bl_update: Allow booting from SD card (without forced BL copy to ROMFS)

2026-06-20 12:20:34 +08:00 · 2025-08-20 18:22:42 +02:00
172 changed files with 746 additions and 3660 deletions
@@ -36,11 +36,6 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_test
-    px4_sitl_zenoh:
-      short: px4_sitl_zenoh
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_test
    px4_io-v2_default:
      short: px4_io-v2
      buildType: MinSizeRel
@@ -73,11 +73,6 @@ menu "Toolchain"
        help
            relative path to the ROMFS root directory

-    config BOARD_ADDITIONAL_INIT
-        string "Additional init file"
-        help
-            additional configurable init file to include in the ROMFS
-
    config BOARD_IO
        string "IO board name"
        default "px4_io-v2_default"
@@ -19,7 +19,7 @@ See [the documentation on Maintainers](https://docs.px4.io/main/en/contribute/ma
 | 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 | <roque@caltech.edu>
+| 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>


@@ -511,7 +511,6 @@ validate_module_configs:
 	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f \
 	-not -path "$(SRC_DIR)/src/lib/mixer_module/*" \
 	-not -path "$(SRC_DIR)/src/modules/uxrce_dds_client/dds_topics.yaml" \
-	-not -path "$(SRC_DIR)/src/modules/zenoh/dds_topics.yaml" \
 	-not -path "$(SRC_DIR)/src/modules/zenoh/zenoh-pico/*" \
 	-not -path "$(SRC_DIR)/src/lib/events/libevents/*" \
 	-not -path "$(SRC_DIR)/src/lib/cdrstream/*" \
@@ -202,43 +202,18 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})

 endforeach()

-if(config_additional_init)
-	if(EXISTS "${PX4_BOARD_DIR}/init/${config_additional_init}")
-		file(RELATIVE_PATH rc_file_relative ${PX4_SOURCE_DIR} ${PX4_BOARD_DIR}/init/${config_additional_init})
-		message(STATUS "ROMFS:  Adding ${rc_file_relative} -> /etc/init.d/rc.additional_init")
-
-		add_custom_command(
-			OUTPUT
-				${romfs_gen_root_dir}/init.d/rc.additional_init
-				${config_additional_init}.stamp
-			COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/init/${config_additional_init} ${romfs_gen_root_dir}/init.d/rc.additional_init
-			COMMAND ${CMAKE_COMMAND} -E touch ${config_additional_init}.stamp
-			DEPENDS
-				${PX4_BOARD_DIR}/init/${config_additional_init}
-				romfs_copy.stamp
-			COMMENT "ROMFS: copying ${config_additional_init}"
-		)
-
-		list(APPEND extras_dependencies
-			${config_additional_init}.stamp
-			)
-	else()
-		message(FATAL_ERROR "BOARD_ADDITIONAL_INIT file not found at: ${PX4_BOARD_DIR}/init/${config_additional_init}")
-	endif()
-endif()
-

 # board extras
 set(OPTIONAL_BOARD_EXTRAS)
 file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)

 # bootloader (optional)
-#  - if systemcmds/bl_update included and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
+#  - if systemcmds/bl_update included (with romfs copy) and board bootloader available then generate rc.board_bootloader_upgrade and copy bootloader binary
 #  - otherwise remove bootloader binary from extras in final ROMFS
 foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
 	file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
 	if(${extra_file_base_name} MATCHES "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-		if(CONFIG_SYSTEMCMDS_BL_UPDATE)
+		if(CONFIG_SYSTEMCMDS_BL_UPDATE AND CONFIG_BL_UPDATE_BL_ROMFS)
 			# generate rc.board_bootloader_upgrade
 			set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
 			message(STATUS "ROMFS:  Adding platforms/nuttx/init/rc.board_bootloader_upgrade -> /etc/init.d/rc.board_bootloader_upgrade")
@@ -56,17 +56,6 @@ then
 fi
 unset BOARD_RC_DEFAULTS

-#
-# Optional additional init file: rc.additional_init
-#
-set BOARD_RC_ADDITIONAL_INIT ${R}etc/init.d/rc.additional_init
-if [ -f $BOARD_RC_ADDITIONAL_INIT ]
-then
-	echo "Board additional init: ${BOARD_RC_ADDITIONAL_INIT}"
-	. $BOARD_RC_ADDITIONAL_INIT
-fi
-unset BOARD_RC_ADDITIONAL_INIT
-
 #
 # Start system state indicator.
 #
@@ -34,6 +34,7 @@ param set-default COM_LOW_BAT_ACT 0
 param set-default NAV_DLL_ACT 0
 param set-default GF_ACTION 1
 param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2

 # disable attitude failure detection
 param set-default FD_FAIL_P 0
@@ -1,21 +1,10 @@
 #!/bin/sh
 #
-# @name KTH-ATMOS
+# @name 3DoF Spacecraft Model
 #
-# @type Free-Flyer
-# @class Spacecraft
+# @type 2D Freeflyer with 8 thrusters - Planar motion
 #
-# @output Motor1 back left thruster, +x thrust
-# @output Motor2 front left thruster, -x thrust
-# @output Motor3 back right thruster, +x thrust
-# @output Motor4 front right thruster, -x thrust
-# @output Motor5 front left thruster, +y thrust
-# @output Motor6 front right thruster, -y thrust
-# @output Motor7 back left thruster, +y thrust
-# @output Motor8 back right thruster, -y thrust
-#
-# @maintainer discower-io
-# @url https://atmos.discower.io
+# @maintainer Pedro Roque <padr@kth.se>
 #

 . ${R}etc/init.d/rc.sc_defaults
@@ -45,6 +34,7 @@ param set-default COM_LOW_BAT_ACT 0
 param set-default NAV_DLL_ACT 0
 param set-default GF_ACTION 1
 param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2

 # disable attitude failure detection
 param set-default FD_FAIL_P 0
@@ -324,11 +324,6 @@ fi

 uxrce_dds_client start -t udp -p $uxrce_dds_port $uxrce_dds_ns

-if param greater -s ZENOH_ENABLE 0
-then
-	zenoh start
-fi
-
 if param greater -s MNT_MODE_IN -1
 then
 	gimbal start
@@ -45,6 +45,7 @@ param set-default COM_LOW_BAT_ACT 0
 param set-default NAV_DLL_ACT 0
 param set-default GF_ACTION 1
 param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2

 # disable attitude failure detection
 param set-default FD_FAIL_P 0
@@ -5,17 +5,7 @@
 # @type Free-Flyer
 # @class Spacecraft
 #
-# @output Motor1 back left thruster, +x thrust
-# @output Motor2 front left thruster, -x thrust
-# @output Motor3 back right thruster, +x thrust
-# @output Motor4 front right thruster, -x thrust
-# @output Motor5 front left thruster, +y thrust
-# @output Motor6 front right thruster, -y thrust
-# @output Motor7 back left thruster, +y thrust
-# @output Motor8 back right thruster, -y thrust
-#
 # @maintainer DISCOWER
-# @url https://atmos.discower.io
 #

 . ${R}etc/init.d/rc.sc_defaults
@@ -35,6 +25,7 @@ param set-default COM_LOW_BAT_ACT 0
 param set-default NAV_DLL_ACT 0
 param set-default GF_ACTION 1
 param set-default NAV_RCL_ACT 1
+param set-default COM_POSCTL_NAVL 2

 # Set Mocap Vision frame
 param set EKF2_EV_CTRL 15
@@ -8,9 +8,6 @@
 #                 End Setup for board specific configurations.                #
 ###############################################################################

-#
-# Set SD logging mode
-#
 if param compare SDLOG_MODE 1
 then
 	set LOGGER_ARGS "${LOGGER_ARGS} -e"
@@ -31,28 +28,8 @@ then
 	set LOGGER_ARGS "${LOGGER_ARGS} -a"
 fi

-#
-# Set logging backend
-#
-if param compare SDLOG_BACKEND 1
-then
-	set LOGGER_ARGS "${LOGGER_ARGS} -m file"
-fi

-if param compare SDLOG_BACKEND 2
-then
-	set LOGGER_ARGS "${LOGGER_ARGS} -m mavlink"
-fi
-
-if param compare SDLOG_BACKEND 3
-then
-	set LOGGER_ARGS "${LOGGER_ARGS} -m all"
-fi
-
-#
-# Start logger if any logging backend is enabled
-#
-if ! param compare SDLOG_BACKEND 0
+if ! param compare SDLOG_MODE -1
 then
 	logger start -b ${LOGGER_BUF} -t ${LOGGER_ARGS}
 fi
@@ -237,7 +237,6 @@ then
 	qmc5883p -X -q start
 	rm3100 -X -q start
 	bmm350 -X -q start
-	iis2mdc -X -q start

 	# start last (wait for possible icm20948 passthrough mode)
 	ak09916 -X -q start
@@ -217,17 +217,6 @@ else
 	fi
 	unset BOARD_RC_DEFAULTS

-	#
-	# Optional additional init file: rc.additional_init
-	#
-	set BOARD_RC_ADDITIONAL_INIT ${R}etc/init.d/rc.additional_init
-	if [ -f $BOARD_RC_ADDITIONAL_INIT ]
-	then
-		echo "Board additional init: ${BOARD_RC_ADDITIONAL_INIT}"
-		. $BOARD_RC_ADDITIONAL_INIT
-	fi
-	unset BOARD_RC_ADDITIONAL_INIT
-
 	# Load airframe configuration based on SYS_AUTOSTART parameter
 	if ! param compare SYS_AUTOSTART 0
 	then
@@ -624,7 +613,9 @@ else
 		. ${R}etc/init.d/rc.autostart.post
 	fi

-
+	#
+	# Bootloader upgrade (ROMFS)
+	#
 	set BOARD_BOOTLOADER_UPGRADE ${R}etc/init.d/rc.board_bootloader_upgrade
 	if [ -f $BOARD_BOOTLOADER_UPGRADE ]
 	then
@@ -632,6 +623,22 @@ else
 	fi
 	unset BOARD_BOOTLOADER_UPGRADE

+	#
+	# Bootloader upgrade (SD card)
+	#
+	if param compare -s SYS_BL_UPDATE 2
+	then
+		if [ -f "/fs/microsd/bl/bl.bin" ]
+		then
+			param set SYS_BL_UPDATE 0
+			param save
+			echo "bootloader update..."
+			bl_update "/fs/microsd/bl/bl.bin"
+			echo "bootloader update done, rebooting"
+			reboot
+		fi
+	fi
+
 	#
 	# Check if UAVCAN is enabled, default to it for ESCs.
 	#
@@ -49,14 +49,14 @@ for field in spec.parsed_fields():
            (package, name) = genmsg.names.package_resource_name(field.base_type)
            package = package or spec.package # convert '' to package

-            print('typedef px4_msgs_msg_%s px4_msgs_msg_px4_msgs__msg__%s;' % (name,name))
+            print('typedef px4_msg_%s px4_msg_px4__msg__%s;' % (name,name))
 }@



-typedef struct @uorb_struct px4_msgs_msg_@(file_base_name);
+typedef struct @uorb_struct px4_msg_@(file_base_name);

-extern const struct dds_cdrstream_desc px4_msgs_msg_@(file_base_name)_cdrstream_desc;
+extern const struct dds_cdrstream_desc px4_msg_@(file_base_name)_cdrstream_desc;

 #ifdef __cplusplus
 }
@@ -14,6 +14,7 @@ class AirframeGroup(object):
        self.af_class = af_class
        self.airframes = []

+
    def AddAirframe(self, airframe):
        """
        Add airframe to the airframe group
@@ -106,8 +107,6 @@ class AirframeGroup(object):
            return "Balloon"
        elif (self.type == "Vectored 6 DOF UUV"):
            return "Vectored6DofUUV"
-        elif self.type == "Free-Flyer":
-            return "FreeFlyer"
        return "AirframeUnknown"

    def GetAirframes(self):
@@ -42,7 +42,6 @@ import os
 import argparse
 import re
 import sys
-import json

 try:
    import em
@@ -125,7 +124,7 @@ def generate_by_template(output_file, template_file, em_globals):
    return True


-def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir, rihs_path):
+def generate_topics_list_file_from_files(files, outputdir, template_filename, templatedir):
    # generate cpp file with topics list
    filenames = []
    for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
@@ -139,27 +138,11 @@ def generate_topics_list_file_from_files(files, outputdir, template_filename, te
    for filename in [os.path.basename(p) for p in files if os.path.basename(p).endswith(".msg")]:
        full_base_names.append(filename.replace(".msg",""))

-    rihs01_hashes = dict()
-    if rihs_path != '':
-        for topic in full_base_names:
-            with open(rihs_path + "/msg/" + topic + ".json") as f:
-                d = json.load(f)
-                assert d['type_hashes'][0]['hash_string'][:7] == 'RIHS01_'
-
-                rihs01_hash = d['type_hashes'][0]['hash_string'][7:]
-
-                byte_array = [f"0x{rihs01_hash[i:i+2]}" for i in range(0, len(rihs01_hash), 2)]
-                c_code = f"{{ {', '.join(byte_array)} }};"
-                rihs01_hashes[topic] = c_code
-
    topics = []
-    datatypes_with_topics = dict()
    for msg_filename in files:
-        datatype = re.sub(r'(?<!^)(?=[A-Z])', '_', os.path.basename(msg_filename)).lower().replace(".msg","")
-        datatypes_with_topics[datatype] = get_topics(msg_filename)
-        topics.extend(datatypes_with_topics[datatype])
+        topics.extend(get_topics(msg_filename))

