battery: re-introduced check of LITHIUM_BATTERY_RECOGNITION_VOLTAGE

Signed-off-by: RomanBapst <bapstroman@gmail.com>
battery: cleanup setter functions and added hysteresis for connected state
2026-06-20 12:20:34 +08:00 · 2024-09-24 10:15:19 +03:00 · 2024-09-24 10:02:09 +03:00 · 2024-09-24 10:02:09 +03:00 · 2024-09-23 18:33:03 +02:00 · 2024-09-23 12:21:29 -04:00
538 changed files with 8025 additions and 4252 deletions
@@ -77,6 +77,7 @@ pipeline {
                     "matek_h743-mini_default",
                     "matek_h743-slim_default",
                     "matek_h743_default",
+                     "micoair_h743_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v2_default",
                     "mro_ctrl-zero-classic_default",
@@ -1,3 +1,8 @@
+# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
+# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
+#   and comment the "runs-on: [runs-on,runner=..." lines.
+# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
+
 name: Build all targets

 on:
@@ -14,7 +19,8 @@ on:
 jobs:
  group_targets:
    name: Scan for Board Targets
-    runs-on: ubuntu-latest
+    # runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
    outputs:
      matrix: ${{ steps.set-matrix.outputs.matrix }}
      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
@@ -34,7 +40,8 @@ jobs:

  setup:
    name: ${{ matrix.group }}
-    runs-on: ubuntu-latest
+    # runs-on: ubuntu-latest
+    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
    needs: group_targets
    strategy:
      matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
@@ -88,7 +88,7 @@ jobs:
      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
    - name: Upload px4 coredump
      if: failure()
-      uses: actions/upload-artifact@v2-preview
+      uses: actions/upload-artifact@v3
      with:
        name: coredump
        path: px4.core
@@ -103,21 +103,21 @@ jobs:

    - name: Upload px4 binary
      if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
      with:
        name: binary
        path: build/px4_sitl_default/bin/px4

    - name: Store PX4 log
      if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
      with:
        name: px4_log
        path: ~/.ros/log/*/*.ulg

    - name: Store ROS log
      if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
      with:
        name: ros_log
        path: ~/.ros/**/rostest-*.log
@@ -83,7 +83,7 @@ jobs:
      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
    - name: Upload px4 coredump
      if: failure()
-      uses: actions/upload-artifact@v2-preview
+      uses: actions/upload-artifact@v3
      with:
        name: coredump
        path: px4.core
@@ -98,21 +98,21 @@ jobs:

    - name: Upload px4 binary
      if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
      with:
        name: binary
        path: build/px4_sitl_default/bin/px4

    - name: Store PX4 log
      if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
      with:
        name: px4_log
        path: ~/.ros/log/*/*.ulg

    - name: Store ROS log
      if: failure()
-      uses: actions/upload-artifact@v2
+      uses: actions/upload-artifact@v3
      with:
        name: ros_log
        path: ~/.ros/**/rostest-*.log
@@ -1,3 +1,8 @@
+# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
+# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
+#   and comment the "runs-on: [runs-on,runner=..." lines.
+# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
+
 name: SITL Tests

 on:
@@ -10,126 +15,139 @@ on:

 jobs:
  build:
-    runs-on: ubuntu-latest
+    name: Testing PX4 ${{ matrix.config.model }}
+    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
+    container:
+      image: px4io/px4-dev-simulation-focal:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    strategy:
      fail-fast: false
      matrix:
        config:
          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
-          # - {model: "standard_vtol", latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer" } # Australia
          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich

-    container:
-      image: px4io/px4-dev-simulation-focal:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
+      - uses: actions/checkout@v4
+        with:
+          fetch-depth: 0

-    - name: Download MAVSDK
-      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-    - name: Install MAVSDK
-      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      - name: Git Ownership Workaround
+        run: git config --system --add safe.directory '*'

-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
+      - id: set-timestamp
+        name: Set timestamp for cache
+        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"

