boards: add auterion cannode

BatteryStatus.msg - docs update (#24789 )
* BatteryStatus.msg - docs update * Update msg/versioned/BatteryStatus.msg * Units/enum/range before description * Update msg/versioned/BatteryStatus.msg * Apply suggestions from code review Co-authored-by: Matthias Grob <maetugr@gmail.com> * MOve MAX_INSTANCES to top * Fix up full stops --------- Co-authored-by: Matthias Grob <maetugr@gmail.com>
2026-06-14 03:50:04 +08:00 · 2025-06-13 18:40:37 +02:00 · 2025-06-12 16:06:13 +02:00 · 2025-06-12 18:46:29 +10:00 · 2025-06-12 18:46:29 +10:00 · 2025-06-12 18:46:29 +10:00
663 changed files with 21273 additions and 12046 deletions
@@ -54,7 +54,13 @@ jobs:
        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"

      - id: set-branch
-        run: echo "::set-output name=branchname::${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}"
+        run: |
+          echo "branchname=${{
+            github.event_name == 'pull_request' &&
+            format('pr-{0}', github.event.pull_request.number) ||
+            github.head_ref ||
+            github.ref_name
+          }}" >> $GITHUB_OUTPUT

      - name: Debug Matrix Output
        if: runner.debug == '1'
@@ -0,0 +1,61 @@
+name: ITCM check
+
+permissions:
+  contents: read
+
+on:
+  push:
+    branches:
+      - 'main'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
+  pull_request:
+    branches:
+      - '*'
+    paths-ignore:
+      - 'docs/**'
+      - '.github/**'
+
+jobs:
+  check_itcm:
+    name: Checking ${{ matrix.target }}
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    container:
+      image: px4io/px4-dev:v1.16.0-ondemand
+    strategy:
+      fail-fast: false
+      matrix:
+        include:
+          - target: px4_fmu-v5x
+            scripts: >
+              boards/px4/fmu-v5x/nuttx-config/scripts/itcm_gen_functions.ld
+              boards/px4/fmu-v5x/nuttx-config/scripts/itcm_static_functions.ld
+          - target: px4_fmu-v6xrt
+            scripts: >
+              boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_functions_includes.ld
+              boards/px4/fmu-v6xrt/nuttx-config/scripts/itcm_static_functions.ld
+          - target: nxp_tropic-community
+            scripts: >
+              boards/nxp/tropic-community/nuttx-config/scripts/itcm_functions_includes.ld
+              boards/nxp/tropic-community/nuttx-config/scripts/itcm_static_functions.ld
+    steps:
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0
+          submodules: recursive
+
+      - name: Git ownership workaround
+        run: git config --system --add safe.directory '*'
+
+      - name: Build Target
+        run: make ${{ matrix.target }}
+
+      - name: Copy built ELF
+        run: cp ./build/**/*.elf ./built.elf
+
+      - name: Install itcm-check dependencies
+        run: pip3 install -r Tools/setup/optional-requirements.txt --break-system-packages
+
+      - name: Execute the itcm-check
+        run: python3 Tools/itcm_check.py --elf-file built.elf --script-files ${{ matrix.scripts }}
@@ -7,33 +7,34 @@ See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/ma

 | Name                    | Sector | GitHub | Chat | email
 |-------------------------|--------|--------|------|----------------
-| Lorenz Meier | Founder | [LorenzMeier][LorenzMeier] |  | <lorenz@px4.io>
-| Daniel Agar | Architecture | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
-| Beat Küng | Architecture | [bkueng][bkueng] | beatkueng | <beat-kueng@gmx.net>
-| Ramón Roche | CI / Testing | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
-| Mathieu Bresciani | State Estimation | [bresch][bresch] | mbresch |
-| Paul Riseborough | State Estimation | [priseborough][priseborough] |  |
-| David Sidrane | RTOS / NuttX | [davids5][davids5] | david_s5 | <David.Sidrane@Nscdg.com>
-| Jayoung Lim | Simulation | [Jaeyoung-Lim][Jaeyoung-Lim] | jaeyounglim. | <jalim@ethz.ch>
-| Beniamino Pozzan | ROS 2 | [beniaminopozzan][beniaminopozzan] | beniaminopozzan | <beniamino.pozzan@gmail.com>
-| Matthias Grob | Multirotor | [MaEtUgR][MaEtUgR] | maetugr |
-| Silvan Fuhrer | Fixed-Wing / VTOL | [sfuhrer][sfuhrer] | sfuhrer |
-| Christian Friedrich | Rover | [chfriedrich98][chfriedrich98] | christian982564 |
-| Pedro Roque | Spacecraft | [Pedro-Roque][Pedro-Roque] | .pedroroque | <padr@kth.se>
+| Lorenz Meier | Founder | [@LorenzMeier](https://github.com/LorenzMeier) |  | <lorenz@px4.io>
+| Daniel Agar | Architecture | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>
+| Beat Küng | Architecture | [@bkueng](https://github.com/bkueng) | beatkueng | <beat-kueng@gmx.net>
+| Ramón Roche | CI / Testing | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
+| Mathieu Bresciani | State Estimation | [@bresch](https://github.com/bresch) | mbresch |
+| Paul Riseborough | State Estimation | [@priseborough](https://github.com/priseborough) |  |
+| David Sidrane | RTOS / NuttX | [@davids5](https://github.com/davids5) | david_s5 | <David.Sidrane@Nscdg.com>
+| Jayoung Lim | Simulation | [@Jaeyoung-Lim](https://github.com/Jaeyoung-Lim) | jaeyounglim. | <jalim@ethz.ch>
+| Beniamino Pozzan | ROS 2 | [@beniaminopozzan](https://github.com/beniaminopozzan) | beniaminopozzan | <beniamino.pozzan@gmail.com>
+| Matthias Grob | Multirotor | [@MaEtUgR](https://github.com/MaEtUgR) | maetugr |
+| Silvan Fuhrer | Fixed-Wing / VTOL | [@sfuhrer](https://github.com/sfuhrer) | sfuhrer |
+| Christian Friedrich | Rover | [@chfriedrich98](https://github.com/chfriedrich98) | christian982564 |
+| Pedro Roque | Spacecraft | [@Pedro-Roque](https://github.com/Pedro-Roque) | .pedroroque | <padr@kth.se>
+| Jacob Dahl | Simulation | [@dakejahl](https://github.com/dakejahl) | dakejahl | <dahl.jakejacob@gmail.com>


 **Documentation Maintainers**

 | Name | GitHub | Chat | email
 |------|--------|------|----------------------
-| Hamish Willee  | [hamishwillee][hamishwillee] | hamishwillee |
+| Hamish Willee  | [@hamishwillee](https://github.com/hamishwillee) | hamishwillee |

 **Release Managers**

 | Name | GitHub | Chat | email
 |------|--------|------|----------------------
-| Ramón Roche | [mrpollo][mrpollo] | rroche | <rroche@linuxfoundation.org>
-| Daniel Agar | [dagar][dagar] | daniel_agar | <daniel@agar.ca>
+| Ramón Roche | [@mrpollo](https://github.com/mrpollo) | rroche | <rroche@linuxfoundation.org>
+| Daniel Agar | [@dagar](https://github.com/dagar) | daniel_agar | <daniel@agar.ca>

 **Retired Maintainers**

@@ -0,0 +1,47 @@
+#!/bin/sh
+#
+# @name HexarotorX SITL for SIH
+#
+# @type Hexarotor x
+# @class Copter
+#
+# @maintainer Matthias Grob <maetugr@gmail.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+PX4_SIMULATOR=${PX4_SIMULATOR:=sihsim}
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=hex}
+
+param set-default SENS_EN_GPSSIM 1
+param set-default SENS_EN_BAROSIM 1
+param set-default SENS_EN_MAGSIM 1
+
+param set SIH_VEHICLE_TYPE 4
+
+# Symmetric hexacopter X clockwise motor numbering
+param set-default CA_ROTOR_COUNT 6
+param set-default CA_ROTOR0_PX 0.866
+param set-default CA_ROTOR0_PY 0.5
+param set-default CA_ROTOR1_PX 0
+param set-default CA_ROTOR1_PY 1
+param set-default CA_ROTOR1_KM -0.05
+param set-default CA_ROTOR2_PX -0.866
+param set-default CA_ROTOR2_PY 0.5
+param set-default CA_ROTOR3_PX -0.866
+param set-default CA_ROTOR3_PY -0.5
+param set-default CA_ROTOR3_KM -0.05
+param set-default CA_ROTOR4_PX 0
+param set-default CA_ROTOR4_PY -1
+param set-default CA_ROTOR5_PX 0.866
+param set-default CA_ROTOR5_PY -0.5
+param set-default CA_ROTOR5_KM -0.05
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+
+param set-default EKF2_GPS_DELAY 0
@@ -109,6 +109,7 @@ px4_add_romfs_files(
 	10041_sihsim_airplane
 	10042_sihsim_xvert
 	10043_sihsim_standard_vtol
+	10044_sihsim_hex

 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
@@ -110,25 +110,36 @@ if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 	MODEL_NAME="${PX4_SIM_MODEL#*gz_}"
 	MODEL_NAME_INSTANCE="${MODEL_NAME}_${px4_instance}"

-	POSE_ARG=""
-	if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
-		pos_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
-		pos_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
-		pos_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
-		pos_x=${pos_x:-0}
-		pos_y=${pos_y:-0}
-		pos_z=${pos_z:-0}
+	sdf_pose_str=""

-		POSE_ARG=", pose: { position: { x: ${pos_x}, y: ${pos_y}, z: ${pos_z} } }"
-		echo "INFO  [init] Spawning model at position: ${pos_x} ${pos_y} ${pos_z}"
+	if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
+		pose_x=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $1}')
+		pose_y=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $2}')
+		pose_z=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $3}')
+		pose_roll=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $4}')
+		pose_pitch=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $5}')
+		pose_yaw=$(echo "${PX4_GZ_MODEL_POSE}" | awk -F',' '{print $6}')
+
+		pose_x=${pose_x:-0}
+		pose_y=${pose_y:-0}
+		pose_z=${pose_z:-0}
+		pose_roll=${pose_roll:-0}
+		pose_pitch=${pose_pitch:-0}
+		pose_yaw=${pose_yaw:-0}
+
+		sdf_pose_str="<pose> ${pose_x} ${pose_y} ${pose_z} ${pose_roll} ${pose_pitch} ${pose_yaw} </pose>"
+		echo "INFO  [init] Gazebo model pose: ${pose_x} ${pose_y} ${pose_z} ${pose_roll} ${pose_pitch} ${pose_yaw}"
 	fi

-	echo "INFO  [init] Spawning model"
+	echo "INFO  [init] Spawning Gazebo model"
+
+	# include the actual SDF in this one, containing the pose if given
+	sdf_str="<sdf version=\"1.6\"> <include> <uri>file://${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf</uri> ${sdf_pose_str} </include> </sdf>"

 	# Spawn model
 	${gz_command} service -s "/world/${PX4_GZ_WORLD}/create" --reqtype gz.msgs.EntityFactory \
 			--reptype gz.msgs.Boolean --timeout 5000 \
-			--req "sdf_filename: \"${PX4_GZ_MODELS}/${MODEL_NAME}/model.sdf\", name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false${POSE_ARG}" > /dev/null 2>&1
+			--req "name: \"${MODEL_NAME_INSTANCE}\", allow_renaming: false, sdf: '${sdf_str}'" > /dev/null 2>&1

 	# Wait for model to spawn
 	sleep 1
@@ -295,10 +295,15 @@ then
 	# for multi intances setup, add namespace prefix
 	uxrce_dds_ns="-n px4_$px4_instance"
 fi
-if [ -n "$PX4_UXRCE_DDS_NS" ]
-then
-	# Override namespace if environment variable is defined
-	uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
+if [ "${PX4_UXRCE_DDS_NS+x}" ]; then
+	# Override, as variable is set (empty or not)
+	if [ -n "$PX4_UXRCE_DDS_NS" ]; then
+		# Override namespace if environment variable is non-empty
+		uxrce_dds_ns="-n $PX4_UXRCE_DDS_NS"
+	else
+		# Clear namespace if variable is empty
+		uxrce_dds_ns=""
+	fi
 fi
 if [ -n "$ROS_DOMAIN_ID" ]
 then
@@ -13,8 +13,6 @@ param set-default MAV_TYPE 1
 #
 # Default parameters for fixed wing UAVs.
 #
-# there is a 2.5 factor applied on the _FS thresholds if for invalidation
-param set-default COM_POS_FS_EPH 50
 param set-default COM_VEL_FS_EVH 3

 param set-default COM_POS_LOW_EPH 50
@@ -20,7 +20,5 @@ param set-default NAV_ACC_RAD 2
 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10

-param set-default GPS_UBX_DYNMODEL 6
-
 # lower RNG_FOG since MC are expected to fly closer over obstacles
 param set-default EKF2_RNG_FOG 1.0
@@ -10,9 +10,6 @@ set VEHICLE_TYPE vtol
 # MAV_TYPE_VTOL_FIXEDROTOR 22
 param set-default MAV_TYPE 22

-# there is a 2.5 factor applied on COM_POS_FS_EPH if for invalidation
-param set-default COM_POS_FS_EPH 50
-
 param set-default COM_POS_LOW_EPH 50

 param set-default MIS_TAKEOFF_ALT 20
@@ -39,7 +39,7 @@ set VEHICLE_TYPE none
 # Airframe parameter versioning
 # Value set to 1 by default but can optionally be overridden in the airframe configuration startup script.
 # Airframe maintainers can ensure a reset to the airframe defaults during an update by increasing by one.
-# e.g. add line "set PARAM_DEFAULTS_VER 2" in your airframe file to build the first update that enfoces a reset.
+# e.g. add line "set PARAM_DEFAULTS_VER 2" in your airframe file to build the first update that enforces a reset.
 set PARAM_DEFAULTS_VER 1

 #
@@ -27,9 +27,9 @@ do
    # - An old .msg version exists
    # - A translation header exists and is included

-    # Ignore changes to comments or constants
-    content_a=$(git show "${BASE_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
-    content_b=$(git show "${HEAD_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v =)
+    # Ignore changes to comments or constants and trim whitespace
+    content_a=$(git show "${BASE_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v = | sed 's/^ *//;s/[ \t]*$//')
+    content_b=$(git show "${HEAD_COMMIT}:${file}" | grep -o '^[^#]*' | grep -v = | sed 's/^ *//;s/[ \t]*$//')
    if [ "${content_a}" == "${content_b}" ]; then
      echo "No version update required for ${file}"
      continue
@@ -2,19 +2,7 @@

 if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
-	if [[ $@ =~ .*px4_fmu.* ]]; then
-		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
-	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]] || [[ $@ =~ .*navigator.* ]]; then
-		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default, bluerobotics_navigator_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
-	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
-		# scumaker_pilotpi_arm64
-		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:2022-08-12"
-	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
-		# posix_rpi_cross, posix_bebop_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
-	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
+	if [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
 		# clang tools
 		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
 	elif [[ $@ =~ .*tests* ]]; then
@@ -27,17 +15,9 @@ fi

 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
+	PX4_DOCKER_REPO="px4io/px4-dev:v1.16.0-ondemand"
 fi

-# docker hygiene
-
-#Delete all stopped containers (including data-only containers)
-# docker container prune
-
-#Delete all 'untagged/dangling' (<none>) images
-# docker image prune
-
 echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";

 PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
@@ -0,0 +1,185 @@
+#! /usr/bin/env python3
+
+"""
+Checks if the functions that should be mapped to ITCM are contained in the built ELF file.
+
+This helps against linker scripts that "rot" as the linker does not warn in case of a function
+not existing. Thus, it is possible to forget to update the linker script after a code update.
+
+The tool uses the DWARF debug info and the ELF symbol table section to identify which functions
+exist in the built ELF file.
+
+It is expected that the linker scripts that are analyzed by the tool are linker script include
+files that only contain the name of the sections (functions) that should be mapped to ITCM in
+the following format:
+```
+*(.text.arm_ack_irq)
+*(.text.arm_doirq)
+*(.text._ZN4uORB12DeviceMaster19getDeviceNodeLockedEPK12orb_metadatah)
+*(.text._ZN3Ekf20controlGravityFusionERKN9estimator9imuSampleE)
+[...]
+```
+
+A specific entry in the linker script file can be ignored by adding a comment, as shown in the following example:
+```
+*(.text.arm_ack_irq) /* itcm-check-ignore */
+```
+"""
+
+import argparse
+import re
+from elftools.elf.elffile import ELFFile
+from elftools.elf.sections import SymbolTableSection
+from elftools.dwarf.die import DIE
+from pathlib import Path
+from typing import List, Set
+
+
+def die_get_funcs_rec(die: DIE, ret: Set[str]):
+    """
+    Recursively gets the mangled and demangled name of all functions in the given `die`.
+
+    :param die: DIE to be processed. Is gathered recursively after passing a top DIE.
+    :param ret: Output set where all function names are added to.
+    """
+    if die.tag in ("DW_TAG_subprogram", "DW_TAG_inlined_subroutine"):
+        link_name_att = die.attributes.get("DW_AT_linkage_name")
+        name_att = die.attributes.get("DW_AT_name")
+        if link_name_att:
+            ret.add(link_name_att.value.decode("utf-8"))
+        if name_att:
+            ret.add(name_att.value.decode("utf-8"))
+
+    # Recurse into the DIE children
+    for child in die.iter_children():
+        die_get_funcs_rec(child, ret)
+
+
+def get_elf_symbols_from_debug(elf_path: Path) -> Set[str]:
+    """
+    Gets all functions contained in the built ELF file using the DWARF debug info.
+
+    :param elf_path: Path to the ELF file.
+
+    :return: The names of the contained functions.
+    """
+    ret = set()
+    with open(elf_path, 'rb') as f:
+        elf = ELFFile(f)
+        if not elf.has_dwarf_info():
+            print("ELF does not have debug info. Compile with debug info.")
+            exit(1)
+        dwarf_info = elf.get_dwarf_info()
+        for CU in dwarf_info.iter_CUs():
+            top_die = CU.get_top_DIE()
+            die_get_funcs_rec(top_die, ret)
+
+    return ret
+
+
+def get_elf_symbols_from_sections(elf_path: Path) -> Set[str]:
+    """
+    Gets all functions contained in the built ELF file using the symbol table section.
+
+    :param elf_path: Path to the ELF file.
+
+    :return: The names of the contained functions.
+    """
+    ret = set()
+    with open(elf_path, 'rb') as f:
+        elf = ELFFile(f)
+        for section in elf.iter_sections():
+            if isinstance(section, SymbolTableSection):
+                for sym in section.iter_symbols():
+                    ret.add(sym.name)
+    return ret
+
+
+def is_section_supported(section: str) -> bool:
+    """
+    Returns whether this type of section can be checked.
+
+    :param section: Name of the section that should be checked for support.
+
+    :return: Whether the type of section is supported.
+    """
+    not_supported_sections = [".isra", ".part", ".constprop"]
+    return not any(not_supported in section for not_supported in not_supported_sections)
+
+
+def get_input_sections(script_path: Path) -> List[str]:
+    """
+    Gets all sections (named after the functions) that should be mapped to ITCM according
+    to the linker script.
+
+    :param script_path: Path of the linker script.
+
+    :return: The names of the sections
+    """
+    ret = []
+    section_pattern = re.compile(r"^\*\(\.([a-zA-Z0-9_\.]+)\)$")
+    ignored_marker = "itcm-check-ignore"
+    with open(script_path, 'r') as f:
+        for line in f:
+            match = section_pattern.match(line)
+            if match and ignored_marker not in line:
+                section_name = match.group(1).replace("text.", "")
+                if is_section_supported(section_name):
+                    ret.append(section_name)
+    return ret
+
+
+def check_itcm(elf_path: Path, script_paths: List[Path]):
+    """
+    Checks if all the functions that should be mapped to ITCM are contained in the built ELF file.
+
+    :param elf_path: Path of the ELF file.
+    :param script_paths: Path of all linker scripts that should be checked.
+    """
+    elf_symbols_from_debug = get_elf_symbols_from_debug(elf_path)
+    elf_symbols_from_sections = get_elf_symbols_from_sections(elf_path)
+    elf_symbols = elf_symbols_from_debug.union(elf_symbols_from_sections)
+    input_sections = []
+    for script_path in script_paths:
+        script_input_sections = get_input_sections(script_path)
+        if script_input_sections:
+            input_sections.extend(script_input_sections)
+        else:
+            print(f"No input sections found in {script_path}, please check if the path is correct.")
+
+    check_passed = True
+    for input_section in input_sections:
+        if input_section not in elf_symbols:
+            check_passed = False
+            print(f"Section: {input_section} not found in the ELF file!")
+
+    if check_passed:
+        print("ITCM check passed!")
+        exit(0)
+    else:
+        print("ITCM check failed!")
+        exit(1)
+
+
+def main():
+    parser = argparse.ArgumentParser(description="Checks if functions marked for ITCM mapping exist in the ELF file.")
+    parser.add_argument(
+        "--elf-file",
+        help="Path of the compiled ELF file",
+        type=Path,
+        required=True
+    )
+    parser.add_argument(
+        "--script-files",
+        help="Paths of the linker script files",
+        nargs="+",
+        type=Path,
+        required=True
+    )
+
+    args = parser.parse_args()
+    check_itcm(args.elf_file, args.script_files)
+
+
+if __name__ == '__main__':
+    main()
@@ -2,6 +2,7 @@

 """
 Generate docs from .msg files
+Also generates docs/en/middleware/dds_topics.md from dds_topics.yaml
 """

 import os
@@ -9,6 +10,99 @@ import argparse
 import sys


+import yaml
+
+def generate_dds_yaml_doc(allMessageFiles, output_file = 'dds_topics.md'):
+    """
+    Generates human readable version of dds_topics.yaml.
+    Default output is to docs/en/middleware/dds_topics.md
+    """
+
+    dds_file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../src/modules/uxrce_dds_client/dds_topics.yaml")
+    output_file_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),f"../../docs/en/middleware/{output_file}")
+
+    try:
+        with open(dds_file_path, 'r') as file:
+            data = yaml.safe_load(file)
+
+        # Get messages and topics that are not published by default
+        # Start by getting all that are published.
+        all_messages_in_source = set()
+        all_message_types =set()
+        all_topics =set()
+        for message in data["publications"]:
+            all_message_types.add(message['type'].split("::")[-1])
+            all_topics.add(message['topic'].split('/')[-1])
+        for message in data["subscriptions"]:
+            all_message_types.add(message['type'].split("::")[-1])
+            all_topics.add(message['topic'].split('/')[-1])
+        if data["subscriptions_multi"]: # There is none now
+            dds_markdown += "None\n"
+            for message in data["subscriptions_multi"]:
+                all_message_types.add(message['type'].split("::")[-1])
+                all_topics.add(message['topic'].split('/')[-1])
+        for message in allMessageFiles:
+            all_messages_in_source.add(message.split('/')[-1].split('.')[0])
+        messagesNotExported = all_messages_in_source - all_message_types
+
+        # write out the dds file
+        dds_markdown="""# dds_topics.yaml — PX4 Topics Exposed to ROS 2
+
+::: info
+This document is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
+:::
+
+
+The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
+
+This document shows a markdown-rendered version of [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), listing the publications, subscriptions, and so on.
+
+## Publications
+
+Topic | Type| Rate Limit
+--- | --- | ---
+"""
+
+        for message in data["publications"]:
+            type = message['type']
+            px4Type=type.split("::")[-1]
+            dds_markdown += f"`{message['topic']}` | [{type}](../msg_docs/{px4Type}.md) | {message.get('rate_limit','')}\n"
+
+        dds_markdown += "\n## Subscriptions\n\nTopic | Type\n--- | ---\n"
+
+        for message in data["subscriptions"]:
+            type = message['type']
+            px4Type=type.split("::")[-1]
+            dds_markdown += f"{message['topic']} | [{type}](../msg_docs/{px4Type}.md)\n"
+
+        dds_markdown += "\n## Subscriptions Multi\n\n"
+
+        if not data["subscriptions_multi"]: # There is none now
+            dds_markdown += "None\n"
+        else:
+            print("Warning - we now have subscription_multi data - check format")
+            dds_markdown += "Topic | Type\n--- | ---\n"
+            for message in data["subscriptions_multi"]:
+                dds_markdown += f"{message['topic']} | {message['type']}\n"
+
+        if messagesNotExported:
+            # Print the topics that are not exported to DDS
+            dds_markdown += "\n## Not Exported\n\nThese messages are not listed in the yaml file.\nThey are not build into the module, and hence are neither published or subscribed."
+            dds_markdown += "\n\n::: details See messages\n"
+            for item in  messagesNotExported:
+                dds_markdown += f"\n- [{item}](../msg_docs/{item}.md)"
+            dds_markdown += "\n:::\n" # End of details block
+
+        #print(dds_markdown)
+        with open(output_file_path, 'w') as content_file:
+                content_file.write(dds_markdown)
+
+    except yaml.YAMLError as exc:
+        print(f"Error parsing YAML: {exc}")
+    except FileNotFoundError:
+        print(f"Error: {dds_file_path} not found.")
+
+
 def get_msgs_list(msgdir):
    """
    Makes a list of relative paths of .msg files in the given directory
@@ -30,6 +124,7 @@ def get_msgs_list(msgdir):


 if __name__ == "__main__":
+
    parser = argparse.ArgumentParser(description='Generate docs from .msg files')
    parser.add_argument('-d', dest='dir', help='output directory', required=True)
    args = parser.parse_args()
@@ -132,3 +227,5 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
    index_file = os.path.join(output_dir, 'index.md')
    with open(index_file, 'w') as content_file:
            content_file.write(index_text)
+
+    generate_dds_yaml_doc(msg_files)
@@ -40,25 +40,25 @@ The generated files will be written to the `modules` directory.
 ## Categories
 """
        for category in sorted(module_groups):
-            result += "- [%s](modules_%s.md)\n" % (category.capitalize(), category)
+            result += f"- [{category.capitalize()}](modules_{category}.md)\n"

        self._outputs['main'] = result

        for category in sorted(module_groups):
-            result = "# Modules Reference: %s\n" % category.capitalize()
+            result = f"# Modules Reference: {category.capitalize()}\n\n"
            subcategories = module_groups[category]
+
            if len(subcategories) > 1:
-                result += 'Subcategories:\n'
-                for subcategory in subcategories:
+                result += 'Subcategories:\n\n'
+                for subcategory in sorted(subcategories): 
                    if subcategory == '':
                        continue
                    subcategory_label = subcategory.replace('_', ' ').title()
                    subcategory_file_name = category+'_'+subcategory
-                    result += '- [%s](modules_%s.md)\n' % (subcategory_label, subcategory_file_name)
+                    result += f'- [{subcategory_label}](modules_{subcategory_file_name}.md)\n'