-    tl_globals = {"msgs": filenames, "topics": topics, "datatypes": datatypes, "full_base_names": full_base_names, "rihs01_hashes": rihs01_hashes, "datatypes_with_topics": datatypes_with_topics}
+    tl_globals = {"msgs": filenames, "topics": topics, "datatypes": datatypes, "full_base_names": full_base_names}
    tl_template_file = os.path.join(templatedir, template_filename)
    tl_out_file = os.path.join(outputdir, template_filename.replace(".em", ""))

@@ -179,15 +162,13 @@ if __name__ == "__main__":
    parser.add_argument('-p', dest='prefix', default='',
                        help='string added as prefix to the output file '
                        ' name when converting directories')
-    parser.add_argument('--rihs', dest='rihs', default='',
-                        help='path where rihs01 json files located')
    args = parser.parse_args()

    if args.zenoh_config:
-        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[0], args.templatedir, args.rihs)
+        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[0], args.templatedir)
        exit(0)
    elif args.zenoh_pub_sub:
-        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[1], args.templatedir, args.rihs)
+        generate_topics_list_file_from_files(args.file, args.outputdir, ZENOH_TEMPLATE_FILE[1], args.templatedir)
        exit(0)
    else:
        print('Error: either --headers or --sources must be specified')
@@ -74,7 +74,7 @@ full_base_names.sort()

@[for idx, topic_name in enumerate(datatypes)]@
@{
-type_topic_count = len(datatypes_with_topics[topic_name])
+type_topic_count = len([e for e in topic_names_all if e.startswith(topic_name)])
 }@
 #ifdef CONFIG_ZENOH_PUBSUB_@(topic_name.upper())
 #  define CONFIG_ZENOH_PUBSUB_@(topic_name.upper())_COUNT @(type_topic_count)
@@ -88,28 +88,9 @@ type_topic_count = len(datatypes_with_topics[topic_name])
        CONFIG_ZENOH_PUBSUB_@(topic_name.upper())_COUNT + \
@[end for]        0

-@[for topic_name, rihs01_hash in rihs01_hashes.items()]@
-const uint8_t @(topic_name)_hash[32] = @(rihs01_hash)
-@[end for]
-
-@[for idx, topic_name in enumerate(datatypes)]@
-#ifdef CONFIG_ZENOH_PUBSUB_@(topic_name.upper())
-@{
-topic_names = datatypes_with_topics[topic_name]
-}@
-const orb_metadata* @(topic_name)_topic_meta[@(len(topic_names))] = {
-@[for topic_name_inst in topic_names]@
-	ORB_ID(@(topic_name_inst)),
-@[end for]};
-#endif
-@[end for]
-
 typedef struct {
-	const char *data_type_name;
 	const uint32_t *ops;
-	const uint8_t *hash;
-	const orb_metadata** orb_topic;
-	const uint8_t orb_topics_size;
+	const orb_metadata* orb_meta;
 } UorbPubSubTopicBinder;

 const UorbPubSubTopicBinder _topics[ZENOH_PUBSUB_COUNT] {
@@ -119,95 +100,54 @@ uorb_id_idx = 0
@[for idx, topic_name in enumerate(datatypes)]@
 #ifdef CONFIG_ZENOH_PUBSUB_@(topic_name.upper())
@{
-topic_names = datatypes_with_topics[topic_name]
+topic_names = [e for e in topic_names_all if e.startswith(topic_name)]
 }@
+@[for topic_name_inst in topic_names]@
 		{
-		  "@(topic_name)",
-		  px4_msgs_msg_@(topic_dict[topic_name])_cdrstream_desc.ops.ops,
-		  @(topic_dict[topic_name])_hash,
-		  @(topic_name)_topic_meta,
-		  @(len(topic_names)),
+		  px4_msg_@(topic_dict[topic_name])_cdrstream_desc.ops.ops,
+		  ORB_ID(@(topic_name_inst))
 		},
-#endif
+@{
+uorb_id_idx += 1
+}@
+@[end for]#endif
@[end for]
 };

-uORB_Zenoh_Publisher* genPublisher(const orb_metadata *meta, int instance) {
+uORB_Zenoh_Publisher* genPublisher(const orb_metadata *meta) {
    for (auto &pub : _topics) {
-        for(int i = 0; i < pub.orb_topics_size; i++) {
-            if(pub.orb_topic[i]->o_id == meta->o_id) {
-                return new uORB_Zenoh_Publisher(meta, pub.ops, instance);
-            }
+        if(pub.orb_meta->o_id == meta->o_id) {
+            return new uORB_Zenoh_Publisher(meta, pub.ops);
        }
    }
    return NULL;
 }


-uORB_Zenoh_Publisher* genPublisher(const char *name, int instance) {
+uORB_Zenoh_Publisher* genPublisher(const char *name) {
    for (auto &pub : _topics) {
-        for(int i = 0; i < pub.orb_topics_size; i++) {
-            if(strcmp(pub.orb_topic[i]->o_name, name) == 0) {
-                return new uORB_Zenoh_Publisher(pub.orb_topic[i], pub.ops, instance);
-            }
+        if(strcmp(pub.orb_meta->o_name, name) == 0) {
+            return new uORB_Zenoh_Publisher(pub.orb_meta, pub.ops);
        }
    }
    return NULL;
 }


-Zenoh_Subscriber* genSubscriber(const orb_metadata *meta, int instance) {
+Zenoh_Subscriber* genSubscriber(const orb_metadata *meta) {
    for (auto &sub : _topics) {
-        for(int i = 0; i < sub.orb_topics_size; i++) {
-            if(sub.orb_topic[i]->o_id == meta->o_id) {
-                return new uORB_Zenoh_Subscriber(meta, sub.ops, instance);
-            }
+        if(sub.orb_meta->o_id == meta->o_id) {
+            return new uORB_Zenoh_Subscriber(meta, sub.ops);
        }
    }
    return NULL;
 }


-Zenoh_Subscriber* genSubscriber(const char *name, int instance) {
+Zenoh_Subscriber* genSubscriber(const char *name) {
    for (auto &sub : _topics) {
-        for(int i = 0; i < sub.orb_topics_size; i++) {
-            if(strcmp(sub.orb_topic[i]->o_name, name) == 0) {
-                return new uORB_Zenoh_Subscriber(sub.orb_topic[i], sub.ops, instance);
-            }
-        }
-    }
-    return NULL;
-}
-
-const char* getTypeName(const char *name) {
-    for (auto &sub : _topics) {
-        for(int i = 0; i < sub.orb_topics_size; i++) {
-            if(strcmp(sub.orb_topic[i]->o_name, name) == 0) {
-                return sub.data_type_name;
-            }
-        }
-    }
-    return NULL;
-}
-
-
-const uint8_t* getRIHS01_Hash(const orb_metadata *meta) {
-    for (auto &sub : _topics) {
-        for(int i = 0; i < sub.orb_topics_size; i++) {
-            if(sub.orb_topic[i]->o_id == meta->o_id) {
-                return sub.hash;
-            }
-        }
-    }
-    return NULL;
-}
-
-const uint8_t* getRIHS01_Hash(const char *name) {
-    for (auto &sub : _topics) {
-        for(int i = 0; i < sub.orb_topics_size; i++) {
-            if(strcmp(sub.orb_topic[i]->o_name, name) == 0) {
-                return sub.hash;
-            }
+        if(strcmp(sub.orb_meta->o_name, name) == 0) {
+            return new uORB_Zenoh_Subscriber(sub.orb_meta, sub.ops);
        }
    }
    return NULL;
@@ -75,6 +75,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -35,6 +35,7 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -21,7 +21,6 @@ CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DATAMAN_PERSISTENT_STORAGE=n
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -14,7 +14,7 @@ param set-default SYS_DM_BACKEND 1
 # Set TELEM1 as default mavlink connection
 param set-default MAV_0_CONFIG 0
 # Disable logger writing to FRAM, only stream over MAVLINK
-param set-default SDLOG_BACKEND 2
+set LOGGER_ARGS "-m mavlink"

 # 200kOhm/10kOhm voltage divider on V_BAT
 param set-default BAT1_V_DIV 21
@@ -12,20 +12,17 @@ board_adc start
 bmi088 -A -R 0 -s start
 bmi088 -G -R 0 -s start

-# MAG on I2C4, ROTATION_ROLL_180=8
 if ver hwtypecmp V6S013 V6S015
 then
+	# Revision(s) with BMM150
+	# MAG on I2C4, ROTATION_ROLL_180=8
 	bmm150 -I -R 8 start
 else
+	# Revision(s) with BMM350
+	# MAG on I2C4, ROTATION_ROLL_180=8
 	bmm350 -I -R 8 start
 fi

-# BARO on I2C4
-bmp388 -I -b 4 -a 0x77 start
-
-
-# External sensors on I2C1
-
 if param compare SENS_EN_INA226 1
 then
 	# Start Digital power monitors
@@ -62,17 +59,14 @@ fi

 if param compare BAT1_V_CHANNEL -2
 then
-	if [ "$INA_CONFIGURED" != "yes" ]
-	then
-		param set BAT1_V_CHANNEL -1
-	fi
+    if [ "$INA_CONFIGURED" != "yes" ]
+    then
+        param set BAT1_V_CHANNEL -1
+    fi
 fi

-# External compass IST8310 on I2C1
+# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
 ist8310 -X -b 1 -R 10 start

-# Start an external PWM generator
-if param greater PCA9685_EN_BUS 0
-then
-	pca9685_pwm_out start -b 1
-fi
+# BARO on I2C4
+bmp388 -I -b 4 -a 0x77 start
@@ -71,6 +71,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -8,4 +8,5 @@ CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
@@ -74,6 +74,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -75,6 +75,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -75,6 +75,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -66,6 +66,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -68,6 +68,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -38,5 +38,5 @@ param set-default SYS_DM_BACKEND 1
 # Ignore that there is no SD card
 param set-default COM_ARM_SDCARD 0

-# Disable logging
-param set-default SDLOG_BACKEND 0
+# Don't try to log onto SD card
+param set-default SDLOG_MODE -1
@@ -38,5 +38,5 @@ param set-default SYS_DM_BACKEND 1
 # Ignore that there is no SD card
 param set-default COM_ARM_SDCARD 0

-# Disable logging
-param set-default SDLOG_BACKEND 0
+# Don't try to log onto SD card
+param set-default SDLOG_MODE -1
@@ -79,6 +79,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -84,6 +84,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -79,6 +79,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -67,6 +67,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -73,6 +73,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -73,6 +73,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -73,6 +73,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -75,6 +75,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -8,4 +8,5 @@ CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
@@ -14,7 +14,6 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_ZENOH=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
@@ -182,7 +182,6 @@ CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
 CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_DELAYED_ACK=y
-CONFIG_NET_TCP_KEEPALIVE=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
@@ -208,7 +207,6 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=272000
 CONFIG_RAM_START=0x20400000
@@ -0,0 +1,57 @@
+# CONFIG_BOARD_ROMFSROOT is not set
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
+CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_COMMON_LIGHT=y
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IRLOCK=y
+CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
+CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_SAFETY_BUTTON=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_ESC_BATTERY=y
+CONFIG_MODULES_EVENTS=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_RATE_CONTROL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_MODULES_ZENOH=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REFLECT=y
+CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
@@ -75,7 +75,6 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_MODULES_ZENOH=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
@@ -49,7 +49,6 @@ CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DEV_URANDOM=y
 CONFIG_ETH0_PHY_DP83825I=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -156,8 +155,8 @@ CONFIG_NETDEV_LATEINIT=y
 CONFIG_NETDEV_PHY_IOCTL=y
 CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0xA290AFE
-CONFIG_NETINIT_DRIPADDR=0xA290AFE
+CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
+CONFIG_NETINIT_DRIPADDR=0XC0A800FE
 CONFIG_NETINIT_RETRY_MOUNTPATH=10
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
@@ -168,18 +167,15 @@ CONFIG_NET_BROADCAST=y
 CONFIG_NET_CAN=y
 CONFIG_NET_CAN_EXTID=y
 CONFIG_NET_CAN_NOTIFIER=y
-CONFIG_NET_CAN_RAW_FILTER_MAX=1
 CONFIG_NET_CAN_RAW_TX_DEADLINE=y
 CONFIG_NET_CAN_SOCK_OPTS=y
 CONFIG_NET_ETH_PKTSIZE=1518
 CONFIG_NET_ICMP=y
 CONFIG_NET_ICMP_SOCKET=y
-CONFIG_NET_IGMP=y
 CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
 CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_DELAYED_ACK=y
-CONFIG_NET_TCP_KEEPALIVE=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
@@ -200,7 +196,6 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=1048576
 CONFIG_RAM_START=0x20200000
@@ -47,6 +47,7 @@ CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 # CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW is not set
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MTD=y
@@ -79,6 +79,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -80,6 +80,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -77,6 +77,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -83,6 +83,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -91,6 +91,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -89,7 +89,6 @@ CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_MODULES_ZENOH=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
@@ -55,7 +55,6 @@ CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEBUG_TCBINFO=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DEV_URANDOM=y
 CONFIG_ETH0_PHY_MULTI=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -215,18 +214,15 @@ CONFIG_NET_BROADCAST=y
 CONFIG_NET_CAN=y
 CONFIG_NET_CAN_EXTID=y
 CONFIG_NET_CAN_NOTIFIER=y
-CONFIG_NET_CAN_RAW_FILTER_MAX=1
 CONFIG_NET_CAN_RAW_TX_DEADLINE=y
 CONFIG_NET_CAN_SOCK_OPTS=y
 CONFIG_NET_ETH_PKTSIZE=1518
 CONFIG_NET_ICMP=y
 CONFIG_NET_ICMP_SOCKET=y
-CONFIG_NET_IGMP=y
 CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
 CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_DELAYED_ACK=y
-CONFIG_NET_TCP_KEEPALIVE=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_TIMESTAMP=y
 CONFIG_NET_UDP=y
@@ -247,7 +243,6 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=1835008
@@ -72,6 +72,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -74,6 +74,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -74,6 +74,7 @@ CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -61,6 +61,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
@@ -66,6 +66,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -65,6 +65,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -65,6 +65,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_BL_UPDATE_BL_ROMFS=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -339,11 +339,6 @@ if(EXISTS ${BOARD_DEFCONFIG})
 		endif()
 	endif()

