cmake: px4_add_git_submodule add git index and HEAD as dependencies

- this ensures any submodule changes are caught - fixes #17651
change PublicationMulti-> Publication as a temporary fix
2026-05-23 21:47:34 +08:00 · 2021-08-21 14:49:51 -04:00 · 2021-08-20 19:56:56 +01:00 · 2021-08-20 10:15:57 -04:00 · 2021-08-20 10:15:57 -04:00 · 2021-08-20 10:15:57 -04:00
529 changed files with 18305 additions and 9601 deletions
@@ -38,6 +38,7 @@ pipeline {
                     "airmind_mindpx-v2_default",
                     "ark_can-flow_canbootloader",
                     "ark_can-flow_default",
+                     "atl_mantis-edu_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie_default",
                     "bitcraze_crazyflie21_default",
@@ -71,8 +72,8 @@ pipeline {
                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmuk66-v3_socketcan",
                     "nxp_fmurt1062-v1_default",
-                     "nxp_ucans32k146_default",
                     "nxp_ucans32k146_canbootloader",
+                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
@@ -158,6 +159,8 @@ pipeline {
 def createBuildNode(Boolean archive, String docker_image, String target) {
  return {

+    bypass_entrypoint = ''
+
    node {
      docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
        docker.image(docker_image).inside('-e CCACHE_BASEDIR=${WORKSPACE} -v ${CCACHE_DIR}:${CCACHE_DIR}:rw' + bypass_entrypoint) {
@@ -639,72 +639,72 @@ pipeline {
          }
        }

-        stage("modalai_fc-v1_test") {
-          stages {
-            stage("build modalai_fc-v1_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-05-04'
-                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkout scm
-                sh 'export'
-                sh 'make distclean'
-                sh 'ccache -s'
-                sh 'git fetch --tags'
-                sh 'make modalai_fc-v1_test'
-                sh 'make modalai_fc-v1_test bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
-              }
-              post {
-                always {
-                    sh 'make distclean'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'modalai_fc-v1'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'modalai_fc-v1_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    runTests()
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    checkStatus()
-                    quickCalibrate()
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
+        // stage("modalai_fc-v1_test") {
+        //   stages {
+        //     stage("build modalai_fc-v1_test") {
+        //       agent {
+        //         docker {
+        //           image 'px4io/px4-dev-nuttx-focal:2021-05-04'
+        //           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+        //         }
+        //       }
+        //       steps {
+        //         checkout scm
+        //         sh 'export'
+        //         sh 'make distclean'
+        //         sh 'ccache -s'
+        //         sh 'git fetch --tags'
+        //         sh 'make modalai_fc-v1_test'
+        //         sh 'make modalai_fc-v1_test bootloader_elf'
+        //         sh 'ccache -s'
+        //         stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
+        //       }
+        //       post {
+        //         always {
+        //             sh 'make distclean'
+        //         }
+        //       }
+        //     } // stage build
+        //     stage("hardware") {
+        //       agent {
+        //         label 'modalai_fc-v1'
+        //       }
+        //       stages {
+        //         stage("flash") {
+        //           steps {
+        //             sh 'export'
+        //             sh 'find /dev/serial'
+        //             unstash 'modalai_fc-v1_test'
+        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_bootloader.elf'
+        //             // flash board and watch bootup
+        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+        //           }
+        //         }
+        //         stage("tests") {
+        //           steps {
+        //             runTests()
+        //           }
+        //         }
+        //         stage("status") {
+        //           steps {
+        //             // configure
+        //             resetParameters()
+        //             sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
+        //             sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+        //             checkStatus()
+        //             quickCalibrate()
+        //           }
+        //         }
+        //         stage("print topics") {
+        //           steps {
+        //             printTopics()
+        //           }
+        //         }

-              }
-            } // stage test
-          }
-        }
+        //       }
+        //     } // stage test
+        //   }
+        // }

        stage("nxp_fmuk66-v3_test") {
          stages {
@@ -902,6 +902,7 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf_gps_drift"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios"'
@@ -4,7 +4,7 @@ about: Suggest an idea for this project

 ---

-For general questions please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/).
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).

 **Describe problem solved by the proposed feature**
 A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
@@ -0,0 +1,24 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
+  <linearGradient id="smooth" x2="0" y2="100%">
+    <stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
+    <stop offset="1" stop-opacity=".1"/>
+  </linearGradient>
+
+  <mask id="round">
+    <rect width="90" height="20" rx="3" fill="#fff"/>
+  </mask>
+
+  <g mask="url(#round)">
+    <rect width="42" height="20" fill="#555"/>
+    <rect x="42" width="48" height="20" fill="#E01563"/>
+    <rect width="90" height="20" fill="url(#smooth)"/>
+  </g>
+
+  <g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
+    <text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
+    <text x="22" y="14">slack</text>
+    <text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
+    <text x="65" y="14">Join us!</text>
+  </g>
+</svg>
+
@@ -11,7 +11,6 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    timeout-minutes: 60
    strategy:
      fail-fast: false
      matrix:
@@ -12,7 +12,6 @@ jobs:
  build:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-clang:2021-05-04
-    timeout-minutes: 60
    steps:
    - uses: actions/checkout@v1
      with:
@@ -12,7 +12,6 @@ jobs:
  build:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-armhf:2021-05-04
-    timeout-minutes: 60
    strategy:
      matrix:
        config: [
@@ -12,7 +12,6 @@ jobs:
  build:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-aarch64:2021-05-04
-    timeout-minutes: 60
    strategy:
      matrix:
        config: [
@@ -11,7 +11,6 @@ on:
 jobs:
  build:
    runs-on: macos-10.15
-    timeout-minutes: 60
    strategy:
      matrix:
        config: [
@@ -12,13 +12,13 @@ jobs:
  build:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-nuttx-focal:2021-05-04
-    timeout-minutes: 60
    strategy:
      matrix:
        config: [
          airmind_mindpx-v2,
          ark_can-flow,
          ark_can-gps,
+          atl_mantis-edu,
          av_x-v1,
          bitcraze_crazyflie,
          bitcraze_crazyflie21,
@@ -12,15 +12,15 @@ jobs:
  build:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-nuttx-focal:2021-05-04
-    timeout-minutes: 60
    strategy:
      matrix:
        config: [
          ark_can-flow_default,
+          ark_can-gps_default,
          cuav_can-gps-v1_default,
          freefly_can-rtk-gps_default,
          holybro_can-gps-v1_default,
-          #nxp_ucans32k146_default,
+          nxp_ucans32k146_default,
          px4_fmu-v4_cannode
          ]
    steps:
@@ -154,4 +154,4 @@ jobs:
    - name: PX4 ROS2 bridge
      run: |
        git clone https://github.com/PX4/px4_ros_com.git
-        ./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml
+        ./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml
@@ -11,7 +11,6 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    timeout-minutes: 60
    strategy:
      fail-fast: false
      matrix:
@@ -29,11 +29,11 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.0.0+
+	branch = px4_firmware_nuttx-10.1.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.0.0+
+	branch = px4_firmware_nuttx-10.1.0+
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
@@ -65,4 +65,4 @@
 	url = https://github.com/mavlink/libevents.git
 [submodule "Tools/simulation-ignition"]
 	path = Tools/simulation-ignition
-	url = https://github.com/Auterion/px4-simulation-ignition.git
+	url = https://github.com/Auterion/px4-simulation-ignition.git
@@ -96,6 +96,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-gps_canbootloader
+    atl_mantis-edu_default:
+      short: atl_mantis-edu
+      buildType: MinSizeRel
+      settings:
+        CONFIG: atl_mantis-edu_default
    av_x-v1_default:
      short: av_x-v1
      buildType: MinSizeRel
@@ -443,8 +443,10 @@ endforeach()

 add_custom_command(OUTPUT ${uorb_graph_config}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
-		${graph_module_list}
+		${graph_module_list} --src-path src/lib
+		--merge-depends
 		--exclude-path src/examples
+		--exclude-path src/lib/parameters # FIXME: enable & fix
 		--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	COMMENT "Generating uORB graph"
@@ -143,6 +143,24 @@ pipeline {
          }
        }

+        stage('msg file docs') {
+          agent {
+            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
+          }
+          steps {
+            sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
+            dir('build') {
+              archiveArtifacts(artifacts: 'msg_docs/*.md')
+              stash includes: 'msg_docs/*.md', name: 'msg_documentation'
+            }
+          }
+          post {
+            always {
+              sh 'make distclean'
+            }
+          }
+        }
+
        stage('uORB graphs') {
          agent {
            docker {
@@ -156,8 +174,8 @@ pipeline {
            sh 'git fetch --all --tags'
            sh 'make uorb_graphs'
            dir('Tools/uorb_graph') {
-              archiveArtifacts(artifacts: 'graph_px4_sitl.json')
-              stash includes: 'graph_px4_sitl.json', name: 'uorb_graph'
+              archiveArtifacts(artifacts: 'graph_*.json')
+              stash includes: 'graph_*.json', name: 'uorb_graph'
            }
          }
          post {
@@ -183,11 +201,15 @@ pipeline {
            unstash 'metadata_airframes'
            unstash 'metadata_parameters'
            unstash 'metadata_module_documentation'
+            unstash 'msg_documentation'
+            unstash 'uorb_graph'
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
              sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
              sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
              sh('cp -R modules/*.md px4_user_guide/en/modules/')
+              sh('cp -R graph_*.json px4_user_guide/.vuepress/public/en/middleware/')
+              sh('cp -R msg_docs/*.md px4_user_guide/en/msg_docs/')
              sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
              sh('cd px4_user_guide; git push origin master || true')
              sh('rm -rf px4_user_guide')
@@ -301,7 +323,7 @@ pipeline {
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
              // deploy uORB RTPS ID map
-              sh('./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
+              sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
              // deploy uORB RTPS required tools
@@ -299,9 +299,11 @@ all_variants_%:
 	$(foreach a,$(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS)), $(call cmake-build,$(a)$(BUILD_DIR_SUFFIX)))

 uorb_graphs:
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --merge-depends --file Tools/uorb_graph/graph_full
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --exclude-path src/modules/mavlink --merge-depends --file Tools/uorb_graph/graph_full_no_mavlink
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
+	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph


@@ -488,7 +490,7 @@ distclean: gazeboclean
 	@rm -rf "$(SRC_DIR)/build"
 	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"

-# Help / Error
+# Help / Error / Misc
 # --------------------------------------------------------------------

 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
@@ -522,3 +524,18 @@ check_px4: $(call make_list,nuttx,"px4") \

 check_nxp: $(call make_list,nuttx,"nxp") \
 	sizes
+
+ifneq ($(ROS2_WS_DIR),)
+  ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
+else
+  ROS2_WS_DIR := ~/colcon_ws
+endif
+
+update_ros2_bridge:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
+
+update_px4_ros_com:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
+
+update_px4_msgs:
+	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
@@ -4,7 +4,7 @@

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

-[![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)
+[![Slack](/.github/slack.svg)](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)

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

@@ -120,6 +120,7 @@ add_custom_command(
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
 	DEPENDS ${romfs_tar_file}
+	VERBATIM
 	)

 add_custom_command(
@@ -34,9 +34,10 @@
 add_subdirectory(airframes)

 px4_add_romfs_files(
-	px4-rc.params
-	px4-rc.simulator
 	px4-rc.mavlink
+	px4-rc.params
+	px4-rc.rtps
+	px4-rc.simulator
 	rc.replay
 	rcS
 )
@@ -8,6 +8,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 param set-default MC_PITCHRATE_P 0.1
-param set-default MC_ROLLRATE_P 0.1
+param set-default MC_ROLLRATE_P 0.05

 set MIXER quad_x
@@ -11,8 +11,6 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-#param set CBRK_GPSFAIL 240024
-
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

@@ -11,8 +11,6 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-#param set CBRK_GPSFAIL 240024
-
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

@@ -42,15 +42,9 @@ param set-default NAV_LOITER_RAD 50

 param set-default RWTO_TKOFF 1

-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set FW_THR_SLEW_MAX 0.3
-
 param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_MAX_ROLL 10

-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set-default RWTO_MAX_THR 0.6
-
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

@@ -42,15 +42,9 @@ param set-default NAV_LOITER_RAD 50

 param set-default RWTO_TKOFF 1

-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set FW_THR_SLEW_MAX 0.3
-
 param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_MAX_ROLL 10

-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set RWTO_MAX_THR 0.6
-
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