                    # add a sub-page for the subcategory
-                    result_subpage = '# Modules Reference: %s (%s)\n' % \
-                        (subcategory_label, category.capitalize())
+                    result_subpage = f'# Modules Reference: {subcategory_label} ({category.capitalize()})\n'
                    result_subpage += self._ProcessModules(subcategories[subcategory])
                    self._outputs[subcategory_file_name] = result_subpage

@@ -68,14 +68,14 @@ The generated files will be written to the `modules` directory.
    def _ProcessModules(self, module_list):
        result = ''
        for module in module_list:
-            result += "## %s\n" % module.name()
-            result += "Source: [%s](https://github.com/PX4/PX4-Autopilot/tree/main/src/%s)\n\n" % (module.scope(), module.scope())
+            result += f"\n## {module.name()}\n\n"
+            result += f"Source: [{module.scope()}](https://github.com/PX4/PX4-Autopilot/tree/main/src/{module.scope()})\n\n"
            doc = module.documentation()
            if len(doc) > 0:
-                result += "%s\n" % doc
+                result += f"{doc}\n"
            usage_string = module.usage_string()
            if len(usage_string) > 0:
-                result += '<a id="%s_usage"></a>\n### Usage\n```\n%s\n```\n' % (module.name(), usage_string)
+                result += f'### Usage {{#{module.name()}_usage}}\n\n```\n{usage_string}\n```\n'
        return result

    def Save(self, dirname):
@@ -12,11 +12,11 @@ class ModuleDocumentation(object):
    """

    # If you add categories or subcategories, they also need to be added to the
-    # TOC in https://github.com/PX4/PX4-user_guide/blob/main/en/SUMMARY.md
+    # TOC in https://github.com/PX4/PX4-Autopilot/blob/main/docs/en/SUMMARY.md
    valid_categories = ['driver', 'estimator', 'controller', 'system',
                        'communication', 'command', 'template', 'simulation', 'autotune']
    valid_subcategories = ['', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
-                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']
+                           'magnetometer', 'baro', 'optical_flow', 'radio_control','rpm_sensor', 'transponder']

    max_line_length = 80 # wrap lines that are longer than this

@@ -1 +1,2 @@
+pyelftools>=0.32,<1
 symforce>=0.9.0
@@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -132,6 +132,7 @@ ENTRY(_stext)
 */
 EXTERN(abort)
 EXTERN(_bootdelay_signature)
+EXTERN(board_get_manifest)

 SECTIONS
 {
@@ -48,6 +48,7 @@ else()
 		i2c.cpp
 		init.c
 		led.c
+		mtd.cpp
 		spi.cpp
 		timer_config.cpp
 		usb.c
@@ -0,0 +1,76 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2025 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 <nuttx/spi/spi.h>
+#include <px4_platform_common/px4_manifest.h>
+//                                                              KiB BS    nB
+static const px4_mft_device_t spi2 = {             // FM25V01A on FMUM native: 32K X 8, emulated as (1024 Blocks of 32)
+	.bus_type = px4_mft_device_t::SPI,
+	.devid    = SPIDEV_FLASH(0)
+};
+
+static const px4_mtd_entry_t fmum_fram = {
+	.device = &spi2,
+	.npart = 1,
+	.partd = {
+		{
+			.type = MTD_PARAMETERS,
+			.path = "/fs/mtd_params",
+			.nblocks = (32768 / (1 << CONFIG_RAMTRON_EMULATE_PAGE_SHIFT))
+		},
+	},
+};
+
+static const px4_mtd_manifest_t board_mtd_config = {
+	.nconfigs = 1,
+	.entries  = {
+		&fmum_fram
+	}
+};
+
+static const px4_mft_entry_s mtd_mft = {
+	.type = MTD,
+	.pmft = (void *) &board_mtd_config,
+};
+
+static const px4_mft_s mft = {
+	.nmft = 1,
+	.mfts = {
+		&mtd_mft
+	}
+};
+
+const px4_mft_s *board_get_manifest(void)
+{
+	return &mft;
+}
@@ -57,9 +57,11 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 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
@@ -34,75 +34,25 @@
 #pragma once

 // DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
-//                                                     V
-
-// Timer 4 Channel 1                               /* DMA1:29 TIM4CH1 */
-
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0   /* 1 DMA1:37 IIM-42653 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0   /* 2 DMA1:38 IIM-42653 */
-
-//#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0  /* 3 DMA1:39 ICM-42688-P */
-//#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0  /* 4 DMA1:40 ICM-42688-P */
-
-#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /*  DMA1:41  GPS1 */
-#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /*  DMA1:42  GPS1 */
-
-//#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /*  DMA1:45 DEBUG */
-//#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /*  DMA1:46 DEBUG */
-
-// Timer 8 Channel 1                               /* DMA1:47 TIM8CH1 */
-// Timer 8 Channel 2                               /* DMA1:48 TIM8CH2 */
-// Timer 8 Channel 3                               /* DMA1:49 TIM8CH3 */
-// Timer 8 Channel 4                               /* DMA1:50 TIM8CH4 */
-
-// Timer 5 Channel 1                               /* DMA1:55 TIM5CH1 */
-// Timer 5 Channel 2                               /* DMA1:56 TIM5CH2 */
-// Timer 5 Channel 3                               /* DMA1:57 TIM5CH3 */
-// Timer 5 Channel 4                               /* DMA1:58 TIM5CH4 */
-
-// #define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_0  /*  DMA1:63 UART4 */
-// #define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_0  /*  DMA1:64 UART4 */
-
-#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0 /* 5 DMA1:71 RC */
-// #define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0 /* 6 DMA1:72 RC */
-
-// Assigned in timer_config.cpp
-
-// Timer 4                                          /* 7 DMA1:32 TIM4UP */
-// Timer 5                                          /* 8 DMA1:50 TIM5UP */
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0     // 1 DMA1:37 IIM-42653
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0     // 2 DMA1:38 IIM-42653
+#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0   // 3 DMA1:41 GPS1
+#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0   // 4 DMA1:42 GPS1
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   // 5 DMA1:71 RC
+#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   // 6 DMA1:72 RC
+// Timer 4 (DMAMAP_DMA12_TIM4UP_0)                  // 7 DMA1:32 TIM4UP/TIM4CH1-4
+// Timer 5 (DMAMAP_DMA12_TIM5UP_0)                  // 8 DMA1:50 TIM5UP/TIM5CH1-4

 // DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
-//                                                     V
-
-// Timer 4 Channel 1                               /* DMA2:29 TIM4CH1 */
-
-#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_1   /* 3 DMA2:43 TELEM3 */
-#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_1   /* 4 DMA2:44 TELEM3 */
-
-#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 3 DMA2:45 DEBUG */
-#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 4 DMA2:46 DEBUG */
-
-// Timer 8 Channel 1                                 /* DMA2:47 TIM8CH1 */
-// Timer 8 Channel 2                                 /* DMA2:48 TIM8CH2 */
-// Timer 8 Channel 3                                 /* DMA2:49 TIM8CH3 */
-// Timer 8 Channel 4                                 /* DMA2:50 TIM8CH4 */
-
-// Timer 5 Channel 1                                 /* DMA2:55 TIM5CH1 */
-// Timer 5 Channel 2                                 /* DMA2:56 TIM5CH2 */
-// Timer 5 Channel 3                                 /* DMA2:57 TIM5CH3 */
-// Timer 5 Channel 4                                 /* DMA2:58 TIM5CH4 */
-
-//#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1     /* 1 DMA2:61 BMI088 */
-//#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1     /* 2 DMA2:62 BMI088 */
-
-#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    /* 5 DMA2:65 TELEM2 */
-#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    /* 6 DMA2:66 TELEM2 */
-
-#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    /* 7 DMA1:79 TELEM1 */
-#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    /* 8 DMA1:80 TELEM1 */
+#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_1   // 1 DMA2:43 VTX
+#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    // 2 DMA2:65 VTX
+#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    // 3 DMA2:66 VTX
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    // 4 DMA2:79 TELEM1
+#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    // 5 DMA2:80 TELEM1
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   // 6 DMA2:45 DEBUG
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   // 7 DMA2:46 DEBUG
+// available

 // DMAMUX2 Using at most 8 Channels on BDMA --------   Assigned
-//                                                     V
-
-#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       /* 1 BDMA:11 SPI J11 */
-#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       /* 2 BDMA:12 SPI J11 */
+#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       // 1 BDMA:11 SPI J11
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       // 2 BDMA:12 SPI J11
@@ -260,8 +260,6 @@ CONFIG_USART1_TXDMA=y
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_RXDMA=y
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART2_TXDMA=y
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_RXBUFSIZE=180
 CONFIG_USART3_RXDMA=y
@@ -272,6 +270,7 @@ CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USART6_TXDMA=y
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
@@ -0,0 +1,5 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT=""
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_DRIVERS_BOOTLOADERS=y
@@ -0,0 +1,56 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_BOARD_EXTERNAL_METADATA=y
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_COMMON_BAROMETERS=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_BOOTLOADERS=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_COMMON_HYGROMETERS=y
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_IRLOCK=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_COMMON_OSD=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_UAVCANNODE_ARMING_STATUS=y
+CONFIG_UAVCANNODE_BEEP_COMMAND=y
+CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
+CONFIG_UAVCANNODE_ESC_STATUS=y
+CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
+CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_HYGROMETER_MEASUREMENT=y
+CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
+CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
+CONFIG_UAVCANNODE_RAW_AIR_DATA=y
+CONFIG_UAVCANNODE_RAW_IMU=y
+CONFIG_UAVCANNODE_RTK_DATA=y
+CONFIG_UAVCANNODE_SERVO_ARRAY_COMMAND=y
+CONFIG_UAVCANNODE_STATIC_PRESSURE=y
+CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -0,0 +1,13 @@
+{
+    "board_id": 83,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the ARK CANnode board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ARKCANNODE",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2080768,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default MBE_ENABLE 0
+param set-default SENS_IMU_CLPNOTI 0
+param set-default SENS_EN_AUAVX 1
+
+pwm_out start
+
+dshot start
@@ -0,0 +1,123 @@
+#!/bin/sh
+#
+# board sensors init
+#------------------------------------------------------------------------------
+icm42688p -R 0 -s start
+
+if param compare -s SENS_EN_BATT 1
+then
+	batt_smbus start -X
+fi
+
+# Lidar-Lite on I2C
+if param compare -s SENS_EN_LL40LS 2
+then
+	ll40ls start -X
+fi
+
+# mappydot lidar sensor
+if param compare -s SENS_EN_MPDT 1
+then
+	mappydot start -X
+fi
+
+# mb12xx sonar sensor
+if param greater -s SENS_EN_MB12XX 0
+then
+	mb12xx start -X
+fi
+
+# Lightware i2c lidar sensor
+if param greater -s SENS_EN_SF1XX 0
+then
+	lightware_laser_i2c start -X
+fi
+
+# vl53l1x i2c distance sensor
+if param compare -s SENS_EN_VL53L1X 1
+then
+	vl53l1x start -X
+fi
+
+# ADIS16448 spi external IMU
+if param compare -s SENS_EN_ADIS164X 1
+then
+	if param compare -s SENS_OR_ADIS164X 0
+	then
+		adis16448 -S start
+	fi
+	if param compare -s SENS_OR_ADIS164X 4
+	then
+		adis16448 -S start -R 4
+	fi
+fi
+
+# Eagle Tree airspeed sensor external I2C
+if param compare -s SENS_EN_ETSASPD 1
+then
+	ets_airspeed start -X
+fi
+
+# Sensirion SDP3X differential pressure sensor external I2C
+if param compare -s SENS_EN_SDP3X 1
+then
+	if ! sdp3x start -X
+	then
+		# try another common address
+		sdp3x start -X -a 0x22
+	fi
+fi
+
+# 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
+
+# TE MS4525DO differential pressure sensor external I2C
+if param compare -s SENS_EN_MS4525DO 1
+then
+	ms4525do start -X
+fi
+
+# TE MS5525DSO differential pressure sensor external I2C
+if param compare -s SENS_EN_MS5525DS 1
+then
+	ms5525dso start -X
+fi
+
+# IR-LOCK sensor external I2C
+if param compare -s SENS_EN_IRLOCK 1
+then
+	irlock start -X
+fi
+
+# SPL06 sensor external I2C
+if param compare -s SENS_EN_SPL06 1
+then
+	spl06 -X start
+	spl06 -X -a 0x77 start
+fi
+
+# 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
+
+# probe for optional external I2C devices
+icm20948_i2c_passthrough -X -q start
+
+# compasses
+hmc5883 -T -X -q start
+ist8308 -X -q start
+ist8310 -X -q start
+iis2mdc -X -q start
+lis3mdl -X -q start
+qmc5883l -X -q start
+rm3100 -X -q start
+
+# start last (wait for possible icm20948 passthrough mode)
+ak09916 -X -q start
@@ -0,0 +1,56 @@
+#
+# 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_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/auterion/cannode/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=4096
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BINFMT_DISABLE=y
+CONFIG_BOARDCTL=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MM_REGIONS=2
+CONFIG_NAME_MAX=0
+CONFIG_NUNGET_CHARS=0
+CONFIG_PREALLOC_TIMERS=0
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_DISABLE_BUFFERING=y
+CONFIG_STM32_FLASH_CONFIG_G=y
+CONFIG_STM32_NOEXT_VECTORS=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USEC_PER_TICK=1000
@@ -0,0 +1,149 @@
+/************************************************************************************
+ * configs/px4fmu/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 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.
+ *
+ ************************************************************************************/
+#include "board_dma_map.h"
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <stm32.h>
+
+/* HSI - 8 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - 8  MHz Crystal
+ * LSE - not installed
+ */
+#define STM32_BOARD_USEHSE      1
+#define STM32_BOARD_XTAL        8000000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+
+/* Main PLL Configuration */
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(384)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_4
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(8)
+#define STM32_PLLCFG_PLLR       RCC_PLLCFG_PLLR(2)
+
+#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/
+
+#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL
+#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
+#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
+
+#define STM32_SYSCLK_FREQUENCY  96000000ul
+
+/* AHB clock (HCLK) is SYSCLK (96MHz) */
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK      /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY      /* Same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2     /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
+#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)
+
+/* APB2 clock (PCLK2) is HCLK (96MHz) */
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK       /* PCLK2 = HCLK */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY)
+
+/* Timers driven from APB2 will be PCLK2 since no prescale division */
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
+#define BOARD_TIM2_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM3_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM4_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM5_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM6_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM7_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM8_FREQUENCY    (2 * STM32_PCLK2_FREQUENCY)
+
+/* Alternate function pin selections ************************************************/
+
+/* UARTs */
+#define GPIO_USART1_RX	GPIO_USART1_RX_2
+#define GPIO_USART1_TX	GPIO_USART1_TX_3
+
+#define GPIO_USART2_RX	GPIO_USART2_RX_1
+#define GPIO_USART2_TX	GPIO_USART2_TX_1
+
+/* CAN */
+#define GPIO_CAN1_RX	GPIO_CAN1_RX_1
+#define GPIO_CAN1_TX	GPIO_CAN1_TX_1
+
+/* SPI */
+#define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1
+#define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
+#define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1
+
+#define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1 /* PB14 */
+#define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1 /* PB15 */
+#define GPIO_SPI2_SCK   GPIO_SPI2_SCK_2  /* PB13 */
+
+/* I2C */
+#define GPIO_MCU_I2C1_SCL
+#define GPIO_MCU_I2C1_SDA
+
+#define GPIO_I2C1_SCL	GPIO_I2C1_SCL_1
+#define GPIO_I2C1_SDA	GPIO_I2C1_SDA_2
+
+#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)
+
+#endif /* __ARCH_BOARD_BOARD_H */
@@ -0,0 +1,50 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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
+
+// DMA1 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMACHAN_SPI2_RX    DMAMAP_SPI2_RX   // DMA1, Stream 3, Channel 0
+#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX   // DMA1, Stream 4, Channel 0
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
+#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_2   // DMA2, Stream 5, Channel 3
+
+// Assigned in timer_config.cpp
+
+// Timer 2                                    /* DMA1, Stream 7, Channel 3 DMAMAP_TIM2_UP_2 */
+// Timer 3                                    /* DMA1, Stream 2, Channel 5 DMAMAP_TIM3_UP   */
+// Timer 4                                    /* DMA1, Stream 6, Channel 2 DMAMAP_TIM4_UP   */
@@ -0,0 +1,153 @@
+#
+# 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_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_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_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/auterion/cannode/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2624
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=2
+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_VARS=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=254
+CONFIG_SCHED_HPWORKSTACKSIZE=3000
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_WAITPID=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=32
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLASH_CONFIG_G=y
+CONFIG_STM32_FLASH_PREFETCH=y
+CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI1_DMA=y
+CONFIG_STM32_SPI1_DMA_BUFFER=2048
+CONFIG_STM32_SPI2=y
+CONFIG_STM32_SPI2_DMA=y
+CONFIG_STM32_SPI2_DMA_BUFFER=2048
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART_BREAKS=y
+CONFIG_STM32_WWDG=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=1100
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_SERIAL_CONSOLE=y
+CONFIG_USART2_TXBUFSIZE=1100
+CONFIG_USEC_PER_TICK=1000
@@ -0,0 +1,134 @@
+/****************************************************************************
+ * nuttx-config/scripts/canbootloader_script.ld
+ *
+ *   Copyright (C) 2015 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 STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * 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.
+ *
+ * The first 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08000000, LENGTH = 32K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * 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)
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.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) }
+}
@@ -0,0 +1,146 @@
+/****************************************************************************
+ * scripts/ld.script
+ *
+ *   Copyright (C) 2011 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 STM32F412CG has 1Mb of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * 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.
+ *
+ * The first 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08010000, LENGTH = 928K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * 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(8);
+		/*
+		* This section positions the app_descriptor_t used
+		* by the make_can_boot_descriptor.py tool to set
+		* the application image's descriptor so that the
+		* uavcan bootloader has the ability to validate the
+		* image crc, size etc
+		*/
+		KEEP(*(.app_descriptor))
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.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) }
+}
@@ -0,0 +1,68 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
+
+	add_library(drivers_board
+		boot_config.h
+		boot.c
+		led.c
+		led.h
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			canbootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
+
+else()
+	add_library(drivers_board
+		can.c
+		i2c.cpp
+		init.c
+		led.c
+		spi.cpp
+		timer_config.cpp
+	)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_spi
+			drivers__led # drv_led_start
+			nuttx_arch
+			nuttx_drivers
+			px4_layer
+	)
+endif()
@@ -0,0 +1,115 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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
+ *
+ * board internal definitions
+ */
+
+#pragma once
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/* CAN  Silent mode control */
+#define GPIO_CAN1_SILENT_S0   /* PC14  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14)
+
+/* CAN termination software control */
+#define GPIO_CAN1_TERMINATION /* PC15 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)
+#define GPIO_CAN_TERM                    GPIO_CAN1_TERMINATION
+
+/* Boot config */
+#define GPIO_BOOT_CONFIG      /* PH1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTH|GPIO_PIN1|GPIO_EXTI)
+
+/* ICM42688p FSYNC */
+#define GPIO_42688P_FSYNC     /* PB8  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
+
+/* LEDs are driven with open drain to support Anode to 5V or 3.3V */
+#define GPIO_TIM1_CH1         /* PA8  */  (GPIO_TIM1_CH1_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH2         /* PA9  */  (GPIO_TIM1_CH2_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH3         /* PA10 */  (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+
+/* PWM Outputs */
+#define BOARD_NUM_IO_TIMERS         3
+#define DIRECT_PWM_OUTPUT_CHANNELS  8
+
+#define GPIO_TIM2_CH1_RESET   /* PA0  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_TIM2_CH2_RESET   /* PA1  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_TIM2_CH3_RESET   /* PB10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_TIM3_CH1_RESET   /* PB4  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN4)
+#define GPIO_TIM3_CH2_RESET   /* PB5  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_TIM3_CH3_RESET   /* PB0  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_TIM3_CH4_RESET   /* PB1  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_TIM4_CH4_RESET   /* PB7  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)
+
+#define GPIO_I2C1_SCL_RESET   /* PB6  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN6)
+#define GPIO_I2C1_SDA_RESET   /* PB9  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
+
+#define GPIO_USART1_RX_GPIO   /* PB3  */  (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTB|GPIO_PIN3)
+#define GPIO_USART1_TX_GPIO   /* PA15  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN15)
+
+#define GPIO_USART2_RX_GPIO   /* PA3  */  (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN3)
+#define GPIO_USART2_TX_GPIO   /* PA2  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN2)
+
+#define FLASH_BASED_PARAMS
+
+/* High-resolution timer */
+#define HRT_TIMER                    8  /* use timer 8 for the HRT */
+#define HRT_TIMER_CHANNEL            1  /* use capture/compare channel 1 */
+
+#define PX4_GPIO_INIT_LIST { \
+		GPIO_CAN1_SILENT_S0,              \
+		GPIO_CAN1_TERMINATION,            \
+		GPIO_42688P_FSYNC,                \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_I2C1_SCL_RESET,              \
+		GPIO_I2C1_SDA_RESET,              \
+	}
+
+__BEGIN_DECLS
+
+#define BOARD_HAS_N_S_RGB_LED       1
+#define BOARD_MAX_LEDS              BOARD_HAS_N_S_RGB_LED
+
+#ifndef __ASSEMBLY__
+
+extern void stm32_spiinitialize(void);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,188 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+#include <stdint.h>
+#include "boot_config.h"
+#include "board.h"
+
+#include <debug.h>
+#include <string.h>
+#include <arch/board/board.h>
+
+#include <nuttx/board.h>
+#include "led.h"
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
+	stm32_configgpio(GPIO_CAN1_RX);
+	stm32_configgpio(GPIO_CAN1_TX);
+	stm32_configgpio(GPIO_CAN1_SILENT_S0);
+	stm32_configgpio(GPIO_CAN1_TERMINATION);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+
+#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
+	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
+#endif
+
+}
+
+/************************************************************************************
+ * Name: board_deinitialize
+ *
+ * Description:
+ *   This function is called by the bootloader code prior to booting
+ *   the application. Is should place the HW into an benign initialized state.
+ *
+ ************************************************************************************/
+
+void board_deinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+}
+
+/****************************************************************************
+ * Name: board_get_product_name
+ *
+ * Description:
+ *   Called to retrieve the product name. The returned value is a assumed
+ *   to be written to a pascal style string that will be length prefixed
+ *   and not null terminated
+ *
+ * Input Parameters:
+ *    product_name - A pointer to a buffer to write the name.
+ *    maxlen       - The maximum number of charter that can be written
+ *
+ * Returned Value:
+ *   The length of characters written to the buffer.
+ *
+ ****************************************************************************/
+
+uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
+{
+	DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	return UAVCAN_STRLEN(HW_UAVCAN_NAME);
+}
+
+/****************************************************************************
+ * Name: board_get_hardware_version
+ *
+ * Description:
+ *   Called to retrieve the hardware version information. The function
+ *   will first initialize the the callers struct to all zeros.
+ *
+ * Input Parameters:
+ *    hw_version - A pointer to a uavcan_hardwareversion_t.
+ *
+ * Returned Value:
+ *   Length of the unique_id
+ *
+ ****************************************************************************/
+
+size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
+{
+	memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
+
+	hw_version->major = HW_VERSION_MAJOR;
+	hw_version->minor = HW_VERSION_MINOR;
+
+	return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
+}
+
+/****************************************************************************
+ * Name: board_indicate
+ *
+ * Description:
+ *   Provides User feedback to indicate the state of the bootloader
+ *   on board specific  hardware.
+ *
+ * Input Parameters:
+ *    indication - A member of the uiindication_t
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
+
+typedef begin_packed_struct struct led_t {
+	uint8_t red;
+	uint8_t green;
+	uint8_t blue;
+	uint8_t hz;
+} end_packed_struct led_t;
+
+static const  led_t i2l[] = {
+
+	led(0, off,                             0,     0,     0,     0),
+	led(1, reset,                          128,   128,   128,   30),
+	led(2, autobaud_start,                  0,   128,     0,     1),
+	led(3, autobaud_end,                    0,   128,     0,     2),
+	led(4, allocation_start,                0,     0,    64,     2),
+	led(5, allocation_end,                  0,   128,    64,     3),
+	led(6, fw_update_start,                32,   128,    64,     3),
+	led(7, fw_update_erase_fail,           32,   128,    32,     3),
+	led(8, fw_update_invalid_response,     64,     0,     0,     1),
+	led(9, fw_update_timeout,              64,     0,     0,     2),
+	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
+	led(b, jump_to_app,                     0,   128,     0,    10),
+
+};
+
+void board_indicate(uiindication_t indication)
+{
+	rgb_led(i2l[indication].red,
+		i2l[indication].green,
+		i2l[indication].blue,
+		i2l[indication].hz);
+}
@@ -0,0 +1,134 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 boot_config.h
+ *
+ * bootloader definitions that configures the behavior and options
+ * of the Boot loader
+ * This file is relies on the parent folder's boot_config.h file and defines
+ * different usages of the hardware for bootloading
+ */
+
+#pragma once
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+/* Bring in the board_config.h definitions
+ * todo:make this be pulled in from a targed's build
+ * files in nuttx*/
+
+#include "board_config.h"
+#include "uavcan.h"
+#include <nuttx/compiler.h>
+
+#include <stdint.h>
+
+#include <stm32_flash.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
+
+//todo:wrap OPT_x in in ifdefs for command line definitions
+#define OPT_TBOOT_MS                    3000
+#define OPT_NODE_STATUS_RATE_MS         800
+#define OPT_NODE_INFO_RATE_MS           50
+#define OPT_BL_NUMBER_TIMERS            7
+
+/*
+ *  This Option set is set to 1 ensure a provider of firmware has an
+ *  opportunity update the node's firmware.
+ *  This Option is the default policy and can be overridden by
+ *  a jumper
+ *  When this Policy is set, the node will ignore tboot and
+ *  wait indefinitely for a GetNodeInfo request before booting.
+ *
+ *  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
+ *  the polarity of the jumper to be True Active
+ *
+ *  wait  OPT_WAIT_FOR_GETNODEINFO  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
+ *                                                 Jumper
+ *   yes           1                       0         x
+ *   yes           1                       1       Active
+ *   no            1                       1       Not Active
+ *   no            0                       0         X
+ *   yes           0                       1       Active
+ *   no            0                       1       Not Active
+ *
+ */
+#define OPT_WAIT_FOR_GETNODEINFO                    0
+/* The ARK CANnode uses PH1 for GPIO_BOOT_CONFIG but it is not
+ * compatible with px4_arch_gpioread as Port H = 7 which is greater
+ * than STM32_NPORTS
+ * #define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        0
+ */
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 1
+
+#define OPT_ENABLE_WD           1
+
+#define OPT_RESTART_TIMEOUT_MS          20000
+
+/* Reserved for the Booloader */
+#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)
+
+/* Reserved for the application out of the total
+ * system flash minus the BOOTLOADER_SIZE_IN_K
+ */
+#define OPT_APPLICATION_RESERVER_IN_K    0
+
+#define OPT_APPLICATION_IMAGE_OFFSET    OPT_BOOTLOADER_SIZE_IN_K
+#define OPT_APPLICATION_IMAGE_LENGTH    (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
+
+
+#define FLASH_BASE              STM32_FLASH_BASE
+#define FLASH_SIZE              STM32_FLASH_SIZE
+
+#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_LAST_8BIT_ADDRRESS  ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
+#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
+#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
+
+/* If this board uses big flash that have large sectors */
+
+#define OPT_USE_YIELD
+
+/* Bootloader Option*****************************************************************
+ *
+ */
+#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI)
@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 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 can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_internal.h"
+
+#include "stm32.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+#ifdef CONFIG_CAN
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+
+#endif
@@ -0,0 +1,38 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 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>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(1),
+};
@@ -0,0 +1,186 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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
+ *
+ * board specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/board.h>
+
+#include <stm32.h>
+#include "board_config.h"
+#include "led.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <drivers/drv_watchdog.h>
+
+#include <systemlib/px4_macros.h>
+
+#include <px4_platform_common/init.h>
+#include <px4_platform/gpio.h>
+
+#include <px4_arch/io_timer.h>
+
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
+#endif
+
+/************************************************************************************
+ * 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)
+{
+	// Configure the GPIO pins to outputs and keep them low.
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(io_timer_channel_get_gpio_output(i));
+	}
+
+	/*
+	 * On resets invoked from system (not boot) insure we establish a low
+	 * output state (discharge the pins) on PWM pins before they become inputs.
+	 */
+
+	if (status >= 0) {
+		up_mdelay(400);
+	}
+}
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	// Reset all PWM to Low outputs.
+	board_on_reset(-1);
+
+	watchdog_init();
+
+	/* configure pins */
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	// Configure SPI all interfaces GPIO & enable power.
+	stm32_spiinitialize();
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	px4_platform_init();
+
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{2, 16 * 1024, 0x08008000},
+		{3, 16 * 1024, 0x0800C000},
+		{0, 0, 0},
+	};
+
+	/* Initialize the flashfs layer to use heap allocated memory */
+	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);
+	}
+
+#endif // FLASH_BASED_PARAMS
+
+	/* Configure the HW based on the manifest */
+	//px4_platform_configure();
+
+	return OK;
+}
@@ -0,0 +1,124 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 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 led.c
+ *
+ * LED backend.
+ */
+
+#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>
+
+#include "led.h"
+
+#define TMR_BASE        STM32_TIM1_BASE
+#define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
+#define TMR_REG(o)      (TMR_BASE+(o))
+
+void rgb_led(int r, int g, int b, int freqs)
+{
+
+	long fosc = TMR_FREQUENCY;
+	long prescale = 2048;
+	long p1s = fosc / prescale;
+	long p0p5s  = p1s / 2;
+	uint16_t val;
+	static bool once = 0;
+
+	if (!once) {
+		once = 1;
+
+		/* Enable Clock to Block */
+		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
+
+		/* Reload */
+
+		val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
+		val |= ATIM_EGR_UG;
+		putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
+
+		/* Set Prescaler STM32_TIM_SETCLOCK */
+
+		putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
+
+		/* Enable STM32_TIM_SETMODE*/
+
+		putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
+			 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
+		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
+			 ATIM_CCER_CC2E | ATIM_CCER_CC2P |
+			 ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
+
+
+		stm32_configgpio(GPIO_TIM1_CH1);
+		stm32_configgpio(GPIO_TIM1_CH2);
+		stm32_configgpio(GPIO_TIM1_CH3);
+
+		/* master output enable = on */
+		putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET)));
+	}
+
+	long p  = freqs == 0 ? p1s : p1s / freqs;
+	putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
+
+	p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
+
+	putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
+	putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
+	putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
+
+	val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+	if (freqs == 0) {
+		val &= ~ATIM_CR1_CEN;
+
+	} else {
+		val |= ATIM_CR1_CEN;
+	}
+
+	putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+}
@@ -0,0 +1,37 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+__BEGIN_DECLS
+void rgb_led(int r, int g, int b, int freqs);
+__END_DECLS
@@ -0,0 +1,48 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 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>
+
+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::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
+	}),
+	initSPIBusExternal(SPI::Bus::SPI2, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin12}),
+		initSPIConfigExternal(SPI::CS{GPIO::PortC, GPIO::Pin13}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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>
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer2, DMA{DMA::Index1, DMA::Stream7, DMA::Channel3}),
+	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
+	initIOTimer(Timer::Timer4, DMA{DMA::Index1, DMA::Stream6, DMA::Channel2}),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortB, GPIO::Pin10}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortB, GPIO::Pin4}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortB, GPIO::Pin5}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortB, GPIO::Pin7}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -0,0 +1,17 @@
+# UAVCAN boot loadable Module ID
+set(uavcanblid_sw_version_major ${PX4_VERSION_MAJOR})
+set(uavcanblid_sw_version_minor ${PX4_VERSION_MINOR})
+add_definitions(
+	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
+	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
+)
+
+set(uavcanblid_hw_version_major 0)
+set(uavcanblid_hw_version_minor 83)
+set(uavcanblid_name "\"org.auterion.cannode\"")
+
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)
@@ -26,3 +26,6 @@ nshterm /dev/ttyS3 &