-	# ADDITIONAL INIT
-	if(ADDITIONAL_INIT)
-		set(config_additional_init ${ADDITIONAL_INIT} CACHE INTERNAL "additional init" FORCE)
-	endif()
-
 	if(UAVCAN_INTERFACES)
 		set(config_uavcan_num_ifaces ${UAVCAN_INTERFACES} CACHE INTERNAL "UAVCAN interfaces" FORCE)
 	endif()
@@ -1,8 +1,8 @@
 # Onboard parameters for Vehicle 1
 #
 # Stack: PX4 Pro
-# Vehicle: Multi-Rotor
-# Version: 1.15.4
+# Vehicle: śŕĐýŇí
+# Version: 1.15.4 
 # Git Revision: 99c40407ff000000
 #
 # Vehicle-Id Component-Id Name Value Type
@@ -318,6 +318,7 @@
 1	1	COM_OBS_AVOID	0	6
 1	1	COM_OF_LOSS_T	1.000000000000000000	9
 1	1	COM_PARACHUTE	0	6
+1	1	COM_POSCTL_NAVL	0	6
 1	1	COM_POS_FS_DELAY	1	6
 1	1	COM_POS_FS_EPH	5.000000000000000000	9
 1	1	COM_POS_LOW_EPH	-1.000000000000000000	9
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@@ -290,7 +290,7 @@ If you're using [DroneCAN ESC](../peripherals/esc_motors.md#dronecan) the contro
 ### Flight Controller Power

 Pixhawk FCs require a regulated power supply that can supply at around 5V/3A continuous (check your specific FC)!
-This is sufficient to power the controller itself and a few low-power peripherals, such as a GNSS module, RC receiver, and low power telemetry radio, but not for motors, actuators, and other peripherals.
+This is sufficient to power the controller itself and a few low-power peripherals, such as a GNSS module, RC transmitter, and low power telemetry radio, but not for motors, actuators, and other peripherals.

 [Power modules](../power_module/index.md) are commonly used to "split off" this regulated power supply for the FC and also to provide measurements of the battery voltage and total current to the whole system — which PX4 can use to estimate power levels.
 The power module is connected to the FC power port, which is normally labeled `POWER` (or `POWER 1` or `POWER 2` for FCs that have redundant power supply).
@@ -90,8 +90,6 @@ This is documented below.
 The best way to customize the system startup is to introduce a [new frame configuration](../dev_airframes/adding_a_new_frame.md).
 The frame configuration file can be included in the firmware or on an SD Card.

-#### Dynamic customization
-
 If you only need to "tweak" the existing configuration, such as starting one more application or setting the value of a few parameters, you can specify these by creating two files in the `/etc/` directory of the SD Card:

 - [/etc/config.txt](#customizing-the-configuration-config-txt): modify parameter values
@@ -108,7 +106,7 @@ If editing on Windows use a suitable editor.
 These files are referenced in PX4 code as `/fs/microsd/etc/config.txt` and `/fs/microsd/etc/extras.txt`, where the root folder of the microsd card is identified by the path `/fs/microsd`.
 :::

-##### Customizing the Configuration (config.txt)
+#### Customizing the Configuration (config.txt)

 The `config.txt` file can be used to modify parameters.
 It is loaded after the main system has been configured and _before_ it is booted.
@@ -120,7 +118,7 @@ param set-default PWM_MAIN_DIS3 1000
 param set-default PWM_MAIN_MIN3 1120
 ```

-##### Starting Additional Applications (extras.txt)
+#### Starting Additional Applications (extras.txt)

 The `extras.txt` can be used to start additional applications after the main system boot.
 Typically these would be payload controllers or similar optional custom components.
@@ -147,28 +145,3 @@ The following example shows how to start custom applications:

  mandatory_app start     # Will abort boot if mandatory_app is unknown or fails
  ```
-
-#### Additional customization
-
-In rare cases where the desired setup cannot be achieved through frame configuration or dynamic customization,
-you can add a script that will be contained in the binary.
-
-**Note**: In almost all cases, you should use a frame configuration. This method should only be used for
-edge-cases such as customizing `cannode` based boards.
-
- Add a new init script in `boards/<vendor>/<board>/init` that will run during board startup. For example:
-  ```sh
-  # File: boards/<vendor>/<board>/init/rc.additional
-  param set-default <param> <value>
-  ```
-
- Add a new board variant in `boards/<vendor>/<board>/<variant>.px4board` that includes the additional script. For example:
-  ```sh
-  # File: boards/<vendor>/<board>/var.px4board
-  CONFIG_BOARD_ADDITIONAL_INIT="rc.additional"
-  ```
-
- Compile the firmware with your new variant by appending the variant name to the compile target. For example:
-  ```sh
-  make <target>_var
-  ```
@@ -206,13 +206,23 @@ The relevant parameters shown below.

 ### Position Loss Failsafe Action

-Multicopters will switch to [Altitude mode](../flight_modes_mc/altitude.md) if a height estimate is available, otherwise [Stabilized mode](../flight_modes_mc/manual_stabilized.md).
- 
+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):
+
+- `0`: Remote control available.
+  Switch to _Altitude mode_ if a height estimate is available, otherwise _Stabilized mode_.
+- `1`: Remote control _not_ available.
+  Switch to _Descend mode_ if a height estimate is available, otherwise enter flight termination.
+  _Descend mode_ is a landing mode that does not require a position estimate.
+
 Fixed-wing planes, and VTOLs not configured to land in hover ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)), have a parameter ([FW_GPSF_LT](../advanced_config/parameter_reference.md#FW_GPSF_LT)) that defines how long they will loiter (circle with a constant roll angle ([FW_GPSF_R](../advanced_config/parameter_reference.md#FW_GPSF_R)) at the current altitude) after losing position before attempting to land.
 If VTOLs have are configured to switch to hover for landing ([NAV_FORCE_VT](../advanced_config/parameter_reference.md#NAV_FORCE_VT)) then they will first transition and then descend.

 The relevant parameters for all vehicles shown below.

+| Parameter                                                                                                | Description                                                                                                   |
+| -------------------------------------------------------------------------------------------------------- | ------------------------------------------------------------------------------------------------------------- |
+| <a id="COM_POSCTL_NAVL"></a>[COM_POSCTL_NAVL](../advanced_config/parameter_reference.md#COM_POSCTL_NAVL) | Position control navigation loss response during mission. Values: `0` - assume use of RC, `1` - Assume no RC. |
+
 Parameters that only affect Fixed-wing vehicles:

 | Parameter                                                                                 | Description                                                                                                 |
@@ -35,15 +35,14 @@ The parameters you are most likely to change are listed below.

 | Parameter                                                                | Description                                                                                                                                                                                                                                                                                                                                                                      |
 | ------------------------------------------------------------------------ | -------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE)       | Logging Mode. Defines when logging starts and stops.<br />- `0`: Log when armed until disarm (default).<br />- `1`: Log from boot until disarm.<br />- `2`: Log from boot until shutdown.<br />- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).<br />- `4`: Log from first armed until shutdown. |
-| [SDLOG_BACKEND](../advanced_config/parameter_reference.md#SDLOG_BACKEND) | Logging Backend (bitmask). Setting a bit enables the corresponding backend. If no backend is selected, the logger is disabled.<br />- bit `0`: SD card logging.</br >- bit `1`: Mavlink logging.
+| [SDLOG_MODE](../advanced_config/parameter_reference.md#SDLOG_MODE)       | Logging Mode. Defines when logging starts and stops.<br />- `-1`: Logging disabled.<br />- `0`: Log when armed until disarm (default).<br />- `1`: Log from boot until disarm.<br />- `2`: Log from boot until shutdown.<br />- `3`: Log based on the [AUX1 RC channel](../advanced_config/parameter_reference.md#RC_MAP_AUX1).<br />- `4`: Log from first armed until shutdown. |
 | [SDLOG_PROFILE](../advanced_config/parameter_reference.md#SDLOG_PROFILE) | Logging profile. Use this to enable less common logging/analysis (e.g. for EKF2 replay, high rate logging for PID & filter tuning, thermal temperature calibration).                                                                                                                                                                                                             |
 | [SDLOG_MISSION](../advanced_config/parameter_reference.md#SDLOG_MISSION) | Create very small additional "Mission Log".<br>This log can _not_ be used with [Flight Review](../log/flight_log_analysis.md#flight-review-online-tool), but is useful when you need a small log for geotagging or regulatory compliance.                                                                                                                                        |

 Useful settings for specific cases:

 - Raw sensor data for comparison: [SDLOG_MODE=1](../advanced_config/parameter_reference.md#SDLOG_MODE) and [SDLOG_PROFILE=64](../advanced_config/parameter_reference.md#SDLOG_PROFILE).
- Disabling logging altogether: [SDLOG_BACKEND=`0`](../advanced_config/parameter_reference.md#SDLOG_BACKEND)
+- Disabling logging altogether: [SDLOG_MODE=`-1`](../advanced_config/parameter_reference.md#SDLOG_MODE)

 ### Logger module

@@ -5,7 +5,7 @@ PX4 uses accelerometer data for velocity estimation.
 You should not need to attach an accelometer as a stand-alone external device:

 - Most flight controllers, such as those in the [Pixhawk Series](../flight_controller/pixhawk_series.md), include an accelerometer as part of the flight controller's [Inertial Motion Unit (IMU)](https://en.wikipedia.org/wiki/Inertial_measurement_unit).
- Gyroscopes are present as part of an [external INS, AHRS or INS-enhanced GNSS system](../sensor/inertial_navigation_systems.md).
+- Gyroscopes are present as part of an [external INS, ARHS or INS-enhanced GNSS system](../sensor/inertial_navigation_systems.md).

 The accelerometer must be calibrated before first use of the vehicle:

@@ -316,43 +316,6 @@ For SIH as SITL (no FC):

 For specific examples see the `_sihsim_` airframes in [ROMFS/px4fmu_common/init.d-posix/airframes](https://github.com/PX4/PX4-Autopilot/blob/main/ROMFS/px4fmu_common/init.d-posix/airframes/) (SIH as SITL) and [ROMFS/px4fmu_common/init.d/airframes](https://github.com/PX4/PX4-Autopilot/tree/main/ROMFS/px4fmu_common/init.d/airframes) (SIH on FC).

-## Controlling Actuators in SIH
-
-:::warning
-If you want to control throttling actuators in SIH, make sure to remove propellers for safety.
-:::
-
-In some scenarios, it may be useful to control an actuator while running SIH. For example, you might want to verify that winches or grippers are functioning correctly by checking the servo responses.
-
-To enable actuator control in SIH:
-
-1. Configure PWM parameters in the airframe file:
-
-Ensure your airframe file includes the necessary parameters to map PWM outputs to the correct channels.
-
-For example, if a servo is connected to MAIN 3 and you want to map it to AUX1 on your RC, use the following command:
-
-`param set-default PWM_MAIN_FUNC3 407`
-
-You can find a full list of available values for `PWM_MAIN_FUNCn` [here](../advanced_config/parameter_reference.md#PWM_MAIN_FUNC1). In this case, `407` maps the MAIN 3 output to AUX1 on the RC.
-
-Alternatively, you can use the [`PWM_AUX_FUNCn`](../advanced_config/parameter_reference.md#PWM_AUX_FUNC1) parameters.
-
-You may also configure the output as desired:
- Disarmed PWM: ([`PWM_MAIN_DISn`](../advanced_config/parameter_reference.md#PWM_MAIN_DIS1) / [`PWM_AUX_DIS1`](../advanced_config/parameter_reference.md#PWM_AUX_DIS1))
- Minimum PWM ([`PWM_MAIN_MINn`](../advanced_config/parameter_reference.md#PWM_MAIN_MIN1) / [`PWM_AUX_MINn`](../advanced_config/parameter_reference.md#PWM_AUX_MIN1))
- Maximum PWM ([`PWM_MAIN_MAXn`](../advanced_config/parameter_reference.md#PWM_MAIN_MAX1) / [`PWM_AUX_MAXn`](../advanced_config/parameter_reference.md#PWM_AUX_MAX1))
-
-2. Manually start the PWM output driver
-
-For safety, the PWM driver is not started automatically in SIH. To enable it, run the following command in the MAVLink shell:
-
-`pwm_out start`
-
-And to disable it again:
-
-`pwm_out stop`
-
 ## Dynamic Models

 The dynamic models for the various vehicles are:
@@ -3,6 +3,12 @@
 [Rotoye Batmon](https://rotoye.com/batmon/) is a kit for adding smart battery functionality to off-the-shelf Lithium-Ion and LiPo batteries.
 It can be purchased as a standalone unit or as part of a factory-assembled smart-battery.