@@ -1,5 +1,5 @@
 #!/bin/sh
 # shellcheck disable=SC2154

-#param set MAV_SYS_ID $((px4_instance+1))
-#param set IMU_INTEG_RATE 250
+#param set-default MAV_SYS_ID $((px4_instance+1))
+#param set-default IMU_INTEG_RATE 250
@@ -0,0 +1,4 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
@@ -228,8 +228,7 @@ navigator start
 # Try to start the micrortps_client with UDP transport if module exists
 if px4-micrortps_client status > /dev/null 2>&1
 then
-	# shellcheck disable=SC2154
-	micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
+	. px4-rc.rtps
 fi

 if param greater -s MNT_MODE_IN -1
@@ -26,3 +26,5 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
+
+param set SIH_VEHICLE_TYPE 0
@@ -0,0 +1,40 @@
+#!/bin/sh
+#
+# @name SIH plane AERT
+#
+# @type Simulation
+# @class Plane
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+set MIXER AERT
+set PWM_OUT 1234
+
+# set SYS_HITL to 2 to start the SIH and avoid sensors startup
+param set-default SYS_HITL 2
+
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default BAT_N_CELLS 3
+
+param set SIH_T_MAX 6.0
+param set SIH_MASS 0.3
+param set SIH_IXX 0.00402
+param set SIH_IYY 0.0144
+param set SIH_IZZ 0.0177
+param set SIH_IXZ 0.00046
+param set SIH_KDV 0.2
+
+param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
@@ -21,8 +21,8 @@
 . ${R}etc/init.d/rc.fw_defaults


-param set-default BAT_CAPACITY 3300
-param set-default BAT_N_CELLS 3
+param set-default BAT1_CAPACITY 3300
+param set-default BAT1_N_CELLS 3

 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_RATE 50
@@ -26,7 +26,8 @@ param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600

 param set-default SENS_BOARD_ROT 0
-        param set MAV_TYPE 8  # MAV_TYPE_FREE_BALLOON
+set MAV_TYPE 8
+param set MAV_TYPE ${MAV_TYPE}


 set MIXER IO_pass
@@ -0,0 +1,207 @@
+#!/bin/sh
+#
+# @name Advanced Technology Labs (ATL) Mantis EDU
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+#
+# @maintainer
+# @board px4_fmu-v2 exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER none
+set MIXER_AUX none
+
+
+# Battery settings
+param set-default BAT_CRIT_THR 0.20
+param set-default BAT_EMERGEN_THR 0.05
+param set-default BAT_LOW_THR 0.25
+
+param set-default BAT1_CAPACITY 2800.0
+param set-default BAT1_N_CELLS 3
+param set-default BAT1_R_INTERNAL 0.02
+param set-default BAT1_V_CHARGED 4.26
+param set-default BAT1_V_EMPTY 3.45
+
+param set-default CBRK_SUPPLY_CHK 894281
+
+param set-default COM_DISARM_LAND 0.1
+param set-default COM_DISARM_PRFLT 3
+param set-default COM_DL_LOSS_T 10
+param set-default COM_FLTMODE1 -1
+param set-default COM_FLTMODE2 -1
+param set-default COM_FLTMODE3 -1
+param set-default COM_FLTMODE4  2
+param set-default COM_FLTMODE5 -1
+param set-default COM_FLTMODE6  6
+param set-default COM_RC_LOSS_T 3
+param set-default COM_RC_OVERRIDE 1
+
+
+# ekf2
+param set-default EKF2_AID_MASK 35
+param set-default EKF2_BARO_DELAY 0
+param set-default EKF2_BARO_NOISE 2.0
+
+param set-default EKF2_BCOEF_X 31.5
+param set-default EKF2_BCOEF_Y 25.5
+
+param set-default EKF2_GPS_DELAY 100
+param set-default EKF2_GPS_POS_X 0.06
+param set-default EKF2_GPS_POS_Y 0.0
+param set-default EKF2_GPS_POS_Z 0.0
+param set-default EKF2_GPS_V_NOISE 0.5
+
+param set-default EKF2_IMU_POS_X 0.06
+param set-default EKF2_IMU_POS_Y 0.0
+param set-default EKF2_IMU_POS_Z 0.0
+
+param set-default EKF2_MAG_DELAY 0
+param set-default EKF2_MAG_NOISE 0.1
+
+param set-default EKF2_MIN_RNG 0.15
+
+param set-default EKF2_OF_DELAY 38
+param set-default EKF2_OF_GATE 2.0
+param set-default EKF2_OF_POS_X -0.035
+param set-default EKF2_OF_POS_Y 0.0
+param set-default EKF2_OF_POS_Z 0.033
+
+param set-default EKF2_PCOEF_XN -0.3
+param set-default EKF2_PCOEF_XP -0.4
+param set-default EKF2_PCOEF_YN -0.4
+param set-default EKF2_PCOEF_YP -0.4
+param set-default EKF2_PCOEF_Z 0.0
+
+param set-default EKF2_RNG_A_VMAX 1.0
+param set-default EKF2_RNG_AID 0
+param set-default EKF2_RNG_DELAY 55
+param set-default EKF2_RNG_POS_X -0.035
+param set-default EKF2_RNG_POS_Y 0.0
+param set-default EKF2_RNG_POS_Z 0.033
+
+param set-default EKF2_TERR_NOISE 1.0
+
+
+# Maximum allowed angle velocity in the landed state
+param set-default LNDMC_ROT_MAX 40.0
+
+# Maximum vertical velocity allowed in the landed state
+param set-default LNDMC_Z_VEL_MAX 0.7
+
+
+# filtering
+param set-default IMU_DGYRO_CUTOFF 50
+param set-default IMU_GYRO_CUTOFF 65
+
+
+# Pitch angle & rate setting
+param set-default MC_PITCHRATE_P 0.075
+param set-default MC_PITCHRATE_I 0.1
+param set-default MC_PITCHRATE_D 0.0005
+param set-default MC_PITCHRATE_MAX 360.0
+param set-default MC_PITCH_P 8.0
+
+# Roll angle & rate setting
+param set-default MC_ROLLRATE_P 0.055
+param set-default MC_ROLLRATE_I 0.1
+param set-default MC_ROLLRATE_D 0.0005
+param set-default MC_ROLLRATE_MAX 360.0
+param set-default MC_ROLL_P 8.0
+
+# Yaw angle & rate setting
+param set-default MC_YAWRATE_P 0.1
+param set-default MC_YAWRATE_I 0.1
+param set-default MC_YAWRATE_MAX 120.0
+param set-default MC_YAW_P 2.5
+
+param set-default MPC_ACC_DOWN_MAX 2.0
+param set-default MPC_ACC_HOR 3.0
+param set-default MPC_ACC_HOR_MAX 10.0
+param set-default MPC_ACC_UP_MAX 3.0
+param set-default MPC_ALT_MODE 0
+param set-default MPC_LAND_SPEED 0.5
+param set-default MPC_LAND_VEL_XY 10
+param set-default MPC_MAN_TILT_MAX 20
+param set-default MPC_YAWRAUTO_MAX 80.0
+param set-default MPC_POS_MODE 4
+param set-default MPC_THR_HOVER 0.54
+param set-default MPC_THR_MAX 0.9
+param set-default MPC_THR_MIN 0.06
+param set-default MPC_TILTMAX_AIR 30
+param set-default MPC_XY_P 1.0
+param set-default MPC_XY_VEL_D 0.005
+param set-default MPC_XY_VEL_I 0.02
+param set-default MPC_XY_VEL_P 0.15
+param set-default MPC_Z_P 2.0
+param set-default MPC_Z_VEL_D 0.0
+param set-default MPC_Z_VEL_I 0.02
+param set-default MPC_Z_VEL_MAX_DN 2.0
+param set-default MPC_Z_VEL_MAX_UP 3.0
+param set-default MPC_Z_VEL_P 0.27
+
+
+# gimbal configuration
+param set-default MNT_MODE_IN 1
+param set-default MNT_MODE_OUT 2
+param set-default MNT_MAN_PITCH 1
+
+
+# RC
+param set-default RC_CHAN_CNT       12
+
+param set-default RC_MAP_THROTTLE   1
+param set-default RC_MAP_ROLL       2
+param set-default RC_MAP_PITCH      3
+param set-default RC_MAP_YAW        4
+param set-default RC_MAP_FLTMODE    5
+param set-default RC_MAP_AUX1       7
+
+param set-default RC1_DZ            10
+param set-default RC1_MAX           3413
+param set-default RC1_MIN           683
+param set-default RC1_REV           1
+param set-default RC1_TRIM          683
+param set-default RC2_DZ            10
+param set-default RC2_MAX           3413
+param set-default RC2_MIN           683
+param set-default RC2_REV           -1
+param set-default RC2_TRIM          2048
+param set-default RC3_DZ            10
+param set-default RC3_MAX           3413
+param set-default RC3_MIN           683
+param set-default RC3_REV           1
+param set-default RC3_TRIM          2048
+param set-default RC4_DZ            10
+param set-default RC4_MAX           3413
+param set-default RC4_MIN           683
+param set-default RC4_REV           -1
+param set-default RC4_TRIM          2048
+param set-default RC5_DZ            10
+param set-default RC5_MAX           3414
+param set-default RC5_MIN           2048
+param set-default RC5_REV           1
+param set-default RC5_TRIM          2048
+param set-default RC7_DZ            10
+param set-default RC7_MAX           3413
+param set-default RC7_MIN           683
+param set-default RC7_REV           1
+param set-default RC7_TRIM          2048
+
+
+# optical flow
+param set-default SENS_FLOW_MAXR   7.4
+param set-default SENS_FLOW_MINHGT 0.15
+param set-default SENS_FLOW_MAXHGT 5.0
+param set-default SENS_FLOW_ROT    4
+
+
+mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix
@@ -27,48 +27,29 @@ set PWM_OUT 1234


 # Attitude & rate gains
-#param set MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.15
-#param set MC_ROLLRATE_I 0.9
 param set-default MC_ROLLRATE_D 0.0013

-#param set MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.15
-#param set MC_PITCHRATE_I 1.1
 param set-default MC_PITCHRATE_D 0.0016

 param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.2
-#param set MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_D 0
 param set-default MC_YAW_FF 0.5

-#param set MC_ROLL_TC 0.19
-#param set MC_PITCH_TC 0.16
-
-# Manual mode settings: Unleash Draco R's power :)
-#param set MPC_MAN_TILT_MAX 70
-#param set MC_PITCHRATE_MAX 1600
-#param set MC_ROLLRATE_MAX 1600
-#param set MC_YAWRATE_MAX 700
 param set-default MPC_MANTHR_MAX 0.9
 param set-default MPC_MANTHR_MIN 0.08
-#param set MPC_MAN_TILT_MAX 35
-#param set MPC_TILTMAX_AIR 20

 # Filter settings
 param set-default IMU_DGYRO_CUTOFF 90
 param set-default IMU_GYRO_CUTOFF 100

-# Thrust curve (avoids the need for TPA)
-#param set THR_MDL_FAC 0.25
-
 # System
 param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_MIN 1100
 param set-default PWM_MAIN_RATE 0

-#param set SYS_FMU_TASK 1
 param set-default SENS_BOARD_ROT 10

 # EKF2
@@ -96,7 +77,6 @@ param set-default BAT1_SOURCE 0
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_DIV 10.14
 param set-default BAT1_A_PER_V 18.18
-#param set CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 2

 # Filter settings
@@ -106,9 +86,6 @@ param set-default IMU_DGYRO_CUTOFF 70
 # Don't try to be intelligent on RC loss: just cut the motors
 param set-default NAV_RCL_ACT 6

-# enable to use high-rate logging for better rate tracking analysis
-# param set SDLOG_PROFILE 19
-
 # TELEM1 ttyS1 - Wifi module
 param set-default MAV_0_CONFIG 101
 param set-default MAV_0_RATE 0
@@ -75,23 +75,11 @@ param set-default SENS_BOARD_ROT 2

 param set-default BAT1_SOURCE 0
 param set-default CBRK_IO_SAFETY 22027
-#param set COM_DISARM_LAND 3

 # Filter settings
 param set-default IMU_GYRO_CUTOFF 90
 param set-default IMU_DGYRO_CUTOFF 100

-# Don't try to be intelligent on RC loss: just cut the motors
-#param set NAV_RCL_ACT 6
-
 # enable to use high-rate logging for better rate tracking analysis
 param set-default SDLOG_PROFILE 27

-# TELEM1 ttyS1
-#param set MAV_0_CONFIG 101
-#param set MAV_0_MODE 2  # onboard
-#param set MAV_0_RATE 20000
-#param set SER_TEL1_BAUD 921600
-
-# TELEM2 ttyS2
-#param set MAV_1_CONFIG 0
@@ -27,44 +27,21 @@ set PWM_OUT 1234


 # Attitude & rate gains
-#param set MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.15
-#param set MC_ROLLRATE_I 0.9
 param set-default MC_ROLLRATE_D 0.0013

-#param set MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.15
-#param set MC_PITCHRATE_I 1.1
 param set-default MC_PITCHRATE_D 0.0016

 param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.2
-#param set MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_D 0

-#param set MC_ROLL_TC 0.19
-#param set MC_PITCH_TC 0.16
-
-# Manual mode settings: Unleash Draco R's power :)
-#param set MPC_MAN_TILT_MAX 70
-#param set MC_PITCHRATE_MAX 1600
-#param set MC_ROLLRATE_MAX 1600
-#param set MC_YAWRATE_MAX 700
 param set-default MPC_MANTHR_MIN 0.08
-#param set MPC_MAN_TILT_MAX 35
-#param set MPC_TILTMAX_AIR 20