 # Start the time_persistor to cyclically store the RTC in FRAM
 time_persistor start
+
+# Start the ESC telemetry
+dshot telemetry -d /dev/ttyS5 -x
@@ -10,4 +10,4 @@
 # fi

 # DShot telemetry is always on UART7
-# dshot telemetry /dev/ttyS5
+# dshot telemetry -d /dev/ttyS5
@@ -10,4 +10,4 @@
 # fi

 # DShot telemetry is always on UART7
-# dshot telemetry /dev/ttyS5
+# dshot telemetry -d /dev/ttyS5
@@ -9,4 +9,4 @@ then
 fi

 # DShot telemetry is always on UART7
-dshot telemetry /dev/ttyS5
+dshot telemetry -d /dev/ttyS5
@@ -13,13 +13,11 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_OSD_ATXXXX=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -58,9 +56,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
@@ -70,6 +66,7 @@ CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -7,7 +7,7 @@
    "summary": "KAKUTEH7-WING",
    "version": "0.1",
    "image_size": 0,
-    "image_maxsize": 1835008,
+    "image_maxsize": 1703936,
    "git_identity": "",
    "board_revision": 0
 }
@@ -110,7 +110,7 @@
 MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1664K /* params in last two sectors */

 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
@@ -114,7 +114,6 @@

 #define BOARD_NUMBER_BRICKS 2

-// TODO: fix
 #define GPIO_nVDD_BRICK1_VALID          (1) /* Brick 1 Is Chosen */
 #define GPIO_nVDD_BRICK2_VALID          (0) /* Brick 2 Is Chosen  */

@@ -129,17 +128,20 @@
 */
 #define UAVCAN_NUM_IFACES_RUNTIME  1

-#define GPIO_VDD_5V_PERIPH_nEN          /* PE2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
-#define GPIO_VDD_5V_PERIPH_nOC          /* PE3  */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN3)
-#define GPIO_VDD_5V_HIPOWER_nEN         /* PC10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN10)
-#define GPIO_VDD_5V_HIPOWER_nOC         /* PC11 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTC|GPIO_PIN11)
-#define GPIO_VDD_3V3_SENSORS_EN         /* PB2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN2)
+#define GPIO_VDD_3V3_SENSORS_EN         /* PB2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN2)
+
+#define GPIO_VTX_9V_EN                  /* PE3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
+
+#define GPIO_CAM_SWITCH                 /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)

 /* Define True logic Power Control in arch agnostic form */

-#define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
-#define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
+
+#define VTX_9V_EN(on_true)                px4_arch_gpiowrite(GPIO_VTX_9V_EN, (on_true))
+
+#define CAM_SWITCH_CAM1                   px4_arch_gpiowrite(GPIO_CAM_SWITCH, false) // low is CAM1
+#define CAM_SWITCH_CAM2                   px4_arch_gpiowrite(GPIO_CAM_SWITCH, true)  // high is CAM2

 /* Tone alarm output */

@@ -196,11 +198,10 @@

 #define BOARD_ADC_SERVO_VALID     (1)

-#define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
-#define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
+#define BOARD_ADC_BRICK1_VALID  (1)
+#define BOARD_ADC_BRICK2_VALID  (1)

-#define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC))
-#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
+#define BOARD_ADC_SERVO_VALID   (1)


 /* This board provides a DMA pool and APIs */
@@ -217,6 +218,8 @@
 		GPIO_VDD_3V3_SENSORS_EN,          \
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_PPM_IN,                      \
+		GPIO_VTX_9V_EN,                   \
+		GPIO_CAM_SWITCH,                  \
 	}

 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -108,21 +108,21 @@ __END_DECLS
 ************************************************************************************/
 __EXPORT void board_peripheral_reset(int ms)
 {
-	/* set the peripheral rails off */
+	/* off */
+	VTX_9V_EN(false);
+	VDD_3V3_SENSORS_EN(false);

-	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);

-	/* wait for the peripheral rail to reach GND */
 	usleep(ms * 1000);
 	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);

 	/* re-enable power */
-
-	/* switch the peripheral rail back on */
 	board_control_spi_sensors_power(true, 0xffff);
-	VDD_5V_PERIPH_EN(true);
+	VDD_3V3_SENSORS_EN(true);
+	VTX_9V_EN(true);

+	CAM_SWITCH_CAM1;
 }

 /************************************************************************************
@@ -210,10 +210,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 {
 #if !defined(BOOTLOADER)

-	/* Power on Interfaces */
-	VDD_5V_PERIPH_EN(true);
-	VDD_5V_HIPOWER_EN(true);
-
 	/* Need hrt running before using the ADC */

 	px4_platform_init();
@@ -254,6 +250,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #if defined(FLASH_BASED_PARAMS)
 	static sector_descriptor_t params_sector_map[] = {
+		{14, 128 * 1024, 0x081C0000},
 		{15, 128 * 1024, 0x081E0000},
 		{0, 0, 0},
 	};
@@ -9,4 +9,4 @@ then
 fi

 # DShot telemetry is always on UART7
-dshot telemetry /dev/ttyS5
+dshot telemetry -d /dev/ttyS5
@@ -48,7 +48,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -9,4 +9,4 @@ then
 fi

 # DShot telemetry is always on UART7
-dshot telemetry /dev/ttyS5
+dshot telemetry -d /dev/ttyS5
@@ -9,4 +9,4 @@ then
 fi

 # DShot telemetry is always on UART7
-dshot telemetry /dev/ttyS5
+dshot telemetry -d /dev/ttyS5
@@ -9,4 +9,4 @@ then
 fi

 # DShot telemetry is always on UART7
-dshot telemetry /dev/ttyS5
+dshot telemetry -d /dev/ttyS5
@@ -11,4 +11,4 @@
 atxxxx start -s

 # DShot telemetry is always on UART7
-# dshot telemetry /dev/ttyS5
+# dshot telemetry -d /dev/ttyS5
@@ -12,4 +12,4 @@ atxxxx start -s


 # DShot telemetry is always on UART7
-# dshot telemetry /dev/ttyS5
+# dshot telemetry -d /dev/ttyS5
@@ -12,4 +12,4 @@ atxxxx start -s