+::: info
+At time of writing you can only use Batmon by [building a custom branch of PX4](#build-px4-firmware).
+Support in the codeline is pending [PR approval](https://github.com/PX4/PX4-Autopilot/pull/16723).
+:::
+
+
 ![Rotoye Batmon Board](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye.jpg)

 ![Pre-assembled Rotoye smart battery](../../assets/hardware/smart_batteries/rotoye_batmon/smart-battery-rotoye-pack.jpg)
@@ -63,7 +63,6 @@ set(msg_files
 	DebugKeyValue.msg
 	DebugValue.msg
 	DebugVect.msg
-	DeviceInformation.msg
 	DifferentialPressure.msg
 	DistanceSensor.msg
 	DistanceSensorModeChangeRequest.msg
@@ -425,11 +424,9 @@ add_dependencies(uorb_msgs prebuild_targets uorb_headers)
 if(CONFIG_LIB_CDRSTREAM)
 	set(uorb_cdr_idl)
 	set(uorb_cdr_msg)
-	set(uorb_cdr_hash)
 	set(uorb_cdr_idl_uorb)
 	set(idl_include_path ${PX4_BINARY_DIR}/uORB/idl)
 	set(idl_out_path ${idl_include_path}/px4/msg)
-	set(idl_rihs01_out_path ${idl_include_path}/px4)
 	set(idl_uorb_path ${PX4_BINARY_DIR}/msg/px4/msg)

 	# Make sure that CycloneDDS has been checkout out
@@ -460,7 +457,6 @@ if(CONFIG_LIB_CDRSTREAM)
 		configure_file(${msg_file} ${idl_out_path}/${msg}.msg COPYONLY)
 		list(APPEND uorb_cdr_idl ${idl_out_path}/${msg}.idl)
 		list(APPEND uorb_cdr_msg ${idl_out_path}/${msg}.msg)
-		list(APPEND uorb_cdr_hash ${idl_out_path}/${msg}.json)
 		list(APPEND uorb_cdr_idl_uorb ${idl_uorb_path}/${msg}.h)
 	endforeach()

@@ -480,25 +476,6 @@ if(CONFIG_LIB_CDRSTREAM)
 		VERBATIM
 		)

-	file(CREATE_LINK ${idl_rihs01_out_path} ${idl_include_path}/px4_msgs SYMBOLIC)
-
-	# Generate IDL from .msg using rosidl_adapter
-	# Note this is a submodule inside PX4 hence no ROS2 installation required
-	add_custom_command(
-		OUTPUT ${uorb_cdr_hash}
-		COMMAND ${CMAKE_COMMAND}
-		        -E env "PYTHONPATH=${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_adapter:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_cli:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_parser:${PX4_SOURCE_DIR}/src/lib/cdrstream/rosidl/rosidl_generator_type_description"
-			${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/src/lib/cdrstream/idl2rihs01.py
-			--output-dir ${idl_rihs01_out_path}
-			${uorb_cdr_idl}
-		DEPENDS
-			${uorb_cdr_idl}
-			git_cyclonedds
-		COMMENT "Generating RIHS01 hashes from IDL"
-		WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
-		VERBATIM
-		)
-
 	# Generate C definitions from IDL
 	set(CYCLONEDDS_DIR ${PX4_SOURCE_DIR}/src/lib/cdrstream/cyclonedds)
 	include("${CYCLONEDDS_DIR}/cmake/Modules/Generate.cmake")
@@ -528,7 +505,6 @@ if(CONFIG_LIB_CDRSTREAM)
 		DEPENDS
 			uorb_cdrstream
 			${msg_files}
-			${uorb_cdr_hash}
 			${PX4_SOURCE_DIR}/Tools/msg/templates/cdrstream/uorb_idl_header.h.em
 			${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_files.py
 			${PX4_SOURCE_DIR}/Tools/msg/px_generate_uorb_topic_helper.py
@@ -558,10 +534,8 @@ if(CONFIG_MODULES_ZENOH)
 			-f ${msg_files}
 			-o ${PX4_BINARY_DIR}/src/modules/zenoh/
 			-e ${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh
-			--rihs ${idl_rihs01_out_path}
 		DEPENDS
 			${msg_files}
-			${uorb_cdr_hash}
 			${PX4_SOURCE_DIR}/Tools/zenoh/templates/zenoh/uorb_pubsub_factory.hpp.em
 			${PX4_SOURCE_DIR}/Tools/zenoh/px_generate_zenoh_topic_files.py
 		COMMENT "Generating Zenoh Topic Code"
@@ -1,20 +0,0 @@
-uint64 timestamp		# time since system start (microseconds)
-
-uint8 device_type		# Type of the device (see DEVICE_TYPE enum)
-char[32] vendor_name		# Name of the device vendor
-char[32] model_name		# Name of the device model
-
-uint32   device_id		# unique device ID for the sensor that does not change between power cycles
-char[24] firmware_version	# Version of the firmware. If not available, set to "-1"
-char[24] hardware_version	# Version of the hardware. If not available, set to "-1"
-char[32] serial_number		# Device serial number or unique identifier. If not available, set to "-1"
-
-# Device type constants matching MAVLink DEVICE_TYPE enum
-uint8 DEVICE_TYPE_GENERIC = 0
-uint8 DEVICE_TYPE_AIRSPEED = 1
-uint8 DEVICE_TYPE_ESC = 2
-uint8 DEVICE_TYPE_GPS = 3
-uint8 DEVICE_TYPE_MAG = 4
-uint8 DEVICE_TYPE_PARACHUTE = 5
-uint8 DEVICE_TYPE_RANGEFINDER = 6
-uint8 DEVICE_TYPE_WINCH = 7
@@ -1,14 +0,0 @@
-# Arming check request.
-#
-# Broadcast message to request arming checks be reported by all registered components, such as external ROS 2 navigation modes.
-# All registered components should respond with an ArmingCheckReply message that indicates their current mode requirements, and any arming failure information.
-# The request is sent regularly, even while armed, so that the FMU always knows the current arming state for external modes, and can forward it to ground stations.
-#
-# The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
-# The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).
-
-uint32 MESSAGE_VERSION = 0
-
-uint64 timestamp  # [us] Time since system start.
-
-uint8 request_id  # Id of this request. Allows correlation with associated ArmingCheckReply messages.
@@ -8,7 +8,6 @@

 #include "translation_airspeed_validated_v1.h"
 #include "translation_arming_check_reply_v1.h"
-#include "translation_arming_check_request_v1.h"
 #include "translation_battery_status_v1.h"
 #include "translation_event_v1.h"
 #include "translation_home_position_v1.h"
@@ -1,36 +0,0 @@
-/****************************************************************************
- * Copyright (c) 2025 PX4 Development Team.
- * SPDX-License-Identifier: BSD-3-Clause
- ****************************************************************************/
-#pragma once
-
-// Translate ArmingCheckRequest v0 <--> v1
-#include <px4_msgs_old/msg/arming_check_request_v0.hpp>
-#include <px4_msgs/msg/arming_check_request.hpp>
-
-class ArmingCheckRequestV1Translation {
-public:
-    using MessageOlder = px4_msgs_old::msg::ArmingCheckRequestV0;
-    static_assert(MessageOlder::MESSAGE_VERSION == 0);
-
-    using MessageNewer = px4_msgs::msg::ArmingCheckRequest;
-    static_assert(MessageNewer::MESSAGE_VERSION == 1);
-
-    static constexpr const char* kTopic = "/fmu/out/arming_check_request";
-
-    static void fromOlder(const MessageOlder &msg_older, MessageNewer &msg_newer) {
-	    msg_newer.timestamp = msg_older.timestamp;
-
-	    msg_newer.request_id = msg_older.request_id;
-
-	    msg_newer.valid_registrations_mask = 0xffffffff;
-    }
-
-    static void toOlder(const MessageNewer &msg_newer, MessageOlder &msg_older) {
-	    msg_older.timestamp = msg_newer.timestamp;
-
-	    msg_older.request_id = msg_newer.request_id;
-    }
-};
-
-REGISTER_TOPIC_TRANSLATION_DIRECT(ArmingCheckRequestV1Translation);
@@ -7,10 +7,8 @@
 # The reply will include the published request_id, allowing correlation of all arming check information for a particular request.
 # The reply will also include the registration_id for each external component, provided to it during the registration process (RegisterExtComponentReply).

-uint32 MESSAGE_VERSION = 1
+uint32 MESSAGE_VERSION = 0

 uint64 timestamp  # [us] Time since system start.

 uint8 request_id  # Id of this request. Allows correlation with associated ArmingCheckReply messages.
-
-uint32 valid_registrations_mask # Bitmask of valid registration ID's (the bit is also cleared if flagged as unresponsive)
@@ -1,7 +1,7 @@
 #! /bin/sh

 #
-# Bootloader upgrade
+# Bootloader upgrade (ROMFS)
 #
 if param compare -s SYS_BL_UPDATE 1
 then
@@ -847,8 +847,6 @@ static flash_error_t file_read_and_program(const uavcan_Path_t *fw_path, uint8_t
 		request.offset  += length;
 		bootloader.percentage_done = (request.offset / a_percent);

-		watchdog_pet();
-
 	} while (request.offset < fw_image_size &&
 		 length == sizeof(response.data)  &&
 		 flash_status == FLASH_OK);
@@ -2,9 +2,11 @@ menu "Distance sensors"
    menuconfig COMMON_DISTANCE_SENSOR
        bool "Common distance sensor's"
        default n
+        select DRIVERS_DISTANCE_SENSOR_CM8JL65
        select DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C
        select DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL
        select DRIVERS_DISTANCE_SENSOR_LL40LS
+        select DRIVERS_DISTANCE_SENSOR_TERARANGER
        select DRIVERS_DISTANCE_SENSOR_TF02PRO
        select DRIVERS_DISTANCE_SENSOR_TFMINI
        select DRIVERS_DISTANCE_SENSOR_ULANDING_RADAR
@@ -56,8 +56,6 @@
 #include <uORB/topics/vehicle_status.h>
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/distance_sensor_mode_change_request.h>
-#include <uORB/topics/device_information.h>
-#include <uORB/Publication.hpp>

 using namespace time_literals;

@@ -87,9 +85,6 @@ private:
 	enum class Register : uint8_t {
 		// see http://support.lightware.co.za/sf20/#/commands
 		ProductName = 0,
-		HardwareVersion = 1,
-		FirmwareVersion = 2,
-		SerialNumber = 3,
 		DistanceOutput = 27,
 		DistanceData = 44,
 		LaserFiring = 50,
@@ -130,7 +125,6 @@ private:
 	int collect();

 	int updateRestriction();
-	void publishDeviceInformation();

 	PX4Rangefinder _px4_rangefinder;

@@ -155,9 +149,6 @@ private:
 	bool _restriction{false};
 	bool _auto_restriction{false};
 	bool _prev_restriction{false};
-
-	uORB::Publication<device_information_s> _device_information_pub{ORB_ID(device_information)};
-	hrt_abstime _last_timestamp{0};
 };

 LightwareLaser::LightwareLaser(const I2CSPIDriverConfig &config) :
@@ -392,9 +383,6 @@ int LightwareLaser::collect()
 		perf_begin(_sample_perf);
 		OutputData data;
 		const hrt_abstime timestamp_sample = hrt_absolute_time();
-		// Publish device information on first successful detection
-		publishDeviceInformation();
-		_last_timestamp = hrt_absolute_time();

 		if (readRegister(Register::DistanceData, (uint8_t *)&data, sizeof(data)) < 0) {
 			perf_count(_comms_errors);
@@ -501,73 +489,6 @@ int LightwareLaser::updateRestriction()
 	return 0;
 }

-void LightwareLaser::publishDeviceInformation()
-{
-	device_information_s device_info{};
-	device_info.timestamp = hrt_absolute_time();
-	device_info.device_type = device_information_s::DEVICE_TYPE_RANGEFINDER;
-
-	// Set vendor name to "Lightware"
-	strlcpy(device_info.vendor_name, "Lightware", sizeof(device_info.vendor_name));
-
-	// Read product name
-	uint8_t product_name[16];
-
-	if (readRegister(Register::ProductName, product_name, sizeof(product_name)) == 0) {
-		product_name[sizeof(product_name) - 1] = '\0';
-		strlcpy(device_info.model_name, (const char *)product_name, sizeof(device_info.model_name));
-	}
-
-	// Read hardware version
-	uint8_t hw_version[4];
-
-	if (readRegister(Register::HardwareVersion, hw_version, sizeof(hw_version)) == 0) {
-		uint32_t hw_ver_num = (hw_version[3] << 24) | (hw_version[2] << 16) |
-				      (hw_version[1] << 8) | hw_version[0];
-
-		snprintf(device_info.hardware_version, sizeof(device_info.hardware_version),
-			 "%lu", (unsigned long)hw_ver_num);
-
-	} else {
-		strlcpy(device_info.hardware_version, "-1", sizeof(device_info.hardware_version));
-	}
-
-	// Read firmware version
-	uint8_t fw_version[4];
-
-	if (readRegister(Register::FirmwareVersion, fw_version, sizeof(fw_version)) == 0) {
-		// According to Lightware spec:
-		uint8_t patch = fw_version[0];  // Byte 1 = Patch
-		uint8_t minor = fw_version[1];  // Byte 2 = Minor
-		uint8_t major = fw_version[2];  // Byte 3 = Major
-		// fw_version[3] is Byte 4 = Reserved
-
-		snprintf(device_info.firmware_version, sizeof(device_info.firmware_version),
-			 "%u.%u.%u", major, minor, patch);
-
-	} else {
-		strlcpy(device_info.firmware_version, "-1", sizeof(device_info.firmware_version));
-	}
-
-	// Read serial number
-	uint8_t serial_number[32];
-
-	if (readRegister(Register::SerialNumber, serial_number, sizeof(serial_number)) == 0) {
-		serial_number[sizeof(serial_number) - 1] = '\0';
-		strncpy(device_info.serial_number, (const char *)serial_number, sizeof(device_info.serial_number));
-
-	} else {
-		strncpy(device_info.serial_number, "-1", sizeof(device_info.serial_number));
-	}
-
-	_device_information_pub.publish(device_info);
-
-	PX4_DEBUG("Published device information: %s %s, HW: %s, FW: %s, SN: %s",
-		  device_info.vendor_name, device_info.model_name,
-		  device_info.hardware_version, device_info.firmware_version,
-		  device_info.serial_number);
-}
-
 void LightwareLaser::RunImpl()
 {
 	if (PX4_OK != updateRestriction()) {
@@ -612,14 +533,6 @@ void LightwareLaser::RunImpl()