 # Filter settings
 param set-default IMU_GYRO_CUTOFF 100

-# Thrust curve (avoids the need for TPA)
-#param set THR_MDL_FAC 0.25
-
-# Obsolete
-#param set PWM_MAIN_MAX 1950
-#param set PWM_MAIN_MIN 1100
-#param set PWM_MAIN_RATE 0
-
 # Sensors
 param set-default SENS_BOARD_ROT 10
 # Yaw 180
@@ -106,7 +83,6 @@ param set-default BAT1_SOURCE 0
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_DIV 10.14
 param set-default BAT1_A_PER_V 18.18
-#param set CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 2

 # Filter settings
@@ -115,9 +91,6 @@ param set-default IMU_GYRO_CUTOFF 90
 # Don't try to be intelligent on RC loss: just cut the motors
 param set-default NAV_RCL_ACT 6

-# enable to use high-rate logging for better rate tracking analysis
-# param set SDLOG_PROFILE 19
-
 # TELEM1 ttyS1 - Wifi module
 param set-default MAV_0_CONFIG 101
 param set-default MAV_0_RATE 0
@@ -38,8 +38,6 @@ param set-default MC_ACRO_R_MAX 1000
 param set-default MC_ACRO_P_MAX 1000
 param set-default MC_ACRO_Y_MAX 1000

-# param set NAV_RCL_ACT 6 # Lockdown
-
 param set-default PWM_MAIN_MIN 1075
 param set-default PWM_MAIN_RATE 400
 param set-default PWM_MAIN_DISARM 900
@@ -24,9 +24,6 @@

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

-#Parameters here:
-param set LED_RGB_MAXBRT 8
-

 # Configure this as Quadrotor
 # set MAV_TYPE 14
@@ -189,7 +189,7 @@ param set-default CAL_ACC1_PRIO 0
 param set-default CAL_GYRO0_PRIO 255
 param set-default CAL_GYRO1_PRIO 0
 # Logger mode. Default(1) + estimator replay(2) + thermal calibration(4)
-param set SDLOG_PROFILE 6
+param set-default SDLOG_PROFILE 6

 # Do not start frsky_telemetry on port ttyS6 by default, PGA460 lives there. 500 is in arbitrary unused number.
 param set TEL_FRSKY_CONFIG 500
@@ -24,7 +24,6 @@ param set-default SYS_HAS_MAG 0
 param set-default EKF2_AID_MASK 2
 param set-default EKF2_MAG_TYPE 5

-param set-default BAT_N_CELLS 1
 param set-default BAT1_N_CELLS 1
 param set-default BAT1_SOURCE 1

@@ -54,8 +53,6 @@ param set-default MPC_Z_VEL_P_ACC 8
 param set-default MPC_Z_VEL_I_ACC 6
 param set-default MPC_HOLD_MAX_XY 0.1
 param set-default MPC_MAX_FLOW_HGT 3
-#param set IMU_GYRO_NF_FREQ 10
-#param set IMU_GYRO_NF_BW 20

 param set-default NAV_RCL_ACT 3

@@ -72,7 +72,6 @@ param set-default GND_MAX_ANG 3.1415
 param set-default RBCLW_BAUD 8
 param set-default RBCLW_COUNTS_REV 1200
 param set-default RBCLW_ADDRESS 128
-# param set SER_TEL4_BAUD 115200
 # 104 corresponds to Telem 4
 param set-default RBCLW_SER_CFG 104
 # Start this driver after setting parameters, because the driver uses some of those parameters.
@@ -20,7 +20,6 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-#param set CBRK_GPSFAIL 240024
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

@@ -20,7 +20,6 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

-#param set CBRK_GPSFAIL 240024
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

@@ -39,6 +39,7 @@ px4_add_romfs_files(
 	1001_rc_quad_x.hil
 	1002_standard_vtol.hil
 	1100_rc_quad_x_sih.hil
+	1101_rc_plane_sih.hil

 	# [2000, 2999] Standard planes"
 	2100_standard_plane
@@ -80,6 +81,7 @@ px4_add_romfs_files(
 	4052_holybro_qav250
 	4053_holybro_kopis2
 	4060_dji_matrice_100
+	4061_atl_mantis_edu
 	4071_ifo
 	4072_draco
 	4073_ifo-s
@@ -127,6 +127,34 @@ then
 	fi
 fi

+# Eagle Tree airspeed sensor external I2C
+if param compare -s SENS_EN_ETSASPD 1
+then
+	ets_airspeed start -X
+fi
+
+# Sensirion SDP3X differential pressure sensor external I2C
+if param compare -s SENS_EN_SDP3X 1
+then
+	if ! sdp3x_airspeed start -X
+	then
+		# try another common address
+		sdp3x_airspeed start -X -a 0x22
+	fi
+fi
+
+# TE MS4525 differential pressure sensor external I2C
+if param compare -s SENS_EN_MS4525 1
+then
+	ms4525_airspeed start -X
+fi
+
+# TE MS5525 differential pressure sensor external I2C
+if param compare -s SENS_EN_MS5525 1
+then
+	ms5525_airspeed start -X
+fi
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -143,30 +171,6 @@ then

 	# start last (wait for possible icm20948 passthrough mode)
 	ak09916 -X -q start
-
-	# differential pressure sensors
-	if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
-	then
-		# Always try to start the airspeed sensors
-		# even if their usage might be disabled
-		sdp3x_airspeed start -X -q
-		sdp3x_airspeed start -X -a 0x22 -q
-
-		# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
-		# detected as MS5525 because the chip manufacturer was so
-		# clever to assign the same I2C address and skip a WHO_AM_I
-		# register.
-		if [ $BOARD_FMUV3 = 21 ]
-		then
-			ms5525_airspeed start -X -b 2 -q
-		else
-			ms5525_airspeed start -X -q
-		fi
-
-		ms4525_airspeed start -X -q
-
-		ets_airspeed start -X -q
-	fi
 fi

 ###############################################################################
@@ -128,7 +128,7 @@ else
 	then
 		param reset_all
 	fi
-	if ver hwtypecmp V5X00 V5X90 V5Xa0
+	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
 	then
 		netman update -i eth0
 	fi
@@ -86,8 +86,15 @@ sleep 1

 source ${src_path}/Tools/setup_gazebo.bash ${src_path} ${src_path}/build/${target}

+# To use gazebo_ros ROS2 plugins
+if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
+	ros_args="-s libgazebo_ros_init.so -s libgazebo_ros_factory.so"
+else
+	ros_args=""
+fi
+
 echo "Starting gazebo"
-gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose &
+gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose $ros_args &
 sleep 5

 n=0
@@ -10,7 +10,7 @@ extra_args=
 baudrate=921600
 device=
 ip="127.0.0.1"
-while getopts ":b:d:p:qsr:f:i:lo" opt; do
+while getopts ":b:d:p:qsr:f:i:loa" opt; do
 	case $opt in
 		b)
 			baudrate=$OPTARG
@@ -39,6 +39,9 @@ while getopts ":b:d:p:qsr:f:i:lo" opt; do
 		o)
 			extra_args="$extra_args -disponly"
 			;;
+		a)
+			extra_args="$extra_args -fw" # aircraft
+			;;
 		\?)
 			echo "Invalid option: -$OPTARG" >&2
 			exit 1
@@ -13,6 +13,7 @@ import datetime
 from timeit import default_timer as timer
 os.environ['MAVLINK20'] = '1' # The commands require mavlink 2
 from argparse import ArgumentParser
+import signal

 try:
    from pymavlink import mavutil
@@ -24,6 +25,8 @@ except ImportError as e:
    print("")
    sys.exit(1)

+class LoggingCompleted(Exception):
+    pass

 class MavlinkLogStreaming():
    '''Streams log data via MAVLink.
@@ -49,6 +52,7 @@ class MavlinkLogStreaming():
        self.logging_started = False
        self.num_dropouts = 0
        self.target_component = 1
+        self.got_sig_int = False

    def debug(self, s, level=1):
        '''write some debug text'''
@@ -67,13 +71,24 @@ class MavlinkLogStreaming():
                mavutil.mavlink.MAV_CMD_LOGGING_STOP, 0,
                0, 0, 0, 0, 0, 0, 0)

+    def _int_handler(self, sig, frame):
+        self.got_sig_int = True
+
    def read_messages(self):
        ''' main loop reading messages '''
        measure_time_start = timer()
        measured_data = 0

        next_heartbeat_time = timer()
+        old_handler = signal.signal(signal.SIGINT, self._int_handler)
+
        while True:
+            if self.got_sig_int:
+                signal.signal(signal.SIGINT, old_handler)
+                self.got_sig_int = False
+                print('\nStopping log...')
+                self.stop_log()
+                # Continue reading until we get an ACK

            # handle heartbeat sending
            heartbeat_time = timer()
@@ -120,6 +135,9 @@ class MavlinkLogStreaming():
                        print('Logging started. Waiting for Header...')
                    else:
                        raise Exception('Logging start failed', m.result)
+                elif m.command == mavutil.mavlink.MAV_CMD_LOGGING_STOP and \
+                        m.result == mavutil.mavlink.MAV_RESULT_ACCEPTED:
+                    raise LoggingCompleted()
                return None, 0, 0

            # m is either 'LOGGING_DATA_ACKED' or 'LOGGING_DATA':
@@ -137,7 +155,8 @@ class MavlinkLogStreaming():

                if m.get_type() == 'LOGGING_DATA':
                    if not self.got_header_section:
-                        print('Header received in {:0.2f}s'.format(timer()-self.start_time))
+                        print('Header received in {:0.2f}s (size: {:.1f} KB)'.format(
+                              timer()-self.start_time, self.file.tell()/1024))
                        self.logging_started = True
                        self.got_header_section = True
                self.last_sequence = m.sequence
@@ -256,14 +275,10 @@ def main():
        print('Starting log...')
        mav_log_streaming.start_log()
        mav_log_streaming.read_messages()
-
-        print('Stopping log')
-        mav_log_streaming.stop_log()
-
    except KeyboardInterrupt:
-        print('Stopping log')
-        mav_log_streaming.stop_log()
-
+        print('Aborting')
+    except LoggingCompleted:
+        print('Done')

 if __name__ == '__main__':
    main()
@@ -18,33 +18,38 @@ The motors in **green** rotate clockwise, the ones in **blue** counterclockwise.
 If present, PWM AUX channels are commonly labelled **AUX OUT**.

 <style>
-table {
+div.frame_common table, div.frame_common table {
   display: table;
   table-layout: fixed;
   margin-bottom: 5px;
 }
-table.common {
+
+div.frame_common table {
   float: right; 
   width: 70%;
 }
-table.airframes {
-   width: 100%;
-}
-table.airframes th:nth-child(1) {
-  width: 30%;
-  }

-tr > * {
-    vertical-align : top;
-}
-td, th {
-  text-align : left;
-  }
-img {
+div.frame_common img {
  max-height: 180px;
  width: 29%;
  padding-top: 10px;
 }
+
+div.frame_variant table {
+   width: 100%;
+}
+
+div.frame_variant th:nth-child(1) {
+  width: 30%;
+  }
+
+div.frame_variant tr > * {
+    vertical-align : top;
+}
+
+div.frame_variant td, div.frame_variant th {
+  text-align : left;
+}
 </style>\n\n"""
 
        type_set = set()
@@ -61,7 +66,7 @@ img {

            # Display an image of the frame
            image_name = group.GetImageName()
-            result += '<div>\n'
+            result += '<div class="frame_common">\n'
            image_name = image_path + image_name
            result += '<img src="%s.svg"/>\n' % (image_name)

@@ -93,7 +98,7 @@ img {
                    outputs_prev[i] = ''

            if outputs_match[0] or outputs_match[1]:
-                result += '<table class="common">\n'
+                result += '<table>\n'
                result += ' <thead>\n'
                result += '   <tr><th>Common Outputs</th></tr>\n'
                result += ' </thead>\n'
@@ -103,7 +108,8 @@ img {

            result += '</div>\n\n'

-            result += '<table class="generic">\n'
+            result += '<div class="frame_variant">\n'
+            result += '<table>\n'
            result += ' <thead>\n'
            result += '   <tr><th>Name</th><th></th></tr>\n'
            result += ' </thead>\n'
@@ -156,7 +162,7 @@ img {


            #Close the table.
-            result += '</tbody></table>\n\n'
+            result += '</tbody>\n</table>\n</div>\n\n'

        self.output = result

@@ -56,6 +56,13 @@ else
    follow_mode=""
 fi

+# To use gazebo_ros ROS2 plugins
+if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
+	ros_args="-s libgazebo_ros_init.so -s libgazebo_ros_factory.so"
+else
+	ros_args=""
+fi
+
 if [ "$program" == "jmavsim" ]; then
 	jmavsim_pid=`ps aux | grep java | grep "\-jar jmavsim_run.jar" | awk '{ print $2 }'`
 	if [ -n "$jmavsim_pid" ]; then
@@ -133,7 +140,7 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 				world_path="$PX4_SITL_WORLD"
 			fi
 		fi
-		gzserver $verbose $world_path &
+		gzserver $verbose $world_path $ros_args &
 		SIM_PID=$!

