOARD_LED_RED, false);
-		phy_set_led(BOARD_LED_BLUE, false);
-		break;
-
-	case LED_PANIC:
-		phy_set_led(BOARD_LED_RED, false);
-		break;
-
-	case LED_IDLE:
-		phy_set_led(BOARD_LED_RED, false);
-		break;
-	}
-}
-
-#endif /* CONFIG_ARCH_LEDS */

boards/gearup/airbrainh743/src/spi.cpp

@@ -1,58 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-#include <nuttx/spi/spi.h>
-
-/*
- * SPI bus configuration for AirBrainH743
- *
- * SPI1: IMU (Invensensev3/ICM42688P) - PA5 SCK, PA6 MISO, PA7 MOSI, PA3 CS
- * SPI2: W25N Flash - PD3 SCK, PB14 MISO, PC3 MOSI, PD4 CS
- * SPI4: External/AUX - PE12 SCK, PE5 MISO, PE6 MOSI
- */
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin3}),
-	}),
-	initSPIBus(SPI::Bus::SPI2, {
-		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4}),  // W25N Flash
-	}),
-	initSPIBusExternal(SPI::Bus::SPI4, {
-		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin3}), // User 1 GPIO as chip select
-	}),
-};
-
-static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/gearup/airbrainh743/src/timer_config.cpp

@@ -1,74 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/io_timer_hw_description.h>
-
-/*
- * PWM output configuration for AirBrainH743
- *
- * M1: PE14 (TIM1_CH4)
- * M2: PE13 (TIM1_CH3)
- * M3: PE11 (TIM1_CH2)
- * M4: PE9  (TIM1_CH1)
- * M5: PB0  (TIM3_CH3)
- * M6: PB1  (TIM3_CH4)
- * M7: PB10 (TIM2_CH3)
- * M8: PB11 (TIM2_CH4)
- * M9: PA2  (TIM5_CH3) - LED strip
- *
- * Note: TIM2 is shared with buzzer pin PA15 (TIM2_CH1). The buzzer is disabled
- * by default because the tone alarm driver would change the timer prescaler/ARR
- * which affects M7/M8 PWM frequency. See board_config.h for details.
- */
-
-constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOTimer(Timer::Timer1, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
-	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
-	initIOTimer(Timer::Timer2, DMA{DMA::Index1, DMA::Stream6, DMA::Channel3}),
-	initIOTimer(Timer::Timer5),
-};
-
-constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),  // M1
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),  // M2
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),  // M3
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),   // M4
-	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),   // M5
-	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),   // M6
-	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortB, GPIO::Pin10}),  // M7
-	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),  // M8
-	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortA, GPIO::Pin2}),   // M9 (LED)
-};
-
-constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
-	initIOTimerChannelMapping(io_timers, timer_io_channels);

boards/gearup/airbrainh743/src/usb.c

@@ -1,75 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file usb.c
- *
- * Board-specific USB functions.
- */
-
-#include "board_config.h"
-#include <nuttx/usb/usbdev.h>
-#include <nuttx/usb/usbdev_trace.h>
-#include <stm32_otg.h>
-#include <debug.h>
-
-/************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called to setup USB-related GPIO pins for the board.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_usbinitialize(void)
-{
-	/* The OTG FS has an internal soft pull-up */
-
-	/* Configure the OTG FS VBUS sensing GPIO */
-#ifdef CONFIG_STM32H7_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-#endif
-}
-
-/************************************************************************************
- * Name:  stm32_usbsuspend
- *
- * Description:
- *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
- *   used.  This function is called whenever the USB enters or leaves suspend mode.
- *
- ************************************************************************************/
-__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
-{
-	uinfo("resume: %d\n", resume);
-}

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

@@ -16,36 +16,36 @@
 # 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=y
-CONFIG_NSH_DISABLE_DF=y
+# 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=y
-CONFIG_NSH_DISABLE_FREE=y
-CONFIG_NSH_DISABLE_GET=y
+# 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=y
+# 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_PRINTF=y
-CONFIG_NSH_DISABLE_PS=y
-CONFIG_NSH_DISABLE_PSSTACKUSAGE=y
-CONFIG_NSH_DISABLE_PWD=y
+# CONFIG_NSH_DISABLE_PRINTF 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=y
+# 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=y
+# 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

boards/holybro/kakuteh7v2/default.px4board

@@ -1,6 +1,5 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROOT_PATH="/fs/flash"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"

boards/holybro/kakuteh7v2/init/rc.board_defaults

@@ -38,6 +38,5 @@ param set-default SYS_DM_BACKEND 1
 # Ignore that there is no SD card
 param set-default COM_ARM_SDCARD 0
 