 		}

-		// Publish device information once per second
-		const hrt_abstime now = hrt_absolute_time();
-
-		if (now - _last_timestamp >= 1_s) {
-			publishDeviceInformation();
-			_last_timestamp = now;
-		}
-
 		ScheduleDelayed(_conversion_interval);
 		break;
 	}
@@ -254,7 +254,6 @@
 #define DRV_INS_DEVTYPE_ILABS           0xE9

 #define DRV_INS_DEVTYPE_MICROSTRAIN	0xEA
-#define DRV_INS_DEVTYPE_BAHRS           0xEB

 #define DRV_DEVTYPE_UNUSED		0xff

@@ -16,7 +16,7 @@ parameters:
                    sure to set this high enough so that the motors are always spinning while
                    armed.
            type: float
-            unit: norm
+            unit: '%'
            min: 0
            max: 1
            decimal: 2
@@ -759,10 +759,6 @@ GPS::run()
 			ubx_mode = GPSDriverUBX::UBXMode::RoverWithStaticBaseUart2;
 			break;

-		case 6:
-			ubx_mode = GPSDriverUBX::UBXMode::GroundControlStation;
-			break;
-
 		default:
 			break;

@@ -94,7 +94,6 @@ PARAM_DEFINE_INT32(GPS_SAT_INFO, 0);
 * F9P units are connected to each other.
 * Modes 3 and 4 only require UART1 on each F9P connected to the Autopilot or Can Node. UART RX DMA is required.
 * RTK is still possible with this setup.
- * Mode 6 is intended for use with a ground control station (not necessarily an RTK correction base).
 *
 * @min 0
 * @max 1
@@ -104,7 +103,6 @@ PARAM_DEFINE_INT32(GPS_SAT_INFO, 0);
 * @value 3 Heading (Rover With Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
 * @value 4 Moving Base (Moving Base UART1 Connected to Autopilot Or Can Node At 921600)
 * @value 5 Rover with Static Base on UART2 (similar to Default, except coming in on UART2)
- * @value 6 Ground Control Station (UART2 outputs NMEA)
 *
 * @reboot_required true
 * @group GPS
@@ -5,7 +5,6 @@ menu "Inertial Navigation Systems (INS)"
        select DRIVERS_INS_VECTORNAV
        select DRIVERS_INS_ILABS
        select DRIVERS_INS_MICROSTRAIN
-	select DRIVERS_INS_EULERNAV_BAHRS
        ---help---
            Enable default set of INS sensors
    rsource "*/Kconfig"
@@ -1,44 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-px4_add_module(
-	MODULE drivers__ins__eulerav_bahrs
-	MAIN eulernav_bahrs
-	INCLUDES
-		bahrs
-	SRCS
-		eulernav_bahrs_main.cpp
-		eulernav_driver.cpp
-		eulernav_driver.h
-	DEPENDS
-		ringbuffer
-	)
@@ -1,5 +0,0 @@
-menuconfig DRIVERS_INS_EULERNAV_BAHRS
-	bool "eulernav_bahrs"
-	default n
-	---help---
-		Enable support for EULER-NAV Baro-Inertial AHRS
@@ -1,371 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-/**
- * The header is a modified version of a header from this repo:
- * https://github.com/euler-nav/bahrs-oss
- *
- * Copyright 2023 AMS Advanced Air Mobility Sensors UG
- *
- * 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 of the copyright holder 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 HOLDER 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
-
-#include <stdint.h>
-
-#define PROTOCOL_WORD_LEN (4)
-#define PADDING_SIZE(SPayloadType) (PROTOCOL_WORD_LEN - ((sizeof(SMessageHeader) + sizeof(SPayloadType)) % PROTOCOL_WORD_LEN))
-
-#define BIT_VALID_HEIGHT           (0x01)
-#define BIT_VALID_VELOCITY_DOWN    (0x02)
-#define BIT_VALID_ROLL             (0x04)
-#define BIT_VALID_PITCH            (0x08)
-#define BIT_VALID_MAGNETIC_HEADING (0x10)
-#define BIT_VALID_SPECIFIC_FORCE_X (0x01)
-#define BIT_VALID_SPECIFIC_FORCE_Y (0x02)
-#define BIT_VALID_SPECIFIC_FORCE_Z (0x04)
-#define BIT_VALID_ANGULAR_RATE_X   (0x08)
-#define BIT_VALID_ANGULAR_RATE_Y   (0x10)
-#define BIT_VALID_ANGULAR_RATE_Z   (0x20)
-
-/**
- * @brief The class that describes and implements the BAHRS serial protocol.
-*/
-class CSerialProtocol
-{
-public:
-	static constexpr uint8_t uMarker1_ { 0x4E }; ///< Sync byte 1, symbol 'N'
-	static constexpr uint8_t uMarker2_ { 0x45 }; ///< Sync char 2, symbol 'E'
-	static constexpr uint16_t uVersion_ { 2U }; ///< Protocol version
-
-	static constexpr float skfSpecificForceScale_ { 1.495384e-3F }; ///< Integer to float, +-5g range
-	static constexpr float skfAngularRateScale_ { 1.597921e-4F }; ///< Integer to float, +-300 deg/s range
-	static constexpr float skfHeightScale_ { 0.16784924F }; ///< Integer to float, -1000 to 10000 m range
-	static constexpr float skfHeighOffset_ { 1000.0F }; ///< An offset to convert unsigned integer to float
-	static constexpr float skfVelocityDownScale_ { 9.155413e-3F }; ///< Integer to float, -300 to 300 m/s range
-	static constexpr float skfAngleScale_ { 9.587526e-5F }; ///< Integer to float, -pi to pi or 0 to 2 pi range
-
-	// Signal ranges
-	static constexpr float skfMaxHeight_ { 10000.0F };
-	static constexpr float skfMinHeight_ { -1000.0F };
-	static constexpr float skfMaxVelocityDown_ { 300.0F };
-	static constexpr float skfMinVelocityDown_ { -300.0F };
-
-	enum class EMessageIds : uint8_t {
-		eInvalid = 0x00, ///< Invalid
-		eInertialData = 0x01, ///< Inertial data message
-		eNavigationData = 0x02, ///< Navigation data message
-		eAccuracy = 0x03, ///< Attitude accuracy information
-		eTimeOfNavigationData = 0x04, ///< "Time of navigation data" message
-		eTimeOfInertialData = 0x05, ///< "Time of inertial data" message
-		eTimeOfSyncPulse = 0x06, ///< "Time of the latest sync pulse" message
-		eSoftwareVersion = 0x0F, ///< "Software version" message
-
-		eDebugEventWriteToPort = 0xC0, ///< Debug information: SWC port data
-		eDebugEventRunnableCall = 0xC1, ///< Debug information: SWC API call
-
-		eTypeOpenDiagnostic = 0xF0, ///< Request to enter diagnostics mode
-		eTypeCloseDiagnostic = 0xF1, ///< Request to exit diagnostics mode
-		eTypeReadNVMPage = 0xF2, ///< Request to read NVM page
-		eTypeNVMPageData = 0xF3, ///< A message with NVM page data
-		eTypeAccept = 0xFF ///< Acknowledgment of diagnostics message reception
-	};
-
-	typedef uint32_t CrcType_t;
-
-#pragma pack(push, 1)
-
-	/**
-	 * @brief Message header struct.
-	*/
-	struct SMessageHeader {
-		uint8_t uMarker1_ { 0x4E };
-		uint8_t uMarker2_ { 0x45 };
-		uint16_t uVersion_ { CSerialProtocol::uVersion_ };
-		uint8_t uMsgType_ { 0U };
-	};
-
-	/**
-	 * @brief Inertial data message payload.
-	*/
-	struct SInertialData {
-		uint8_t uSequenceCounter_ { 0U };
-		int16_t iSpecificForceX_ { 0 };
-		int16_t iSpecificForceY_ { 0 };
-		int16_t iSpecificForceZ_ { 0 };
-		int16_t iAngularRateX_ { 0 };
-		int16_t iAngularRateY_ { 0 };
-		int16_t iAngularRateZ_ { 0 };
-		uint8_t uValidity_ { 0U };
-	};
-
-	/**
-	 * @brief Payload of the time of inertial data message.
-	*/
-	struct STimeOfInertialData {
-		uint8_t uSequenceCounter_ { 0U };
-		uint8_t uInertialDataSequenceCounter_ { 0U };
-		uint64_t uTimestampUs_ { 0U };
-	};
-
-	/**
-	 * @brief Navigation data message payload.
-	*/
-	struct SNavigationData {
-		uint8_t uSequenceCounter_ { 0U };
-		uint16_t uPressureHeight_ { 0 };
-		int16_t iVelocityDown_ { 0 };
-		int16_t iRoll_ { 0 };
-		int16_t iPitch_ { 0 };
-		uint16_t uMagneticHeading_ { 0U };
-		uint8_t uValidity_ { 0 };
-	};
-
-	/**
-	 * @brief Payload of the "time of navigation data" message.
-	*/
-	struct STimeOfNavigationData {
-		uint8_t uSequenceCounter_ { 0U };
-		uint8_t uNavigationDataSequenceCounter_ { 0U };
-		uint64_t uTimestampUs_ { 0U };
-	};
-
-	/**
-	 * @brief Accuracy message payload.
-	*/
-	struct SAccuracyData {
-		uint8_t uSequenceCounter_ { 0U };
-		uint16_t uAttitudeStdN_ { 0U };
-		uint16_t uAttitudeStdE_ { 0U };
-		uint16_t uMagneticHeadingStd_ { 0U };
-		uint64_t uTimestampUs_ { 0U };
-	};
-
-	/**
-	 * @brief Payload of the "time of the latest pulse" message.
-	*/
-	struct STimeOfLatestSyncPulse {
-		uint8_t uSequenceCounter_ { 0U };
-		uint64_t uTimestampUs_ { 0U };
-	};
-
-	/**
-	 * @brief Payload of the "software version" message.
-	*/
-	struct SSoftwareVersionData {
-		char acProjectCode_[3] { '\0', '\0', '\0' };
-		uint16_t uMajor_ { 0U };
-		uint16_t uMinor_ { 0U };
-	};
-
-	/**
-	 * @brief Partial data of the "write to port event".
-	 * The struct does not include a variable size array of data written to a port.
-	 */
-	struct SWriteToPortEventPartialData {
-		uint8_t uPortId_ { 0U };
-		uint64_t uTimestampUs_ { 0U };
-		uint16_t uDataLen_ { 0U };
-	};
-
-	/**
-	 * @brief Debug information on runnable call.
-	 */
-	struct SRunnableCallEventData {
-		uint8_t uRunnableId_ { 0U };
-		uint64_t uTimestampUs_ { 0U };
-	};
-
-	/**
-	 * @brief Inertial data message.
-	*/
-	struct SInertialDataMessage {
-		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
-				       CSerialProtocol::uMarker2_,
-				       CSerialProtocol::uVersion_,
-				       static_cast<uint8_t>(EMessageIds::eInertialData) };
-
-		SInertialData oInertialData_;
-		uint8_t auPadding_[PADDING_SIZE(SInertialData)];
-		CrcType_t uCrc_ { 0U };
-	};
-
-	/**
-	 * @brief Time of inertial data message.
-	*/
-	struct STimeOfInertialDataMessage {
-		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
-				       CSerialProtocol::uMarker2_,
-				       CSerialProtocol::uVersion_,
-				       static_cast<uint8_t>(EMessageIds::eTimeOfInertialData) };
-
-		STimeOfInertialData oTimeOfInertialData_;
-		uint8_t auPadding_[PADDING_SIZE(STimeOfInertialData)];
-		CrcType_t uCrc_ { 0U };
-	};
-
-	/**
-	 * @brief Navigation data message.
-	*/
-	struct SNavigationDataMessage {
-		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
-				       CSerialProtocol::uMarker2_,
-				       CSerialProtocol::uVersion_,
-				       static_cast<uint8_t>(EMessageIds::eNavigationData) };
-
-		SNavigationData oNavigationData_;
-		uint8_t auPadding_[PADDING_SIZE(SNavigationData)];
-		CrcType_t uCrc_ { 0U };
-	};
-
-	/**
-	 * @brief Navigation data accuracy message.
-	*/
-	struct SAccuracyDataMessage {
-		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
-				       CSerialProtocol::uMarker2_,
-				       CSerialProtocol::uVersion_,
-				       static_cast<uint8_t>(EMessageIds::eAccuracy) };
-
-		SAccuracyData oAccuracy_;
-		uint8_t auPadding_[PADDING_SIZE(SAccuracyData)];
-		CrcType_t uCrc_ { 0U };
-	};
-
-	/**
-	 * @brief Time of navigation data message.
-	*/
-	struct STimeOfNavigationDataMessage {
-		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
-				       CSerialProtocol::uMarker2_,
-				       CSerialProtocol::uVersion_,
-				       static_cast<uint8_t>(EMessageIds::eTimeOfNavigationData) };
-
-		STimeOfNavigationData oTimeOfNavigationData_;
-		uint8_t auPadding_[PADDING_SIZE(STimeOfNavigationData)];
-		CrcType_t uCrc_ { 0U };
-	};
-
-	/**
-	 * @brief Time of the latest sync pulse message.
-	*/
-	struct STimeOfLatestSyncPulseMessage {
-		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
-				       CSerialProtocol::uMarker2_,
-				       CSerialProtocol::uVersion_,
-				       static_cast<uint8_t>(EMessageIds::eTimeOfSyncPulse) };
-
-		STimeOfLatestSyncPulse oTimeOfLatestSyncPulse_;
-		uint8_t auPadding_[PADDING_SIZE(STimeOfLatestSyncPulse)];
-		CrcType_t uCrc_ { 0U };
-	};
-
-	/**
-	 * @brief Software version message.
-	*/
-	struct SSoftwareVersionMessage {
-		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
-				       CSerialProtocol::uMarker2_,
-				       CSerialProtocol::uVersion_,
-				       static_cast<uint8_t>(EMessageIds::eSoftwareVersion) };
-