-    - name: check environment
-      env:
-        PX4_HOME_LAT: ${{matrix.config.latitude}}
-        PX4_HOME_LON: ${{matrix.config.longitude}}
-        PX4_HOME_ALT: ${{matrix.config.altitude}}
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: |
-          export
-          ulimit -a
-    - name: Build PX4
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default
-    - name: ccache post-run px4/firmware
-      run: ccache -s
-    - name: Build SITL Gazebo
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: make px4_sitl_default sitl_gazebo-classic
-    - name: ccache post-run sitl_gazebo-classic
-      run: ccache -s
-    - name: Build MAVSDK tests
-      env:
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        DONT_RUN: 1
-      run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
-    - name: ccache post-run mavsdk_tests
-      run: ccache -s
+      - name: Cache Key Config
+        uses: actions/cache@v4
+        with:
+          path: ~/.ccache
+          key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
+          restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}

-    - name: Core dump settings
-      run: |
-          ulimit -c unlimited
-          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+      - name: Cache Conf Config
+        run: |
+            mkdir -p ~/.ccache
+            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+            echo "compression = true" >> ~/.ccache/ccache.conf
+            echo "compression_level = 6" >> ~/.ccache/ccache.conf
+            echo "max_size = 120M" >> ~/.ccache/ccache.conf
+            echo "hash_dir = false" >> ~/.ccache/ccache.conf
+            ccache -s
+            ccache -z

-    - name: Run SITL tests
-      env:
-        PX4_HOME_LAT: ${{matrix.config.latitude}}
-        PX4_HOME_LON: ${{matrix.config.longitude}}
-        PX4_HOME_ALT: ${{matrix.config.altitude}}
-        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
-      timeout-minutes: 45
+      - name: Build PX4
+        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: make px4_sitl_default

-    - name: Look at core files
-      if: failure()
-      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-    - name: Upload px4 coredump
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: coredump
-        path: px4.core
+      - name: Cache Post-Run [px4_sitl_default]
+        run: ccache -s

-    - name: Upload px4 binary
-      if: failure()
-      uses: actions/upload-artifact@v2-preview
-      with:
-        name: binary
-        path: build/px4_sitl_default/bin/px4
+      - name: Build SITL Gazebo
+        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: make px4_sitl_default sitl_gazebo-classic

-    # Report test coverage
-    - name: Upload coverage
-      if: contains(matrix.config.build_type, 'Coverage')
-      run: |
-          git config --global credential.helper "" # disable the keychain credential helper
-          git config --global --add credential.helper store # enable the local store credential helper
-          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-          mkdir -p coverage
-          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-    - name: Upload coverage information to Codecov
-      if: contains(matrix.config.build_type, 'Coverage')
-      uses: codecov/codecov-action@v1
-      with:
-        token: ${{ secrets.CODECOV_TOKEN }}
-        flags: mavsdk
-        file: coverage/lcov.info
+      - name: Cache Post-Run [sitl_gazebo-classic]
+        run: ccache -s
+
+      - name: Download MAVSDK
+        run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+
+      - name: Install MAVSDK
+        run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+
+      - name: Check PX4 Environment Variables
+        env:
+          PX4_HOME_LAT: ${{matrix.config.latitude}}
+          PX4_HOME_LON: ${{matrix.config.longitude}}
+          PX4_HOME_ALT: ${{matrix.config.altitude}}
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: |
+            export
+            ulimit -a
+
+      - name: Build PX4 / MAVSDK tests
+        env:
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+          DONT_RUN: 1
+        run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
+
+      - name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests]
+        run: ccache -s
+
+      - name: Core Dump Settings
+        run: |
+            ulimit -c unlimited
+            echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
+
+      - name: Run SITL / MAVSDK Tests
+        env:
+          PX4_HOME_LAT: ${{matrix.config.latitude}}
+          PX4_HOME_LON: ${{matrix.config.longitude}}
+          PX4_HOME_ALT: ${{matrix.config.altitude}}
+          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
+        timeout-minutes: 45
+
+      - name: Upload failed logs
+        if: failure()
+        uses: actions/upload-artifact@v4
+        with:
+          name: failed-${{matrix.config.model}}-logs.zip
+          path: |
+            logs/**/**/**/*.log
+            logs/**/**/**/*.ulg
+            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg
+
+      - name: Look at Core files
+        if: failure() && ${{ hashFiles('px4.core') != '' }}
+        run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+
+      - name: Upload PX4 coredump
+        if: failure() && ${{ hashFiles('px4.core') != '' }}
+        uses: actions/upload-artifact@v4
+        with:
+          name: coredump
+          path: px4.core
+
+      - name: Setup & Generate Coverage Report
+        if: contains(matrix.config.build_type, 'Coverage')
+        run: |
+            git config --global credential.helper "" # disable the keychain credential helper
+            git config --global --add credential.helper store # enable the local store credential helper
+            echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+            git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+            mkdir -p coverage
+            lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+
+      - name: Upload Coverage Information to Codecov
+        if: contains(matrix.config.build_type, 'Coverage')
+        uses: codecov/codecov-action@v4
+        with:
+          token: ${{ secrets.CODECOV_TOKEN }}
+          flags: mavsdk
+          file: coverage/lcov.info
@@ -286,6 +286,11 @@ CONFIG:
      buildType: MiniSizeRel
      settings:
        CONFIG: matek_gnss-m9n-f4_default
+    micoair_h743_default:
+      short: micoair_h743
+      buildType: MinSizeRel
+      settings:
+        CONFIG: micoair_h743_default
    modalai_fc-v1_default:
      short: modalai_fc-v1
      buildType: MinSizeRel
@@ -113,12 +113,20 @@ include(px4_parse_function_args)
 include(px4_git)