 # DShot telemetry is always on UART7
-# dshot telemetry /dev/ttyS5
+# dshot telemetry -d /dev/ttyS5
@@ -15,15 +15,19 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
+CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -47,8 +51,7 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -30,7 +30,7 @@ CONFIG_ARM_MPU=y
 CONFIG_ARM_MPU_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_ASSERT_RESET_VALUE=0
-CONFIG_BOARD_LOOPSPERMSEC=114325
+CONFIG_BOARD_LOOPSPERMSEC=115000
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_CDCACM=y
@@ -73,6 +73,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=2048
+CONFIG_IMXRT_DTCM_HEAP=y
 CONFIG_IMXRT_EDMA=y
 CONFIG_IMXRT_EDMA_EDBG=y
 CONFIG_IMXRT_EDMA_ELINK=y
@@ -140,6 +141,7 @@ CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
+CONFIG_MM_REGIONS=2
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -2,7 +2,7 @@
 *(.text._ZN4uORB7Manager27orb_add_internal_subscriberE6ORB_IDhPj)
 *(.text._ZN13MavlinkStream6updateERKy)
 *(.text._ZN7Mavlink16update_rate_multEv)
-*(.text._ZN3sym17PredictCovarianceIfEEN6matrix6MatrixIT_Lj23ELj23EEERKNS2_IS3_Lj24ELj1EEERKS4_RKNS2_IS3_Lj3ELj1EEES3_SC_SC_S3_S3_)
+*(.text._ZN3sym17PredictCovarianceIfEEN6matrix6MatrixIT_Lj23ELj23EEERKNS2_IS3_Lj24ELj1EEERKS4_RKNS2_IS3_Lj3ELj1EEES3_SC_SC_S3_S3_) /* itcm-check-ignore */
 *(.text._ZN13MavlinkStream12get_size_avgEv)
 *(.text._ZN16ControlAllocator3RunEv)
 *(.text._ZN22MulticopterRateControl3RunEv.part.0)
@@ -57,7 +57,6 @@
 *(.text._ZN3px49WorkQueue3AddEPNS_8WorkItemE)
 *(.text._ZN4EKF220PublishLocalPositionERKy)
 *(.text._mav_finalize_message_chan_send)
-*(.text._ZN3Ekf19fixCovarianceErrorsEb)
 *(.text._ZN7sensors22VehicleAngularVelocity16ParametersUpdateEb)
 *(.text._ZN6events12SendProtocol6updateERKy)
 *(.text._ZN6device3SPI8transferEPhS1_j)
@@ -68,7 +67,7 @@
 *(.text.nx_poll)
 *(.text._ZN15MavlinkReceiver3runEv)
 *(.text._ZN9ICM42688P18ProcessTemperatureEPKN20InvenSense_ICM42688P4FIFO4DATAEh)
-*(.text._ZN15OutputPredictor19correctOutputStatesEyRKN6matrix10QuaternionIfEERKNS0_7Vector3IfEES8_S8_S8_)
+*(.text._ZN15OutputPredictor19correctOutputStatesEyRKN6matrix10QuaternionIfEERKNS0_7Vector3IfEERK9LatLonAltS8_S8_)
 *(.text._ZN3Ekf12predictStateERKN9estimator9imuSampleE)
 *(.text._ZN3px46logger6Logger3runEv)
 *(.text._ZN4uORB20SubscriptionInterval7updatedEv)
@@ -99,7 +98,6 @@
 *(.text.file_vioctl)
 *(.text._ZN7sensors18VotedSensorsUpdate11sensorsPollER17sensor_combined_s)
 *(.text.nxsig_nanosleep)
-*(.text.imxrt_lpspi1select)
 *(.text.sem_wait)
 *(.text.perf_count_interval.part.0)
 *(.text._ZN16ControlAllocator37update_effectiveness_matrix_if_neededE25EffectivenessUpdateReason)
@@ -122,7 +120,6 @@
 *(.text._ZN22MulticopterRateControl28updateActuatorControlsStatusERK25vehicle_torque_setpoint_sf)
 *(.text._ZN11RateControl6updateERKN6matrix7Vector3IfEES4_S4_fb)
 *(.text._ZN39ControlAllocationSequentialDesaturation19desaturateActuatorsERN6matrix6VectorIfLj16EEERKS2_b)
-*(.text._ZN22MavlinkStreamCollision4sendEv)
 *(.text.imxrt_lpi2c_transfer)
 *(.text.uart_putxmitchar)
 *(.text.clock_nanosleep)
@@ -154,7 +151,6 @@
 *(.text._ZN3Ekf20updateIMUBiasInhibitERKN9estimator9imuSampleE)
 *(.text._ZN9Commander13dataLinkCheckEv)
 *(.text._ZN17FlightModeManager10switchTaskE15FlightTaskIndex)
-*(.text._ZNK3Ekf26get_innovation_test_statusERtRfS1_S1_S1_S1_S1_S1_)
 *(.text._ZN12PX4Gyroscope9set_scaleEf)
 *(.text._ZN12FailsafeBase6updateERKyRKNS_5StateEbbRK16failsafe_flags_s)
 *(.text._ZN18MavlinkStreamDebug4sendEv)
@@ -167,11 +163,10 @@
 *(.text._ZN13land_detector23MulticopterLandDetector25_get_ground_contact_stateEv)
 *(.text.imxrt_dmach_start)
 *(.text._ZN3ADC19update_system_powerEy)
-*(.text._ZNK3Ekf19get_ekf_soln_statusEPt)
+*(.text._ZNK3Ekf19get_ekf_soln_statusEv)
 *(.text._ZN3px46logger15watchdog_updateERNS0_15watchdog_data_tEb)
 *(.text.imxrt_gpio_read)
 *(.text._ZN32MavlinkStreamNavControllerOutput4sendEv)
-*(.text._ZN15ArchPX4IOSerial13_bus_exchangeEP8IOPacket)
 *(.text._ZN39MavlinkStreamGimbalDeviceAttitudeStatus4sendEv)
 *(.text._ZNK10ConstLayer3getEt)
 *(.text.__aeabi_uldivmod)
@@ -194,11 +189,9 @@
 *(.text._ZN22MavlinkStreamGPSStatus4sendEv)
 *(.text._ZN4EKF220UpdateAirspeedSampleER17ekf2_timestamps_s)
 *(.text._ZN23MavlinkStreamStatustext4sendEv)
-*(.text._ZN3Ekf15constrainStatesEv)
-*(.text._ZN12PX4IO_serial4readEjPvj)
 *(.text.uart_poll)
 *(.text._ZN24MavlinkParametersManager4sendEv)
-*(.text._ZN26MulticopterPositionControl18set_vehicle_statesERK24vehicle_local_position_s)
+*(.text._ZN26MulticopterPositionControl18set_vehicle_statesERK24vehicle_local_position_sf)
 *(.text.file_poll)
 *(.text.hrt_elapsed_time)
 *(.text._ZN7Mavlink11send_finishEv)
@@ -232,8 +225,7 @@
 *(.text._ZN6matrix5EulerIfEC1ERKNS_10QuaternionIfEE)
 *(.text.imxrt_queuedtd)
 *(.text._ZN27MavlinkStreamDistanceSensor8get_sizeEv)
-*(.text._ZN3Ekf16fuseVelPosHeightEffi)
-*(.text._ZN3Ekf23controlBaroHeightFusionEv)
+*(.text._ZN3Ekf23controlBaroHeightFusionERKN9estimator9imuSampleE)
 *(.text._ZN16PX4Accelerometer9set_scaleEf)
 *(.text._ZN11ControlMath11constrainXYERKN6matrix7Vector2IfEES4_RKf)
 *(.text._ZN22MavlinkStreamEfiStatus4sendEv)
@@ -243,13 +235,11 @@
 *(.text._ZN15PositionControl11_inputValidEv)
 *(.text._ZN7sensors14VehicleAirData3RunEv)
 *(.text.perf_count)
-*(.text._ZN3Ekf16controlMagFusionEv)
+*(.text._ZN3Ekf16controlMagFusionERKN9estimator9imuSampleE)
 *(.text.pthread_sem_give)
 *(.text._ZN7sensors10VehicleIMU16ParametersUpdateEb)
-*(.text._ZN30MavlinkStreamUTMGlobalPosition4sendEv)
 *(.text._ZN4uORB20SubscriptionInterval4copyEPv)
 *(.text._ZN12I2CSPIDriverI9ICM42688PE3RunEv)
-*(.text._ZN17ObstacleAvoidanceC1EP12ModuleParams)
 *(.text.imxrt_epcomplete.constprop.0)
 *(.text._ZNK6matrix6MatrixIfLj3ELj1EEmiERKS1_)
 *(.text._ZN9Commander30handleModeIntentionAndFailsafeEv)
@@ -260,7 +250,6 @@
 *(.text._ZN29MavlinkStreamHygrometerSensor8get_sizeEv)
 *(.text.pthread_mutex_add)
 *(.text._ZN12HomePosition6updateEbb)
-*(.text._ZN5PX4IO3RunEv)
 *(.text.poll_fdsetup)
 *(.text._ZN15PositionControl20_accelerationControlEv)
 *(.text._ZN3Ekf19controlHeightFusionERKN9estimator9imuSampleE)
@@ -280,7 +269,7 @@
 *(.text._ZN6matrix6MatrixIfLj3ELj1EEC1ERKS1_)
 *(.text.udp_pollsetup)
 *(.text._ZL14timer_callbackPv)
-*(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj23EEEf)
+*(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj24EEEf)
 *(.text._ZN13land_detector23MulticopterLandDetector22_set_hysteresis_factorEi)
 *(.text.nxsem_wait_irq)
 *(.text._ZN20MavlinkCommandSender4lockEv)
@@ -299,7 +288,7 @@
 *(.text._ZN25MavlinkStreamHomePosition4sendEv)
 *(.text._ZN24MavlinkParametersManager8send_oneEv)
 *(.text._ZN15OutputPredictor29applyCorrectionToOutputBufferERKN6matrix7Vector3IfEES4_)
-*(.text._ZN21HealthAndArmingChecks6updateEb)
+*(.text._ZN21HealthAndArmingChecks6updateEbb)
 *(.text._ZThn24_N22MulticopterRateControl3RunEv)
 *(.text._ZN26MavlinkStreamManualControl4sendEv)
 *(.text._ZN27MavlinkStreamOpticalFlowRad4sendEv)
@@ -307,14 +296,11 @@
 *(.text._ZN4uORB7Manager11orb_publishEPK12orb_metadataPvPKv)
 *(.text._ZN24MavlinkParametersManager18send_untransmittedEv)
 *(.text._ZN10MavlinkFTP4sendEv)
-*(.text._ZN15ArchPX4IOSerial13_do_interruptEv)
-*(.text._ZN3Ekf27controlExternalVisionFusionEv)
+*(.text._ZN3Ekf27controlExternalVisionFusionERKN9estimator9imuSampleE)
 *(.text.clock_gettime)
 *(.text._ZN3ADC17update_adc_reportEy)
-*(.text._ZN3sym25ComputeYaw312InnovVarAndHIfEEvRKN6matrix6MatrixIT_Lj24ELj1EEERKNS2_IS3_Lj23ELj23EEES3_S3_PS3_PNS2_IS3_Lj23ELj1EEE)
-*(.text._ZN3Ekf19runTerrainEstimatorERKN9estimator9imuSampleE)
 *(.text._ZN32MavlinkStreamGimbalManagerStatus4sendEv)
-*(.text._ZN9LockGuardD1Ev)
+*(.text._ZN9LockGuardD1Ev) /* itcm-check-ignore */
 *(.text._ZN4EKF213PublishStatesERKy)
 *(.text._ZN3ADC3RunEv)
 *(.text._ZN6BMP38815compensate_dataEhPK16bmp3_uncomp_dataP9bmp3_data)
@@ -336,13 +322,11 @@
 *(.text._ZThn16_N7sensors22VehicleAngularVelocity3RunEv)
 *(.text._ZN29MavlinkStreamObstacleDistance4sendEv)
 *(.text._ZN24MavlinkStreamOrbitStatus4sendEv)
-*(.text._ZN16PreFlightChecker26preFlightCheckHeightFailedERK23estimator_innovations_sf)
 *(.text._ZN9Navigator3runEv)
 *(.text._ZN24MavlinkParametersManager11send_paramsEv)
 *(.text._ZN17MavlinkLogHandler4sendEv)
 *(.text._ZN7control10SuperBlock5setDtEf)
 *(.text._ZN29MavlinkStreamMountOrientation8get_sizeEv)
-*(.text._ZN5PX4IO13io_get_statusEv)
 *(.text._ZN26MulticopterAttitudeControl3RunEv)
 *(.text._ZThn16_N31ActuatorEffectivenessMultirotor22getEffectivenessMatrixERN21ActuatorEffectiveness13ConfigurationE25EffectivenessUpdateReason)
 *(.text._ZN4EKF218PublishStatusFlagsERKy)
@@ -350,13 +334,12 @@
 *(.text._ZN15FailureDetector6updateERK16vehicle_status_sRK22vehicle_control_mode_s)
 *(.text._ZN7Mavlink10send_startEi)
 *(.text.imxrt_lpspi_setbits)
-*(.text._ZN15OutputPredictor37applyCorrectionToVerticalOutputBufferEf)
+*(.text._ZN15OutputPredictor37applyCorrectionToVerticalOutputBufferEff)
 *(.text._ZN4EKF222UpdateAccelCalibrationERKy)
 *(.text._ZN7sensors19VehicleMagnetometer3RunEv)
 *(.text._ZN29MavlinkStreamMountOrientation4sendEv)
 *(.text._ZN13land_detector12LandDetector19UpdateVehicleAtRestEv)
 *(.text._ZN10FlightTask29_evaluateVehicleLocalPositionEv)
-*(.text.board_autoled_off)
 *(.text.__aeabi_f2lz)
 *(.text._ZN32MavlinkStreamCameraImageCaptured4sendEv)
 *(.text._ZN21MavlinkStreamOdometry8get_sizeEv)
@@ -365,24 +348,19 @@
 *(.text.poll)
 *(.text._ZN14FlightTaskAutoD1Ev)
 *(.text._ZN4uORB10DeviceNode22get_initial_generationEv)
-*(.text._ZN3Ekf23controlGnssHeightFusionERKN9estimator9gpsSampleE)
+*(.text._ZN3Ekf23controlGnssHeightFusionERKN9estimator10gnssSampleE)
 *(.text._ZN3Ekf40updateOnGroundMotionForOpticalFlowChecksEv)
 *(.text._ZN6matrix6MatrixIfLj3ELj1EEC1Ev)
 *(.text._ZN14ZeroGyroUpdate6updateER3EkfRKN9estimator9imuSampleE)
 *(.text._ZN30MavlinkStreamOpenDroneIdSystem4sendEv)
 *(.text._ZN22MavlinkStreamScaledIMU4sendEv)
-*(.text._ZN46MavlinkStreamTrajectoryRepresentationWaypoints4sendEv)
 *(.text.imxrt_ioctl)
-*(.text._ZN3Ekf25checkMagBiasObservabilityEv)
 *(.text._ZN36MavlinkStreamGimbalDeviceSetAttitude4sendEv)
-*(.text._ZN16PreFlightChecker6updateEfRK23estimator_innovations_s)
 *(.text._ZN4math13expo_deadzoneIfEEKT_RS2_S3_S3_.isra.0)
 *(.text._ZN19StickAccelerationXYC1EP12ModuleParams)
 *(.text.imxrt_epsubmit)
 *(.text._ZN15PositionControl6updateEf)
-*(.text._ZN3Ekf29checkVerticalAccelerationBiasERKN9estimator9imuSampleE)
 *(.text._ZN23MavlinkStreamScaledIMU24sendEv)
-*(.text._ZN5PX4IO10io_reg_getEhhPtj)
 *(.text.imxrt_dma_send)
 *(.text._ZN20MavlinkStreamWindCov4sendEv)
 *(.text._ZN7sensors18VotedSensorsUpdate13checkFailoverERNS0_10SensorDataEPKcN6events3px45enums13sensor_type_tE)
@@ -405,7 +383,7 @@
 *(.text._ZN9Commander11updateTunesEv)
 *(.text._ZN4EKF215UpdateMagSampleER17ekf2_timestamps_s)
 *(.text._ZN18DataValidatorGroup3putEjyPKfmh)
-*(.text._ZNK3Ekf19get_ekf_ctrl_limitsEPfS0_S0_S0_)
+*(.text._ZNK3Ekf19get_ekf_ctrl_limitsEPfS0_S0_S0_S0_)
 *(.text._ZN12FailsafeBase13checkFailsafeEibbRKNS_13ActionOptionsE)
 *(.text._ZN17FlightTaskDescendD1Ev)
 *(.text._ZN30MavlinkStreamOpenDroneIdSystem8get_sizeEv)
@@ -413,7 +391,6 @@
 *(.text._ZN24FlightTaskManualAltitudeD1Ev)
 *(.text._Z35px4_indicate_external_reset_lockout16LockoutComponentb)
 *(.text.uart_pollnotify)
-*(.text._ZN3Ekf11predictHaglERKN9estimator9imuSampleE)
 *(.text._ZN4EKF215PublishBaroBiasERKy)
 *(.text._ZN4EKF221UpdateGyroCalibrationERKy)
 *(.text._ZN6matrix9constrainIfLj3ELj1EEENS_6MatrixIT_XT0_EXT1_EEERKS3_S2_S2_)
@@ -444,7 +421,7 @@
 *(.text.clock_systime_timespec)
 *(.text._ZN4uORB10DeviceNode26remove_internal_subscriberEv)
 *(.text._ZThn16_N4EKF23RunEv)
-*(.text._ZNK3Ekf22computeYawInnovVarAndHEfRfRN6matrix6VectorIfLj23EEE)
+*(.text._ZNK3Ekf22computeYawInnovVarAndHEfRfRN6matrix6VectorIfLj24EEE)
 *(.text._ZN12ActuatorTest6updateEif)
 *(.text._ZN17VelocitySmoothingC1Efff)
 *(.text._ZN13AnalogBattery19get_voltage_channelEv)
@@ -459,11 +436,10 @@
 *(.text._ZN14FlightTaskAuto17_evaluateTripletsEv)
 *(.text._ZN11calibration9Gyroscope23SensorCorrectionsUpdateEb)
 *(.text._ZN25MavlinkStreamMagCalReport4sendEv)
-*(.text._ZN16PreFlightChecker27preFlightCheckHeadingFailedERK23estimator_innovations_sf)
 *(.text.imxrt_config_gpio)
 *(.text.nxsig_timeout)
 *(.text._ZN11RateControl19setSaturationStatusERKN6matrix7Vector3IbEES4_)
-*(.text._ZN3Ekf17measurementUpdateERN6matrix6VectorIfLj23EEEff)
+*(.text._ZN3Ekf17measurementUpdateERN6matrix6VectorIfLj24EEERKS2_ff)
 *(.text.dq_addlast)
 *(.text._ZN19MavlinkStreamVFRHUD4sendEv)
 *(.text.hrt_call_reschedule)
@@ -487,14 +463,13 @@
 *(.text._ZNK6matrix6MatrixIfLj3ELj1EE5emultERKS1_)
 *(.text.mallinfo_handler)
 *(.text._ZN13land_detector23MulticopterLandDetector14_update_topicsEv)
-*(.text._ZN24ManualVelocitySmoothingZC1Ev)
+*(.text._ZN24ManualVelocitySmoothingZC1Ev) /* itcm-check-ignore */
 *(.text._ZN3ADC6sampleEj)
 *(.text._ZNK3Ekf22isTerrainEstimateValidEv)
-*(.text._ZN15EstimatorChecks23setModeRequirementFlagsERK7ContextbbRK24vehicle_local_position_sRK12sensor_gps_sR16failsafe_flags_sR6Report)
+*(.text._ZN15EstimatorChecks23setModeRequirementFlagsERK7ContextbbbRK24vehicle_local_position_sRK12sensor_gps_sR16failsafe_flags_sR6Report)
 *(.text._ZN11ControlMath11addIfNotNanERff)
 *(.text._ZN9Commander21checkForMissionUpdateEv)
 *(.text._Z8set_tunei)
-*(.text._ZN3Ekf13stopGpsFusionEv)
 *(.text._ZNK6matrix7Vector3IfE5crossERKNS_6MatrixIfLj3ELj1EEE)
 *(.text._ZN10FlightTask22_checkEkfResetCountersEv)
 *(.text._ZNK6matrix6MatrixIfLj3ELj1EE11isAllFiniteEv)
@@ -516,7 +491,6 @@
 *(.text.MEM_DataCopy2_2)
 *(.text._ZN10FlightTask8activateERK21trajectory_setpoint_s)
 *(.text.sock_file_poll)
-*(.text._ZN3Ekf20controlHaglRngFusionEv)
 *(.text._ZN10Ringbuffer9pop_frontEPhj)
 *(.text.nx_write)
 *(.text._ZN9Commander18manualControlCheckEv)
@@ -527,18 +501,15 @@
 *(.text.sem_clockwait)
 *(.text.inet_poll)
 *(.text._ZN6BMP3887collectEv)
-*(.text._ZN15ArchPX4IOSerial19_do_rx_dma_callbackEbi)
-*(.text._ZN15ArchPX4IOSerial10_abort_dmaEv)
 *(.text._ZNK15PositionControl24getLocalPositionSetpointER33vehicle_local_position_setpoint_s)
 *(.text._ZN3Ekf16controlGpsFusionERKN9estimator9imuSampleE)
 *(.text._ZN23MavlinkStreamRCChannels8get_sizeEv)
 *(.text._ZN20MavlinkStreamESCInfo8get_sizeEv)
 *(.text._ZNK6matrix6VectorIfLj2EE4normEv)
 *(.text._Z15arm_auth_updateyb)
-*(.text._ZN3LED5ioctlEP4fileim)
+*(.text._ZN3LED5ioctlEP4fileim) /* itcm-check-ignore */
 *(.text._ZNK3px46logger9LogWriter20had_file_write_errorEv)
 *(.text._ZN29MavlinkStreamLocalPositionNED4sendEv)
-*(.text._ZN6matrix6MatrixIfLj2ELj1EEC1ILj3ELj1EEERKNS_5SliceIfLj2ELj1EXT_EXT0_EEE)
 *(.text._ZNK6matrix6VectorIfLj3EE3dotERKNS_6MatrixIfLj3ELj1EEE)
 *(.text.imxrt_lpi2c_setclock)
 *(.text._ZN6matrix12typeFunction9constrainIfEET_S2_S2_S2_.part.0)
@@ -559,16 +530,13 @@
 *(.text._ZN6BMP38815get_sensor_dataEhP9bmp3_data)
 *(.text._ZN18MavlinkRateLimiter5checkERKy)
 *(.text._ZThn24_N26MulticopterAttitudeControl3RunEv)
-*(.text._ZN15ArchPX4IOSerial10_interruptEiPvS0_)
 *(.text.imxrt_periphclk_configure)
-*(.text._ZN3Ekf8initHaglEv)
 *(.text._ZN4EKF218UpdateAuxVelSampleER17ekf2_timestamps_s)
 *(.text._ZN3RTL11on_inactiveEv)
 *(.text._ZN12FailsafeBase10modeCanRunERK16failsafe_flags_sh)
 *(.text._ZN4EKF216PublishEvPosBiasERKy)
 *(.text._ZN21MavlinkStreamAttitude8get_sizeEv)
 *(.text._ZThn16_N7sensors19VehicleAcceleration3RunEv)
-*(.text._ZN3Ekf24controlRangeHeightFusionEv)
 *(.text._ZN33MavlinkStreamTimeEstimateToTarget4sendEv)
 *(.text._ZN6matrix6MatrixIfLj3ELj1EE6setAllEf)
 *(.text._ZN12ModuleParamsD1Ev)
@@ -586,22 +554,19 @@
 *(.text._ZN26MulticopterPositionControl3RunEv)
 *(.text._ZN8Failsafe21fromQuadchuteActParamEi)
 *(.text._ZN24VariableLengthRingbuffer9pop_frontEPhj)
-*(.text._ZN7control15BlockDerivative6updateEf)
-*(.text._ZN5PX4IO10io_reg_getEhh)
+*(.text._ZN7control15BlockDerivative6updateEf) /* itcm-check-ignore */
 *(.text._ZN9Commander18safetyButtonUpdateEv)
 *(.text._ZN13BatteryChecks14checkAndReportERK7ContextR6Report)
 *(.text._ZN18DataValidatorGroup16get_sensor_stateEj)
 *(.text.uart_xmitchars_done)
 *(.text._ZN4EKF225PublishYawEstimatorStatusERKy)
 *(.text.sin)
-*(.text._ZN16PreFlightChecker27preFlightCheckVertVelFailedERK23estimator_innovations_sf)
 *(.text._ZN6Safety19safetyButtonHandlerEv)
-*(.text._ZN3Ekf19controlAuxVelFusionEv)
+*(.text._ZN3Ekf19controlAuxVelFusionERKN9estimator9imuSampleE)
 *(.text._ZNK6matrix6MatrixIfLj2ELj1EEplERKS1_)
 *(.text._ZThn24_N7Sensors3RunEv)
 *(.text._ZN6matrix6MatrixIfLj2ELj1EEC1ERKS1_)
 *(.text._ZN10FlightTask10reActivateEv)
-*(.text._ZN5PX4IO17io_publish_raw_rcEv)
 *(.text._ZNK15PositionControl19getAttitudeSetpointER27vehicle_attitude_setpoint_s)
 *(.text._ZN4cdev4CDev4pollEP4fileP6pollfdb)
 *(.text._ZN9Commander20offboardControlCheckEv)
@@ -613,7 +578,6 @@
 *(.text._ZN8Failsafe17updateArmingStateERKybRK16failsafe_flags_s)
 *(.text.imxrt_lpi2c_modifyreg)
 *(.text.up_flush_dcache)
-*(.text._ZN5PX4IO16io_handle_statusEt)
 *(.text._ZN15GyroCalibration3RunEv)
 *(.text.mavlink_start_uart_send)
 *(.text.MEM_DataCopy2)
@@ -647,7 +611,6 @@
 *(.text._ZN12FailsafeBase11updateDelayERKy)
 *(.text._ZN10FlightTask25_evaluateDistanceToGroundEv)
 *(.text._ZN4EKF218PublishGnssHgtBiasERKy)
-*(.text._ZN3Ekf21controlHaglFlowFusionEv)
 *(.text._ZN6matrix6VectorIfLj3EE9normalizeEv)
 *(.text._ZThn16_N7sensors10VehicleIMU3RunEv)
 *(.text.__kernel_cos)
@@ -659,22 +622,18 @@
 *(.text._Z15blink_msg_statev)
 *(.text._ZN19AccelerometerChecks14checkAndReportERK7ContextR6Report)
 *(.text._ZN8Failsafe14fromGfActParamEi)
-*(.text._ZN3Ekf27checkAndFixCovarianceUpdateERKN6matrix12SquareMatrixIfLj23EEE)
 *(.text._ZN3Ekf17controlBetaFusionERKN9estimator9imuSampleE)
-*(.text._ZN36do_not_explicitly_use_this_namespace5ParamIfLN3px46paramsE919EEC1Ev)
+*(.text._ZN36do_not_explicitly_use_this_namespace5ParamIfLN3px46paramsE919EEC1Ev) /* itcm-check-ignore */
 *(.text._ZN22MavlinkStreamHeartbeat8get_sizeEv)
 *(.text._ZN6matrix6MatrixIfLj3ELj1EEdVEf)
 *(.text._ZN17FlightTaskDescendC1Ev)
 *(.text._ZN26MavlinkStreamCameraTrigger8get_sizeEv)
 *(.text.iob_navail)
 *(.text._ZN12FailsafeBase25removeNonActivatedActionsEv)
-*(.text._ZN16PreFlightChecker28preFlightCheckHorizVelFailedERK23estimator_innovations_sf)
 *(.text._ZN15TakeoffHandling10updateRampEff)
 *(.text._Z7led_offi)
-*(.text._ZN16PreFlightChecker22selectHeadingTestLimitEv)
 *(.text.led_off)
 *(.text.udp_wrbuffer_test)
-*(.text._ZNK3Ekf34updateVerticalPositionAidSrcStatusERKyfffR24estimator_aid_source1d_s)
 *(.text._ZNK4math17WelfordMeanVectorIfLj3EE8varianceEv)
 *(.text._ZN27MavlinkStreamAttitudeTarget4sendEv)
 *(.text._ZN12MixingOutput19updateSubscriptionsEb)
@@ -683,7 +642,6 @@
 *(.text._ZN18MavlinkStreamDebug8get_sizeEv)
 *(.text._ZN12GPSDriverUBX7receiveEj)
 *(.text._ZN13BatteryStatus21parameter_update_pollEb)
-*(.text._ZN3Ekf26checkYawAngleObservabilityEv)
 *(.text._ZN3RTL18updateDatamanCacheEv)
 *(.text.__ieee754_sqrtf)
 *(.text._ZThn24_N18mag_bias_estimator16MagBiasEstimator3RunEv)
@@ -701,11 +659,9 @@
 *(.text._ZN12SystemChecks14checkAndReportERK7ContextR6Report)
 *(.text._ZN6matrix6MatrixIfLj3ELj1EEC1EPKf)
 *(.text.imxrt_padmux_address)
-*(.text._ZN3Ekf15setVelPosStatusEib)
 *(.text._ZN19MavlinkStreamVFRHUD8get_sizeEv)
 *(.text._ZN15EstimatorChecks15checkSensorBiasERK7ContextR6Report8NavModes)
 *(.text._ZN20ImuConsistencyChecks14checkAndReportERK7ContextR6Report)
-*(.text._ZN17ObstacleAvoidanceD1Ev)
 *(.text._ZN28MavlinkStreamGpsGlobalOrigin8get_sizeEv)
 *(.text.MEM_DataCopy2_1)
 *(.text._ZN6BMP3887measureEv)
@@ -713,7 +669,7 @@
 *(.text._ZN36MavlinkStreamPositionTargetGlobalInt8get_sizeEv)
 *(.text._ZN28MavlinkStreamEstimatorStatus8get_sizeEv)
 *(.text.up_clean_dcache)
-*(.text._ZThn56_N26MulticopterPositionControl3RunEv)
+*(.text._ZThn24_N26MulticopterPositionControl3RunEv)
 *(.text._ZN16FlightTimeChecks14checkAndReportERK7ContextR6Report)
 *(.text._ZN13ManualControl12processInputEy)
 *(.text._ZN17CpuResourceChecks14checkAndReportERK7ContextR6Report)
@@ -725,9 +681,8 @@
 *(.text._ZN32MavlinkStreamNavControllerOutput8get_sizeEv)
 *(.text._ZN6matrix8wrap_2piIfEET_S1_)
 *(.text._ZN4uORB7Manager30orb_remove_internal_subscriberEPv)
-*(.text._ZN10BMP388_I2C7get_regEh)
+*(.text._ZN10BMP388_I2C7get_regEhPh)
 *(.text._ZN4math17WelfordMeanVectorIfLj3EE5resetEv)
-*(.text._ZN30MavlinkStreamUTMGlobalPosition10const_rateEv)
 *(.text._ZN27MavlinkStreamScaledPressure8get_sizeEv)
 *(.text._ZN3RTL17parameters_updateEv)
 *(.text._ZN18EstimatorInterface11setBaroDataERKN9estimator10baroSampleE.part.0)
@@ -741,7 +696,6 @@
 *(.text._ZN4uORB10DeviceNode10poll_stateEP4file)
 *(.text._ZN4uORB7Manager8orb_copyEPK12orb_metadataiPv)
 *(.text._ZN27MavlinkStreamServoOutputRawILi0EE8get_sizeEv)
-*(.text._ZN30MavlinkStreamUTMGlobalPosition8get_sizeEv)
 *(.text._ZN8Geofence3runEv)
 *(.text._ZN15EstimatorChecks25checkEstimatorStatusFlagsERK7ContextR6ReportRK18estimator_status_sRK24vehicle_local_position_s)
 *(.text._ZN18MagnetometerChecks14checkAndReportERK7ContextR6Report)
@@ -752,7 +706,6 @@
 *(.text.read)
 *(.text._ZN4uORB15PublicationBaseD1Ev)
 *(.text._ZN22MavlinkStreamDebugVect8get_sizeEv)
-*(.text._ZN22MavlinkStreamCollision8get_sizeEv)
 *(.text._ZN7Mission11on_inactiveEv)
 *(.text._ZN7sensors19VehicleMagnetometer20UpdateMagCalibrationEv)
 *(.text._ZN11calibration27FindCurrentCalibrationIndexEPKcm)
@@ -3,7 +3,6 @@
 *(.text.arm_doirq)
 *(.text.arm_svcall)
 *(.text.arm_switchcontext)
-*(.text.board_autoled_on)
 *(.text.clock_timer)
 *(.text.exception_common)
 *(.text.flexio_irq_handler)
@@ -20,7 +19,6 @@
 *(.text.imxrt_endwait)
 *(.text.imxrt_enet_interrupt)
 *(.text.imxrt_enet_interrupt_work)
-*(.text.imxrt_gpio3_16_31_interrupt)
 *(.text.imxrt_interrupt)
 *(.text.imxrt_lpi2c_isr)
 *(.text.imxrt_lpspi_exchange)
@@ -105,13 +103,12 @@
 *(.text.devif_event_trigger)
 *(.text.devif_poll_icmp)
 *(.text.icmp_poll)
-*(.text.devif_packet_conversion)
 *(.text.arp_out)
 *(.text.arp_find)
 *(.text.arp_format)
-*(.text.net_ipv4addr_hdrcmp)
-*(.text.net_ipv4addr_copy)
-*(.text.net_ipv4addr_broadcast)
+*(.text.net_ipv4addr_hdrcmp) /* itcm-check-ignore */
+*(.text.net_ipv4addr_copy) /* itcm-check-ignore */
+*(.text.net_ipv4addr_broadcast) /* itcm-check-ignore */
 *(.text.wd_start)
 *(.text.arp_arpin)
 *(.text.ipv4_input)
@@ -1,5 +1,5 @@
 /****************************************************************************
- * boards/arm/imxrt/teensy-4.x/scripts/flash.ld
+ * boards/nxp/tropic-community/nuttx-config/scripts/script.ld
 *
 * Licensed to the Apache Software Foundation (ASF) under one or more
 * contributor license agreements.  See the NOTICE file distributed with
@@ -67,6 +67,7 @@ SECTIONS
        _sitcmfuncs = ABSOLUTE(.);
        FILL(0xFF)
        . = 0x40 ;
+        *(.ram_vectors)
        INCLUDE "itcm_static_functions.ld"
        INCLUDE "itcm_functions_includes.ld"
        . = ALIGN(8);
@@ -75,19 +76,6 @@ SECTIONS