 		# Check all paths in ${GAZEBO_MODEL_PATH} for specified model
@@ -23,7 +23,7 @@ parser.add_argument('-e', '--exclude-path', action='append',
                    help='Excluded path(s), can be specified multiple times',
                    default=[])
 parser.add_argument('--merge-depends', action='store_true',
-                    help='Merge library topics inte the modules that depend on them.')
+                    help='Merge library topics in the modules that depend on them.')
 parser.add_argument('-v','--verbosity', action='count',
                    help='increase output verbosity; primarily for debugging; repeat for more detail',
                    default=0)
@@ -422,6 +422,7 @@ class Graph(object):
        found_module_def = False
        found_module_depends = False
        found_library_def = False
+        scope_added = False
        for line in datafile:
            if 'px4_add_module' in line: # must contain 'px4_add_module'
                found_module_def = True
@@ -432,6 +433,7 @@ class Graph(object):
                    library_name = tokens[1].split()[0].strip().rstrip(')')
                    library_scope = LibraryScope(library_name)
                    self._current_scope.append(library_scope)
+                    scope_added = True
                    self._found_libraries[library_name] = library_scope
                    if self._in_scope():
                        log.debug('    >> found library: ' + library_name)
@@ -443,16 +445,18 @@ class Graph(object):
            elif found_module_depends:
                # two tabs is a *sketchy* heuristic -- spacing isn't guaranteed by cmake;
                # ... but the hard-tabs *is* specified by PX4 coding standards, so it's likely to be consistent
-                if line.startswith('\t\t'):
+                if line.startswith('\t\t') and not line.strip().startswith('#'):
                    depends = [dep.strip() for dep in line.split()]
                    for name in depends:
+                        log.debug('        >> {:}: found module dep: {:}'
+                            .format(self._current_scope[-1].name, name))
                        self._current_scope[-1].add_dependency(name)
                        if kwargs['merge_depends']:
                            if (0 < len(self._scope_whitelist)) and self._current_scope[-1].name in self._scope_whitelist:
                                # if we whitelist a module with dependencies, whitelist the dependencies, too
                                self._scope_whitelist.add(name)

-                else:
+                elif line.strip() != "":
                    found_module_depends = False  ## done with the 'DEPENDS' section.

            words = line.split()
@@ -461,17 +465,21 @@ class Graph(object):
                module_name = words[1]
                module_scope = ModuleScope(module_name)
                self._current_scope.append(module_scope)
+                scope_added = True
                self._found_modules[module_name] = module_scope
                if self._in_scope():
                    log.debug('    >> Found module name: ' + module_scope.name)

-        return (found_library_def or found_module_def)
+        return scope_added


    def _process_source_file(self, file_name):
        """ extract information from a single source file """

-        log.debug( "        >> extracting topics from file: " + file_name )
+        current_scope = self._get_current_scope()
+        log.debug( "        >> {:}extracting topics from file: {:}"
+            .format(current_scope.name+": " if current_scope is not None else "",
+            file_name))

        with codecs.open(file_name, 'r', 'utf-8') as f:
            try:
@@ -481,7 +489,6 @@ class Graph(object):
                return


-            current_scope = self._get_current_scope()
            if current_scope:
                if current_scope.name in self._scope_blacklist:
                    return
@@ -673,7 +680,7 @@ class OutputJSON(object):
            node['color'] = topic_colors[topic]
            # url is opened when double-clicking on the node
            # TODO: does not work for multi-topics
-            node['url'] = 'https://github.com/PX4/Firmware/blob/master/msg/'+topic+'.msg'
+            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic+'.msg'
            nodes.append(node)

        data['nodes'] = nodes
@@ -0,0 +1,135 @@
+#!/usr/bin/env bash
+set -e
+
+agent_template_files_updated=0
+code_generator_files_updated=0
+
+# parse help argument
+if [[ $1 == "-h" ]] || [[ $1 == "--help" ]]; then
+  echo -e "Usage: update_px4_ros2_bridge.bash [options...] \t This script allows to update px4_ros_com and px4_msgs in a specified directory." >&2
+  echo
+  echo -e "\t--ws_dir \t\t Location of the ament/colcon workspace. Default: $HOME/colcon_ws."
+  echo -e "\t--px4_ros_com \t\t Updates px4_ros_com microRTPS agent code generation and templates."
+  echo -e "\t--px4_msgs \t\t Updates px4_msgs messages definition files."
+  echo -e "\t--all \t\t Updates both px4_ros_com and px4_msgs."
+  echo
+  exit 0
+fi
+
+# parse the arguments
+while [ $# -gt 0 ]; do
+  if [[ $1 == *"--"* ]]; then
+    v="${1/--/}"
+    if [ ! -z $2 ]; then
+      declare $v="$2"
+    else
+      declare $v=1
+    fi
+  fi
+  shift
+done
+
+# get script directory
+SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
+
+# get PX4-Autopilot directory
+PX4_DIR=$(cd "$(dirname "$SCRIPT_DIR")" && pwd)
+
+function compare_and_update () {
+  cmp -s "$1" "$2"
+  if [ $? -eq 1 ]; then
+    cp "$1" "$2"
+    return 0
+  fi
+
+  return 1;
+}
+
+# update microRTPS agent code generators / helpers
+function update_agent_code {
+  declare -a templates=( \
+    "microRTPS_agent.cpp.em" \
+    "microRTPS_timesync.cpp.em" \
+    "microRTPS_timesync.h.em" \
+    "microRTPS_transport.cpp" \
+    "microRTPS_transport.h" \
+    "Publisher.cpp.em" \
+    "Publisher.h.em" \
+    "Subscriber.cpp.em" \
+    "Subscriber.h.em" \
+    "RtpsTopics.cpp.em" \
+    "RtpsTopics.h.em" \
+    )
+
+  for file in ${templates[@]}; do
+    compare_and_update "$PX4_DIR/msg/templates/urtps/$file" "$ws_dir/src/px4_ros_com/templates/$file" \
+      && echo -e "--\t\t- '$ws_dir/src/px4_ros_com/templates/$file' updated" && ((agent_template_files_updated+=1))
+  done
+  if [ $agent_template_files_updated -eq 0 ]; then
+    echo -e "--\t\t- No template files updated"
+  elif [ $agent_template_files_updated -eq 1 ]; then
+    echo -e "--\t\t  - 1 template file updated"
+  else
+    echo -e "--\t\t  - $agent_template_files_updated template files updated"
+  fi
+}
+
+# update microRTPS agent code templates
+function update_agent_templates {
+  declare -a code_generators=( \
+    "uorb_rtps_classifier.py" \
+    "generate_microRTPS_bridge.py" \
+    "px_generate_uorb_topic_files.py" \
+    )
+  for file in ${code_generators[@]}; do
+    compare_and_update "$PX4_DIR/msg/tools/$file $ws_dir/src/px4_ros_com/scripts/$file" \
+      && echo -e "--\t\t- '$ws_dir/src/px4_ros_com/scripts/$file' updated" && ((code_generator_files_updated+=1))
+  done
+  if [ $code_generator_files_updated -eq 0 ]; then
+    echo -e "--\t\t- No code generators / helpers files updated"
+  elif [ $code_generator_files_updated -eq 1 ]; then
+    echo -e "--\t\t  - 1 code generator / helper file updated"
+  else
+    echo -e "--\t\t  - $code_generator_files_updated code generator / helper files updated"
+  fi
+}
+
+# update px4_ros_com files
+function update_px4_ros_com {
+  python3 $PX4_DIR/msg/tools/uorb_to_ros_urtps_topics.py -i $PX4_DIR/msg/tools/urtps_bridge_topics.yaml -o $ws_dir/src/px4_ros_com/templates/urtps_bridge_topics.yaml
+  echo -e "---------------          \033[1mmicroRTPS agent code generation and templates update\033[0m          ----------------"
+  echo "-------------------------------------------------------------------------------------------------------"
+  update_agent_code
+  update_agent_templates
+  return 0
+}
+
+# function to update px4_msgs
+function update_px4_msgs {
+  find "$ws_dir/src/px4_msgs/msg/" -maxdepth 1 -type f -delete
+  python3 $PX4_DIR/msg/tools/uorb_to_ros_msgs.py $PX4_DIR/msg/ $ws_dir/src/px4_msgs/msg/
+}
+
+# decisor
+echo "-------------------------------------------------------------------------------------------------------"
+if [ -d "${ws_dir}" ]; then
+  ws_dir=$(cd "$ws_dir" && pwd)
+  if [ ! -z ${all} ]; then
+    update_px4_ros_com
+    echo "-------------------------------------------------------------------------------------------------------"
+    update_px4_msgs
+  elif [ ! -z ${px4_ros_com} ]; then
+    update_px4_ros_com
+    echo "-------------------------------------------------------------------------------------------------------"
+  elif [ ! -z ${px4_msgs} ]; then
+    update_px4_msgs
+  fi
+  echo -e "--------------------------------          \033[0;32mUpdate successful!\033[0m          ---------------------------------"
+  echo "-------------------------------------------------------------------------------------------------------"
+  exit 0
+else
+  echo -e "-- \033[0;31mWorkspace directory doesn't exist...\033[0m"
+  echo -e "----------------------------------          \033[0;31mUpdate failed!\033[0m          -----------------------------------"
+  echo "-------------------------------------------------------------------------------------------------------"
+  exit $ERRCODE
+fi
@@ -1,9 +1,6 @@

 px4_add_board(
 	PLATFORM nuttx
-	VENDOR airmind
-	MODEL mindpx-v2
-	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
@@ -90,7 +90,6 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
-CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -99,9 +98,6 @@ CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -2,9 +2,6 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

 px4_add_board(
 	PLATFORM nuttx
-	VENDOR ark
-	MODEL can-flow
-	LABEL canbootloader
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
@@ -2,9 +2,6 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

 px4_add_board(
 	PLATFORM nuttx
-	VENDOR ark
-	MODEL can-flow
-	LABEL debug
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
@@ -2,9 +2,6 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

 px4_add_board(
 	PLATFORM nuttx
-	VENDOR ark
-	MODEL can-flow
-	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_FLASH
@@ -36,7 +36,7 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LIB_BOARDCTL=y
-CONFIG_MAX_TASKS=0
+CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
 CONFIG_NUNGET_CHARS=0
@@ -70,7 +70,6 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
-CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -79,9 +78,6 @@ CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -2,9 +2,6 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

 px4_add_board(
 	PLATFORM nuttx
-	VENDOR ark
-	MODEL can-gps
-	LABEL canbootloader
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
@@ -2,9 +2,6 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

 px4_add_board(
 	PLATFORM nuttx
-	VENDOR ark
-	MODEL can-gps
-	LABEL debug
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
@@ -2,9 +2,6 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