-# W25N NAND flash with littlefs (128 MB): larger buffer, auto-rotate
-set LOGGER_BUF 32
-param set-default SDLOG_DIRS_MAX 3
+# Disable logging
+param set-default SDLOG_BACKEND 0

boards/holybro/kakuteh7v2/nuttx-config/include/board.h

@@ -99,7 +99,7 @@
  *   PLL1_VCO = (8,000,000 / 1) * 120 = 960 MHz
  *
  *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
- *   PLL1Q = PLL1_VCO/5  = 960 MHz / 5   = 192 MHz (SPI123 clock, max 200 MHz)
+ *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
  *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
  */
 
@@ -111,12 +111,12 @@
 #define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
 #define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(120)
 #define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
-#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(5)
+#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(4)
 #define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
 
 #define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 120)
 #define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
-#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 5)
+#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
 #define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
 
 /* PLL2 */
@@ -227,9 +227,9 @@
 
 #define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
 
-/* SPI123 clock source - PLL1Q = 192 MHz for W25N NAND flash (max 104 MHz) */
+/* SPI123 clock source */
 
-#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL1
+#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
 
 /* SPI45 clock source */
 
@@ -281,17 +281,17 @@
 
 #define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 
-/* 25 MHz Max for now, 25 mHz = PLL1Q/(2*div), div = PLL1Q/(2*freq)
- * PLL1Q = 192 MHz, div = 192 / 50 = 3.84, round up to 4 for 24 MHz
+/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
+ * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
  */
 
 #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (4 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
 #  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif
 #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_SDXFR_CLKDIV    (4 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
 #  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif

boards/holybro/kakuteh7v2/nuttx-config/include/board_dma_map.h

@@ -33,10 +33,6 @@
 
 #pragma once
 
-/* SPI1 DMA for W25N NAND Flash */
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1 */
-
 #define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_1 /* DMA2 */
 #define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_1 /* DMA2 */
 

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

@@ -104,10 +104,6 @@ CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
-CONFIG_FS_LITTLEFS=y
-CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
-CONFIG_FS_LITTLEFS_READ_SIZE_FACTOR=1
-CONFIG_FS_LITTLEFS_CACHE_SIZE_FACTOR=1
 CONFIG_GRAN=y
 CONFIG_GRAN_INTR=y
 CONFIG_HAVE_CXX=y
@@ -130,9 +126,7 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
-# CONFIG_MTD_RAMTRON is not set
-CONFIG_MTD_W25N=y
-CONFIG_W25N_SPIFREQUENCY=104000000
+CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARGCAT=y
@@ -141,7 +135,7 @@ CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
-# CONFIG_NSH_MMCSDSPIPORTNO is not set
+CONFIG_NSH_MMCSDSPIPORTNO=1
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
@@ -154,6 +148,9 @@ 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
@@ -191,7 +188,6 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_DMAMUX1=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C_DYNTIMEO=y
@@ -206,8 +202,6 @@ 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=4096
 CONFIG_STM32H7_SPI2=y
 CONFIG_STM32H7_SPI4=y
 CONFIG_STM32H7_SPI4_DMA=y

boards/holybro/kakuteh7v2/src/board_config.h

@@ -59,11 +59,6 @@
 #  define BOARD_HAS_NBAT_V              1
 #  define BOARD_HAS_NBAT_I              1
 
-/* Enable small flash logging support (for W25N NAND flash) */
-#ifdef CONFIG_MTD_W25N
-#  define BOARD_SMALL_FLASH_LOGGING 1
-#endif
-
 /* Holybro KakuteH7 GPIOs ************************************************************************/
 
 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */

boards/holybro/kakuteh7v2/src/init.c

@@ -59,8 +59,6 @@
 #include <nuttx/spi/spi.h>
 #include <nuttx/analog/adc.h>
 #include <nuttx/mm/gran.h>
-#include <nuttx/mtd/mtd.h>
-#include <nuttx/fs/fs.h>
 #include <chip.h>
 #include <stm32_uart.h>
 #include <arch/board/board.h>
@@ -81,10 +79,6 @@
 #  include <parameters/flashparams/flashfs.h>
 #endif
 