-		SSoftwareVersionData oSoftwareVersion_;
-		uint8_t auPadding_[PADDING_SIZE(SSoftwareVersionData)];
-		CrcType_t uCrc_ { 0U };
-	};
-
-	/**
-	 * @brief A debug message with runnable call data.
-	*/
-	struct SRunnableCallEventDebugMessage {
-		SMessageHeader oHeader_{ CSerialProtocol::uMarker1_,
-				       CSerialProtocol::uMarker2_,
-				       CSerialProtocol::uVersion_,
-				       static_cast<uint8_t>(EMessageIds::eDebugEventRunnableCall) };
-
-		SRunnableCallEventData oRunnableCallData_;
-		uint8_t auPadding_[PADDING_SIZE(oRunnableCallData_)];
-		CrcType_t uCrc_{ 0U };
-	};
-
-	/**
-	 * @brief Diagnostic Mode Messages
-	 ****************************************************************************/
-
-	/**
-	 * @brief Diagnostic message: Page request from NVM.
-	*/
-	struct SPacketReadNVMPage {
-		SMessageHeader oHeader_;
-		uint8_t uPageNumber { 0U };
-		CrcType_t uCrc32 { 0U };
-	};
-
-	/**
-	 * @brief Diagnostic message: confirmation of request processing by the device.
-	*/
-	struct SPacketReceiveConfirmation {
-		SMessageHeader oHeader_ { CSerialProtocol::uMarker1_,
-				       CSerialProtocol::uMarker2_,
-				       CSerialProtocol::uVersion_,
-				       static_cast<uint8_t>(EMessageIds::eTypeAccept) };
-		EMessageIds eMessageType;    // message type to confirm.
-		uint8_t uStatus { 0U };      // 0 - OK, other values - error codes
-		CrcType_t uCrc32 { 0U };
-	};
-
-#pragma pack(pop)
-
-};
@@ -1,48 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-/**
- * @file eulernav_bahrs_main.cpp
- * A driver module for EULER-NAV Baro-Inertial AHRS.
- *
- * @author Fedor Baklanov <fedor.baklanov@euler-nav.com>
- */
-
-#include <px4_platform_common/log.h>
-#include "eulernav_driver.h"
-
-extern "C" __EXPORT int eulernav_bahrs_main(int argc, char *argv[])
-{
-	EulerNavDriver::main(argc, argv);
-	return OK;
-}
@@ -1,514 +0,0 @@
-/****************************************************************************
- *
- *   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 "eulernav_driver.h"
-#include <px4_platform_common/getopt.h>
-#include <drivers/drv_sensor.h>
-#include <matrix/Quaternion.hpp>
-#include <matrix/Euler.hpp>
-#include <atmosphere/atmosphere.h>
-
-EulerNavDriver::EulerNavDriver(const char *device_name)
-	: ModuleParams{nullptr}
-	, _serial_port{device_name, 115200, ByteSize::EightBits, Parity::None, StopBits::One, FlowControl::Disabled}
-	, _data_buffer{}
-	, _px4_accel{DRV_INS_DEVTYPE_BAHRS}
-	, _px4_gyro{DRV_INS_DEVTYPE_BAHRS}
-{
-}
-
-EulerNavDriver::~EulerNavDriver()
-{
-	deinitialize();
-}
-
-int EulerNavDriver::task_spawn(int argc, char *argv[])
-{
-	int task_id = px4_task_spawn_cmd("bahrs", SCHED_DEFAULT, SCHED_PRIORITY_FAST_DRIVER,
-					 Config::TASK_STACK_SIZE, (px4_main_t)&run_trampoline, argv);
-
-	if (task_id < 0) {
-		_task_id = -1;
-		PX4_ERR("Failed to spawn task.");
-
-	} else {
-		_task_id = task_id;
-	}
-
-	return (_task_id < 0) ? 1 : 0;
-}
-
-EulerNavDriver *EulerNavDriver::instantiate(int argc, char *argv[])
-{
-	int option_index = 1;
-	const char *option_arg{nullptr};
-	const char *device_name{nullptr};
-
-	while (true) {
-		int option{px4_getopt(argc, argv, "d:", &option_index, &option_arg)};
-
-		if (EOF == option) {
-			break;
-		}
-
-		switch (option) {
-		case 'd':
-			device_name = option_arg;
-			break;
-
-		default:
-			break;
-		}
-	}
-
-	auto *instance = new EulerNavDriver(device_name);
-
-	if (nullptr != instance) {
-		instance->initialize();
-
-	} else {
-		PX4_ERR("Failed to initialize EULER-NAV driver.");
-	}
-
-	return instance;
-}
-
-int EulerNavDriver::custom_command(int argc, char *argv[])
-{
-	return print_usage("unrecognized command");
-}
-
-int EulerNavDriver::print_usage(const char *reason)
-{
-	if (reason) {
-		PX4_WARN("%s\n", reason);
-	}
-
-	PRINT_MODULE_DESCRIPTION(
-		R"DESCR_STR(
-### Description
-
-Serial bus driver for the EULER-NAV Baro-Inertial AHRS.
-
-### Examples
-
-Attempt to start driver on a specified serial device.
-$ eulernav_bahrs start -d /dev/ttyS1
-Stop driver
-$ eulernav_bahrs stop
-)DESCR_STR");
-
-	PRINT_MODULE_USAGE_NAME("eulernav_bahrs", "driver");
-	PRINT_MODULE_USAGE_SUBCATEGORY("ins");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("start", "Start driver");
-	PRINT_MODULE_USAGE_PARAM_STRING('d', nullptr, nullptr, "Serial device", false);
-	PRINT_MODULE_USAGE_COMMAND_DESCR("status", "Print driver status");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("stop", "Stop driver");
-
-	return PX4_OK;
-}
-
-int EulerNavDriver::print_status()
-{
-	if (_is_initialized)
-	{
-		PX4_INFO("Elapsed time: %llu [us].\n", hrt_elapsed_time(&_statistics.start_time));
-		PX4_INFO("Total bytes received: %lu.\n", _statistics.total_bytes_received);
-		PX4_INFO("Inertial messages received: %lu. Navigation messages received: %lu.\n",
-			_statistics.inertial_message_counter, _statistics.navigation_message_counter);
-		PX4_INFO("Failed CRC count: %lu.\n", _statistics.crc_failures);
-
-	}
-	else
-	{
-		PX4_INFO("Initialization failed. The driver is not running.\n");
-	}
-
-	return PX4_OK;
-}
-
-void EulerNavDriver::run()
-{
-	_statistics.start_time = hrt_absolute_time();
-
-	while(!should_exit())
-	{
-		if (_is_initialized)
-		{
-			const auto bytes_read{_serial_port.readAtLeast(_serial_read_buffer, sizeof(_serial_read_buffer),
-								       Config::MIN_BYTES_TO_READ, Config::SERIAL_READ_TIMEOUT_MS)};
-
-			_statistics.total_bytes_received += bytes_read;
-
-			if (bytes_read > 0)
-			{
-				if (!_data_buffer.push_back(_serial_read_buffer, bytes_read))
-				{
-					PX4_ERR("No space in data buffer");
-				}
-			}
-
-			processDataBuffer();
-		}
-		else
-		{
-			// The driver failed to initialize in the instantiate() method, so we exit the loop.
-			request_stop();
-		}
-	}
-}
-
-void EulerNavDriver::initialize()
-{
-	if (!_is_initialized)
-	{
-		if (_serial_port.open())
-		{
-			PX4_INFO("Serial port opened successfully.");
-			_is_initialized = true;
-		}
-		else
-		{
-			PX4_ERR("Failed to open serial port");
-		}
-
-		if (_is_initialized)
-		{
-			if (!_data_buffer.allocate(Config::DATA_BUFFER_SIZE))
-			{
-				PX4_ERR("Failed to allocate data buffer");
-				_is_initialized = false;
-			}
-		}
-
-		if (_is_initialized)
-		{
-			_attitude_pub.advertise();
-			_barometer_pub.advertise();
-		}
-	}
-}
-
-void EulerNavDriver::deinitialize()
-{
-	if (_serial_port.isOpen())
-	{
-		_serial_port.close();
-	}
-
-	_data_buffer.deallocate();
-	_attitude_pub.unadvertise();
-	_barometer_pub.unadvertise();
-	_is_initialized = false;
-}
-
-void EulerNavDriver::processDataBuffer()
-{
-	static_assert(Config::MIN_MESSAGE_LENGTH >= (sizeof(CSerialProtocol::SMessageHeader) + sizeof(CSerialProtocol::CrcType_t)));
-	using EMessageIds = CSerialProtocol::EMessageIds;
-
-	while (_data_buffer.space_used() >= Config::MIN_MESSAGE_LENGTH)
-	{
-		if (!_next_message_info.is_detected)
-		{
-			_next_message_info.is_detected = findNextMessageHeader(_data_buffer);
-
-			if (!_next_message_info.is_detected)
-			{
-				// No message header found, wait for more bytes to arrive.
-				break;
-			}
-
-			if (!retrieveProtocolVersionAndMessageType(_data_buffer, _next_message_info.protocol_version, _next_message_info.message_code))
-			{
-				_next_message_info.is_detected = false;
-			}
-		}
-
-		if (_next_message_info.is_detected)
-		{
-			static_assert(sizeof(CSerialProtocol::SMessageHeader) < Config::MIN_MESSAGE_LENGTH);
-
-			const EMessageIds message_id{static_cast<EMessageIds>(_next_message_info.message_code)};
-			const int32_t message_length{getMessageLength(message_id)};
-
-			if ((message_length < 0) || (message_length < Config::MIN_MESSAGE_LENGTH) ||
-			    (message_length > static_cast<int32_t>(sizeof(_message_storage))) || ((message_length % sizeof(uint32_t)) != 0U))
-			{
-				// The message is unknown, not supported, or does not fit into the temporary storage.
-				_next_message_info.is_detected = false;
-				continue;
-			}
-
-			const int32_t bytes_to_retrieve{message_length - static_cast<int32_t>(sizeof(CSerialProtocol::SMessageHeader))};
-
-			if (static_cast<int32_t>(_data_buffer.space_used()) < bytes_to_retrieve)
-			{
-				// Do nothing and wait for more bytes to arrive.
-				break;
-			}
-
-			// Get message from the data buffer
-			uint8_t* bytes{reinterpret_cast<uint8_t*>(_message_storage)};
-
-			bytes[0] = CSerialProtocol::uMarker1_;
-			bytes[1] = CSerialProtocol::uMarker2_;
-			bytes[2] = reinterpret_cast<uint8_t*>(&_next_message_info.protocol_version)[0];
-			bytes[3] = reinterpret_cast<uint8_t*>(&_next_message_info.protocol_version)[1];
-			bytes[4] = _next_message_info.message_code;
-
-			if (static_cast<size_t>(bytes_to_retrieve) == _data_buffer.pop_front(bytes + sizeof(CSerialProtocol::SMessageHeader), bytes_to_retrieve))
-			{
-				const uint32_t message_length_in_words{message_length / sizeof(uint32_t)};
-				const uint32_t actual_crc{crc32(_message_storage, message_length_in_words - 1)};
-				const uint32_t expected_crc = _message_storage[message_length_in_words - 1];
-
-				if (expected_crc != actual_crc)
-				{
-					++_statistics.crc_failures;
-				}
-				else
-				{
-					decodeMessageAndPublishData(bytes, message_id);
-				}
-			}
-
-			_next_message_info.is_detected = false;
-		}
-	}
-}
-
-bool EulerNavDriver::findNextMessageHeader(Ringbuffer& buffer)
-{
-	bool result{false};
-
-	while (buffer.space_used() >= sizeof(CSerialProtocol::SMessageHeader))
-	{
-		uint8_t sync_byte{0U};
-
-		if ((1 == buffer.pop_front(&sync_byte, 1)) && (CSerialProtocol::uMarker1_ == sync_byte))
-		{
-			sync_byte = 0U;
-
-			if ((1 == buffer.pop_front(&sync_byte, 1)) && (CSerialProtocol::uMarker2_ == sync_byte))
-			{
-				result = true;
-				break;
-			}
-		}
-	}
-
-	return result;
-}
-
-bool EulerNavDriver::retrieveProtocolVersionAndMessageType(Ringbuffer& buffer, uint16_t& protocol_ver, uint8_t& message_code)
-{
-	bool status{true};
-	auto bytes_to_pop{sizeof(protocol_ver)};
-
-	// Note: BAHRS uses little endian
-	if (bytes_to_pop != buffer.pop_front(reinterpret_cast<uint8_t*>(&protocol_ver), bytes_to_pop))
-	{
-		status = false;
-	}
-
-	if (status)
-	{
-		bytes_to_pop = 1;
-
-		if (bytes_to_pop != buffer.pop_front(&message_code, bytes_to_pop))
-		{
-			status = false;
-		}
-	}
-
-	return status;
-}
-
-void EulerNavDriver::decodeMessageAndPublishData(const uint8_t* data, CSerialProtocol::EMessageIds messsage_id)
-{
-	switch (messsage_id)
-	{
-	case CSerialProtocol::EMessageIds::eInertialData:
-		handleInertialDataMessage(data);
-		break;
-	case CSerialProtocol::EMessageIds::eNavigationData:
-		handleNavigationDataMessage(data);
-		break;
-	default:
-		break;
-	}
-}
-
-void EulerNavDriver::handleInertialDataMessage(const uint8_t* data)
-{
-	const CSerialProtocol::SInertialDataMessage* imu_msg{reinterpret_cast<const CSerialProtocol::SInertialDataMessage*>(data)};
-
-	if (nullptr != imu_msg)
-	{
-		const auto& imu_data{imu_msg->oInertialData_};
-		const bool accel_valid{((imu_data.uValidity_ & BIT_VALID_SPECIFIC_FORCE_X) > 0) &&
-					((imu_data.uValidity_ & BIT_VALID_SPECIFIC_FORCE_Y) > 0) &&
-					((imu_data.uValidity_ & BIT_VALID_SPECIFIC_FORCE_Z) > 0)};
-
-		const bool gyro_valid{((imu_data.uValidity_ & BIT_VALID_ANGULAR_RATE_X) > 0) &&