    _fitcmfuncs = LOADADDR(.itcmfunc);

-    /* The RAM vector table (if present) should lie at the beginning of SRAM */
-
-    .ram_vectors (COPY) : {
-        *(.ram_vectors)
-    } > dtcm
-
-
-    /* Workaround for ethernet issue, by placing g_desc_pool into DTCM,
-       which effectively puts it into a no-cache region */
-    .dtcm : {
-        *(.bss.g_desc_pool)
-    } > dtcm
-
    .text :
    {
        _stext = ABSOLUTE(.);
@@ -13,6 +13,9 @@ then
 	param set-default UXRCE_DDS_PTCFG 2
 	param set-default UXRCE_DDS_AG_IP 170461697
 	param set-default UXRCE_DDS_CFG 1000
+
+	# The buzzer draws too much power (0.2A) on the GPS power rail (limit 0.45A).
+	param set-default CBRK_BUZZER 782097
 else
 	# Mavlink ethernet (CFG 1000)
 	param set-default MAV_2_CONFIG 1000
@@ -15,6 +15,9 @@ then
 	param set-default UXRCE_DDS_PTCFG 2
 	param set-default UXRCE_DDS_AG_IP 170461697
 	param set-default UXRCE_DDS_CFG 1000
+
+	# The buzzer draws too much power (0.2A) on the GPS power rail (limit 0.45A).
+	param set-default CBRK_BUZZER 782097
 else
 	# Mavlink ethernet (CFG 1000)
 	param set-default MAV_2_CONFIG 1000
@@ -2,7 +2,7 @@
 *(.text._ZN4uORB7Manager27orb_add_internal_subscriberE6ORB_IDhPj)
 *(.text._ZN13MavlinkStream6updateERKy)
 *(.text._ZN7Mavlink16update_rate_multEv)
-*(.text._ZN3sym17PredictCovarianceIfEEN6matrix6MatrixIT_Lj23ELj23EEERKNS2_IS3_Lj24ELj1EEERKS4_RKNS2_IS3_Lj3ELj1EEES3_SC_SC_S3_S3_)
+*(.text._ZN3sym17PredictCovarianceIfEEN6matrix6MatrixIT_Lj23ELj23EEERKNS2_IS3_Lj24ELj1EEERKS4_RKNS2_IS3_Lj3ELj1EEES3_SC_SC_S3_S3_) /* itcm-check-ignore */
 *(.text._ZN13MavlinkStream12get_size_avgEv)
 *(.text._ZN16ControlAllocator3RunEv)
 *(.text._ZN22MulticopterRateControl3RunEv.part.0)
@@ -57,7 +57,6 @@
 *(.text._ZN3px49WorkQueue3AddEPNS_8WorkItemE)
 *(.text._ZN4EKF220PublishLocalPositionERKy)
 *(.text._mav_finalize_message_chan_send)
-*(.text._ZN3Ekf19fixCovarianceErrorsEb)
 *(.text._ZN7sensors22VehicleAngularVelocity16ParametersUpdateEb)
 *(.text._ZN6events12SendProtocol6updateERKy)
 *(.text._ZN6device3SPI8transferEPhS1_j)
@@ -68,7 +67,7 @@
 *(.text.nx_poll)
 *(.text._ZN15MavlinkReceiver3runEv)
 *(.text._ZN9ICM42688P18ProcessTemperatureEPKN20InvenSense_ICM42688P4FIFO4DATAEh)
-*(.text._ZN15OutputPredictor19correctOutputStatesEyRKN6matrix10QuaternionIfEERKNS0_7Vector3IfEES8_S8_S8_)
+*(.text._ZN15OutputPredictor19correctOutputStatesEyRKN6matrix10QuaternionIfEERKNS0_7Vector3IfEERK9LatLonAltS8_S8_)
 *(.text._ZN3Ekf12predictStateERKN9estimator9imuSampleE)
 *(.text._ZN3px46logger6Logger3runEv)
 *(.text._ZN4uORB20SubscriptionInterval7updatedEv)
@@ -122,7 +121,6 @@
 *(.text._ZN22MulticopterRateControl28updateActuatorControlsStatusERK25vehicle_torque_setpoint_sf)
 *(.text._ZN11RateControl6updateERKN6matrix7Vector3IfEES4_S4_fb)
 *(.text._ZN39ControlAllocationSequentialDesaturation19desaturateActuatorsERN6matrix6VectorIfLj16EEERKS2_b)
-*(.text._ZN22MavlinkStreamCollision4sendEv)
 *(.text.imxrt_lpi2c_transfer)
 *(.text.uart_putxmitchar)
 *(.text.clock_nanosleep)
@@ -166,7 +164,7 @@
 *(.text._ZN13land_detector23MulticopterLandDetector25_get_ground_contact_stateEv)
 *(.text.imxrt_dmach_start)
 *(.text._ZN3ADC19update_system_powerEy)
-*(.text._ZNK3Ekf19get_ekf_soln_statusEPt)
+*(.text._ZNK3Ekf19get_ekf_soln_statusEv)
 *(.text._ZN3px46logger15watchdog_updateERNS0_15watchdog_data_tEb)
 *(.text.imxrt_gpio_read)
 *(.text._ZN32MavlinkStreamNavControllerOutput4sendEv)
@@ -193,11 +191,10 @@
 *(.text._ZN22MavlinkStreamGPSStatus4sendEv)
 *(.text._ZN4EKF220UpdateAirspeedSampleER17ekf2_timestamps_s)
 *(.text._ZN23MavlinkStreamStatustext4sendEv)
-*(.text._ZN3Ekf15constrainStatesEv)
 *(.text._ZN12PX4IO_serial4readEjPvj)
 *(.text.uart_poll)
 *(.text._ZN24MavlinkParametersManager4sendEv)
-*(.text._ZN26MulticopterPositionControl18set_vehicle_statesERK24vehicle_local_position_s)
+*(.text._ZN26MulticopterPositionControl18set_vehicle_statesERK24vehicle_local_position_sf)
 *(.text.file_poll)
 *(.text.hrt_elapsed_time)
 *(.text._ZN7Mavlink11send_finishEv)
@@ -231,8 +228,7 @@
 *(.text._ZN6matrix5EulerIfEC1ERKNS_10QuaternionIfEE)
 *(.text.imxrt_queuedtd)
 *(.text._ZN27MavlinkStreamDistanceSensor8get_sizeEv)
-*(.text._ZN3Ekf16fuseVelPosHeightEffi)
-*(.text._ZN3Ekf23controlBaroHeightFusionEv)
+*(.text._ZN3Ekf23controlBaroHeightFusionERKN9estimator9imuSampleE)
 *(.text._ZN16PX4Accelerometer9set_scaleEf)
 *(.text._ZN11ControlMath11constrainXYERKN6matrix7Vector2IfEES4_RKf)
 *(.text._ZN22MavlinkStreamEfiStatus4sendEv)
@@ -242,13 +238,11 @@
 *(.text._ZN15PositionControl11_inputValidEv)
 *(.text._ZN7sensors14VehicleAirData3RunEv)
 *(.text.perf_count)
-*(.text._ZN3Ekf16controlMagFusionEv)
+*(.text._ZN3Ekf16controlMagFusionERKN9estimator9imuSampleE)
 *(.text.pthread_sem_give)
 *(.text._ZN7sensors10VehicleIMU16ParametersUpdateEb)
-*(.text._ZN30MavlinkStreamUTMGlobalPosition4sendEv)
 *(.text._ZN4uORB20SubscriptionInterval4copyEPv)
 *(.text._ZN12I2CSPIDriverI9ICM42688PE3RunEv)
-*(.text._ZN17ObstacleAvoidanceC1EP12ModuleParams)
 *(.text.imxrt_epcomplete.constprop.0)
 *(.text._ZNK6matrix6MatrixIfLj3ELj1EEmiERKS1_)
 *(.text._ZN9Commander30handleModeIntentionAndFailsafeEv)
@@ -279,7 +273,7 @@
 *(.text._ZN6matrix6MatrixIfLj3ELj1EEC1ERKS1_)
 *(.text.udp_pollsetup)
 *(.text._ZL14timer_callbackPv)
-*(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj23EEEf)
+*(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj24EEEf)
 *(.text._ZN13land_detector23MulticopterLandDetector22_set_hysteresis_factorEi)
 *(.text.nxsem_wait_irq)
 *(.text._ZN20MavlinkCommandSender4lockEv)
@@ -298,7 +292,7 @@
 *(.text._ZN25MavlinkStreamHomePosition4sendEv)
 *(.text._ZN24MavlinkParametersManager8send_oneEv)
 *(.text._ZN15OutputPredictor29applyCorrectionToOutputBufferERKN6matrix7Vector3IfEES4_)
-*(.text._ZN21HealthAndArmingChecks6updateEb)
+*(.text._ZN21HealthAndArmingChecks6updateEbb)
 *(.text._ZThn24_N22MulticopterRateControl3RunEv)
 *(.text._ZN26MavlinkStreamManualControl4sendEv)
 *(.text._ZN27MavlinkStreamOpticalFlowRad4sendEv)
@@ -307,13 +301,11 @@
 *(.text._ZN24MavlinkParametersManager18send_untransmittedEv)
 *(.text._ZN10MavlinkFTP4sendEv)
 *(.text._ZN15ArchPX4IOSerial13_do_interruptEv)
-*(.text._ZN3Ekf27controlExternalVisionFusionEv)
+*(.text._ZN3Ekf27controlExternalVisionFusionERKN9estimator9imuSampleE)
 *(.text.clock_gettime)
 *(.text._ZN3ADC17update_adc_reportEy)
-*(.text._ZN3sym25ComputeYaw312InnovVarAndHIfEEvRKN6matrix6MatrixIT_Lj24ELj1EEERKNS2_IS3_Lj23ELj23EEES3_S3_PS3_PNS2_IS3_Lj23ELj1EEE)
-*(.text._ZN3Ekf19runTerrainEstimatorERKN9estimator9imuSampleE)
 *(.text._ZN32MavlinkStreamGimbalManagerStatus4sendEv)
-*(.text._ZN9LockGuardD1Ev)
+*(.text._ZN9LockGuardD1Ev) /* itcm-check-ignore */
 *(.text._ZN4EKF213PublishStatesERKy)
 *(.text._ZN3ADC3RunEv)
 *(.text._ZN6BMP38815compensate_dataEhPK16bmp3_uncomp_dataP9bmp3_data)
@@ -348,7 +340,7 @@
 *(.text._ZN15FailureDetector6updateERK16vehicle_status_sRK22vehicle_control_mode_s)
 *(.text._ZN7Mavlink10send_startEi)
 *(.text.imxrt_lpspi_setbits)
-*(.text._ZN15OutputPredictor37applyCorrectionToVerticalOutputBufferEf)
+*(.text._ZN15OutputPredictor37applyCorrectionToVerticalOutputBufferEff)
 *(.text._ZN4EKF222UpdateAccelCalibrationERKy)
 *(.text._ZN7sensors19VehicleMagnetometer3RunEv)
 *(.text._ZN29MavlinkStreamMountOrientation4sendEv)
@@ -363,15 +355,13 @@
 *(.text.poll)
 *(.text._ZN14FlightTaskAutoD1Ev)
 *(.text._ZN4uORB10DeviceNode22get_initial_generationEv)
-*(.text._ZN3Ekf23controlGnssHeightFusionERKN9estimator9gpsSampleE)
+*(.text._ZN3Ekf23controlGnssHeightFusionERKN9estimator10gnssSampleE)
 *(.text._ZN3Ekf40updateOnGroundMotionForOpticalFlowChecksEv)
 *(.text._ZN6matrix6MatrixIfLj3ELj1EEC1Ev)
 *(.text._ZN14ZeroGyroUpdate6updateER3EkfRKN9estimator9imuSampleE)
 *(.text._ZN30MavlinkStreamOpenDroneIdSystem4sendEv)
 *(.text._ZN22MavlinkStreamScaledIMU4sendEv)
-*(.text._ZN46MavlinkStreamTrajectoryRepresentationWaypoints4sendEv)
 *(.text.imxrt_ioctl)
-*(.text._ZN3Ekf25checkMagBiasObservabilityEv)
 *(.text._ZN36MavlinkStreamGimbalDeviceSetAttitude4sendEv)
 *(.text._ZN4math13expo_deadzoneIfEEKT_RS2_S3_S3_.isra.0)
 *(.text._ZN19StickAccelerationXYC1EP12ModuleParams)
@@ -401,7 +391,7 @@
 *(.text._ZN9Commander11updateTunesEv)
 *(.text._ZN4EKF215UpdateMagSampleER17ekf2_timestamps_s)
 *(.text._ZN18DataValidatorGroup3putEjyPKfmh)
-*(.text._ZNK3Ekf19get_ekf_ctrl_limitsEPfS0_S0_S0_)
+*(.text._ZNK3Ekf19get_ekf_ctrl_limitsEPfS0_S0_S0_S0_)
 *(.text._ZN12FailsafeBase13checkFailsafeEibbRKNS_13ActionOptionsE)
 *(.text._ZN17FlightTaskDescendD1Ev)
 *(.text._ZN30MavlinkStreamOpenDroneIdSystem8get_sizeEv)
@@ -409,7 +399,6 @@
 *(.text._ZN24FlightTaskManualAltitudeD1Ev)
 *(.text._Z35px4_indicate_external_reset_lockout16LockoutComponentb)
 *(.text.uart_pollnotify)
-*(.text._ZN3Ekf11predictHaglERKN9estimator9imuSampleE)
 *(.text._ZN4EKF215PublishBaroBiasERKy)
 *(.text._ZN4EKF221UpdateGyroCalibrationERKy)
 *(.text._ZN6matrix9constrainIfLj3ELj1EEENS_6MatrixIT_XT0_EXT1_EEERKS3_S2_S2_)
@@ -440,7 +429,7 @@
 *(.text.clock_systime_timespec)
 *(.text._ZN4uORB10DeviceNode26remove_internal_subscriberEv)
 *(.text._ZThn16_N4EKF23RunEv)
-*(.text._ZNK3Ekf22computeYawInnovVarAndHEfRfRN6matrix6VectorIfLj23EEE)
+*(.text._ZNK3Ekf22computeYawInnovVarAndHEfRfRN6matrix6VectorIfLj24EEE)
 *(.text._ZN12ActuatorTest6updateEif)
 *(.text._ZN17VelocitySmoothingC1Efff)
 *(.text._ZN13AnalogBattery19get_voltage_channelEv)
@@ -458,7 +447,7 @@
 *(.text.imxrt_config_gpio)
 *(.text.nxsig_timeout)
 *(.text._ZN11RateControl19setSaturationStatusERKN6matrix7Vector3IbEES4_)
-*(.text._ZN3Ekf17measurementUpdateERN6matrix6VectorIfLj23EEEff)
+*(.text._ZN3Ekf17measurementUpdateERN6matrix6VectorIfLj24EEERKS2_ff)
 *(.text.dq_addlast)
 *(.text._ZN19MavlinkStreamVFRHUD4sendEv)
 *(.text.hrt_call_reschedule)
@@ -482,14 +471,13 @@
 *(.text._ZNK6matrix6MatrixIfLj3ELj1EE5emultERKS1_)
 *(.text.mallinfo_handler)
 *(.text._ZN13land_detector23MulticopterLandDetector14_update_topicsEv)
-*(.text._ZN24ManualVelocitySmoothingZC1Ev)
+*(.text._ZN24ManualVelocitySmoothingZC1Ev) /* itcm-check-ignore */
 *(.text._ZN3ADC6sampleEj)
 *(.text._ZNK3Ekf22isTerrainEstimateValidEv)
-*(.text._ZN15EstimatorChecks23setModeRequirementFlagsERK7ContextbbRK24vehicle_local_position_sRK12sensor_gps_sR16failsafe_flags_sR6Report)
+*(.text._ZN15EstimatorChecks23setModeRequirementFlagsERK7ContextbbbRK24vehicle_local_position_sRK12sensor_gps_sR16failsafe_flags_sR6Report)
 *(.text._ZN11ControlMath11addIfNotNanERff)
 *(.text._ZN9Commander21checkForMissionUpdateEv)
 *(.text._Z8set_tunei)
-*(.text._ZN3Ekf13stopGpsFusionEv)
 *(.text._ZNK6matrix7Vector3IfE5crossERKNS_6MatrixIfLj3ELj1EEE)
 *(.text._ZN10FlightTask22_checkEkfResetCountersEv)
 *(.text._ZNK6matrix6MatrixIfLj3ELj1EE11isAllFiniteEv)
@@ -511,7 +499,6 @@
 *(.text.MEM_DataCopy2_2)
 *(.text._ZN10FlightTask8activateERK21trajectory_setpoint_s)
 *(.text.sock_file_poll)
-*(.text._ZN3Ekf20controlHaglRngFusionEv)
 *(.text._ZN10Ringbuffer9pop_frontEPhj)
 *(.text.nx_write)
 *(.text._ZN9Commander18manualControlCheckEv)
@@ -533,7 +520,6 @@
 *(.text._ZN3LED5ioctlEP4fileim)
 *(.text._ZNK3px46logger9LogWriter20had_file_write_errorEv)
 *(.text._ZN29MavlinkStreamLocalPositionNED4sendEv)
-*(.text._ZN6matrix6MatrixIfLj2ELj1EEC1ILj3ELj1EEERKNS_5SliceIfLj2ELj1EXT_EXT0_EEE)
 *(.text._ZNK6matrix6VectorIfLj3EE3dotERKNS_6MatrixIfLj3ELj1EEE)
 *(.text.imxrt_lpi2c_setclock)
 *(.text._ZN6matrix12typeFunction9constrainIfEET_S2_S2_S2_.part.0)
@@ -556,14 +542,12 @@
 *(.text._ZThn24_N26MulticopterAttitudeControl3RunEv)
 *(.text._ZN15ArchPX4IOSerial10_interruptEiPvS0_)
 *(.text.imxrt_periphclk_configure)
-*(.text._ZN3Ekf8initHaglEv)
 *(.text._ZN4EKF218UpdateAuxVelSampleER17ekf2_timestamps_s)
 *(.text._ZN3RTL11on_inactiveEv)
 *(.text._ZN12FailsafeBase10modeCanRunERK16failsafe_flags_sh)
 *(.text._ZN4EKF216PublishEvPosBiasERKy)
 *(.text._ZN21MavlinkStreamAttitude8get_sizeEv)
 *(.text._ZThn16_N7sensors19VehicleAcceleration3RunEv)
-*(.text._ZN3Ekf24controlRangeHeightFusionEv)
 *(.text._ZN33MavlinkStreamTimeEstimateToTarget4sendEv)
 *(.text._ZN6matrix6MatrixIfLj3ELj1EE6setAllEf)
 *(.text._ZN12ModuleParamsD1Ev)
@@ -581,7 +565,7 @@
 *(.text._ZN26MulticopterPositionControl3RunEv)
 *(.text._ZN8Failsafe21fromQuadchuteActParamEi)
 *(.text._ZN24VariableLengthRingbuffer9pop_frontEPhj)
-*(.text._ZN7control15BlockDerivative6updateEf)
+*(.text._ZN7control15BlockDerivative6updateEf) /* itcm-check-ignore */
 *(.text._ZN5PX4IO10io_reg_getEhh)
 *(.text._ZN9Commander18safetyButtonUpdateEv)
 *(.text._ZN13BatteryChecks14checkAndReportERK7ContextR6Report)
@@ -590,7 +574,7 @@
 *(.text._ZN4EKF225PublishYawEstimatorStatusERKy)
 *(.text.sin)
 *(.text._ZN6Safety19safetyButtonHandlerEv)
-*(.text._ZN3Ekf19controlAuxVelFusionEv)
+*(.text._ZN3Ekf19controlAuxVelFusionERKN9estimator9imuSampleE)
 *(.text._ZNK6matrix6MatrixIfLj2ELj1EEplERKS1_)
 *(.text._ZThn24_N7Sensors3RunEv)
 *(.text._ZN6matrix6MatrixIfLj2ELj1EEC1ERKS1_)
@@ -641,7 +625,6 @@
 *(.text._ZN12FailsafeBase11updateDelayERKy)
 *(.text._ZN10FlightTask25_evaluateDistanceToGroundEv)
 *(.text._ZN4EKF218PublishGnssHgtBiasERKy)
-*(.text._ZN3Ekf21controlHaglFlowFusionEv)
 *(.text._ZN6matrix6VectorIfLj3EE9normalizeEv)
 *(.text._ZThn16_N7sensors10VehicleIMU3RunEv)
 *(.text.__kernel_cos)
@@ -653,9 +636,8 @@
 *(.text._Z15blink_msg_statev)
 *(.text._ZN19AccelerometerChecks14checkAndReportERK7ContextR6Report)
 *(.text._ZN8Failsafe14fromGfActParamEi)
-*(.text._ZN3Ekf27checkAndFixCovarianceUpdateERKN6matrix12SquareMatrixIfLj23EEE)
 *(.text._ZN3Ekf17controlBetaFusionERKN9estimator9imuSampleE)
-*(.text._ZN36do_not_explicitly_use_this_namespace5ParamIfLN3px46paramsE919EEC1Ev)
+*(.text._ZN36do_not_explicitly_use_this_namespace5ParamIfLN3px46paramsE919EEC1Ev) /* itcm-check-ignore */
 *(.text._ZN22MavlinkStreamHeartbeat8get_sizeEv)
 *(.text._ZN6matrix6MatrixIfLj3ELj1EEdVEf)
 *(.text._ZN17FlightTaskDescendC1Ev)
@@ -666,7 +648,6 @@
 *(.text._Z7led_offi)
 *(.text.led_off)
 *(.text.udp_wrbuffer_test)
-*(.text._ZNK3Ekf34updateVerticalPositionAidSrcStatusERKyfffR24estimator_aid_source1d_s)
 *(.text._ZNK4math17WelfordMeanVectorIfLj3EE8varianceEv)
 *(.text._ZN27MavlinkStreamAttitudeTarget4sendEv)
 *(.text._ZN12MixingOutput19updateSubscriptionsEb)
@@ -692,11 +673,9 @@
 *(.text._ZN12SystemChecks14checkAndReportERK7ContextR6Report)
 *(.text._ZN6matrix6MatrixIfLj3ELj1EEC1EPKf)
 *(.text.imxrt_padmux_address)
-*(.text._ZN3Ekf15setVelPosStatusEib)
 *(.text._ZN19MavlinkStreamVFRHUD8get_sizeEv)
 *(.text._ZN15EstimatorChecks15checkSensorBiasERK7ContextR6Report8NavModes)
 *(.text._ZN20ImuConsistencyChecks14checkAndReportERK7ContextR6Report)
-*(.text._ZN17ObstacleAvoidanceD1Ev)
 *(.text._ZN28MavlinkStreamGpsGlobalOrigin8get_sizeEv)
 *(.text.MEM_DataCopy2_1)
 *(.text._ZN6BMP3887measureEv)
@@ -704,7 +683,7 @@
 *(.text._ZN36MavlinkStreamPositionTargetGlobalInt8get_sizeEv)
 *(.text._ZN28MavlinkStreamEstimatorStatus8get_sizeEv)
 *(.text.up_clean_dcache)
-*(.text._ZThn56_N26MulticopterPositionControl3RunEv)
+*(.text._ZThn24_N26MulticopterPositionControl3RunEv)
 *(.text._ZN16FlightTimeChecks14checkAndReportERK7ContextR6Report)
 *(.text._ZN13ManualControl12processInputEy)
 *(.text._ZN17CpuResourceChecks14checkAndReportERK7ContextR6Report)
@@ -716,9 +695,8 @@
 *(.text._ZN32MavlinkStreamNavControllerOutput8get_sizeEv)
 *(.text._ZN6matrix8wrap_2piIfEET_S1_)
 *(.text._ZN4uORB7Manager30orb_remove_internal_subscriberEPv)
-*(.text._ZN10BMP388_I2C7get_regEh)
+*(.text._ZN10BMP388_I2C7get_regEhPh)
 *(.text._ZN4math17WelfordMeanVectorIfLj3EE5resetEv)
-*(.text._ZN30MavlinkStreamUTMGlobalPosition10const_rateEv)
 *(.text._ZN27MavlinkStreamScaledPressure8get_sizeEv)
 *(.text._ZN3RTL17parameters_updateEv)
 *(.text._ZN18EstimatorInterface11setBaroDataERKN9estimator10baroSampleE.part.0)
@@ -732,7 +710,6 @@
 *(.text._ZN4uORB10DeviceNode10poll_stateEP4file)
 *(.text._ZN4uORB7Manager8orb_copyEPK12orb_metadataiPv)
 *(.text._ZN27MavlinkStreamServoOutputRawILi0EE8get_sizeEv)
-*(.text._ZN30MavlinkStreamUTMGlobalPosition8get_sizeEv)
 *(.text._ZN8Geofence3runEv)
 *(.text._ZN15EstimatorChecks25checkEstimatorStatusFlagsERK7ContextR6ReportRK18estimator_status_sRK24vehicle_local_position_s)
 *(.text._ZN18MagnetometerChecks14checkAndReportERK7ContextR6Report)
@@ -743,7 +720,6 @@
 *(.text.read)
 *(.text._ZN4uORB15PublicationBaseD1Ev)
 *(.text._ZN22MavlinkStreamDebugVect8get_sizeEv)
-*(.text._ZN22MavlinkStreamCollision8get_sizeEv)
 *(.text._ZN7Mission11on_inactiveEv)
 *(.text._ZN7sensors19VehicleMagnetometer20UpdateMagCalibrationEv)
 *(.text._ZN11calibration27FindCurrentCalibrationIndexEPKcm)
@@ -10,4 +10,4 @@
 # fi