 px4_add_board(
 	PLATFORM nuttx
-	VENDOR ark
-	MODEL can-gps
-	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	#CONSTRAINED_FLASH
@@ -36,7 +36,7 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LIB_BOARDCTL=y
-CONFIG_MAX_TASKS=0
+CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
 CONFIG_NUNGET_CHARS=0
@@ -70,7 +70,6 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
-CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -79,9 +78,6 @@ CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -0,0 +1,60 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m7
+	ROMFSROOT px4fmu_common
+	DRIVERS
+		adc/board_adc
+		barometer/maiertek/mpc2520
+		camera_capture
+		gps
+		#heater
+		imu/invensense/icm20602
+		magnetometer/isentek/ist8310
+		tap_esc
+	MODULES
+		battery_status
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		flight_mode_manager
+		gyro_calibration
+		gyro_fft
+		land_detector
+		load_mon
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		#micrortps_bridge
+		navigator
+		rc_update
+		sensors
+		sih
+		vmount
+	SYSTEMCMDS
+		bl_update
+		dmesg
+		dumpfile
+		hardfault_log
+		led_control
+		mixer
+		motor_ramp
+		motor_test
+		param
+		perf
+		reboot
+		shutdown
+		system_time
+		top
+		topic_listener
+		tune_control
+		uorb
+		ver
+		work_queue
+	)
@@ -0,0 +1,13 @@
+{
+    "board_id": 97,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the Advanced Technology Labs (ATL) Mantis EDU (V18S) board",
+    "image": "",
+    "build_time": 0,
+    "summary": "atl_mantis-edu",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2064384,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,22 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default SYS_AUTOSTART 4061
+
+param set-default COM_ARM_SDCARD 0
+
+param set-default SENS_EXT_I2C_PRB 0
+
+param set-default EKF2_MULTI_IMU 1
+param set-default EKF2_MULTI_MAG 1
+param set-default SENS_IMU_MODE 0
+param set-default SENS_MAG_MODE 0
+
+param set-default EV_TSK_STAT_DIS 1
+
+set LOGGER_ARGS "-m mavlink"
+
+# Start esc
+tap_esc start -d /dev/ttyS4 -n 4
@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# board specific MAVLink startup script.
+#------------------------------------------------------------------------------
+
+set GIMBAL_TTY /dev/ttyS3
+set MAV_RATE 40000
+set BAUDRATE 500000
+
+mavlink start -r ${MAV_RATE} -d ${GIMBAL_TTY} -b ${BAUDRATE}
+mavlink stream -d ${GIMBAL_TTY} -s SYSTEM_TIME -r 0.5
+mavlink stream -d ${GIMBAL_TTY} -s AUTOPILOT_STATE_FOR_GIMBAL_DEVICE -r 20
+mavlink stream -d ${GIMBAL_TTY} -s GIMBAL_DEVICE_SET_ATTITUDE -r 20
+
+# optical flow
+mavlink start -d /dev/ttyS2 -m custom -b 500000
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -0,0 +1,17 @@
+#!/bin/sh
+#
+# board specific sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+# SPI1 icm20602 IMU
+icm20602 start -s -b 1 -R 8
+
+# I2C2 ist8310 magnetometer
+ist8310 start -I -b 2 -R 14
+
+# I2C4 mpc2520 barometer
+mpc2520 start -I -b 4
+
+gps start -d /dev/ttyS0 -p ubx
@@ -0,0 +1,332 @@
+/************************************************************************************
+ * nuttx-configs/px4_fmu-v5/include/board.h
+ *
+ *   Copyright (C) 2016-2018 Gregory Nutt. All rights reserved.
+ *   Authors: David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+#ifndef __NUTTX_CONFIG_PX4_FMU_V5_INCLUDE_BOARD_H
+#define __NUTTX_CONFIG_PX4_FMU_V5_INCLUDE_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+#include "board_dma_map.h"
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include "stm32_rcc.h"
+#include "stm32_sdmmc.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The px4_fmu-v5  board provides the following clock sources:
+ *
+ *   X301: 16 MHz crystal for HSE
+ *
+ * So we have these clock source available within the STM32
+ *
+ *   HSI: 16 MHz RC factory-trimmed
+ *   HSE: 16 MHz crystal for HSE
+ */
+
+#define STM32_BOARD_XTAL        16000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+#define STM32_LSE_FREQUENCY     0
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE = 16,000,000
+ *
+ * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ * Subject to:
+ *
+ *     2 <= PLLM <= 63
+ *   192 <= PLLN <= 432
+ *   192 MHz <= PLL_VCO <= 432MHz
+ *
+ * SYSCLK  = PLL_VCO / PLLP
+ * Subject to
+ *
+ *   PLLP = {2, 4, 6, 8}
+ *   SYSCLK <= 216 MHz
+ *
+ * USB OTG FS, SDMMC and RNG Clock = PLL_VCO / PLLQ
+ * Subject to
+ *   The USB OTG FS requires a 48 MHz clock to work correctly. The SDMMC
+ *   and the random number generator need a frequency lower than or equal
+ *   to 48 MHz to work correctly.
+ *
+ * 2 <= PLLQ <= 15
+ */
+
+/* Highest SYSCLK with USB OTG FS clock = 48 MHz
+ *
+ * PLL_VCO = (16,000,000 / 8) * 216 = 432 MHz
+ * SYSCLK  = 432 MHz / 2 = 216 MHz
+ * USB OTG FS, SDMMC and RNG Clock = 432 MHz / 9 = 48 MHz
+ */
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(216)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(9)
+
+#define STM32_VCO_FREQUENCY     ((STM32_HSE_FREQUENCY / 8) * 216)
+#define STM32_SYSCLK_FREQUENCY  (STM32_VCO_FREQUENCY / 2)
+#define STM32_OTGFS_FREQUENCY   (STM32_VCO_FREQUENCY / 9)
+
+/* Configure factors for  PLLSAI clock */
+#define CONFIG_STM32F7_PLLSAI 1
+#define STM32_RCC_PLLSAICFGR_PLLSAIN    RCC_PLLSAICFGR_PLLSAIN(192)
+#define STM32_RCC_PLLSAICFGR_PLLSAIP    RCC_PLLSAICFGR_PLLSAIP(8)
+#define STM32_RCC_PLLSAICFGR_PLLSAIQ    RCC_PLLSAICFGR_PLLSAIQ(4)
+#define STM32_RCC_PLLSAICFGR_PLLSAIR    RCC_PLLSAICFGR_PLLSAIR(2)
+
+/* Configure Dedicated Clock Configuration Register */
+#define STM32_RCC_DCKCFGR1_PLLI2SDIVQ  RCC_DCKCFGR1_PLLI2SDIVQ(1)
+#define STM32_RCC_DCKCFGR1_PLLSAIDIVQ  RCC_DCKCFGR1_PLLSAIDIVQ(1)
+#define STM32_RCC_DCKCFGR1_PLLSAIDIVR  RCC_DCKCFGR1_PLLSAIDIVR(0)
+#define STM32_RCC_DCKCFGR1_SAI1SRC     RCC_DCKCFGR1_SAI1SEL(0)
+#define STM32_RCC_DCKCFGR1_SAI2SRC     RCC_DCKCFGR1_SAI2SEL(0)
+#define STM32_RCC_DCKCFGR1_TIMPRESRC   0
+#define STM32_RCC_DCKCFGR1_DFSDM1SRC   0
+#define STM32_RCC_DCKCFGR1_ADFSDM1SRC  0
+
+
+/* Configure factors for  PLLI2S clock */
+#define CONFIG_STM32F7_PLLI2S 1
+#define STM32_RCC_PLLI2SCFGR_PLLI2SN   RCC_PLLI2SCFGR_PLLI2SN(192)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SP   RCC_PLLI2SCFGR_PLLI2SP(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SQ   RCC_PLLI2SCFGR_PLLI2SQ(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SR   RCC_PLLI2SCFGR_PLLI2SR(2)
+
+/* Configure Dedicated Clock Configuration Register 2 */
+#define STM32_RCC_DCKCFGR2_USART1SRC  RCC_DCKCFGR2_USART1SEL_APB
+#define STM32_RCC_DCKCFGR2_USART2SRC  RCC_DCKCFGR2_USART2SEL_APB
+#define STM32_RCC_DCKCFGR2_UART4SRC   RCC_DCKCFGR2_UART4SEL_APB
+#define STM32_RCC_DCKCFGR2_UART5SRC   RCC_DCKCFGR2_UART5SEL_APB
+#define STM32_RCC_DCKCFGR2_USART6SRC  RCC_DCKCFGR2_USART6SEL_APB
+#define STM32_RCC_DCKCFGR2_UART7SRC   RCC_DCKCFGR2_UART7SEL_APB
+#define STM32_RCC_DCKCFGR2_UART8SRC   RCC_DCKCFGR2_UART8SEL_APB
+#define STM32_RCC_DCKCFGR2_I2C1SRC    RCC_DCKCFGR2_I2C1SEL_HSI
+#define STM32_RCC_DCKCFGR2_I2C2SRC    RCC_DCKCFGR2_I2C2SEL_HSI
+#define STM32_RCC_DCKCFGR2_I2C3SRC    RCC_DCKCFGR2_I2C3SEL_HSI
+#define STM32_RCC_DCKCFGR2_I2C4SRC    RCC_DCKCFGR2_I2C4SEL_HSI
+#define STM32_RCC_DCKCFGR2_LPTIM1SRC  RCC_DCKCFGR2_LPTIM1SEL_APB
+#define STM32_RCC_DCKCFGR2_CECSRC     RCC_DCKCFGR2_CECSEL_HSI
+#define STM32_RCC_DCKCFGR2_CK48MSRC   RCC_DCKCFGR2_CK48MSEL_PLL
+#define STM32_RCC_DCKCFGR2_SDMMCSRC   RCC_DCKCFGR2_SDMMCSEL_48MHZ
+#define STM32_RCC_DCKCFGR2_SDMMC2SRC  RCC_DCKCFGR2_SDMMC2SEL_48MHZ
+#define STM32_RCC_DCKCFGR2_DSISRC     RCC_DCKCFGR2_DSISEL_PHY
+
+
+/* Several prescalers allow the configuration of the two AHB buses, the
+ * high-speed APB (APB2) and the low-speed APB (APB1) domains. The maximum
+ * frequency of the two AHB buses is 216 MHz while the maximum frequency of
+ * the high-speed APB domains is 108 MHz. The maximum allowed frequency of
+ * the low-speed APB domain is 54 MHz.
+ */
+
+/* AHB clock (HCLK) is SYSCLK (216 MHz) */
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK  /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY  /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/4 (54 MHz) */
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd4     /* PCLK1 = HCLK / 4 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/4)
+
+/* Timers driven from APB1 will be twice PCLK1 */
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* APB2 clock (PCLK2) is HCLK/2 (108MHz) */
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLKd2     /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* SDMMC dividers.  Note that slower clocking is required when DMA is disabled
+ * in order to avoid RX overrun/TX underrun errors due to delayed responses
+ * to service FIFOs in interrupt driven mode.  These values have not been
+ * tuned!!!
+ *
+ * SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(118+2)=400 KHz
+ */
+
+/* Use the Falling edge of the SDIO_CLK clock to change the edge the
+ * data and commands are change on
+ */
+
+#define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE
+
+#define STM32_SDMMC_INIT_CLKDIV         (118 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+
+/* DMA ON:  SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(1+2)=16 MHz
+ * DMA OFF: SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(2+2)=12 MHz
+ */
+
+#ifdef CONFIG_STM32F7_SDMMC_DMA
+#  define STM32_SDMMC_MMCXFR_CLKDIV     (1 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_MMCXFR_CLKDIV     (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+
+/* DMA ON:  SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(1+2)=16 MHz
+ * DMA OFF: SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(2+2)=12 MHz
+ */
+//TODO #warning "Check Freq for 24mHz"
+
+#ifdef CONFIG_STM32F7_SDMMC_DMA
+#  define STM32_SDMMC_SDXFR_CLKDIV      (1 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_SDXFR_CLKDIV      (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+
+/* FLASH wait states
+ *
+ *  --------- ---------- -----------
+ *  VDD       MAX SYSCLK WAIT STATES
+ *  --------- ---------- -----------
+ *  1.7-2.1 V   180 MHz    8
+ *  2.1-2.4 V   216 MHz    9
+ *  2.4-2.7 V   216 MHz    8
+ *  2.7-3.6 V   216 MHz    7
+ *  --------- ---------- -----------
+ */
+
+#define BOARD_FLASH_WAITSTATES 7
+
+/* LED index values for use with board_userled() */
+
+#define BOARD_LED1        0
+#define BOARD_LED2        1
+#define BOARD_LED3        2
+#define BOARD_NLEDS       3
+
+#define BOARD_LED_RED     BOARD_LED1
+#define BOARD_LED_GREEN   BOARD_LED2
+#define BOARD_LED_BLUE    BOARD_LED3
+
+/* Thus if the Green LED is statically on, NuttX has successfully booted and
+ * is, apparently, running normally.  If the Red LED is flashing at
+ * approximately 2Hz, then a fatal error has been detected and the system
+ * has halted.
+ */
+
+/* Alternate function pin selections ************************************************/
+
+#define GPIO_USART1_RX   GPIO_USART1_RX_2   /* PB7  */
+#define GPIO_USART1_TX   GPIO_USART1_TX_2   /* PB6  */
+
+#define GPIO_USART2_RX   GPIO_USART2_RX_2   /* PD6  */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5  */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2  /* PD4  */
+#define GPIO_USART2_CTS  GPIO_USART2_CTS_2  /* PD3  */
+
+#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9  */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8  */
+#define GPIO_USART3_RTS  GPIO_USART3_RTS_2  /* PD12 */
+#define GPIO_USART3_CTS  GPIO_USART3_CTS_2  /* PD11 */
+
+#define GPIO_UART4_RX    GPIO_UART4_RX_4    /* PD0  */
+#define GPIO_UART4_TX    GPIO_UART4_TX_4    /* PD1  */
+
+#define GPIO_UART5_RX    GPIO_UART5_RX_3    /* PB12 */
+#define GPIO_UART5_TX    GPIO_UART5_TX_3    /* PB13 */
+
+#define GPIO_USART6_RX   GPIO_USART6_RX_2   /* PG9  */
+#define GPIO_USART6_TX   GPIO_USART6_TX_2   /* PG14 */
+#define GPIO_USART6_RTS  GPIO_USART6_RTS_2  /* PG8  */
+#define GPIO_USART6_CTS  GPIO_USART6_CTS_2  /* PG15 */
+
+#define GPIO_UART7_RX    GPIO_UART7_RX_2    /* PF6  */
+#define GPIO_UART7_TX    GPIO_UART7_TX_1    /* PE8  */
+
+/* USART8: has no remap
+ *
+ *      GPIO_UART8_RX                          PE0[CN12-64]
+ *      GPIO_UART8_TX                          PE1[CN11-61]
+ */
+
+
+/* SPI */
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6 */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3   /* PD7 */
+#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_3    /* PG11 */
+
+#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_2   /* PE13 */
+#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_1   /* PE6 */
+#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_1    /* PE2 */
+
+
+/* I2C */
+#define GPIO_I2C2_SCL GPIO_I2C2_SCL_2       /* PF1  */
+#define GPIO_I2C2_SDA GPIO_I2C2_SDA_2       /* PF0  */
+
+#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2       /* PF14 */
+#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2       /* PF15 */
+
+/* SDMMC1
+ *
+ *      VDD 3.3
+ *      GND
+ *      SDMMC1_CK                           PC12
+ *      SDMMC1_CMD                          PD2
+ *      SDMMC1_D0                           PC8
+ *      SDMMC1_D1                           PC9
+ *      SDMMC1_D2                           PC10
+ *      SDMMC1_D3                           PC11
+ *      GPIO_SDMMC1_NCD                     PG0
+ */
+
+#endif  /*__NUTTX_CONFIG_PX4_FMU_V5_INCLUDE_BOARD_H  */
@@ -0,0 +1,99 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+/*
+|    DMA1    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
+|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
+| Channel 0  | SPI3_RX_1        | SPDIFRX_DT       | SPI3_RX_2        | SPI2_RX          | SPI2_TX          | SPI3_TX_1        | SPDIFRX_CS       | SPI3_TX_2        |
+| Channel 1  | I2C1_RX          | I2C3_RX          | TIM7_UP_1        | -                | TIM7_UP_2        |  I2C1_RX_1       | I2C1_TX          | I2C1_TX_1        |
+| Channel 2  | TIM4_CH1         | -                | I2C4_RX          | TIM4_CH2         | -                | I2C4_TX          | TIM4_UP          | TIM4_CH3         |
+| Channel 3  | -                | TIM2_UP_1        | I2C3_RX_1        | -                | I2C3_TX          | TIM2_CH1         | TIM2_CH2         | TIM2_UP_2        |
+|            |                  |   TIM2_CH3       |                  |                  |                  |                  |   TIM2_CH4_1     |   TIM2_CH4_2     |
+| Channel 4  | UART5_RX         | USART3_RX        | UART4_RX         | USART3_TX_1      | UART4_TX         | USART2_RX        | USART2_TX        | UART5_TX         |
+| Channel 5  | UART8_TX         | UART7_TX         | TIM3_CH4         | UART7_RX         | TIM3_CH1         | TIM3_CH2         | UART8_RX         | TIM3_CH3         |
+|            |                  |                  |   TIM3_UP        |                  |   TIM3_TRIG      |                  |                  |                  |
+| Channel 6  | TIM5_CH3         | TIM5_CH4_1       | TIM5_CH1         | TIM5_CH4_2       | TIM5_CH2         | -                | TIM5_UP_2        | -                |
+|            |   TIM5_UP_1      |   TIM5_TRIG_1    |                  |   TIM5_TRIG_2    |                  |                  |                  |                  |
+| Channel 7  | -                | TIM6_UP          | I2C2_RX          | I2C2_RX_1        | USART3_TX_2      | DAC1             | DAC2             | I2C2_TX          |
+| Channel 8  | I2C3_TX_1        | I2C4_RX_1        | -                | -                | I2C2_TX_1        | -                | I2C4_TX_1        | -                |
+| Channel 9  | -                | SPI2_RX          | -                | -                | -                | -                | SPI2_TX          | -                |
+|            |                  |                  |                  |                  |                  |                  |                  |                  |
+| Usage      | UART8_TX         | USART3_RX        | UART4_RX         | USART3_TX_1      |                  | USART2_RX        | UART8_RX         |                  |
+
+
+|    DMA2    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
+|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
+| Channel 0  | ADC1_1           | SAI1_A           | TIM8_CH1_1       | SAI1_A_2         | ADC1_2           | SAI1_B_1         | TIM1_CH1_1       | SAI1_B_2         |
+|            |                  |                  |   TIM8_CH2_1     |                  |                  |                  |   TIM1_CH2_1     |                  |
+|            |                  |                  |   TIM8_CH3_1     |                  |                  |                  |   TIM1_CH3_1     |                  |
+| Channel 1  | -                | DCMI_1           | ADC2_1           | ADC2_2           | SAI1_B           | SPI6_TX          | SPI6_RX          | DCMI_2           |
+| Channel 2  | ADC3_1           | ADC3_2           | -                | SPI5_RX_1        | SPI5_TX_1        | CRYP_OUT         | CRYP_IN          | HASH_IN          |
+| Channel 3  | SPI1_RX_1        | -                | SPI1_RX_2        | SPI1_TX_1        | SAI2_A           | SPI1_TX_2        | SAI2_B           | QUADSPI          |
+| Channel 4  | SPI4_RX_1        | SPI4_TX_1        | USART1_RX_1      | SDMMC1_1         | -                | USART1_RX_2      | SDMMC1_2         | USART1_TX        |
+| Channel 5  | -                | USART6_RX_1      | USART6_RX_2      | SPI4_RX_2        | SPI4_TX_2        | -                | USART6_TX_1      | USART6_TX_2      |
+| Channel 6  | TIM1_TRIG_1      | TIM1_CH1_2       | TIM1_CH2_2       | TIM1_CH1         | TIM1_CH4         | TIM1_UP          | TIM1_CH3_2       | -                |
+|            |                  |                  |                  |                  |   TIM1_TRIG_2    |                  |                  |                  |
+|            |                  |                  |                  |                  |   TIM1_COM       |                  |                  |                  |
+| Channel 7  | -                | TIM8_UP          | TIM8_CH1_2       | TIM8_CH2_2       | TIM8_CH3_2       | SPI5_RX_2        | SPI5_TX_2        | TIM8_CH4         |
+|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_TRIG      |
+|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_COM       |
+| Channel 8  | DFSDM1_FLT0_1    | DFSDM1_FLT1_1    | DFSDM1_FLT2_1    | DFSDM1_FLT3_1    | DFSDM1_FLT0_2    | DFSDM1_FLT1_2    | DFSDM1_FLT2_2    | DFSDM1_FLT3_2    |
+| Channel 9  | JPEG_IN_1        | JPEG_OUT         | SPI4_TX_3        | JPEG_IN_2        | JPEG_OUT_2       | SPI5_RX_3        | -                | -                |
+| Channel 10 | SAI1_B_3         | SAI2_B_1         | SAI2_A_1         | -                | -                | -                | SAI1_A_3         | -                |
+| Channel 11 | SDMMC2_1         | -                | QUADSPI_1        | -                | -                | SDMMC2_2         | -                | -                |
+|            |                  |                  |                  |                  |                  |                  |                  |                  |
+| Usage      | SPI1_RX_1        |                  | USART6_RX_2      | SPI1_TX_1        |                  | TIM1_UP          | SDMMC1_2         |                  |
+ */
+
+// DMA1 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+//      DMAMAP_UART8_TX                       // DMA1, Stream 0, Channel 5    (PX4IO TX)
+//      DMAMAP_USART3_RX                      // DMA1, Stream 1, Channel 4    (TELEM2 RX)
+//      DMAMAP_UART4_RX                       // DMA1, Stream 2, Channel 4    (TELEM4 RX)
+#define DMAMAP_USART3_TX  DMAMAP_USART3_TX_1  // DMA1, Stream 3, Channel 4    (TELEM2 TX)
+//      DMAMAP_USART2_RX                      // DMA1, Stream 5, Channel 4    (TELEM1 RX)
+//      DMAMAP_UART8_RX                       // DMA1, Stream 6, Channel 5    (PX4IO RX)
+
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMAMAP_SPI1_RX    DMAMAP_SPI1_RX_1    // DMA2, Stream 0, Channel 3    (SPI sensors RX)
+//      AVAILABLE                             // DMA2, Stream 1
+#define DMAMAP_USART6_RX  DMAMAP_USART6_RX_2  // DMA2, Stream 2, Channel 5
+#define DMAMAP_SPI1_TX    DMAMAP_SPI1_TX_1    // DMA2, Stream 3, Channel 3    (SPI sensors TX)
+//      AVAILABLE                             // DMA2, Stream 4
+//      DMAMAP_TIM1_UP                        // DMA2, Stream 5, Channel 6    (DSHOT)
+#define DMAMAP_SDMMC1     DMAMAP_SDMMC1_2     // DMA2, Stream 6, Channel 4
+//      AVAILABLE                             // DMA2, Stream 7
@@ -0,0 +1,236 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_FS_PROCFS_EXCLUDE_ENVIRON is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32f7"
+CONFIG_ARCH_CHIP_STM32F765II=y
+CONFIG_ARCH_CHIP_STM32F7=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=22114
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_PRODUCTID=0x0061
+CONFIG_CDCACM_PRODUCTSTR="PX4 ATL Mantis-EDU"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_VENDORSTR="Advanced Technology Labs"
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_REGIONS=3
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SDMMC1_SDIO_MODE=y
+CONFIG_SDMMC1_SDIO_PULLUP=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STM32F7_ADC1=y
+CONFIG_STM32F7_BBSRAM=y
+CONFIG_STM32F7_BBSRAM_FILES=5
+CONFIG_STM32F7_BKPSRAM=y
+CONFIG_STM32F7_DMA1=y
+CONFIG_STM32F7_DMA2=y
+CONFIG_STM32F7_DMACAPABLE=y
+CONFIG_STM32F7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32F7_I2C2=y
+CONFIG_STM32F7_I2C4=y
+CONFIG_STM32F7_I2C_DYNTIMEO=y
+CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
+CONFIG_STM32F7_OTGFS=y
+CONFIG_STM32F7_PROGMEM=y
+CONFIG_STM32F7_PWR=y
+CONFIG_STM32F7_RTC=y
+CONFIG_STM32F7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
+CONFIG_STM32F7_RTC_MAGIC_REG=1
+CONFIG_STM32F7_SAVE_CRASHDUMP=y
+CONFIG_STM32F7_SDMMC1=y
+CONFIG_STM32F7_SDMMC_DMA=y
+CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32F7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32F7_SPI1=y
+CONFIG_STM32F7_SPI1_DMA=y
+CONFIG_STM32F7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32F7_SPI4=y
+CONFIG_STM32F7_SPI_DMA=y
+CONFIG_STM32F7_SPI_DMATHRESHOLD=8
+CONFIG_STM32F7_TIM10=y
+CONFIG_STM32F7_TIM11=y
+CONFIG_STM32F7_TIM3=y
+CONFIG_STM32F7_UART4=y
+CONFIG_STM32F7_UART5=y
+CONFIG_STM32F7_UART7=y
+CONFIG_STM32F7_UART8=y
+CONFIG_STM32F7_USART1=y
+CONFIG_STM32F7_USART2=y
+CONFIG_STM32F7_USART3=y
+CONFIG_STM32F7_USART6=y
+CONFIG_STM32F7_USART_BREAKS=y
+CONFIG_STM32F7_USART_INVERT=y
+CONFIG_STM32F7_USART_SINGLEWIRE=y
+CONFIG_STM32F7_USART_SWAP=y
+CONFIG_STM32F7_WWDG=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_RXDMA=y
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_TXBUFSIZE=1500
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_SERIAL_CONSOLE=y
+CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_IFLOWCONTROL=y
+CONFIG_USART3_OFLOWCONTROL=y