-					((imu_data.uValidity_ & BIT_VALID_ANGULAR_RATE_Y) > 0) &&
-					((imu_data.uValidity_ & BIT_VALID_ANGULAR_RATE_Z) > 0)};
-
-		const auto time = hrt_absolute_time();
-
-		if (accel_valid)
-		{
-			const float accel_x{CSerialProtocol::skfSpecificForceScale_ * static_cast<float>(imu_data.iSpecificForceX_)};
-			const float accel_y{CSerialProtocol::skfSpecificForceScale_ * static_cast<float>(imu_data.iSpecificForceY_)};
-			const float accel_z{CSerialProtocol::skfSpecificForceScale_ * static_cast<float>(imu_data.iSpecificForceZ_)};
-
-			_px4_accel.update(time, accel_x, accel_y, accel_z);
-		}
-
-		if (gyro_valid)
-		{
-			const float gyro_x{CSerialProtocol::skfAngularRateScale_ * static_cast<float>(imu_data.iAngularRateX_)};
-			const float gyro_y{CSerialProtocol::skfAngularRateScale_ * static_cast<float>(imu_data.iAngularRateY_)};
-			const float gyro_z{CSerialProtocol::skfAngularRateScale_ * static_cast<float>(imu_data.iAngularRateZ_)};
-
-			_px4_gyro.update(time, gyro_x, gyro_y, gyro_z);
-		}
-
-		++_statistics.inertial_message_counter;
-	}
-}
-
-void EulerNavDriver::handleNavigationDataMessage(const uint8_t* data)
-{
-	const CSerialProtocol::SNavigationDataMessage* nav_msg{reinterpret_cast<const CSerialProtocol::SNavigationDataMessage*>(data)};
-
-	if (nullptr != nav_msg)
-	{
-		const auto& nav_data{nav_msg->oNavigationData_};
-		const bool roll_valid{(nav_data.uValidity_ & BIT_VALID_ROLL) > 0};
-		const bool pitch_valid{(nav_data.uValidity_ & BIT_VALID_PITCH) > 0};
-		const bool yaw_valid{(nav_data.uValidity_ & BIT_VALID_MAGNETIC_HEADING) > 0};
-		const auto time{hrt_absolute_time()};
-
-		if (roll_valid && pitch_valid && yaw_valid)
-		{
-			const float roll{CSerialProtocol::skfAngleScale_ * static_cast<float>(nav_data.iRoll_)};
-			const float pitch{CSerialProtocol::skfAngleScale_ * static_cast<float>(nav_data.iPitch_)};
-			const float yaw{CSerialProtocol::skfAngleScale_ * static_cast<float>(nav_data.uMagneticHeading_)};
-
-			const matrix::Quaternionf quat{matrix::Eulerf{roll, pitch, yaw}};
-			px4::msg::VehicleAttitude attitude{};
-
-			attitude.q[0] = quat(0);
-			attitude.q[1] = quat(1);
-			attitude.q[2] = quat(2);
-			attitude.q[3] = quat(3);
-
-			attitude.timestamp = time;
-			attitude.timestamp_sample = time;
-
-			_attitude_pub.publish(attitude);
-		}
-
-		const bool height_valid{(nav_data.uValidity_ & BIT_VALID_HEIGHT) > 0};
-
-		if (height_valid)
-		{
-			const float height{(CSerialProtocol::skfHeightScale_ * static_cast<float>(nav_data.uPressureHeight_)) - CSerialProtocol::skfHeighOffset_};
-			px4::msg::SensorBaro pressure{};
-
-			pressure.pressure = atmosphere::getPressureFromAltitude(height);
-
-			// EULER-NAV Baro-Inertial AHRS provides height estimate from a Kalman filter. It has got low noise and resolution
-			// of about 17 cm. It causes PX4 autopilot to mistakenly report that pressure signal is stale. In order to prevent
-			// the false alarms we add a small noise to the received height data.
-			if (_statistics.navigation_message_counter % 2U == 0)
-			{
-				pressure.pressure += 0.01F;
-			}
-
-			pressure.timestamp = time;
-			pressure.timestamp_sample = time;
-			pressure.device_id = DRV_INS_DEVTYPE_BAHRS;
-			pressure.temperature = NAN;
-
-			_barometer_pub.publish(pressure);
-		}
-
-		++_statistics.navigation_message_counter;
-	}
-}
-
-int32_t EulerNavDriver::getMessageLength(CSerialProtocol::EMessageIds messsage_id)
-{
-	int message_length{-1};
-
-	switch (messsage_id)
-	{
-	case CSerialProtocol::EMessageIds::eInertialData:
-		message_length = sizeof(CSerialProtocol::SInertialDataMessage);
-		break;
-	case CSerialProtocol::EMessageIds::eNavigationData:
-		message_length = sizeof(CSerialProtocol::SNavigationDataMessage);
-		break;
-	default:
-		break;
-	}
-
-	return message_length;
-}
-
-uint32_t EulerNavDriver::crc32(const uint32_t* buffer, size_t length)
-{
-	uint32_t crc = 0xFFFFFFFF;
-
-	for (size_t i = 0; i < length; ++i)
-	{
-		crc = crc ^ buffer[i];
-
-		for (uint8_t j = 0; j < 32; j++)
-		{
-			if (crc & 0x80000000)
-			{
-				crc = (crc << 1) ^ 0x04C11DB7;
-			}
-			else
-			{
-				crc = (crc << 1);
-			}
-		}
-	}
-
-	return crc;
-}
@@ -1,174 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <px4_platform_common/module.h>
-#include <px4_platform_common/module_params.h>
-#include <px4_platform_common/Serial.hpp>
-#include <uORB/PublicationMulti.hpp>
-#include <uORB/topics/vehicle_attitude.h>
-#include <lib/drivers/accelerometer/PX4Accelerometer.hpp>
-#include <lib/drivers/gyroscope/PX4Gyroscope.hpp>
-#include <uORB/topics/sensor_baro.h>
-#include <Ringbuffer.hpp>
-#include <containers/Array.hpp>
-#include "CSerialProtocol.h"
-
-class EulerNavDriver : public ModuleBase<EulerNavDriver>, public ModuleParams
-{
-public:
-	/// @brief Class constructor
-	/// @param device_name Serial port to open
-	EulerNavDriver(const char *device_name);
-
-	~EulerNavDriver();
-
-	/// @brief Required by ModuleBase
-	static int task_spawn(int argc, char *argv[]);
-
-	/// @brief Required by ModuleBase
-	static EulerNavDriver *instantiate(int argc, char *argv[]);
-
-	/// @brief Required by ModuleBase
-	static int custom_command(int argc, char *argv[]);
-
-	/// @brief Required by ModuleBase
-	static int print_usage(const char *reason = nullptr);
-
-	/// @brief Overload of the method from the ModuleBase
-	int print_status() final;
-
-	/// @brief The main loop of the task.
-	void run() final;
-
-private:
-	/// @brief Driver performance indicators
-	class Statistics
-	{
-	public:
-		uint32_t total_bytes_received{0U}; ///< Total number of received bytes
-		uint32_t inertial_message_counter{0U}; ///< Total number of received inertial data messages
-		uint32_t navigation_message_counter{0U}; ///< Total number of received navigation messages
-		uint32_t crc_failures{0U}; ///< CRC failure counter
-		hrt_abstime start_time{0U}; ///< Driver start time, [us]
-	};
-
-	/// @brief  Configuration constants
-	class Config
-	{
-	public:
-		static constexpr uint32_t TASK_STACK_SIZE{2048}; ///< Driver task stack size
-		static constexpr uint32_t SERIAL_READ_BUFFER_SIZE{128}; ///< Buffer size for serial port read operations
-		static constexpr uint32_t MIN_BYTES_TO_READ{16}; ///< Minimum number of bytes to wait for when reading from a serial port
-		static constexpr uint32_t SERIAL_READ_TIMEOUT_MS{5}; ///< A timeout for serial port read operation
-		static constexpr uint32_t DATA_BUFFER_SIZE{512}; ///< Size of a ring buffer for storing RX data stream
-		static constexpr int32_t MIN_MESSAGE_LENGTH{12}; ///< Min length of a valid message. 5 bytes header + 4 bytes CRC + padding to 12 (multiple of 32 bit words)
-	};
-
-	/// @brief An object for grouping message-related attributes
-	class NextMessageInfo
-	{
-	public:
-		bool is_detected{false}; ///< A flag to indicate that the next message header was detected
-		uint16_t protocol_version{0U}; ///< Protocol version retrieved from the next message header
-		uint8_t message_code{0U}; ///< Message code retrieved from the next message header
-	};
-
-	/// @brief Perform initialization
-	/// If the driver is not initialized, the function does the following:
-	/// 1. Opens serial port
-	/// 2. Allocates a ring buffer for RX data stream
-	/// 3. Cleans up if any of the previous operations fails
-	/// 4. Sets the "is initialized" flag to true on success
-	void initialize();
-
-	/// @brief De-initialize
-	/// The function does the following:
-	/// 1. Close the serial port, if it is opened
-	/// 2. Deallocates the ring buffer
-	/// 3. Resets the "is initialized" flag to false
-	void deinitialize();
-
-	/// @brief Process data in the ring buffer.
-	/// Extracts and parses protocol messages.
-	void processDataBuffer();
-
-	/// @brief Searches the ring buffer for sync bytes.
-	/// @param buffer Ring buffer to search
-	/// @return True if sync bytes found, false if the number of bytes remaining in the buffer is less then message header length.
-	static bool findNextMessageHeader(Ringbuffer &buffer);
-
-	/// @brief Get protocol version and message code from the ring buffer.
-	/// @param buffer The buffer to process
-	/// @param protocol_ver Output protocol version
-	/// @param message_code Output message code
-	/// @return True on success, false on failure
-	static bool retrieveProtocolVersionAndMessageType(Ringbuffer &buffer, uint16_t &protocol_ver, uint8_t &message_code);
-
-	/// @brief Decode a message from BAHRS and publish its content.
-	/// @param data An array of message bytes
-	/// @param messsage_id Message ID
-	void decodeMessageAndPublishData(const uint8_t *data, CSerialProtocol::EMessageIds messsage_id);
-
-	/// @brief Decode and publish IMU data.
-	/// @param data Inertial message data bytes
-	void handleInertialDataMessage(const uint8_t *data);
-
-	/// @brief Decode and publish vehicle attitude and pressure height.
-	/// @param data Navigation message data bytes
-	void handleNavigationDataMessage(const uint8_t *data);
-
-	/// @brief Get message length by message ID
-	/// @param messsage_id Query message ID
-	/// @return Message length, or -1 if the message ID is unknown or not supported.
-	static int32_t getMessageLength(CSerialProtocol::EMessageIds messsage_id);
-
-	/// @brief Perform CRC
-	/// @param buf Data buffer pointer
-	/// @param len Number of words to include in the CRC.
-	/// @return CRC value
-	static uint32_t crc32(const uint32_t *buf, size_t len);
-
-	device::Serial _serial_port; ///< Serial port object to read data from
-	Ringbuffer _data_buffer; ///< A buffer for RX data stream
-	uint8_t _serial_read_buffer[Config::SERIAL_READ_BUFFER_SIZE]; ///< A buffer for serial port read operation
-	uint32_t _message_storage[8]; ///< A temporary storage for BAHRS messages being extracted
-	NextMessageInfo _next_message_info{}; ///< Attributes of the next message detected in the data buffer
-	Statistics _statistics{}; ///< Driver performance indicators
-	bool _is_initialized{false}; ///< Initialization flag
-	PX4Accelerometer _px4_accel; ///< Accelerometer sensor object for publishing acceleration data
-	PX4Gyroscope _px4_gyro; ///< Gyroscope sensor object for publishing angular rate data
-	uORB::PublicationMulti<px4::msg::VehicleAttitude> _attitude_pub{ORB_ID(vehicle_attitude)}; ///< Vehicle attitude publisher
-	uORB::PublicationMulti<px4::msg::SensorBaro> _barometer_pub{ORB_ID(sensor_baro)}; ///< Pressure data publisher
-};
@@ -1,7 +0,0 @@
-module_name: EULER-NAV BAHRS
-
-serial_config:
-    - command: eulernav_bahrs start -d ${SERIAL_DEV}
-      port_config_param:
-        name: SENS_BAHRS_CFG
-        group: Sensors
@@ -19,16 +19,6 @@ actuator_output:
 parameters:
  - group: Actuator Outputs
    definitions:
-      PCA9685_EN_BUS:
-        description:
-          short: Enable the PCA9685 output driver
-          long: |
-            Enable the PCA9685 output driver.
-            The integer refers to the I2C bus number where PCA9685 is connected.
-        type: int32
-        min: 0
-        max: 10
-        default: 0
      PCA9685_SCHD_HZ:
        description:
          short: PWM update rate
@@ -96,7 +96,7 @@ UavcanEscController::update_outputs(uint16_t outputs[MAX_ACTUATORS], unsigned to