 # DShot telemetry is always on UART7
-# dshot telemetry /dev/ttyS5
+# dshot telemetry -d /dev/ttyS5
@@ -956,5 +956,59 @@
    "type": "PageNotLinkedInternally",
    "fileRelativeToRoot": "en\\config\\_autotune.md",
    "hideReason": "Page is intended to be an orphan"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\computer_vision\\path_planning_interface.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.14/en/computer_vision/path_planning_interface.html",
+      "text": "PX4 v1.14 docs"
+    },
+    "hideReason": "Intended"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\dev_log\\log_encryption.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.15/en/dev_log/log_encryption.html",
+      "text": "Log Encryption (PX4 v1.15)"
+    },
+    "hideReason": "Intended"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\releases\\1.16.md",
+    "link": {
+      "url": "https://docs.px4.io/main/en/releases/main.html",
+      "text": "See the latest version"
+    },
+    "hideReason": "intended"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\releases\\main.md",
+    "link": {
+      "url": "https://docs.px4.io/main/en/releases/main.html",
+      "text": "See the latest version"
+    },
+    "hideReason": "intended"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\robotics\\index.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.12/en/robotics/dronekit.html",
+      "text": "PX4 v1.12 > DroneKit"
+    },
+    "hideReason": "Intended"
+  },
+  {
+    "type": "UrlToLocalSite",
+    "fileRelativeToRoot": "en\\ros2\\user_guide.md",
+    "link": {
+      "url": "https://docs.px4.io/v1.13/en/ros/ros2_comm.html",
+      "text": "PX4 v1.13 Docs"
+    },
+    "hideReason": "intended"
  }
 ]
@@ -2,7 +2,7 @@
 #
 # Stack: PX4 Pro
 # Vehicle: VTOL
-# Version: 1.13.0 
+# Version: 1.13.0
 # Git Revision: 89b7373cb202071a
 #
 # Vehicle-Id Component-Id Name Value Type
@@ -39,7 +39,7 @@
 1	1	FW_AIRSPD_TRIM	17.000000000000000000	9
 1	1	FW_PR_FF	0.300000011920928955	9
 1	1	FW_PR_I	0.500000000000000000	9
-1	1	FW_PR_P	0.400000005960464478	9
+1	1	FW_PR_P	0.3	9
 1	1	FW_PSP_OFF	3.000000000000000000	9
 1	1	FW_P_LIM_MAX	30.000000000000000000	9
 1	1	FW_P_TC	0.349999994039535522	9
@@ -124,4 +124,4 @@
 1	1	VT_F_TR_OL_TM	9.000000000000000000	9
 1	1	VT_LND_PITCH_MIN	0.000000000000000000	9
 1	1	VT_PITCH_MIN	3.000000000000000000	9
-1	1	VT_TRANS_MIN_TM	5.000000000000000000	9
+1	1	VT_TRANS_MIN_TM	5.000000000000000000	9
@@ -456,6 +456,7 @@
      - [Vehicles](sim_gazebo_gz/vehicles.md)
        - [Advanced Lift Drag Tool](sim_gazebo_gz/tools_avl_automation.md)
      - [Worlds](sim_gazebo_gz/worlds.md)
+      - [Plugins](sim_gazebo_gz/plugins.md)
      - [Gazebo Models Repository](sim_gazebo_gz/gazebo_models.md)
      - [Multi-Vehicle Sim](sim_gazebo_gz/multi_vehicle_simulation.md)
    - [Gazebo Classic Simulation](sim_gazebo_classic/index.md)
@@ -488,12 +489,17 @@
      - [Versioned](msg_docs/versioned_messages.md)
        - [ActuatorMotors](msg_docs/ActuatorMotors.md)
        - [ActuatorServos](msg_docs/ActuatorServos.md)
+        - [AirspeedValidated](msg_docs/AirspeedValidated.md)
        - [ArmingCheckReply](msg_docs/ArmingCheckReply.md)
        - [ArmingCheckRequest](msg_docs/ArmingCheckRequest.md)
        - [BatteryStatus](msg_docs/BatteryStatus.md)
        - [ConfigOverrides](msg_docs/ConfigOverrides.md)
+        - [FixedWingLateralSetpoint](msg_docs/FixedWingLateralSetpoint.md)
+        - [FixedWingLongitudinalSetpoint](msg_docs/FixedWingLongitudinalSetpoint.md)
        - [GotoSetpoint](msg_docs/GotoSetpoint.md)
        - [HomePosition](msg_docs/HomePosition.md)
+        - [LateralControlConfiguration](msg_docs/LateralControlConfiguration.md)
+        - [LongitudinalControlConfiguration](msg_docs/LongitudinalControlConfiguration.md)
        - [ManualControlSetpoint](msg_docs/ManualControlSetpoint.md)
        - [ModeCompleted](msg_docs/ModeCompleted.md)
        - [RegisterExtComponentReply](msg_docs/RegisterExtComponentReply.md)
@@ -522,10 +528,8 @@
        - [ActuatorTest](msg_docs/ActuatorTest.md)
        - [AdcReport](msg_docs/AdcReport.md)
        - [Airspeed](msg_docs/Airspeed.md)
-        - [AirspeedValidated](msg_docs/AirspeedValidated.md)
        - [AirspeedWind](msg_docs/AirspeedWind.md)
        - [AutotuneAttitudeControlStatus](msg_docs/AutotuneAttitudeControlStatus.md)
-        - [Buffer128](msg_docs/Buffer128.md)
        - [ButtonEvent](msg_docs/ButtonEvent.md)
        - [CameraCapture](msg_docs/CameraCapture.md)
        - [CameraStatus](msg_docs/CameraStatus.md)
@@ -564,6 +568,9 @@
        - [FailsafeFlags](msg_docs/FailsafeFlags.md)
        - [FailureDetectorStatus](msg_docs/FailureDetectorStatus.md)
        - [FigureEightStatus](msg_docs/FigureEightStatus.md)
+        - [FixedWingLateralGuidanceStatus](msg_docs/FixedWingLateralGuidanceStatus.md)
+        - [FixedWingLateralStatus](msg_docs/FixedWingLateralStatus.md)
+        - [FixedWingRunwayControl](msg_docs/FixedWingRunwayControl.md)
        - [FlightPhaseEstimation](msg_docs/FlightPhaseEstimation.md)
        - [FollowTarget](msg_docs/FollowTarget.md)
        - [FollowTargetEstimator](msg_docs/FollowTargetEstimator.md)
@@ -616,7 +623,6 @@
        - [NavigatorMissionItem](msg_docs/NavigatorMissionItem.md)
        - [NavigatorStatus](msg_docs/NavigatorStatus.md)
        - [NormalizedUnsignedSetpoint](msg_docs/NormalizedUnsignedSetpoint.md)
-        - [NpfgStatus](msg_docs/NpfgStatus.md)
        - [ObstacleDistance](msg_docs/ObstacleDistance.md)
        - [OffboardControlMode](msg_docs/OffboardControlMode.md)
        - [OnboardComputerStatus](msg_docs/OnboardComputerStatus.md)
@@ -652,13 +658,12 @@
        - [RcParameterMap](msg_docs/RcParameterMap.md)
        - [RoverAttitudeSetpoint](msg_docs/RoverAttitudeSetpoint.md)
        - [RoverAttitudeStatus](msg_docs/RoverAttitudeStatus.md)
-        - [RoverMecanumGuidanceStatus](msg_docs/RoverMecanumGuidanceStatus.md)
-        - [RoverMecanumSetpoint](msg_docs/RoverMecanumSetpoint.md)
-        - [RoverMecanumStatus](msg_docs/RoverMecanumStatus.md)
+        - [RoverPositionSetpoint](msg_docs/RoverPositionSetpoint.md)
        - [RoverRateSetpoint](msg_docs/RoverRateSetpoint.md)
        - [RoverRateStatus](msg_docs/RoverRateStatus.md)
        - [RoverSteeringSetpoint](msg_docs/RoverSteeringSetpoint.md)
        - [RoverThrottleSetpoint](msg_docs/RoverThrottleSetpoint.md)
+        - [RoverVelocitySetpoint](msg_docs/RoverVelocitySetpoint.md)
        - [RoverVelocityStatus](msg_docs/RoverVelocityStatus.md)
        - [Rpm](msg_docs/Rpm.md)
        - [RtlStatus](msg_docs/RtlStatus.md)
@@ -690,6 +695,7 @@
        - [TelemetryStatus](msg_docs/TelemetryStatus.md)
        - [TiltrotorExtraControls](msg_docs/TiltrotorExtraControls.md)
        - [TimesyncStatus](msg_docs/TimesyncStatus.md)
+        - [TrajectorySetpoint6dof](msg_docs/TrajectorySetpoint6dof.md)
        - [TransponderReport](msg_docs/TransponderReport.md)
        - [TuneControl](msg_docs/TuneControl.md)
        - [UavcanParameterRequest](msg_docs/UavcanParameterRequest.md)
@@ -713,14 +719,18 @@
        - [WheelEncoders](msg_docs/WheelEncoders.md)
        - [Wind](msg_docs/Wind.md)
        - [YawEstimatorStatus](msg_docs/YawEstimatorStatus.md)
+        - [AirspeedValidatedV0](msg_docs/AirspeedValidatedV0.md)
+        - [VehicleAttitudeSetpointV0](msg_docs/VehicleAttitudeSetpointV0.md)
        - [VehicleStatusV0](msg_docs/VehicleStatusV0.md)
-    - [MAVLink Messaging](middleware/mavlink.md)
+    - [MAVLink Messaging](mavlink/index.md)
      - [Adding Messages](mavlink/adding_messages.md)
      - [Streaming Messages](mavlink/streaming_messages.md)
      - [Receiving Messages](mavlink/receiving_messages.md)
      - [Custom MAVLink Messages](mavlink/custom_messages.md)
-      - [Standard Modes Protocol](mavlink/standard_modes.md)
+      - [Protocols/Microservices](mavlink/protocols.md)
+        - [Standard Modes Protocol](mavlink/standard_modes.md)
    - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](middleware/uxrce_dds.md)
+      - [UORB Bridged to ROS 2](middleware/dds_topics.md)
  - [Modules & Commands](modules/modules_main.md)
    - [Autotune](modules/modules_autotune.md)
    - [Commands](modules/modules_command.md)
@@ -736,6 +746,7 @@
      - [Magnetometer](modules/modules_driver_magnetometer.md)
      - [Optical Flow](modules/modules_driver_optical_flow.md)
      - [Rpm Sensor](modules/modules_driver_rpm_sensor.md)
+      - [Radio Control](modules/modules_driver_radio_control.md)
      - [Transponder](modules/modules_driver_transponder.md)
    - [Estimators](modules/modules_estimator.md)
    - [Simulations](modules/modules_simulation.md)
@@ -845,6 +856,7 @@
  - [Licenses](contribute/licenses.md)
 - [Releases](releases/index.md)
  - [main (alpha)](releases/main.md)
+  - [1.16 (release candidate)](releases/1.16.md)
  - [1.15 (stable)](releases/1.15.md)
  - [1.14](releases/1.14.md)
  - [1.13](releases/1.13.md)
@@ -42,8 +42,9 @@
    - [MindRacer BNF & RTF](/complete_vehicles_mc/mindracer_BNF_RTF.md)
      - [MindRacer 210](/complete_vehicles_mc/mindracer210.md)
      - [NanoMind 110](/complete_vehicles_mc/nanomind110.md)
-    - [Holybro Kopis 2](/complete_vehicles_mc/holybro_kopis2.md)
    - [Bitcraze Crazyflie 2.1](/complete_vehicles_mc/crazyflie21.md)
+    - [Holybro Kopis 2](/complete_vehicles_mc/holybro_kopis2.md)
+    - [Amov F410 Drone](/complete_vehicles_mc/amov_F410_drone.md)
  - [Kits](/frames_multicopter/kits.md)
    - [X500 v2 (Pixhawk 6C)](/frames_multicopter/holybro_x500v2_pixhawk6c.md)
    - [X500 v2 (Pixhawk 5X)](/frames_multicopter/holybro_x500V2_pixhawk5x.md)
@@ -166,7 +167,7 @@
      - [AirMind MindPX](/flight_controller/mindpx.md)
      - [AirMind MindRacer](/flight_controller/mindracer.md)
      - [ARK Electronics ARKV6X](/flight_controller/ark_v6x.md)
-      - [ARK FPV Flight Controller](/flight_controller/ark_fpv.md) 
+      - [ARK FPV Flight Controller](/flight_controller/ark_fpv.md)
      - [ARK Pi6X Flow Flight Controller](/flight_controller/ark_pi6x.md)
      - [CUAV X7](/flight_controller/cuav_x7.md)
      - [CUAV Nora](/flight_controller/cuav_nora.md)
@@ -182,7 +183,7 @@
      - [Holybro Kakute H7v2](/flight_controller/kakuteh7v2.md)
      - [Holybro Kakute H7mini](/flight_controller/kakuteh7mini.md)
      - [Holybro Kakute H7](/flight_controller/kakuteh7.md)
-      - [Holybro Kakute H7 Wing](flight_controller/kakuteh7-wing.md)
+      - [Holybro Kakute H7 Wing](/flight_controller/kakuteh7-wing.md)
      - [Holybro Durandal](/flight_controller/durandal.md)
        - [Wiring Quickstart](/assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](/flight_controller/holybro_pix32_v5.md)
@@ -255,7 +256,7 @@
    - [GNSS (GPS)](/gps_compass/index.md)
      - [ARK GPS (CAN)](/dronecan/ark_gps.md)
      - [ARK SAM GPS](/gps_compass/ark_sam_gps.md)
-      - [ARK TESEO GPS](/dronecan/ark_teseo_gps.md) 
+      - [ARK TESEO GPS](/dronecan/ark_teseo_gps.md)
      - [CUAV NEO 3 GPS](/gps_compass/gps_cuav_neo_3.md)
      - [CUAV NEO 3 Pro GPS (CAN)](/gps_compass/gps_cuav_neo_3pro.md)
      - [CUAV NEO 3X GPS (CAN)](/gps_compass/gps_cuav_neo_3x.md)
@@ -328,7 +329,9 @@
        - [ARK Electron Microhard Serial Telemetry Radio](/telemetry/ark_microhard_serial.md)
        - [Holybro Microhard P900 Telemetry Radio](/telemetry/holybro_microhard_p900_radio.md)
      - [CUAV P8 Telemetry Radio](/telemetry/cuav_p8_radio.md)
+      - [J.Fi Wireless Telemetry Module](/telemetry/jfi_telemetry.md)
      - [HolyBro XBP9X - Discontinued](/telemetry/holybro_xbp9x_radio.md)
+
    - [FrSky Telemetry](/peripherals/frsky_telemetry.md)
    - [TBS Crossfire (CRSF) Telemetry](/telemetry/crsf_telemetry.md)
    - [Satellite Comms (Iridium/RockBlock)](/advanced_features/satcom_roadblock.md)
@@ -454,6 +457,7 @@
      - [Vehicles](/sim_gazebo_gz/vehicles.md)
        - [Advanced Lift Drag Tool](/sim_gazebo_gz/tools_avl_automation.md)
      - [Worlds](/sim_gazebo_gz/worlds.md)
+      - [Plugins](/sim_gazebo_gz/plugins.md)
      - [Gazebo Models Repository](/sim_gazebo_gz/gazebo_models.md)
      - [Multi-Vehicle Sim](/sim_gazebo_gz/multi_vehicle_simulation.md)
    - [Gazebo Classic Simulation](/sim_gazebo_classic/index.md)
@@ -486,12 +490,17 @@
      - [Versioned](/msg_docs/versioned_messages.md)
        - [ActuatorMotors](/msg_docs/ActuatorMotors.md)
        - [ActuatorServos](/msg_docs/ActuatorServos.md)
+        - [AirspeedValidated](/msg_docs/AirspeedValidated.md)
        - [ArmingCheckReply](/msg_docs/ArmingCheckReply.md)
        - [ArmingCheckRequest](/msg_docs/ArmingCheckRequest.md)
        - [BatteryStatus](/msg_docs/BatteryStatus.md)
        - [ConfigOverrides](/msg_docs/ConfigOverrides.md)
+        - [FixedWingLateralSetpoint](/msg_docs/FixedWingLateralSetpoint.md)
+        - [FixedWingLongitudinalSetpoint](/msg_docs/FixedWingLongitudinalSetpoint.md)
        - [GotoSetpoint](/msg_docs/GotoSetpoint.md)
        - [HomePosition](/msg_docs/HomePosition.md)
+        - [LateralControlConfiguration](/msg_docs/LateralControlConfiguration.md)
+        - [LongitudinalControlConfiguration](/msg_docs/LongitudinalControlConfiguration.md)
        - [ManualControlSetpoint](/msg_docs/ManualControlSetpoint.md)
        - [ModeCompleted](/msg_docs/ModeCompleted.md)
        - [RegisterExtComponentReply](/msg_docs/RegisterExtComponentReply.md)
@@ -520,10 +529,8 @@
        - [ActuatorTest](/msg_docs/ActuatorTest.md)
        - [AdcReport](/msg_docs/AdcReport.md)
        - [Airspeed](/msg_docs/Airspeed.md)
-        - [AirspeedValidated](/msg_docs/AirspeedValidated.md)
        - [AirspeedWind](/msg_docs/AirspeedWind.md)
        - [AutotuneAttitudeControlStatus](/msg_docs/AutotuneAttitudeControlStatus.md)
-        - [Buffer128](/msg_docs/Buffer128.md)
        - [ButtonEvent](/msg_docs/ButtonEvent.md)
        - [CameraCapture](/msg_docs/CameraCapture.md)
        - [CameraStatus](/msg_docs/CameraStatus.md)
@@ -562,6 +569,9 @@
        - [FailsafeFlags](/msg_docs/FailsafeFlags.md)
        - [FailureDetectorStatus](/msg_docs/FailureDetectorStatus.md)
        - [FigureEightStatus](/msg_docs/FigureEightStatus.md)
+        - [FixedWingLateralGuidanceStatus](/msg_docs/FixedWingLateralGuidanceStatus.md)
+        - [FixedWingLateralStatus](/msg_docs/FixedWingLateralStatus.md)
+        - [FixedWingRunwayControl](/msg_docs/FixedWingRunwayControl.md)
        - [FlightPhaseEstimation](/msg_docs/FlightPhaseEstimation.md)
        - [FollowTarget](/msg_docs/FollowTarget.md)
        - [FollowTargetEstimator](/msg_docs/FollowTargetEstimator.md)
@@ -614,7 +624,6 @@
        - [NavigatorMissionItem](/msg_docs/NavigatorMissionItem.md)
        - [NavigatorStatus](/msg_docs/NavigatorStatus.md)
        - [NormalizedUnsignedSetpoint](/msg_docs/NormalizedUnsignedSetpoint.md)
-        - [NpfgStatus](/msg_docs/NpfgStatus.md)
        - [ObstacleDistance](/msg_docs/ObstacleDistance.md)
        - [OffboardControlMode](/msg_docs/OffboardControlMode.md)
        - [OnboardComputerStatus](/msg_docs/OnboardComputerStatus.md)
@@ -650,13 +659,12 @@
        - [RcParameterMap](/msg_docs/RcParameterMap.md)
        - [RoverAttitudeSetpoint](/msg_docs/RoverAttitudeSetpoint.md)
        - [RoverAttitudeStatus](/msg_docs/RoverAttitudeStatus.md)
-        - [RoverMecanumGuidanceStatus](/msg_docs/RoverMecanumGuidanceStatus.md)
-        - [RoverMecanumSetpoint](/msg_docs/RoverMecanumSetpoint.md)
-        - [RoverMecanumStatus](/msg_docs/RoverMecanumStatus.md)
+        - [RoverPositionSetpoint](/msg_docs/RoverPositionSetpoint.md)
        - [RoverRateSetpoint](/msg_docs/RoverRateSetpoint.md)
        - [RoverRateStatus](/msg_docs/RoverRateStatus.md)
        - [RoverSteeringSetpoint](/msg_docs/RoverSteeringSetpoint.md)
        - [RoverThrottleSetpoint](/msg_docs/RoverThrottleSetpoint.md)
+        - [RoverVelocitySetpoint](/msg_docs/RoverVelocitySetpoint.md)
        - [RoverVelocityStatus](/msg_docs/RoverVelocityStatus.md)
        - [Rpm](/msg_docs/Rpm.md)
        - [RtlStatus](/msg_docs/RtlStatus.md)
@@ -688,6 +696,7 @@
        - [TelemetryStatus](/msg_docs/TelemetryStatus.md)
        - [TiltrotorExtraControls](/msg_docs/TiltrotorExtraControls.md)
        - [TimesyncStatus](/msg_docs/TimesyncStatus.md)
+        - [TrajectorySetpoint6dof](/msg_docs/TrajectorySetpoint6dof.md)
        - [TransponderReport](/msg_docs/TransponderReport.md)
        - [TuneControl](/msg_docs/TuneControl.md)
        - [UavcanParameterRequest](/msg_docs/UavcanParameterRequest.md)
@@ -711,10 +720,18 @@
        - [WheelEncoders](/msg_docs/WheelEncoders.md)
        - [Wind](/msg_docs/Wind.md)
        - [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
+        - [AirspeedValidatedV0](/msg_docs/AirspeedValidatedV0.md)
+        - [VehicleAttitudeSetpointV0](/msg_docs/VehicleAttitudeSetpointV0.md)
        - [VehicleStatusV0](/msg_docs/VehicleStatusV0.md)
-    - [MAVLink Messaging](/middleware/mavlink.md)
-      - [Standard Modes Protocol](/mavlink/standard_modes.md)
+    - [MAVLink Messaging](/mavlink/index.md)
+      - [Adding Messages](/mavlink/adding_messages.md)
+      - [Streaming Messages](/mavlink/streaming_messages.md)
+      - [Receiving Messages](/mavlink/receiving_messages.md)
+      - [Custom MAVLink Messages](/mavlink/custom_messages.md)
+      - [Protocols/Microservices](/mavlink/protocols.md)
+        - [Standard Modes Protocol](/mavlink/standard_modes.md)
    - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](/middleware/uxrce_dds.md)
+      - [UORB Bridged to ROS 2](/middleware/dds_topics.md)
  - [Modules & Commands](/modules/modules_main.md)
    - [Autotune](/modules/modules_autotune.md)
    - [Commands](/modules/modules_command.md)
@@ -730,6 +747,7 @@
      - [Magnetometer](/modules/modules_driver_magnetometer.md)
      - [Optical Flow](/modules/modules_driver_optical_flow.md)
      - [Rpm Sensor](/modules/modules_driver_rpm_sensor.md)
+      - [Radio Control](/modules/modules_driver_radio_control.md)
      - [Transponder](/modules/modules_driver_transponder.md)
    - [Estimators](/modules/modules_estimator.md)
    - [Simulations](/modules/modules_simulation.md)
@@ -801,8 +819,10 @@
      - [Test MC_05 - Indoor Flight (Manual Modes)](/test_cards/mc_05_indoor_flight_manual_modes.md)
    - [Unit Tests](/test_and_ci/unit_tests.md)
    - [Continuous Integration](/test_and_ci/continous_integration.md)
-    - [MAVSDK Integration Testing](/test_and_ci/integration_testing_mavsdk.md)
-    - [ROS Integration Testing](/test_and_ci/integration_testing.md)
+    - [Integration Testing](/test_and_ci/integration_testing.md)
+      - [MAVSDK Integration Testing](/test_and_ci/integration_testing_mavsdk.md)
+      - [PX4 ROS2 Interface Library Integration Testing](/test_and_ci/integration_testing_px4_ros2_interface.md)
+      - [ROS 1 Integration Testing](/test_and_ci/integration_testing_ros1_mavros.md)
    - [Docker Containers](/test_and_ci/docker.md)
    - [Maintenance](/test_and_ci/maintenance.md)
 - [Drone Apps & APIs](/robotics/index.md)
@@ -837,7 +857,8 @@
  - [Licenses](/contribute/licenses.md)
 - [Releases](/releases/index.md)
  - [main (alpha)](/releases/main.md)
+  - [1.16 (release candidate)](/releases/1.16.md)
  - [1.15 (stable)](/releases/1.15.md)
  - [1.14](/releases/1.14.md)
  - [1.13](/releases/1.13.md)
-  - [1.12](/releases/1.12.md)
+  - [1.12](/releases/1.12.md)
@@ -212,7 +212,7 @@ The steps are:
     type: px4_msgs::msg::ObstacleDistance
   ```

-   For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in _uXRCE-DDS (PX4-ROS 2/DDS Bridge)_.
+   For more information see [DDS Topics YAML](../middleware/uxrce_dds.md#dds-topics-yaml) in [uXRCE-DDS](../middleware/uxrce_dds.md) (PX4-ROS 2/DDS Bridge)_.

 3. Open PlotJuggler and navigate to the **Tools > Reactive Script Editor** section.
   In the **Script Editor** tab, add following scripts in the appropriate sections:
@@ -187,7 +187,23 @@ The following settings also apply, but are not displayed in the QGC UI.

 ## Position (GNSS) Loss Failsafe

-The _Position Loss Failsafe_ is triggered if the quality of the PX4 global position estimate falls below acceptable levels (this might be caused by GPS loss) while in a mode that requires an acceptable position estimate.
+The _Position Loss Failsafe_ is triggered if the quality of the PX4 position estimate falls below acceptable levels (this might be caused by GPS loss) while in a mode that requires an acceptable position estimate.
+The sections below cover first the trigger and then the failsafe action taken by the controller.
+
+### Position Loss Failsafe Trigger
+
+There are basically two mechanisms in PX4 to trigger position failsafes:
+- A timeout since the last sensor data was fused that provides direct speed or horizontal position measurements. Sensors that fall into that category are: GNSS, optical flow, airspeed, VIO, auxiliary global position.
+- The estimated horizontal position accuracy exceeds a certain threshold. This check is only done on hovering systems (rotary wing vehicles or VTOLs in hover phase).
+
+The relevant parameters shown below.
+
+| Parameter                                                                                                | Description                                                                                                   |
+| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------- |
+| <a id="EKF2_NOAID_TOUT"></a>[EKF2_NOAID_TOUT](../advanced_config/parameter_reference.md#EKF2_NOAID_TOUT) | Maximum inertial dead-reckoning time, so the time after the last data sample was received of any sensor that constrains the velocity drift [microseconds]. |
+| <a id="COM_POS_FS_EPH"></a>[COM_POS_FS_EPH](../advanced_config/parameter_reference.md#COM_POS_FS_EPH) | Horizontal position error threshold for hovering vehicles (Multicopters and VTOLs in hover). Fixed-wing vehicles have this value set to infinity.|
+
+### Position Loss Failsafe Action

 The failure action is controlled by [COM_POSCTL_NAVL](../advanced_config/parameter_reference.md#COM_POSCTL_NAVL), based on whether RC control is assumed to be available (and altitude information):

@@ -174,11 +174,19 @@ Build the library locally to test that any changes you have made have rendered p
 1. Open previewed pages in your local editor:

   First specify a local text editor file using the `EDITOR` environment variable, before calling `yarn start` to preview the library.
-   For example, on Windows command line you can enable VSCode as your default editor by entering:
+   For example, you can enable VSCode as your default editor by entering:

-   ```sh
-   set EDITOR=code
-   ```
+   - Windows:
+
+     ```sh
+     set EDITOR=code
+     ```
+
+   - Linux:
+
+     ```sh
+     export EDITOR=code
+     ```

   The **Open in your editor** link at the bottom of each page will then open the current page in the editor (this replaces the _Open in GitHub_ link).

@@ -94,13 +94,13 @@ Exporting the messages allows ROS 2 and the uXRCE-DDS agent to be independent of

 While `px4_msgs` has messages for all uORB topics in PX4, not all messages in `px4_msgs` are available to ROS 2/PlotJuggler by default.
 The set that are available must be built into the client running on PX4.
-These are defined in [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml).
+These are defined in [dds_topics.yaml](../middleware/dds_topics.md).

 The instructions below explain the changes needed to monitor topics that are not available by default.

 ### Missing Topics

-If a normal uORB topic is not available in PlotJuggler you will need to modify the [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) to include the topic and rebuild PX4.
+If a normal uORB topic is not available in PlotJuggler you will need to modify the [dds_topics.yaml](../middleware/dds_topics.md) ([source](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml)) to include the topic and rebuild PX4.

 If working with real hardware you will need to build and [install](../config/firmware.md#installing-px4-main-beta-or-custom-firmware) custom firmware after changing the YAML file.

@@ -120,7 +120,7 @@ cd ~/ros2_ws/ && colcon build

 ### Custom Topics

-After defining the topic, follow the instructions above to add the topic to [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), and export the new message into your ROS 2 workspace.
+After defining the topic, follow the instructions above to add the topic to [dds_topics.yaml](../middleware/dds_topics.md), and export the new message into your ROS 2 workspace.

 ## See also

@@ -126,8 +126,7 @@ In EKF2 mode, the replay will automatically create the ORB publisher rules descr

 To perform an EKF2 replay:

- Record the original log.
-  Optionally set `SDLOG_MODE` to `1` to log from boot.
+- Record the original log with `SDLOG_MODE` set to `1` to log from boot.

 - In addition to the `replay` environment variable, set `replay_mode` to `ekf2`:

@@ -12,7 +12,7 @@ To use it you will need to build firmware with this feature enabled and then upl
 :::

 ::: tip
-Log encryption was has been improved in PX4 main (v1.16+) to generate a single encrypted log file that contains both encrypted log data, and an encrypted symmetric key that you can use to decrypt it (provided you can decrypt the symmetric key).
+Log encryption was has been improved in PX4 v1.16 to generate a single encrypted log file that contains both encrypted log data, and an encrypted symmetric key that you can use to decrypt it (provided you can decrypt the symmetric key).

 In earlier versions the encrypted symmetric key was stored in a separate file.
 For more information see the [Log Encryption (PX4 v1.15)](https://docs.px4.io/v1.15/en/dev_log/log_encryption.html).
@@ -1,4 +1,6 @@
-# Holybro Kakute H7 V2
+# Holybro Kakute H743-Wing 
+
+<Badge type="tip" text="PX4 v1.16" />

 :::warning
 PX4 does not manufacture this (or any) autopilot.
@@ -33,9 +35,7 @@ The board can be bought from one of the following shops (for example):
 | Buz-, Buz+       | Piezo buzzer                      |                            |
 | M1 to M14        | Motor signal outputs              |                            |

-<a id="bootloader"></a>
-
-## PX4 Bootloader Update
+## PX4 Bootloader Update {#bootloader}

 The board comes pre-installed with [Betaflight](https://github.com/betaflight/betaflight/wiki).
 Before the PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
@@ -52,7 +52,7 @@ make holybro_kakuteh7-wing_default
 ## Installing PX4 Firmware

 ::: info
-KakuteH7-wing is supported with PX4 master & PX4 v1.16 or newer..
+KakuteH7-wing is supported in PX4 v1.16 or newer.
 Prior to that release you will need to manually build and install the firmware.
 :::

@@ -135,7 +135,7 @@ The mission is typically created and uploaded with a Ground Control Station (GCS

 #### Mission commands

-The following commands can be used in missions at time of writing (`main`/planned for `PX4 v1.16+`):
+The following commands can be used in missions at time of writing (PX4 v1.16):

 | QGC mission item    | Command                                                      | Description                                       |
 | ------------------- | ------------------------------------------------------------ | ------------------------------------------------- |
@@ -114,7 +114,7 @@ The mission is typically created and uploaded with a Ground Control Station (GCS

 #### Mission commands

-The following commands can be used in missions at time of writing (`main`/planned for `PX4 v1.16+`):
+The following commands can be used in missions at time of writing (PX4 v1.16):

 | QGC mission item    | Command                                                                        | Description                                                      |
 | ------------------- | ------------------------------------------------------------------------------ | ---------------------------------------------------------------- |
@@ -139,7 +139,7 @@ The mission is typically created and uploaded with a Ground Control Station (GCS

 #### Mission commands

-The following commands can be used in missions at time of writing (`main`/planned for `PX4 v1.16+`):
+The following commands can be used in missions at time of writing (PX4 v1.16):

 | QGC mission item    | Command                                                                        | Description                                                      |
 | ------------------- | ------------------------------------------------------------------------------ | ---------------------------------------------------------------- |
@@ -314,7 +314,7 @@ Access to this cable can be accomplished by simply removing the rear hatch and u

 ## Firmware Build

-You can't use prebuilt PX4 release (or main) firmware for this vehicle, as it depends on PX4 modules [crsf_rc](../modules/modules_driver.md#crsf-rc) and [msp_osd](../modules/modules_driver.md#msp-osd) that are not included by default.
+You can't use prebuilt PX4 release (or main) firmware for this vehicle, as it depends on PX4 modules [crsf_rc](../modules/modules_driver_radio_control.md#crsf-rc) and [msp_osd](../modules/modules_driver.md#msp-osd) that are not included by default.

 These require some custom configuration to enable.

@@ -1,6 +1,6 @@
 # Ackermann Rovers

-<Badge type="tip" text="main (planned for: PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
+<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />

 An _Ackermann rover_ controls its direction by pointing the front wheels in the direction of travel — the [Ackermann steering geometry](https://en.wikipedia.org/wiki/Ackermann_steering_geometry) compensates for the fact that wheels on the inside and outside of the turn move at different rates.
 This kind of steering is used on most commercial vehicles, including cars, trucks etc.
@@ -1,6 +1,6 @@
 # Differential Rovers

-<Badge type="tip" text="main (planned for: PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
+<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />

 A differential rover's motion is controlled using a differential drive mechanism, where the left and right wheel speeds are adjusted independently to achieve the desired forward speed and yaw rate.
 Forward motion is achieved by driving both wheels at the same speed in the same direction.
@@ -1,6 +1,6 @@
 # Mecanum Rovers

-<Badge type="tip" text="main (planned for: PX4 v1.16+)" /> <Badge type="warning" text="Experimental" />
+<Badge type="tip" text="PX4 v1.16" /> <Badge type="warning" text="Experimental" />

 A Mecanum rover is a type of mobile robot that uses Mecanum wheels to achieve omnidirectional movement. These wheels are unique because they have rollers mounted at a 45-degree angle around their circumference, allowing the rover to move not only forward and backward but also side-to-side and diagonally without needing to rotate first.
 Each wheel is driven by its own motor, and by controlling the speed and direction of each motor, the rover can move in any direction or spin in place.
@@ -0,0 +1,89 @@
+# MAVLink Messaging
+
+[MAVLink](https://mavlink.io/en/) is a very lightweight messaging protocol that has been designed for the drone ecosystem.
+
+PX4 uses _MAVLink_ to communicate with ground stations and MAVLink SDKs, such as _QGroundControl_ and [MAVSDK](https://mavsdk.mavlink.io/), and as the integration mechanism for connecting to drone components outside of the flight controller: companion computers, MAVLink enabled cameras, and so on.
+
+This topic provides a brief overview of fundamental MAVLink concepts, such as messages, commands, and microservices.
+It also links instructions for how you can add PX4 support for:
+
+- [Adding Standard Messages](../mavlink/adding_messages.md)
+- [Streaming MAVLink messages](../mavlink/streaming_messages.md)
+- [Handling incoming MAVLink messages (and writing to a uORB topic)](../mavlink/receiving_messages.md)
+- [Custom MAVLink Messages](../mavlink/custom_messages.md)
+- [Protocols/Microservices](../mavlink/protocols.md)
+
+::: info
+We do not yet cover _command_ handling and sending, or how to implement your own microservices.
+:::
+
+## MAVLink Overview
+
+MAVLink is a lightweight protocol that was designed for efficiently sending messages over unreliable low-bandwidth radio links.
+
+_Messages_ are simplest and most "fundamental" definition in MAVLink, consisting of a name (e.g. [ATTITUDE](https://mavlink.io/en/messages/common.html#ATTITUDE)), id, and fields containing relevant data.
+They are deliberately lightweight, with a constrained size, and no semantics for resending and acknowledgement.
+Stand-alone messages are commonly used for streaming telemetry or status information, and for sending commands where no acknowledgement is required - such as setpoint commands sent at high rate.
+
+[Microservices](../mavlink/protocols.md) are "meta protocols" built on top of MAVLink messages.
+They are used to communicate information that cannot be sent in a single message.
+
+For example, the [Command Protocol](https://mavlink.io/en/services/command.html) is a service for sending commands that may need acknowledgement and retransmission (quality of service).
+Specific commands are defined as values of the [MAV_CMD](https://mavlink.io/en/messages/common.html#mav_commands) enumeration, such as the takeoff command [MAV_CMD_NAV_TAKEOFF](https://mavlink.io/en/messages/common.html#MAV_CMD_NAV_TAKEOFF), and include up to 7 numeric "param" values.
+The protocol sends a command by packaging the parameter values in a `COMMAND_INT` or `COMMAND_LONG` message, and waits for an acknowledgement with a result in a `COMMAND_ACK`.
+The command is automatically resent a number of times if no acknowledgment is received.
+Note that [MAV_CMD](https://mavlink.io/en/messages/common.html#mav_commands) definitions are also used to define mission actions, and that not all definitions are supported for use in commands/missions on PX4.
+
+Others services include the [File Transfer Protocol](https://mavlink.io/en/services/ftp.html), [Camera Protocol](https://mavlink.io/en/services/camera.html), [Parameter Protocol](https://mavlink.io/en/services/parameter.html), and [Mission Protocol](https://mavlink.io/en/services/mission.html).
+For more information on what PX4 supports see [Microservices](../mavlink/protocols.md).
+
+MAVLink messages, commands and enumerations are defined in [XML definition files](https://mavlink.io/en/guide/define_xml_element.html).
+The MAVLink toolchain includes code generators that create programming-language-specific libraries from these definitions for sending and receiving messages.
+Note that most generated libraries do not create code to implement microservices.
+
+The MAVLink project standardizes a number of messages, commands, enumerations, and microservices, for exchanging data using the following definition files (note that higher level files _include_ the definitions of the files below them):
+
+- [development.xml](https://mavlink.io/en/messages/development.html) — Definitions that are proposed to be part of the standard.
+  The definitions move to `common.xml` if accepted following testing.
+- [common.xml](https://mavlink.io/en/messages/common.html) — A "library" of definitions meeting many common UAV use cases.
+  These are supported by many flight stacks, ground stations, and MAVLink peripherals.
+  Flight stacks that use these definitions are more likely to interoperate.
+- [standard.xml](https://mavlink.io/en/messages/standard.html) — Definitions that are actually standard.
+  They are present on the vast majority of flight stacks and implemented in the same way.
+- [minimal.xml](https://mavlink.io/en/messages/minimal.html) — Definitions required by a minimal MAVLink implementation.
+
+The project also hosts [dialect XML definitions](https://mavlink.io/en/messages/#dialects), which contain MAVLink definitions that are specific to a flight stack or other stakeholder.
+
+The protocol relies on each end of the communication having a shared definition of what messages are being sent.
+What this means is that in order to communicate both ends of the communication must use libraries generated from the same XML definition.
+
+<!--
+The messages are sent over-the-wire in the "payload" of a [MAVLink packet](https://mavlink.io/en/guide/serialization.html#mavlink2_packet_format).
+In order to reduce the amount of information that must be sent, the packet does not include the message metadata, such as what fields are in the message and so on.
+Instead, the fields are serialized in a predefined order based on data size and XML definition order, and MAVLink relies on each end of the communication having a shared definition of what messages are being sent.
+The shared identity of the message is conveyed by the message id, along with a CRC ("`CRC_EXTRA`") that uniquely identifies the message based on its name and id, and the field names and types.
+The receiving end of the communication will discard any packet for which the message id and the `CRC_EXTRA` do not match.
+-->
+
+## PX4 and MAVLink
+
+PX4 releases build `common.xml` MAVLink definitions by default, for the greatest compatibility with MAVLink ground stations, libraries, and external components such as MAVLink cameras.
+In the `main` branch, these are included from `development.xml` on SITL, and `common.xml` for other boards.
+
+::: info
+To be part of a PX4 release, any MAVLink definitions that you use must be in `common.xml` (or included files such as `standard.xml` and `minimal.xml`).
+During development you can use definitions in `development.xml`.
+You will need to work with the [MAVLink team](https://mavlink.io/en/contributing/contributing.html) to define and contribute these definitions.
+:::
+
+PX4 includes the [mavlink/mavlink](https://github.com/mavlink/mavlink) repo as a submodule under [/src/modules/mavlink](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules/mavlink).
+This contains XML definition files in [/mavlink/messages/1.0/](https://github.com/mavlink/mavlink/blob/master/message_definitions/v1.0/).
+
+The build toolchain generates the MAVLink 2 C header files at build time.
+The XML file for which headers files are generated may be defined in the [PX4 kconfig board configuration](../hardware/porting_guide_config.md#px4-board-configuration-kconfig) on a per-board basis, using the variable `CONFIG_MAVLINK_DIALECT`:
+
+- For SITL `CONFIG_MAVLINK_DIALECT` is set to `development` in [boards/px4/sitl/default.px4board](https://github.com/PX4/PX4-Autopilot/blob/main/boards/px4/sitl/default.px4board#L36).
+  You can change this to any other definition file, but the file must include `common.xml`.
+- For other boards `CONFIG_MAVLINK_DIALECT` is not set by default, and PX4 builds the definitions in `common.xml` (these are build into the [mavlink module](../modules/modules_communication.md#mavlink) by default — search for `menuconfig MAVLINK_DIALECT` in [src/modules/mavlink/Kconfig](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/mavlink/Kconfig#L10)).
+
+The files are generated into the build directory: `/build/<build target>/mavlink/`.
@@ -0,0 +1,51 @@
+# MAVLink Microservices (Protocols)
+
+MAVLink "microservices" are a protocols that use multiple messages exchanged between components to communicate more complicated information.
+For example, the [Command Protocol](https://mavlink.io/en/services/command.html) provides an efficient mechanism for packaging a command in a (particular) message and receiving acknowledgement of the command in another message.
+
+MAVLink microservices are documented the [MAVLink Guide](https://mavlink.io/en/services/) (this is not exhaustive: not all messages are grouped into protocols and not all protocols are documented).
+
+This section lists the services known to be supported/not supported by PX4 in this version.
+
+## Supported Microservices
+
+These services are known to be supported in some form:
+
+- [Battery Protocol](https://mavlink.io/en/services/battery.html)
+  - [BATTERY_STATUS](https://mavlink.io/en/messages/common.html#BATTERY_STATUS) and [BATTERY_INFO](https://mavlink.io/en/messages/common.html#BATTERY_STATUS) are streamed.
+- Camera Protocols
+  - [Camera Protocol v2](https://mavlink.io/en/services/camera.html)
+    - [Camera Definition](https://mavlink.io/en/services/camera_def.html)
+- [Command Protocol](https://mavlink.io/en/services/command.html)
+- [Component Metadata Protocol](https://mavlink.io/en/services/component_information.html)
+- [Events Interface](https://mavlink.io/en/services/events.html)
+- [File Transfer Protocol (FTP)](https://mavlink.io/en/services/ftp.html)
+- Gimbal Protocols
+  - [Gimbal Protocol v2](https://mavlink.io/en/services/gimbal_v2.html)
+    - Can be enabled by [Gimbal Configuration](../advanced/gimbal_control.md#mavlink-gimbal-mnt-mode-out-mavlink)
+    - PX4 an act as a MAVLink Gimbal for one FC-connected Gimbal
+- [Heartbeat/Connection Protocol](https://mavlink.io/en/services/heartbeat.html)
+- [High Latency Protocol](https://mavlink.io/en/services/high_latency.html) — PX4 streams [HIGH_LATENCY2](https://mavlink.io/en/messages/common.html#HIGH_LATENCY2)
+- [Image Transmission Protocol](https://mavlink.io/en/services/image_transmission.html)