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_RXDMA=y
+CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -0,0 +1,191 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F765IIT6 has 2048 KiB of main FLASH memory.  This FLASH memory
+ * can be accessed from either the AXIM interface at address 0x0800:0000 or
+ * from the ITCM interface at address 0x0020:0000.
+ *
+ * Additional information, including the option bytes, is available at at
+ * FLASH at address 0x1ff0:0000 (AXIM) or 0x0010:0000 (ITCM).
+ *
+ * In the STM32F765IIT6, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash on ITCM at 0x0020:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x0010:0000
+ *
+ * NuttX does not modify these option byes.  On the unmodified NUCLEO-144
+ * board, the BOOT0 pin is at ground so by default, the STM32F765IIT6 will
+ * boot from address 0x0020:0000 in ITCM FLASH.
+ *
+ * The STM32F765IIT6 also has 512 KiB of data SRAM (in addition to ITCM SRAM).
+ * SRAM is split up into three blocks:
+ *
+ *   1) 128 KiB of DTCM SRM beginning at address 0x2000:0000
+ *   2) 368 KiB of SRAM1 beginning at address 0x2002:0000
+ *   3)  16 KiB of SRAM2 beginning at address 0x2007:c000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * Bootloader reserves the first 32K bank (2 Mbytes Flash memory single bank)
+ * organization (256 bits read width)
+ * The next 2 32K sectors are reserved for parameters.
+ */
+
+MEMORY
+{
+    FLASH_ITCM (rx) : ORIGIN = 0x00218000, LENGTH = 1952K
+    FLASH_AXIM (rx) : ORIGIN = 0x08018000, LENGTH = 1952K
+
+    ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 16K
+    DTCM_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
+    SRAM1    (rwx) : ORIGIN = 0x20020000, LENGTH = 368K
+    SRAM2    (rwx) : ORIGIN = 0x2007c000, LENGTH = 16K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+EXTERN(_main_toc)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.main_toc)
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > FLASH_AXIM
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > FLASH_AXIM
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > FLASH_AXIM
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > FLASH_AXIM
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > SRAM1 AT > FLASH_AXIM
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > SRAM1
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+
+	.ramfunc : {
+		_sramfuncs = .;
+		*(.ramfunc  .ramfunc.*)
+		. = ALIGN(4);
+		_eramfuncs = .;
+	} > ITCM_RAM AT > FLASH_AXIM
+
+	_framfuncs = LOADADDR(.ramfunc);
+
+    /* Start of the image signature. This
+     *  has to be in the end of the image
+     */
+	.signature : {
+		_boot_signature = ALIGN(4);
+	} > FLASH_AXIM
+}
@@ -0,0 +1,54 @@
+############################################################################
+#
+#   Copyright (c) 2016 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.
+#
+############################################################################
+
+add_library(drivers_board
+	i2c.cpp
+	init.c
+	led.c
+	sdio.c
+	spi.cpp
+	timer_config.cpp
+	usb.c
+	pwr.c
+)
+add_dependencies(drivers_board arch_board_hw_info)
+
+target_link_libraries(drivers_board
+	PRIVATE
+		arch_board_hw_info
+		arch_spi
+		drivers__led # drv_led_start
+		nuttx_arch # sdio
+		nuttx_drivers # sdio
+		px4_layer
+)
@@ -0,0 +1,226 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * PX4FMU-v5 internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+#include <stm32_gpio.h>
+
+/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
+#define GPIO_nLED_RED        /* PB1 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_nLED_GREEN      /* PC6 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
+#define GPIO_nLED_BLUE       /* PC7 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS      1
+#define BOARD_OVERLOAD_LED     LED_RED
+#define BOARD_ARMED_STATE_LED  LED_BLUE
+
+#define FLASH_BASED_PARAMS
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that
+ * can be used by the Px4 Firmware in the adc driver
+ */
+
+/* ADC defines to be used in sensors.cpp to read from a particular channel */
+#define ADC1_CH(n)                  (n)
+#define ADC1_GPIO(n)                GPIO_ADC1_IN##n
+
+/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
+
+#define PX4_ADC_GPIO  \
+	/* PA0 */  ADC1_GPIO(0),  \
+	/* PC0 */  ADC1_GPIO(10), \
+	/* PC1 */  ADC1_GPIO(11), \
+	/* PC2 */  ADC1_GPIO(12), \
+	/* PC3 */  ADC1_GPIO(13), \
+	/* PC4 */  ADC1_GPIO(14)
+
+/* Define Channel numbers must match above GPIO pin IN(n)*/
+#define ADC_BATTERY_VOLTAGE_CHANNEL         /* PA0 */  ADC1_CH(0)
+#define ADC_BATTERY_CURRENT_CHANNEL 0
+#define ADC_SCALED_V5_CHANNEL               /* PC0 */  ADC1_CH(10)
+#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL  /* PC1 */  ADC1_CH(11)
+#define ADC_HW_VER_SENSE_CHANNEL            /* PC2 */  ADC1_CH(12)
+#define ADC_HW_REV_SENSE_CHANNEL            /* PC3 */  ADC1_CH(13)
+#define ADC1_SPARE_1_CHANNEL                /* PC4 */  ADC1_CH(14) // POWER_AD
+
+#define ADC_CHANNELS \
+	((1 << ADC_BATTERY_VOLTAGE_CHANNEL)        | \
+	 (1 << ADC_SCALED_V5_CHANNEL)              | \
+	 (1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
+	 (1 << ADC_HW_VER_SENSE_CHANNEL)           | \
+	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
+	 (1 << ADC1_SPARE_1_CHANNEL))
+
+/* Define Battery 1 Voltage Divider and A per V */
+#define BOARD_BATTERY1_V_DIV         (9.0f)     /* measured with the provided PM board */
+
+/* HW has to large of R termination on ADC todo:change when HW value is chosen */
+#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
+
+/* HW Version and Revision drive signals Default to 1 to detect */
+#define BOARD_HAS_HW_VERSIONING
+
+#define GPIO_HW_REV_DRIVE    /* PH14  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN14)
+#define GPIO_HW_REV_SENSE    /* PC3   */ ADC1_GPIO(13)
+#define GPIO_HW_VER_DRIVE    /* PG0   */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
+#define GPIO_HW_VER_SENSE    /* PC2   */ ADC1_GPIO(12)
+#define HW_INFO_INIT         {'V','5','x', 'x',0}
+#define HW_INFO_INIT_VER     2
+#define HW_INFO_INIT_REV     3
+
+#define BOARD_TAP_ESC_MODE 2 // select closed-loop control mode for the esc
+// #define BOARD_USE_ESC_CURRENT_REPORT
+
+// LED mapping
+#define BOARD_FRONT_LED_MASK (1 << 0) | (1 << 3)
+#define BOARD_REAR_LED_MASK  (1 << 1) | (1 << 2)
+
+/* HEATER */
+#define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
+
+#define BOARD_HAS_LED_PWM              1
+#define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
+
+#define BOARD_UI_LED_PWM_DRIVE_ACTIVE_LOW 1
+
+#define BOARD_ADC_BRICK_VALID           1
+#define BOARD_NUMBER_BRICKS             1
+
+#define GPIO_VDD_3V3_SD_CARD_EN         /* PG7  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)
+#define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
+
+/* USB OTG FS */
+#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
+
+/* High-resolution timer */
+#define HRT_TIMER               8  /* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
+
+/* RC Serial port */
+#define RC_SERIAL_PORT                     "/dev/ttyS5"
+#define RC_SERIAL_SINGLEWIRE
+
+#define BOARD_HAS_POWER_CONTROL	1
+/* power on/off */
+#define MS_PWR_BUTTON_DOWN 1500
+#define KEY_AD_GPIO    (GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTC|GPIO_PIN4)
+#define POWER_ON_GPIO  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
+#define POWER_OFF_GPIO (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN5)
+#define POWER_CHECK_GPIO (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN0)
+
+#define SDIO_SLOTNO                    0  /* Only one slot */
+#define SDIO_MINOR                     0
+
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+#define BOARD_ADC_USB_VALID     BOARD_ADC_USB_CONNECTED
+
+/* FMUv5 never powers odd the Servo rail */
+#define BOARD_ADC_SERVO_VALID     (1)
+
+#define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
+#define BOARD_ADC_BRICK2_VALID  (0)
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* This board provides the board_on_reset interface */
+#define BOARD_HAS_ON_RESET 1
+#define BOARD_HAS_POWER_CONTROL 1
+
+#define GPIO_CAM_PWR_ON_H      /* PB0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_CAM_PWR_ON_L      /* PB0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
+
+#define PX4_GPIO_INIT_LIST { \
+		PX4_ADC_GPIO,                     \
+		GPIO_HW_REV_DRIVE,                \
+		GPIO_HW_VER_DRIVE,                \
+		GPIO_HEATER_OUTPUT,               \
+		GPIO_VDD_3V3_SD_CARD_EN,          \
+		GPIO_OTGFS_VBUS                   \
+	}
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
+#define BOARD_NUM_IO_TIMERS 1
+
+__BEGIN_DECLS
+
+#ifndef __ASSEMBLY__
+
+int stm32_sdio_initialize(void);
+
+extern void stm32_spiinitialize(void);
+
+extern void stm32_usbinitialize(void);
+
+extern void board_peripheral_reset(int ms);
+
+/************************************************************************************
+ * Name: board_pwr_init()
+ *
+ * Description:
+ *   Called to configure power control for the tap-v2 board.
+ *
+ * Input Parameters:
+ *   stage- 0 for boot, 1 for board init
+ *
+ ************************************************************************************/
+
+void board_pwr_init(int stage);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusInternal(2),
+	initI2CBusInternal(4),
+};
@@ -0,0 +1,283 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * PX4FMU-specific early startup code.  This file implements the
+ * board_app_initializ() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialisation.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include "board_config.h"
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/mm/gran.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+
+#include <px4_arch/io_timer.h>
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <systemlib/px4_macros.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform/gpio.h>
+#include <px4_platform/board_determine_hw_info.h>
+#include <px4_platform/board_dma_alloc.h>
+
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
+#endif
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+#define _GPIO_PULL_DOWN_INPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
+
+/* Configuration ************************************************************/
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+/***************cam_pwr_on_pulse*****************************************************
+ * Name: cam_pwr_on_pulse()
+ *
+ * Description:
+ *   Camera power is controlled by flight control, send a risingedge pulse to enable it
+ *
+ *
+ * Input Parameters:
+ *   Not used
+ *
+ ************************************************************************************/
+static void cam_pwr_on_pulse(void)
+{
+	static bool pwr_on_flag = false;
+
+	if (pwr_on_flag == false) {
+		up_mdelay(700);
+		stm32_configgpio(GPIO_CAM_PWR_ON_H);
+		up_mdelay(20);
+		stm32_configgpio(GPIO_CAM_PWR_ON_L);
+
+		pwr_on_flag = true;
+	}
+}
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+}
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+}
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	/* Hold power state */
+	board_pwr_init(0);
+
+	/* configure pins */
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+	board_control_spi_sensors_power_configgpio();
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	/* Power on Interfaces */
+	VDD_3V3_SD_CARD_EN(true);
+
+	/* Need hrt running before using the ADC */
+	px4_platform_init();
+
+	if (OK == board_determine_hw_info()) {
+		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
+		       board_get_hw_type_name());
+
+	} else {
+		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
+	}
+
+	/* configure SPI interfaces (after we determined the HW version) */
+	stm32_spiinitialize();
+
+	/* configure the DMA allocator */
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
+	}
+
+#if defined(SERIAL_HAVE_RXDMA)
+	/* set up the serial DMA polling */
+	static struct hrt_call serial_dma_call;
+
+	/*
+	 * Poll at 1ms intervals for received bytes that have not triggered
+	 * a DMA event.
+	 */
+	struct timespec ts;
+	ts.tv_sec = 0;
+	ts.tv_nsec = 1000000;
+
+	hrt_call_every(&serial_dma_call,
+		       ts_to_abstime(&ts),
+		       ts_to_abstime(&ts),
+		       (hrt_callout)stm32_serial_dma_poll,
+		       NULL);
+#endif
+
+	board_pwr_init(1);
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_on(LED_GREEN); // Indicate Power.
+	led_off(LED_BLUE);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_RED);
+	}
+
+#if defined(CONFIG_MMCSD)
+	int ret = stm32_sdio_initialize();
+
+	if (ret != OK) {
+		led_on(LED_RED);
+		return ret;
+	}
+
+#endif /* CONFIG_MMCSD */
+
+	/* Camera power is controlled by flight control, send a risingedge pulse to enable it */
+	cam_pwr_on_pulse();
+
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{1, 32 * 1024, 0x08008000},
+		{2, 32 * 1024, 0x08010000},
+		{0, 0, 0},
+	};
+
+	/* Initialize the flashfs layer to use heap allocated memory */
+	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+		led_on(LED_AMBER);
+		return result;
+	}
+
+#endif /* FLASH_BASED_PARAMS */
+
+	return OK;
+}
@@ -0,0 +1,104 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file led.c
+ *
+ * PX4FMU LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+#define xlat(p) (p)
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
+	GPIO_nLED_RED,                      // Indexed by LED_RED, LED_AMBER
+	GPIO_nLED_GREEN,                    // Indexed by LED_GREEN
+};
+
+__EXPORT void led_init(void)
+{
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		stm32_configgpio(g_ledmap[l]);
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Drive Low to switch on */
+	stm32_gpiowrite(g_ledmap[led], !state);
+}
+
+static bool phy_get_led(int led)
+{
+	/* If Low it is on */
+	return !stm32_gpioread(g_ledmap[led]);
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(xlat(led), true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(xlat(led), false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
+}
@@ -0,0 +1,177 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+ *         Author: David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file pwr.c
+ *
+ * Board-specific power button functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <time.h>
+#include <debug.h>
+
+#include <arch/board/board.h>
+#include <nuttx/arch.h>
+
+#include <uORB/uORB.h>
+#include <uORB/topics/led_control.h>
+#include <uORB/topics/tune_control.h>
+
+#include <arm_arch.h>
+#include "board_config.h"
+#include <stm32_pwr.h>
+
+extern void led_on(int led);
+extern void led_off(int led);
+
+static struct timespec time_down;
+
+
+static int default_power_button_state_notification(board_power_button_state_notification_e request)
+{
+//	syslog(0,"%d\n", request);
+	return PWR_BUTTON_RESPONSE_SHUT_DOWN_NOW;
+}
+
+
+static power_button_state_notification_t power_state_notification = default_power_button_state_notification;
+
+/****************************************************************************
+ * Name: board_pwr_button_down
+ *
+ * Description:
+ *   Called to Read the logical state of the active low power button.
+ *
+ ****************************************************************************/
+
+static bool board_pwr_button_down(void)
+{
+	return 0 == stm32_gpioread(KEY_AD_GPIO);
+}
+
+int board_register_power_state_notification_cb(power_button_state_notification_t cb)
+{
+	power_state_notification = cb;
+
+	if (board_pwr_button_down() && (time_down.tv_nsec != 0 || time_down.tv_sec != 0)) {
+		// make sure we don't miss the first event
+		power_state_notification(PWR_BUTTON_DOWN);
+	}
+
+	return OK;
+}
+
+int board_power_off(int status)
+{
+	led_on(BOARD_LED_BLUE);
+
+	// disable the interrups
+	px4_enter_critical_section();
+
+	stm32_configgpio(POWER_OFF_GPIO);
+
+	while (1);
+
+	return 0;
+}
+
+static int board_button_irq(int irq, FAR void *context, FAR void *args)
+{
+	if (board_pwr_button_down()) {
+
+		led_on(BOARD_LED_RED);
+		clock_gettime(CLOCK_REALTIME, &time_down);
+		power_state_notification(PWR_BUTTON_DOWN);
+
+	} else {
+		power_state_notification(PWR_BUTTON_UP);
+
+		led_off(BOARD_LED_RED);
+
+		struct timespec now;
+		clock_gettime(CLOCK_REALTIME, &now);
+
+		uint64_t tdown_ms = time_down.tv_sec * 1000 + time_down.tv_nsec / 1000000;
+
+		uint64_t tnow_ms = now.tv_sec * 1000 + now.tv_nsec / 1000000;
+
+		if (tdown_ms != 0 && (tnow_ms - tdown_ms) >= MS_PWR_BUTTON_DOWN) {
+
+			led_on(BOARD_LED_BLUE);
+
+			if (power_state_notification(PWR_BUTTON_REQUEST_SHUT_DOWN) == PWR_BUTTON_RESPONSE_SHUT_DOWN_NOW) {
+				up_mdelay(200);
+				board_power_off(0);
+			}
+
+		} else {
+			power_state_notification(PWR_BUTTON_IDEL);
+		}
+
+	}
+
+	return OK;
+}
+
+/************************************************************************************
+ * Name: board_pwr_init()
+ *
+ * Description:
+ *   Called to configure power control
+ *
+ * Input Parameters:
+ *   stage- 0 for boot, 1 for board init
+ *
+ ************************************************************************************/
+
+void board_pwr_init(int stage)
+{
+	if (stage == 0) {
+		stm32_configgpio(POWER_ON_GPIO);
+		stm32_configgpio(KEY_AD_GPIO);
+		stm32_configgpio(POWER_CHECK_GPIO);
+	}
+
+	if (stage == 1) {
+		stm32_gpiosetevent(KEY_AD_GPIO, true, true, true, board_button_irq, NULL);
+	}
+}
@@ -0,0 +1,177 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <board_config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+
+#include "chip.h"
+#include "board_config.h"
+#include "stm32_gpio.h"
+#include "stm32_sdmmc.h"
+
+#ifdef CONFIG_MMCSD
+
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Card detections requires card support and a card detection GPIO */
+
+#define HAVE_NCD   1
+#if !defined(GPIO_SDMMC1_NCD)
+#  undef HAVE_NCD
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static FAR struct sdio_dev_s *sdio_dev;
+#ifdef HAVE_NCD
+static bool g_sd_inserted = 0xff; /* Impossible value */
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_ncd_interrupt
+ *
+ * Description:
+ *   Card detect interrupt handler.
+ *
+ ****************************************************************************/
+
+#ifdef HAVE_NCD
+static int stm32_ncd_interrupt(int irq, FAR void *context)
+{
+	bool present;
+
+	present = !stm32_gpioread(GPIO_SDMMC1_NCD);
+
+	if (sdio_dev && present != g_sd_inserted) {
+		sdio_mediachange(sdio_dev, present);
+		g_sd_inserted = present;
+	}
+
+	return OK;
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_sdio_initialize
+ *
+ * Description:
+ *   Initialize SDIO-based MMC/SD card support
+ *
+ ****************************************************************************/
+
+int stm32_sdio_initialize(void)
+{
+	int ret;
+
+#ifdef HAVE_NCD
+	/* Card detect */
+
+	bool cd_status;
+
+	/* Configure the card detect GPIO */
+
+	stm32_configgpio(GPIO_SDMMC1_NCD);
+
+	/* Register an interrupt handler for the card detect pin */
+
+	stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
+#endif
+
+	/* Mount the SDIO-based MMC/SD block driver */
+	/* First, get an instance of the SDIO interface */
+
+	finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
+
+	sdio_dev = sdio_initialize(SDIO_SLOTNO);
+
+	if (!sdio_dev) {
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
+		return -ENODEV;
+	}
+
+	/* Now bind the SDIO interface to the MMC/SD driver */
+
+	finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
+
+	ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
+
+	if (ret != OK) {
+		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+		return ret;
+	}
+
+	finfo("Successfully bound SDIO to the MMC/SD driver\n");
+
+#ifdef HAVE_NCD
+	/* Use SD card detect pin to check if a card is g_sd_inserted */
+
+	cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
+	finfo("Card detect : %d\n", cd_status);
+
+	sdio_mediachange(sdio_dev, cd_status);
+#else
+	/* Assume that the SD card is inserted.  What choice do we have? */
+
+	sdio_mediachange(sdio_dev, true);
+#endif
+
+	return OK;
+}
+
+#endif /* CONFIG_MMCSD */
@@ -0,0 +1,47 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortF, GPIO::Pin3}),
+	}),
+	initSPIBus(SPI::Bus::SPI4, {
+		initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortF, GPIO::Pin10}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -0,0 +1,93 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+constexpr io_timers_t led_pwm_timers[MAX_LED_TIMERS] = {
+#  if defined(BOARD_HAS_LED_PWM) && !defined(BOARD_HAS_CONTROL_STATUS_LEDS)
+	initIOTimer(Timer::Timer3),
+#  endif
+};
+
+/* Support driving active low (preferred) or active high LED
+ * on both the onboard status LEDs or the [n]UI_LED_<color>[_EXTERNAL]
+ *
+ * Use open drain to drive the LED. This will ensure that
+ * if the LED has a 5 Volt supply that the LED will be
+ * off when high.
+ */
+#define CCER_C1_NUM_BITS   4
+#define ACTIVE_LOW(c)      (GTIM_CCER_CC1P << (((c)-1) * CCER_C1_NUM_BITS))
+#define ACTIVE_HIGH(c)     0
+
+#if defined(BOARD_LED_PWM_DRIVE_ACTIVE_LOW)
+#  define POLARITY(c)      ACTIVE_LOW(c)
+#  define DRIVE_TYPE(p)    ((p)|GPIO_OPENDRAIN)
+#else
+#  define POLARITY(c)      ACTIVE_HIGH((c))
+#  define DRIVE_TYPE(p)    (p)
+#endif
+
+#if defined(BOARD_UI_LED_PWM_DRIVE_ACTIVE_LOW)
+#  define UI_POLARITY(c)    ACTIVE_LOW(c)
+#  define UI_DRIVE_TYPE(p)  ((p)|GPIO_OPENDRAIN)
+#else
+#  define UI_POLARITY(c)    ACTIVE_HIGH((c))
+#  define UI_DRIVE_TYPE(p)  (p)
+#endif
+
+static inline constexpr timer_io_channels_t initIOTimerChannelUILED(const io_timers_t io_timers_conf[MAX_LED_TIMERS],
+		Timer::TimerChannel timer, GPIO::GPIOPin pin, int ui_polarity)
+{
+	timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, timer, pin);
+	ret.gpio_out = UI_DRIVE_TYPE(ret.gpio_out);
+	ret.masks = UI_POLARITY(ui_polarity);
+	return ret;
+}
+
+static inline constexpr timer_io_channels_t initIOTimerChannelControlLED(const io_timers_t
+		io_timers_conf[MAX_LED_TIMERS], Timer::TimerChannel timer, GPIO::GPIOPin pin, int polarity)
+{
+	timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, timer, pin);
+	ret.gpio_out = DRIVE_TYPE(ret.gpio_out);
+	ret.masks = POLARITY(polarity);
+	return ret;
+}
+
+constexpr timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
+#  if defined(BOARD_HAS_LED_PWM) && !defined(BOARD_HAS_CONTROL_STATUS_LEDS)
+	initIOTimerChannelControlLED(led_pwm_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}, 4),
+	initIOTimerChannelControlLED(led_pwm_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortC, GPIO::Pin6}, 1),
+	initIOTimerChannelControlLED(led_pwm_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortC, GPIO::Pin7}, 2),
+#  endif
+};
@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+#include "board_config.h"
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+#include <stm32_otg.h>
+#include <debug.h>
+#include <syslog.h>
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}
@@ -1,9 +1,6 @@