-#ifdef CONFIG_MTD_W25N
-extern FAR struct mtd_dev_s *w25n_initialize(FAR struct spi_dev_s *dev, uint32_t spi_devid);
-#endif
-
 
 /****************************************************************************
  * Pre-Processor Definitions
@@ -237,49 +231,14 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		led_on(LED_RED);
 	}
 
-#ifdef CONFIG_MTD_W25N
-	/* Initialize W25N01GV NAND Flash on SPI1 */
-	struct spi_dev_s *spi1 = stm32_spibus_initialize(1);
+	/* Get the SPI port for the microSD slot */
+	struct spi_dev_s *spi_dev = stm32_spibus_initialize(CONFIG_NSH_MMCSDSPIPORTNO);
 
-	if (!spi1) {
-		syslog(LOG_ERR, "[boot] FAILED to initialize SPI1 for W25N\n");
-		led_on(LED_RED);
-
-	} else {
-		struct mtd_dev_s *mtd = w25n_initialize(spi1, 0);
-
-		if (!mtd) {
-			syslog(LOG_ERR, "[boot] FAILED to initialize W25N MTD driver\n");
-			led_on(LED_RED);
-
-		} else {
-			int ret = register_mtddriver("/dev/mtd0", mtd, 0755, NULL);
-
-			if (ret < 0) {
-				syslog(LOG_ERR, "[boot] FAILED to register MTD driver: %d\n", ret);
-				led_on(LED_RED);
-
-			} else {
-				syslog(LOG_INFO, "[boot] W25N MTD registered at /dev/mtd0\n");
-
-#ifdef CONFIG_FS_LITTLEFS
-				ret = nx_mount("/dev/mtd0", CONFIG_BOARD_ROOT_PATH, "littlefs", 0, "autoformat");
-
-				if (ret < 0) {
-					syslog(LOG_ERR, "[boot] FAILED to mount littlefs: %d\n", ret);
-					led_on(LED_RED);
-
-				} else {
-					syslog(LOG_INFO, "[boot] LittleFS mounted at %s\n", CONFIG_BOARD_ROOT_PATH);
-				}
-
-#endif
-			}
-		}
+	if (!spi_dev) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO);
+		led_on(LED_BLUE);
 	}
 
-#endif
-
 	up_udelay(20);
 
 

boards/holybro/kakuteh7v2/src/spi.cpp

@@ -37,7 +37,7 @@
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortA, GPIO::Pin4})  // W25N01GV NAND Flash
+		initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortA, GPIO::Pin4})
 	}),
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),

boards/modalai/voxl2-slpi/src/drivers/ghst_rc/ghst_rc.cpp

@@ -49,8 +49,6 @@
 
 using namespace time_literals;
 
-ModuleBase::Descriptor GhstRc::desc{task_spawn, custom_command, print_usage};
-
 uint32_t GhstRc::baudrate = GHST_BAUDRATE;
 
 GhstRc::GhstRc(const char *device) :
@@ -116,8 +114,8 @@ int GhstRc::task_spawn(int argc, char *argv[])
 		return PX4_ERROR;
 	}
 
-	desc.object.store(instance);
-	desc.task_id = task_id_is_work_queue;
+	_object.store(instance);
+	_task_id = task_id_is_work_queue;
 
 	instance->ScheduleNow();
 
@@ -176,7 +174,7 @@ void GhstRc::Run()
 	if (should_exit()) {
 		ScheduleClear();
 		_rc_fd = -1;
-		exit_and_cleanup(desc);
+		exit_and_cleanup();
 		return;
 	}
 
@@ -310,5 +308,5 @@ This module parses the GHST RC uplink protocol and can generate GHST downlink te
 
 extern "C" __EXPORT int ghst_rc_main(int argc, char *argv[])
 {
-	return ModuleBase::main(GhstRc::desc, argc, argv);
+	return GhstRc::main(argc, argv);
 }

boards/modalai/voxl2-slpi/src/drivers/ghst_rc/ghst_rc.hpp

@@ -54,11 +54,9 @@
 
 #define GHST_MAX_NUM_CHANNELS			(16)
 
-class GhstRc : public ModuleBase, public ModuleParams, public px4::ScheduledWorkItem
+class GhstRc : public ModuleBase<GhstRc>, public ModuleParams, public px4::ScheduledWorkItem
 {
 public:
-	static Descriptor desc;
-
 	GhstRc(const char *device);
 	~GhstRc() override;
 

boards/modalai/voxl2-slpi/src/drivers/rc_controller/rc_controller.cpp

@@ -59,8 +59,6 @@
 
 #include "rc_controller.hpp"
 