+- [Landing Target Protocol](https://mavlink.io/en/services/landing_target.html)
+- [Manual Control (Joystick) Protocol](https://mavlink.io/en/services/manual_control.html)
+- [MAVLink Id Assignment (sysid, compid)](https://mavlink.io/en/services/mavlink_id_assignment.html)
+- [Mission Protocol](https://mavlink.io/en/services/mission.html)
+- [Offboard Control Protocol](https://mavlink.io/en/services/offboard_control.html)
+- [Remote ID](../peripherals/remote_id.md) ([Open Drone ID Protocol](https://mavlink.io/en/services/opendroneid.html))
+- [Parameter Protocol](https://mavlink.io/en/services/parameter.html)
+- [Parameter Protocol Extended](https://mavlink.io/en/services/parameter_ext.html) — Allows setting string parameters. Used for setting string parameters set in camera definition files.
+- [Payload Protocol](https://mavlink.io/en/services/payload.html)
+- [Ping Protocol](https://mavlink.io/en/services/ping.html)
+- [Standard Modes Protocol](../mavlink/standard_modes.md)
+- [Terrain Protocol](https://mavlink.io/en/services/terrain.html)
+- [Time Synchronization](https://mavlink.io/en/services/timesync.html)
+- [Traffic Management (UTM/ADS-B)](https://mavlink.io/en/services/traffic_management.html)
+- [Arm Authorization Protocol](https://mavlink.io/en/services/arm_authorization.html)
+
+## Unsupported
+
+These services are not supported/used by PX4:
+
+- [Illuminator Protocol](https://mavlink.io/en/services/illuminator.html)
+- [Tunnel Protocol](https://mavlink.io/en/services/tunnel.html)
@@ -0,0 +1,276 @@
+# dds_topics.yaml — PX4 Topics Exposed to ROS 2
+
+::: info
+This document is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
+:::
+
+
+The [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml) file specifies which uORB message definitions are compiled into the [uxrce_dds_client](../modules/modules_system.md#uxrce-dds-client) module when [PX4 is built](../middleware/uxrce_dds.md#code-generation), and hence which topics are available for ROS 2 applications to subscribe or publish (by default).
+
+This document shows a markdown-rendered version of [dds_topics.yaml](https://github.com/PX4/PX4-Autopilot/blob/main/src/modules/uxrce_dds_client/dds_topics.yaml), listing the publications, subscriptions, and so on.
+
+## Publications
+
+Topic | Type| Rate Limit
+--- | --- | ---
+`/fmu/out/register_ext_component_reply` | [px4_msgs::msg::RegisterExtComponentReply](../msg_docs/RegisterExtComponentReply.md) | 
+`/fmu/out/arming_check_request` | [px4_msgs::msg::ArmingCheckRequest](../msg_docs/ArmingCheckRequest.md) | 5.0
+`/fmu/out/mode_completed` | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md) | 50.0
+`/fmu/out/battery_status` | [px4_msgs::msg::BatteryStatus](../msg_docs/BatteryStatus.md) | 1.0
+`/fmu/out/collision_constraints` | [px4_msgs::msg::CollisionConstraints](../msg_docs/CollisionConstraints.md) | 50.0
+`/fmu/out/estimator_status_flags` | [px4_msgs::msg::EstimatorStatusFlags](../msg_docs/EstimatorStatusFlags.md) | 5.0
+`/fmu/out/failsafe_flags` | [px4_msgs::msg::FailsafeFlags](../msg_docs/FailsafeFlags.md) | 5.0
+`/fmu/out/manual_control_setpoint` | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md) | 25.0
+`/fmu/out/message_format_response` | [px4_msgs::msg::MessageFormatResponse](../msg_docs/MessageFormatResponse.md) | 
+`/fmu/out/position_setpoint_triplet` | [px4_msgs::msg::PositionSetpointTriplet](../msg_docs/PositionSetpointTriplet.md) | 5.0
+`/fmu/out/sensor_combined` | [px4_msgs::msg::SensorCombined](../msg_docs/SensorCombined.md) | 
+`/fmu/out/timesync_status` | [px4_msgs::msg::TimesyncStatus](../msg_docs/TimesyncStatus.md) | 10.0
+`/fmu/out/vehicle_land_detected` | [px4_msgs::msg::VehicleLandDetected](../msg_docs/VehicleLandDetected.md) | 5.0
+`/fmu/out/vehicle_attitude` | [px4_msgs::msg::VehicleAttitude](../msg_docs/VehicleAttitude.md) | 
+`/fmu/out/vehicle_control_mode` | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md) | 50.0
+`/fmu/out/vehicle_command_ack` | [px4_msgs::msg::VehicleCommandAck](../msg_docs/VehicleCommandAck.md) | 
+`/fmu/out/vehicle_global_position` | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md) | 50.0
+`/fmu/out/vehicle_gps_position` | [px4_msgs::msg::SensorGps](../msg_docs/SensorGps.md) | 50.0
+`/fmu/out/vehicle_local_position` | [px4_msgs::msg::VehicleLocalPosition](../msg_docs/VehicleLocalPosition.md) | 50.0
+`/fmu/out/vehicle_odometry` | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md) | 
+`/fmu/out/vehicle_status` | [px4_msgs::msg::VehicleStatus](../msg_docs/VehicleStatus.md) | 5.0
+`/fmu/out/airspeed_validated` | [px4_msgs::msg::AirspeedValidated](../msg_docs/AirspeedValidated.md) | 50.0
+`/fmu/out/vtol_vehicle_status` | [px4_msgs::msg::VtolVehicleStatus](../msg_docs/VtolVehicleStatus.md) | 
+`/fmu/out/home_position` | [px4_msgs::msg::HomePosition](../msg_docs/HomePosition.md) | 5.0
+
+## Subscriptions
+
+Topic | Type
+--- | ---
+/fmu/in/register_ext_component_request | [px4_msgs::msg::RegisterExtComponentRequest](../msg_docs/RegisterExtComponentRequest.md)
+/fmu/in/unregister_ext_component | [px4_msgs::msg::UnregisterExtComponent](../msg_docs/UnregisterExtComponent.md)
+/fmu/in/config_overrides_request | [px4_msgs::msg::ConfigOverrides](../msg_docs/ConfigOverrides.md)
+/fmu/in/arming_check_reply | [px4_msgs::msg::ArmingCheckReply](../msg_docs/ArmingCheckReply.md)
+/fmu/in/message_format_request | [px4_msgs::msg::MessageFormatRequest](../msg_docs/MessageFormatRequest.md)
+/fmu/in/mode_completed | [px4_msgs::msg::ModeCompleted](../msg_docs/ModeCompleted.md)
+/fmu/in/config_control_setpoints | [px4_msgs::msg::VehicleControlMode](../msg_docs/VehicleControlMode.md)
+/fmu/in/distance_sensor | [px4_msgs::msg::DistanceSensor](../msg_docs/DistanceSensor.md)
+/fmu/in/manual_control_input | [px4_msgs::msg::ManualControlSetpoint](../msg_docs/ManualControlSetpoint.md)
+/fmu/in/offboard_control_mode | [px4_msgs::msg::OffboardControlMode](../msg_docs/OffboardControlMode.md)
+/fmu/in/onboard_computer_status | [px4_msgs::msg::OnboardComputerStatus](../msg_docs/OnboardComputerStatus.md)
+/fmu/in/obstacle_distance | [px4_msgs::msg::ObstacleDistance](../msg_docs/ObstacleDistance.md)
+/fmu/in/sensor_optical_flow | [px4_msgs::msg::SensorOpticalFlow](../msg_docs/SensorOpticalFlow.md)
+/fmu/in/goto_setpoint | [px4_msgs::msg::GotoSetpoint](../msg_docs/GotoSetpoint.md)
+/fmu/in/telemetry_status | [px4_msgs::msg::TelemetryStatus](../msg_docs/TelemetryStatus.md)
+/fmu/in/trajectory_setpoint | [px4_msgs::msg::TrajectorySetpoint](../msg_docs/TrajectorySetpoint.md)
+/fmu/in/vehicle_attitude_setpoint | [px4_msgs::msg::VehicleAttitudeSetpoint](../msg_docs/VehicleAttitudeSetpoint.md)
+/fmu/in/vehicle_mocap_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md)
+/fmu/in/vehicle_rates_setpoint | [px4_msgs::msg::VehicleRatesSetpoint](../msg_docs/VehicleRatesSetpoint.md)
+/fmu/in/vehicle_visual_odometry | [px4_msgs::msg::VehicleOdometry](../msg_docs/VehicleOdometry.md)
+/fmu/in/vehicle_command | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md)
+/fmu/in/vehicle_command_mode_executor | [px4_msgs::msg::VehicleCommand](../msg_docs/VehicleCommand.md)
+/fmu/in/vehicle_thrust_setpoint | [px4_msgs::msg::VehicleThrustSetpoint](../msg_docs/VehicleThrustSetpoint.md)
+/fmu/in/vehicle_torque_setpoint | [px4_msgs::msg::VehicleTorqueSetpoint](../msg_docs/VehicleTorqueSetpoint.md)
+/fmu/in/actuator_motors | [px4_msgs::msg::ActuatorMotors](../msg_docs/ActuatorMotors.md)
+/fmu/in/actuator_servos | [px4_msgs::msg::ActuatorServos](../msg_docs/ActuatorServos.md)
+/fmu/in/aux_global_position | [px4_msgs::msg::VehicleGlobalPosition](../msg_docs/VehicleGlobalPosition.md)
+/fmu/in/fixed_wing_longitudinal_setpoint | [px4_msgs::msg::FixedWingLongitudinalSetpoint](../msg_docs/FixedWingLongitudinalSetpoint.md)
+/fmu/in/fixed_wing_lateral_setpoint | [px4_msgs::msg::FixedWingLateralSetpoint](../msg_docs/FixedWingLateralSetpoint.md)
+/fmu/in/longitudinal_control_configuration | [px4_msgs::msg::LongitudinalControlConfiguration](../msg_docs/LongitudinalControlConfiguration.md)
+/fmu/in/lateral_control_configuration | [px4_msgs::msg::LateralControlConfiguration](../msg_docs/LateralControlConfiguration.md)
+
+## Subscriptions Multi
+
+None
+
+## Not Exported
+
+These messages are not listed in the yaml file.
+They are not build into the module, and hence are neither published or subscribed.
+
+::: details See messages
+
+- [SensorCorrection](../msg_docs/SensorCorrection.md)
+- [ActuatorOutputs](../msg_docs/ActuatorOutputs.md)
+- [FixedWingRunwayControl](../msg_docs/FixedWingRunwayControl.md)
+- [EstimatorInnovations](../msg_docs/EstimatorInnovations.md)
+- [FlightPhaseEstimation](../msg_docs/FlightPhaseEstimation.md)
+- [PurePursuitStatus](../msg_docs/PurePursuitStatus.md)
+- [Px4ioStatus](../msg_docs/Px4ioStatus.md)
+- [SatelliteInfo](../msg_docs/SatelliteInfo.md)
+- [GeofenceResult](../msg_docs/GeofenceResult.md)
+- [GimbalManagerStatus](../msg_docs/GimbalManagerStatus.md)
+- [ManualControlSwitches](../msg_docs/ManualControlSwitches.md)
+- [OpenDroneIdSelfId](../msg_docs/OpenDroneIdSelfId.md)
+- [OpenDroneIdSystem](../msg_docs/OpenDroneIdSystem.md)
+- [EventV0](../msg_docs/EventV0.md)
+- [QshellRetval](../msg_docs/QshellRetval.md)
+- [RoverThrottleSetpoint](../msg_docs/RoverThrottleSetpoint.md)
+- [AirspeedValidatedV0](../msg_docs/AirspeedValidatedV0.md)
+- [RcChannels](../msg_docs/RcChannels.md)
+- [SensorAccel](../msg_docs/SensorAccel.md)
+- [GimbalDeviceAttitudeStatus](../msg_docs/GimbalDeviceAttitudeStatus.md)
+- [EscStatus](../msg_docs/EscStatus.md)
+- [RoverAttitudeSetpoint](../msg_docs/RoverAttitudeSetpoint.md)
+- [RateCtrlStatus](../msg_docs/RateCtrlStatus.md)
+- [AirspeedWind](../msg_docs/AirspeedWind.md)
+- [InputRc](../msg_docs/InputRc.md)
+- [GpioIn](../msg_docs/GpioIn.md)
+- [LaunchDetectionStatus](../msg_docs/LaunchDetectionStatus.md)
+- [VehicleImu](../msg_docs/VehicleImu.md)
+- [Event](../msg_docs/Event.md)
+- [SensorUwb](../msg_docs/SensorUwb.md)
+- [ActuatorServosTrim](../msg_docs/ActuatorServosTrim.md)
+- [DatamanResponse](../msg_docs/DatamanResponse.md)
+- [OrbTest](../msg_docs/OrbTest.md)
+- [VehicleLocalPositionSetpoint](../msg_docs/VehicleLocalPositionSetpoint.md)
+- [VehicleAngularVelocity](../msg_docs/VehicleAngularVelocity.md)
+- [FollowTargetStatus](../msg_docs/FollowTargetStatus.md)
+- [NormalizedUnsignedSetpoint](../msg_docs/NormalizedUnsignedSetpoint.md)
+- [YawEstimatorStatus](../msg_docs/YawEstimatorStatus.md)
+- [TakeoffStatus](../msg_docs/TakeoffStatus.md)
+- [UlogStreamAck](../msg_docs/UlogStreamAck.md)
+- [OrbTestLarge](../msg_docs/OrbTestLarge.md)
+- [RoverSteeringSetpoint](../msg_docs/RoverSteeringSetpoint.md)
+- [CameraCapture](../msg_docs/CameraCapture.md)
+- [VehicleRoi](../msg_docs/VehicleRoi.md)
+- [ActuatorArmed](../msg_docs/ActuatorArmed.md)
+- [FixedWingLateralGuidanceStatus](../msg_docs/FixedWingLateralGuidanceStatus.md)
+- [ParameterSetValueResponse](../msg_docs/ParameterSetValueResponse.md)
+- [GeofenceStatus](../msg_docs/GeofenceStatus.md)
+- [VehicleAngularAccelerationSetpoint](../msg_docs/VehicleAngularAccelerationSetpoint.md)
+- [SensorGnssRelative](../msg_docs/SensorGnssRelative.md)
+- [PowerMonitor](../msg_docs/PowerMonitor.md)
+- [RoverVelocityStatus](../msg_docs/RoverVelocityStatus.md)
+- [ParameterResetRequest](../msg_docs/ParameterResetRequest.md)
+- [RoverAttitudeStatus](../msg_docs/RoverAttitudeStatus.md)
+- [TecsStatus](../msg_docs/TecsStatus.md)
+- [EstimatorSelectorStatus](../msg_docs/EstimatorSelectorStatus.md)
+- [CanInterfaceStatus](../msg_docs/CanInterfaceStatus.md)
+- [Ping](../msg_docs/Ping.md)
+- [LedControl](../msg_docs/LedControl.md)
+- [Wind](../msg_docs/Wind.md)
+- [VehicleStatusV0](../msg_docs/VehicleStatusV0.md)
+- [ActuatorTest](../msg_docs/ActuatorTest.md)
+- [IridiumsbdStatus](../msg_docs/IridiumsbdStatus.md)
+- [FailureDetectorStatus](../msg_docs/FailureDetectorStatus.md)
+- [GimbalManagerSetAttitude](../msg_docs/GimbalManagerSetAttitude.md)
+- [Gripper](../msg_docs/Gripper.md)
+- [SensorMag](../msg_docs/SensorMag.md)
+- [DebugValue](../msg_docs/DebugValue.md)
+- [SensorPreflightMag](../msg_docs/SensorPreflightMag.md)
+- [RcParameterMap](../msg_docs/RcParameterMap.md)
+- [LandingGear](../msg_docs/LandingGear.md)
+- [GimbalDeviceInformation](../msg_docs/GimbalDeviceInformation.md)
+- [VehicleOpticalFlow](../msg_docs/VehicleOpticalFlow.md)
+- [UlogStream](../msg_docs/UlogStream.md)
+- [GimbalControls](../msg_docs/GimbalControls.md)
+- [RoverRateSetpoint](../msg_docs/RoverRateSetpoint.md)
+- [LogMessage](../msg_docs/LogMessage.md)
+- [RoverVelocitySetpoint](../msg_docs/RoverVelocitySetpoint.md)
+- [GpioOut](../msg_docs/GpioOut.md)
+- [TaskStackInfo](../msg_docs/TaskStackInfo.md)
+- [VelocityLimits](../msg_docs/VelocityLimits.md)
+- [MagWorkerData](../msg_docs/MagWorkerData.md)
+- [ParameterUpdate](../msg_docs/ParameterUpdate.md)
+- [TrajectorySetpoint6dof](../msg_docs/TrajectorySetpoint6dof.md)
+- [SensorBaro](../msg_docs/SensorBaro.md)
+- [VehicleImuStatus](../msg_docs/VehicleImuStatus.md)
+- [InternalCombustionEngineStatus](../msg_docs/InternalCombustionEngineStatus.md)
+- [VehicleOpticalFlowVel](../msg_docs/VehicleOpticalFlowVel.md)
+- [GimbalManagerSetManualControl](../msg_docs/GimbalManagerSetManualControl.md)
+- [Rpm](../msg_docs/Rpm.md)
+- [MagnetometerBiasEstimate](../msg_docs/MagnetometerBiasEstimate.md)
+- [MountOrientation](../msg_docs/MountOrientation.md)
+- [ActionRequest](../msg_docs/ActionRequest.md)
+- [OpenDroneIdArmStatus](../msg_docs/OpenDroneIdArmStatus.md)
+- [SensorAccelFifo](../msg_docs/SensorAccelFifo.md)
+- [LoggerStatus](../msg_docs/LoggerStatus.md)
+- [GeneratorStatus](../msg_docs/GeneratorStatus.md)
+- [InternalCombustionEngineControl](../msg_docs/InternalCombustionEngineControl.md)
+- [Ekf2Timestamps](../msg_docs/Ekf2Timestamps.md)
+- [LandingTargetPose](../msg_docs/LandingTargetPose.md)
+- [PositionControllerLandingStatus](../msg_docs/PositionControllerLandingStatus.md)
+- [UavcanParameterValue](../msg_docs/UavcanParameterValue.md)
+- [OrbitStatus](../msg_docs/OrbitStatus.md)
+- [PositionControllerStatus](../msg_docs/PositionControllerStatus.md)
+- [EstimatorStatus](../msg_docs/EstimatorStatus.md)
+- [DatamanRequest](../msg_docs/DatamanRequest.md)
+- [HoverThrustEstimate](../msg_docs/HoverThrustEstimate.md)
+- [FixedWingLateralStatus](../msg_docs/FixedWingLateralStatus.md)
+- [NavigatorMissionItem](../msg_docs/NavigatorMissionItem.md)
+- [Cpuload](../msg_docs/Cpuload.md)
+- [EstimatorAidSource3d](../msg_docs/EstimatorAidSource3d.md)
+- [RoverRateStatus](../msg_docs/RoverRateStatus.md)
+- [EscReport](../msg_docs/EscReport.md)
+- [DebugArray](../msg_docs/DebugArray.md)
+- [ControlAllocatorStatus](../msg_docs/ControlAllocatorStatus.md)
+- [SensorHygrometer](../msg_docs/SensorHygrometer.md)
+- [EstimatorSensorBias](../msg_docs/EstimatorSensorBias.md)
+- [EstimatorBias3d](../msg_docs/EstimatorBias3d.md)
+- [GimbalManagerInformation](../msg_docs/GimbalManagerInformation.md)
+- [QshellReq](../msg_docs/QshellReq.md)
+- [CameraStatus](../msg_docs/CameraStatus.md)
+- [GpsInjectData](../msg_docs/GpsInjectData.md)
+- [FigureEightStatus](../msg_docs/FigureEightStatus.md)
+- [TransponderReport](../msg_docs/TransponderReport.md)
+- [UavcanParameterRequest](../msg_docs/UavcanParameterRequest.md)
+- [MavlinkLog](../msg_docs/MavlinkLog.md)
+- [EstimatorGpsStatus](../msg_docs/EstimatorGpsStatus.md)
+- [FuelTankStatus](../msg_docs/FuelTankStatus.md)
+- [Mission](../msg_docs/Mission.md)
+- [PositionSetpoint](../msg_docs/PositionSetpoint.md)
+- [MissionResult](../msg_docs/MissionResult.md)
+- [EstimatorEventFlags](../msg_docs/EstimatorEventFlags.md)
+- [VehicleMagnetometer](../msg_docs/VehicleMagnetometer.md)
+- [MavlinkTunnel](../msg_docs/MavlinkTunnel.md)
+- [DifferentialPressure](../msg_docs/DifferentialPressure.md)
+- [CellularStatus](../msg_docs/CellularStatus.md)
+- [GpsDump](../msg_docs/GpsDump.md)
+- [GimbalDeviceSetAttitude](../msg_docs/GimbalDeviceSetAttitude.md)
+- [ArmingCheckReplyV0](../msg_docs/ArmingCheckReplyV0.md)
+- [NavigatorStatus](../msg_docs/NavigatorStatus.md)
+- [RoverPositionSetpoint](../msg_docs/RoverPositionSetpoint.md)
+- [FollowTarget](../msg_docs/FollowTarget.md)
+- [SensorsStatusImu](../msg_docs/SensorsStatusImu.md)
+- [EstimatorStates](../msg_docs/EstimatorStates.md)
+- [SensorGyro](../msg_docs/SensorGyro.md)
+- [SensorAirflow](../msg_docs/SensorAirflow.md)
+- [ButtonEvent](../msg_docs/ButtonEvent.md)
+- [DebugKeyValue](../msg_docs/DebugKeyValue.md)
+- [GpioConfig](../msg_docs/GpioConfig.md)
+- [CameraTrigger](../msg_docs/CameraTrigger.md)
+- [LandingGearWheel](../msg_docs/LandingGearWheel.md)
+- [VehicleConstraints](../msg_docs/VehicleConstraints.md)
+- [HealthReport](../msg_docs/HealthReport.md)
+- [PowerButtonState](../msg_docs/PowerButtonState.md)
+- [RadioStatus](../msg_docs/RadioStatus.md)
+- [SensorGyroFifo](../msg_docs/SensorGyroFifo.md)
+- [EstimatorBias](../msg_docs/EstimatorBias.md)
+- [DebugVect](../msg_docs/DebugVect.md)
+- [DistanceSensorModeChangeRequest](../msg_docs/DistanceSensorModeChangeRequest.md)
+- [RtlTimeEstimate](../msg_docs/RtlTimeEstimate.md)
+- [PpsCapture](../msg_docs/PpsCapture.md)
+- [SensorSelection](../msg_docs/SensorSelection.md)
+- [SystemPower](../msg_docs/SystemPower.md)
+- [ActuatorControlsStatus](../msg_docs/ActuatorControlsStatus.md)
+- [SensorGyroFft](../msg_docs/SensorGyroFft.md)
+- [VehicleAirData](../msg_docs/VehicleAirData.md)
+- [FollowTargetEstimator](../msg_docs/FollowTargetEstimator.md)
+- [ParameterSetUsedRequest](../msg_docs/ParameterSetUsedRequest.md)
+- [GpioRequest](../msg_docs/GpioRequest.md)
+- [OpenDroneIdOperatorId](../msg_docs/OpenDroneIdOperatorId.md)
+- [RtlStatus](../msg_docs/RtlStatus.md)
+- [Airspeed](../msg_docs/Airspeed.md)
+- [VehicleAcceleration](../msg_docs/VehicleAcceleration.md)
+- [ParameterSetValueRequest](../msg_docs/ParameterSetValueRequest.md)
+- [IrlockReport](../msg_docs/IrlockReport.md)
+- [HeaterStatus](../msg_docs/HeaterStatus.md)
+- [AdcReport](../msg_docs/AdcReport.md)
+- [PwmInput](../msg_docs/PwmInput.md)
+- [TiltrotorExtraControls](../msg_docs/TiltrotorExtraControls.md)
+- [EstimatorAidSource1d](../msg_docs/EstimatorAidSource1d.md)
+- [OrbTestMedium](../msg_docs/OrbTestMedium.md)
+- [VehicleAttitudeSetpointV0](../msg_docs/VehicleAttitudeSetpointV0.md)
+- [EstimatorAidSource2d](../msg_docs/EstimatorAidSource2d.md)
+- [TuneControl](../msg_docs/TuneControl.md)
+- [WheelEncoders](../msg_docs/WheelEncoders.md)
+- [AutotuneAttitudeControlStatus](../msg_docs/AutotuneAttitudeControlStatus.md)
+- [LandingTargetInnovations](../msg_docs/LandingTargetInnovations.md)
+- [SensorsStatus](../msg_docs/SensorsStatus.md)
+:::
--- a/Show More
+++ b/Show More