 px4_add_board(
 	PLATFORM nuttx
-	VENDOR av
-	MODEL x-v1
-	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
@@ -91,7 +91,7 @@ CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_MAX_TASKS=64
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
@@ -115,7 +115,6 @@ CONFIG_NET_ARP_SEND=y
 CONFIG_NET_BROADCAST=y
 CONFIG_NET_ICMP=y
 CONFIG_NET_ICMP_SOCKET=y
-CONFIG_NET_SOCKOPTS=y
 CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
 CONFIG_NET_TCPBACKLOG=y
@@ -123,16 +122,12 @@ CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
 CONFIG_NET_UDP_WRITE_BUFFERS=y
-CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
@@ -143,7 +138,6 @@ CONFIG_NSH_STRERROR=y
 CONFIG_NSH_TELNET=y
 CONFIG_NSH_TELNET_LOGIN=y
 CONFIG_NSH_VARS=y
-CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
@@ -5,9 +5,6 @@ add_definitions(
 )

 px4_add_board(
-	VENDOR beaglebone
-	MODEL blue
-	LABEL default
 	PLATFORM posix
 	ARCHITECTURE cortex-a8
 	ROMFSROOT px4fmu_common
@@ -3,8 +3,6 @@ add_compile_options(-Wno-narrowing)