 	_prev_cmd_pub = timestamp;

-	uavcan::equipment::esc::RawCommand msg = {};
+	uavcan::equipment::esc::RawCommand msg;

 	// directly output values from mixer
 	for (unsigned i = 0; i < total_outputs; i++) {
@@ -112,22 +112,28 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
 	}

 	_battery_status[instance].timestamp = hrt_absolute_time();
-	_battery[instance]->updateDt(_battery_status[instance].timestamp);
 	_battery_status[instance].voltage_v = msg.voltage;
 	_battery_status[instance].current_a = msg.current;
+	_battery_status[instance].current_average_a = msg.current;

 	if (_batt_update_mod[instance] == BatteryDataType::Raw) {
-		_battery_status[instance].discharged_mah = _battery[instance]->sumDischarged(fabsf(msg.current));
+		sumDischarged(_battery_status[instance].timestamp, _battery_status[instance].current_a);
+		_battery_status[instance].discharged_mah = _discharged_mah;
 		_battery_status[instance].time_remaining_s = NAN;
 	}

 	_battery_status[instance].remaining = msg.state_of_charge_pct / 100.0f; // between 0 and 1
 	_battery_status[instance].scale = -1.f;
 	_battery_status[instance].temperature = msg.temperature + atmosphere::kAbsoluteNullCelsius; // Kelvin to Celsius
+	// _battery_status[instance].cell_count = msg.;
 	_battery_status[instance].connected = true;
 	_battery_status[instance].source = msg.status_flags & uavcan::equipment::power::BatteryInfo::STATUS_FLAG_IN_USE;
+	// _battery_status[instance].priority = msg.;
+	_battery_status[instance].capacity = msg.full_charge_capacity_wh;
 	_battery_status[instance].full_charge_capacity_wh = msg.full_charge_capacity_wh;
 	_battery_status[instance].remaining_capacity_wh = msg.remaining_capacity_wh;
+	// _battery_status[instance].cycle_count = msg.;
+	// _battery_status[instance].average_time_to_empty = msg.;
 	_battery_status[instance].id = msg.getSrcNodeID().get();

 	if (_batt_update_mod[instance] == BatteryDataType::Raw) {
@@ -138,18 +144,21 @@ UavcanBatteryBridge::battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::
 		_battery_status[instance].cell_count = 1;
 	}

-	_battery_status[instance].warning = _battery[instance]->determineWarning(_battery_status[instance].remaining);
+	// _battery_status[instance].max_cell_voltage_delta = msg.;
+
+	// _battery_status[instance].is_powering_off = msg.;
+
+	determineWarning(_battery_status[instance].remaining);
+	_battery_status[instance].warning = _warning;
+
+	_battery_info[instance].timestamp = _battery_status[instance].timestamp;
+	_battery_info[instance].id = _battery_status[instance].id;
+	snprintf(_battery_info[instance].serial_number, sizeof(_battery_info[instance].serial_number), "%" PRIu32,
+		 msg.model_instance_id);

 	if (_batt_update_mod[instance] == BatteryDataType::Raw) {
 		publish(msg.getSrcNodeID().get(), &_battery_status[instance]);
-
-		if (msg.model_instance_id > 0) {
-			_battery_info[instance].timestamp = _battery_status[instance].timestamp;
-			_battery_info[instance].id = _battery_status[instance].id;
-			snprintf(_battery_info[instance].serial_number, sizeof(_battery_info[instance].serial_number),
-				 "%" PRIu32, msg.model_instance_id);
-			_battery_info_pub[instance].publish(_battery_info[instance]);
-		}
+		_battery_info_pub[instance].publish(_battery_info[instance]);
 	}
 }

@@ -173,24 +182,18 @@ UavcanBatteryBridge::battery_aux_sub_cb(const uavcan::ReceivedDataStructure<ardu

 	_batt_update_mod[instance] = BatteryDataType::RawAux;

+	_battery_status[instance].discharged_mah = (_battery_status[instance].full_charge_capacity_wh -
+			_battery_status[instance].remaining_capacity_wh) / msg.nominal_voltage *
+			1000;
 	_battery_status[instance].cell_count = math::min((uint8_t)msg.voltage_cell.size(), (uint8_t)14);
 	_battery_status[instance].cycle_count = msg.cycle_count;
 	_battery_status[instance].over_discharge_count = msg.over_discharge_count;
 	_battery_status[instance].nominal_voltage = msg.nominal_voltage;
+	_battery_status[instance].time_remaining_s = math::isZero(_battery_status[instance].current_a) ? NAN :
+			(_battery_status[instance].remaining_capacity_wh /
+			 _battery_status[instance].nominal_voltage / _battery_status[instance].current_a * 3600);
 	_battery_status[instance].is_powering_off = msg.is_powering_off;

-	if (msg.nominal_voltage > FLT_EPSILON) {
-		_battery_status[instance].capacity =
-			_battery_status[instance].full_charge_capacity_wh * 1000.f / msg.nominal_voltage;
-	}
-
-	_battery[instance]->setCapacityMah(_battery_status[instance].capacity);
-	_battery[instance]->setStateOfCharge(_battery_status[instance].remaining);
-	// Absolute value of current as sign not clearly defined and vendors are inconsistent
-	_battery_status[instance].time_remaining_s =
-		_battery[instance]->computeRemainingTime(fabsf(_battery_status[instance].current_a));
-	_battery_status[instance].current_average_a = _battery[instance]->getCurrentAverage();
-
 	for (uint8_t i = 0; i < _battery_status[instance].cell_count; i++) {
 		_battery_status[instance].voltage_cell_v[i] = msg.voltage_cell[i];
 	}
@@ -231,7 +234,7 @@ void UavcanBatteryBridge::cbat_sub_cb(const uavcan::ReceivedDataStructure<cuav::
 		msg.full_charge_capacity * msg.nominal_voltage / 1000.f; // mAh -> Wh
 	_battery_status[instance].remaining_capacity_wh = msg.remaining_capacity * msg.nominal_voltage / 1000.f; // mAh -> Wh
 	_battery_status[instance].nominal_voltage = msg.nominal_voltage;
-	_battery_status[instance].capacity = msg.full_charge_capacity; // mAh
+	_battery_status[instance].capacity = msg.design_capacity; // mAh
 	_battery_status[instance].cycle_count = msg.cycle_count;
 	_battery_status[instance].average_time_to_empty = msg.average_time_to_empty;
 	_battery_status[instance].manufacture_date = msg.manufacture_date;
@@ -244,18 +247,19 @@ void UavcanBatteryBridge::cbat_sub_cb(const uavcan::ReceivedDataStructure<cuav::
 	_battery_status[instance].id = msg.getSrcNodeID().get();
 	_battery_status[instance].is_powering_off = msg.is_powering_off;

-	// use Battery class for time_remaining calculation
-	_battery[instance]->updateDt(_battery_status[instance].timestamp);
-	_battery[instance]->setStateOfCharge(_battery_status[instance].remaining);
-	_battery[instance]->setCapacityMah(_battery_status[instance].capacity);
+	// For time remaining calculation use the average current if supplied
+	const float remaining_ah = msg.remaining_capacity / 1000.f; // mAh -> Ah
+	const float current_a = math::isZero(_battery_status[instance].current_average_a) ?
+				_battery_status[instance].current_a : _battery_status[instance].current_average_a;
 	_battery_status[instance].time_remaining_s =
-		_battery[instance]->computeRemainingTime(_battery_status[instance].current_a);
+		math::isZero(current_a) ? NAN : (remaining_ah / current_a * 3600.f); // Ah / A = h * 3600 = s

 	for (uint8_t i = 0; i < _battery_status[instance].cell_count; i++) {
 		_battery_status[instance].voltage_cell_v[i] = msg.voltage_cell[i];
 	}

-	_battery_status[instance].warning = _battery[instance]->determineWarning(_battery_status[instance].remaining);
+	determineWarning(_battery_status[instance].remaining);
+	_battery_status[instance].warning = _warning;

 	uint16_t faults = 0;

@@ -286,6 +290,43 @@ void UavcanBatteryBridge::cbat_sub_cb(const uavcan::ReceivedDataStructure<cuav::
 	_battery_info_pub[instance].publish(_battery_info[instance]);
 }

+void
+UavcanBatteryBridge::sumDischarged(hrt_abstime timestamp, float current_a)
+{
+	// Not a valid measurement
+	if (current_a < 0.f) {
+		// Because the measurement was invalid we need to stop integration
+		// and re-initialize with the next valid measurement
+		_last_timestamp = 0;
+		return;
+	}
+
+	// Ignore first update because we don't know dt.
+	if (_last_timestamp != 0) {
+		const float dt = (timestamp - _last_timestamp) / 1e6;
+		// mAh since last loop: (current[A] * 1000 = [mA]) * (dt[s] / 3600 = [h])
+		_discharged_mah_loop = (current_a * 1e3f) * (dt / 3600.f);
+		_discharged_mah += _discharged_mah_loop;
+	}
+
+	_last_timestamp = timestamp;
+}
+
+void
+UavcanBatteryBridge::determineWarning(float remaining)
+{
+	// propagate warning state only if the state is higher, otherwise remain in current warning state
+	if (remaining < _param_bat_emergen_thr.get() || (_warning == battery_status_s::WARNING_EMERGENCY)) {
+		_warning = battery_status_s::WARNING_EMERGENCY;
+
+	} else if (remaining < _param_bat_crit_thr.get() || (_warning == battery_status_s::WARNING_CRITICAL)) {
+		_warning = battery_status_s::WARNING_CRITICAL;
+
+	} else if (remaining < _param_bat_low_thr.get() || (_warning == battery_status_s::WARNING_LOW)) {
+		_warning = battery_status_s::WARNING_LOW;
+	}
+}
+
 void
 UavcanBatteryBridge::filterData(const uavcan::ReceivedDataStructure<uavcan::equipment::power::BatteryInfo> &msg,
 				uint8_t instance)
@@ -302,11 +343,9 @@ UavcanBatteryBridge::filterData(const uavcan::ReceivedDataStructure<uavcan::equi

 	publish(msg.getSrcNodeID().get(), &_battery_status[instance]);

-	if (msg.model_instance_id > 0) {
-		_battery_info[instance].timestamp = _battery_status[instance].timestamp;
-		_battery_info[instance].id = _battery_status[instance].id;
-		snprintf(_battery_info[instance].serial_number, sizeof(_battery_info[instance].serial_number),
-			 "%" PRIu32, msg.model_instance_id);
-		_battery_info_pub[instance].publish(_battery_info[instance]);
-	}
+	_battery_info[instance].timestamp = _battery_status[instance].timestamp;
+	_battery_info[instance].id = _battery_status[instance].id;
+	snprintf(_battery_info[instance].serial_number, sizeof(_battery_info[instance].serial_number), "%" PRIu32,
+		 msg.model_instance_id);
+	_battery_info_pub[instance].publish(_battery_info[instance]);
 }
@@ -73,6 +73,8 @@ private:
 	void battery_sub_cb(const uavcan::ReceivedDataStructure<uavcan::equipment::power::BatteryInfo> &msg);
 	void battery_aux_sub_cb(const uavcan::ReceivedDataStructure<ardupilot::equipment::power::BatteryInfoAux> &msg);
 	void cbat_sub_cb(const uavcan::ReceivedDataStructure<cuav::equipment::power::CBAT> &msg);
+	void sumDischarged(hrt_abstime timestamp, float current_a);
+	void determineWarning(float remaining);
 	void filterData(const uavcan::ReceivedDataStructure<uavcan::equipment::power::BatteryInfo> &msg, uint8_t instance);

 	typedef uavcan::MethodBinder < UavcanBatteryBridge *,
@@ -116,7 +118,7 @@ private:
 	static constexpr int BATTERY_INDEX_2 = 2;
 	static constexpr int BATTERY_INDEX_3 = 3;
 	static constexpr int BATTERY_INDEX_4 = 4;
-	static constexpr int SAMPLE_INTERVAL_US = 500_ms; // Typical message rate for a CAN battery monitor should be 2-5Hz.
+	static constexpr int SAMPLE_INTERVAL_US = 20_ms; // assume higher frequency UAVCAN feedback than 50Hz

 	static_assert(battery_status_s::MAX_INSTANCES <= BATTERY_INDEX_4, "Battery array too big");

@@ -644,7 +644,7 @@ uavcan::int16_t CanIface::configureFilters(const uavcan::CanFilterConfig *filter

 bool CanIface::waitCCCRBitStateChange(uint32_t mask, bool target_state)
 {
-#if UAVCAN_STM32H7_NUTTX
+#if UAVCAN_STM32_NUTTX
 	const unsigned Timeout = 1000;
 #else
 	const unsigned Timeout = 2000000;
@@ -657,7 +657,7 @@ bool CanIface::waitCCCRBitStateChange(uint32_t mask, bool target_state)
 			return true;
 		}

-#if UAVCAN_STM32H7_NUTTX
+#if UAVCAN_STM32_NUTTX
 		::usleep(1000);
 #endif
 	}
@@ -505,16 +505,12 @@ void UavcanNode::Run()

 			if (can_init_res < 0) {
 				PX4_ERR("CAN driver init failed %i", can_init_res);
-				ScheduleClear();
-				return;
 			}

 			int rv = _node.start();

 			if (rv < 0) {
 				PX4_ERR("Failed to start the node");
-				ScheduleClear();
-				return;
 			}

 			// If the node_id was not supplied by the bootloader do Dynamic Node ID allocation
@@ -532,8 +528,6 @@ void UavcanNode::Run()

 				if (client_start_res < 0) {
 					PX4_ERR("Failed to start the dynamic node ID client");
-					ScheduleClear();
-					return;
 				}
 			}
 		}
--- a/Show More
+++ b/Show More