-ModuleBase::Descriptor RC_ControllerModule::desc{task_spawn, custom_command, print_usage};
-
 int RC_ControllerModule::print_status()
 {
 	PX4_INFO("Running");
@@ -71,35 +69,35 @@ int RC_ControllerModule::print_status()
 
 int RC_ControllerModule::custom_command(int argc, char *argv[])
 {
-	if (!is_running(desc)) {
+	if (!is_running()) {
 		print_usage("not running");
 		return 1;
 	}
 
 	if (!strcmp(argv[0], "throttle")) {
 		uint16_t val = atoi(argv[1]);
-		get_instance<RC_ControllerModule>(desc)->set_throttle(val);
+		get_instance()->set_throttle(val);
 		PX4_INFO("Setting throttle to %u", val);
 		return 0;
 	}
 
 	if (!strcmp(argv[0], "yaw")) {
 		uint16_t val = atoi(argv[1]);
-		get_instance<RC_ControllerModule>(desc)->set_yaw(val);
+		get_instance()->set_yaw(val);
 		PX4_INFO("Setting yaw to %u", val);
 		return 0;
 	}
 
 	if (!strcmp(argv[0], "pitch")) {
 		uint16_t val = atoi(argv[1]);
-		get_instance<RC_ControllerModule>(desc)->set_pitch(val);
+		get_instance()->set_pitch(val);
 		PX4_INFO("Setting pitch to %u", val);
 		return 0;
 	}
 
 	if (!strcmp(argv[0], "roll")) {
 		uint16_t val = atoi(argv[1]);
-		get_instance<RC_ControllerModule>(desc)->set_roll(val);
+		get_instance()->set_roll(val);
 		PX4_INFO("Setting roll to %u", val);
 		return 0;
 	}
@@ -108,24 +106,17 @@ int RC_ControllerModule::custom_command(int argc, char *argv[])
 }
 
 
-int RC_ControllerModule::run_trampoline(int argc, char *argv[])
-{
-	return ModuleBase::run_trampoline_impl(desc, [](int ac, char *av[]) -> ModuleBase * {
-		return RC_ControllerModule::instantiate(ac, av);
-	}, argc, argv);
-}
-
 int RC_ControllerModule::task_spawn(int argc, char *argv[])
 {
-	desc.task_id = px4_task_spawn_cmd("RC_ControllerModule",
-					  SCHED_DEFAULT,
-					  SCHED_PRIORITY_MAX,
-					  1024,
-					  (px4_main_t)&run_trampoline,
-					  (char *const *)argv);
+	_task_id = px4_task_spawn_cmd("RC_ControllerModule",
+				      SCHED_DEFAULT,
+				      SCHED_PRIORITY_MAX,
+				      1024,
+				      (px4_main_t)&run_trampoline,
+				      (char *const *)argv);
 
-	if (desc.task_id < 0) {
-		desc.task_id = -1;
+	if (_task_id < 0) {
+		_task_id = -1;
 		return -errno;
 	}
 
@@ -261,5 +252,5 @@ int RC_ControllerModule::print_usage(const char *reason)
 
 int rc_controller_main(int argc, char *argv[])
 {
-	return ModuleBase::main(RC_ControllerModule::desc, argc, argv);
+	return RC_ControllerModule::main(argc, argv);
 }

boards/modalai/voxl2-slpi/src/drivers/rc_controller/rc_controller.hpp

@@ -41,11 +41,9 @@
 
 extern "C" __EXPORT int rc_controller_main(int argc, char *argv[]);
 
-class RC_ControllerModule : public ModuleBase, public ModuleParams
+class RC_ControllerModule : public ModuleBase<RC_ControllerModule>, public ModuleParams
 {
 public:
-	static Descriptor desc;
-
 	RC_ControllerModule();
 
 	virtual ~RC_ControllerModule() = default;
@@ -53,9 +51,6 @@ public:
 	/** @see ModuleBase */
 	static int task_spawn(int argc, char *argv[]);
 
-	/** @see ModuleBase */
-	static int run_trampoline(int argc, char *argv[]);
-
 	/** @see ModuleBase */
 	static RC_ControllerModule *instantiate(int argc, char *argv[]);