 px4_add_board(
 	PLATFORM nuttx
-	VENDOR bitcraze
-	MODEL crazyflie
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
@@ -86,7 +86,6 @@ CONFIG_MTD=y
 CONFIG_MTD_AT24XX=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
-CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -95,9 +94,6 @@ CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_FATDEVNO=0
 CONFIG_NSH_LINELEN=128
@@ -3,8 +3,6 @@ add_compile_options(-Wno-narrowing)

 px4_add_board(
 	PLATFORM nuttx
-	VENDOR bitcraze
-	MODEL crazyflie21
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
@@ -84,7 +84,6 @@ CONFIG_MTD=y
 CONFIG_MTD_AT24XX=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
-CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -94,9 +93,6 @@ CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_DISABLE_EXPORT=y
 CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_FATDEVNO=0
 CONFIG_NSH_LINELEN=128
@@ -2,9 +2,6 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

 px4_add_board(
 	PLATFORM nuttx
-	VENDOR cuav
-	MODEL can-gps-v1
-	LABEL canbootloader
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
@@ -1,38 +0,0 @@
-include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
-
-add_definitions(-DUSE_S_RGB_LED_DMA)
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR cuav
-	MODEL can-gps-v1
-	LABEL debug
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_MEMORY
-	ROMFSROOT cannode
-	UAVCAN_INTERFACES 1
-	DRIVERS
-		barometer/ms5611
-		bootloaders
-		gps
-		lights/neopixel
-		magnetometer/rm3100
-		safety_button
-		tone_alarm
-		uavcannode
-	MODULES
-		load_mon
-	SYSTEMCMDS
-		i2cdetect
-		led_control
-		param
-		perf
-		reboot
-		top
-		topic_listener
-		tune_control
-		uorb
-		ver
-		work_queue
-)
@@ -4,9 +4,6 @@ add_definitions(-DUSE_S_RGB_LED_DMA)

 px4_add_board(
 	PLATFORM nuttx
-	VENDOR cuav
-	MODEL can-gps-v1
-	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
@@ -36,7 +36,7 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LIB_BOARDCTL=y
-CONFIG_MAX_TASKS=0
+CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
 CONFIG_NUNGET_CHARS=0
@@ -70,7 +70,6 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
-CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -79,9 +78,6 @@ CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -140,7 +136,6 @@ CONFIG_STM32_RTC_MAGIC_REG=1
 CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
 CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32_JTAG_SW_ENABLE=y
 CONFIG_STM32_SPI1=y
 CONFIG_STM32_TIM8=y
 CONFIG_STM32_USART1=y
--- a/Show More
+++ b/Show More