 execute_process(
-	COMMAND git describe --exclude ext/* --always --tags
+	COMMAND git describe --exclude ext/* --tags --match "v[0-9]*"
 	OUTPUT_VARIABLE PX4_GIT_TAG
 	OUTPUT_STRIP_TRAILING_WHITESPACE
+	RESULTS_VARIABLE GIT_DESCRIBE_RESULT
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)

+# if proper git tag unavilable default to v0.0.0
+if(NOT ${GIT_DESCRIBE_RESULT} MATCHES "0")
+	set(PX4_GIT_TAG "v0.0.0")
+endif()
+
+message(STATUS "PX4_GIT_TAG: ${PX4_GIT_TAG}")
+
 # git describe to X.Y.Z version
 string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})

@@ -340,6 +340,7 @@ bootloaders_update: \
 	matek_h743_bootloader \
 	matek_h743-mini_bootloader \
 	matek_h743-slim_bootloader \
+        micoair_h743_bootloader \
 	modalai_fc-v2_bootloader \
 	mro_ctrl-zero-classic_bootloader \
 	mro_ctrl-zero-h7_bootloader \
@@ -19,8 +19,6 @@ param set-default SENS_EN_MAGSIM 1
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027

 # Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
@@ -21,8 +21,6 @@ param set-default SENS_EN_ARSPDSIM 1
 param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027

 param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
@@ -30,8 +30,6 @@ param set-default MAV_TYPE 19
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027

 param set-default SIH_T_MAX 2
 param set-default SIH_Q_MAX 0.0165
@@ -33,7 +33,7 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 0

-parm set-default FD_FAIL_R 70
+param set-default FD_FAIL_R 70

 param set-default FW_P_TC 0.6

@@ -97,11 +97,6 @@ param set-default IMU_GYRO_CUTOFF 100

 # Power Parameters
 param set-default BAT1_N_CELLS 4
-# param set-default BAT1_A_PER_V 36.364		Not found
-# param set-default BAT1_V_DIV 18.182		Not found
-
-# Circuit breakers
-param set-default CBRK_IO_SAFETY 22027

 param set-default THR_MDL_FAC 0.3

@@ -16,39 +16,36 @@ param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1

 param set-default FW_LND_ANG 8
-param set-default NPFG_PERIOD 12

-param set-default FW_MAN_P_MAX 30
-param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.5
-param set-default FW_PR_I 0.5
+param set-default FW_PR_FF 0.08
+param set-default FW_PR_I 0.3
+param set-default FW_PR_P 0.08
+
+param set-default FW_RR_FF 0.05
+param set-default FW_RR_I 0.2
+param set-default FW_RR_P 0.03
+
+param set-default FW_YR_FF 0.3
+param set-default FW_YR_I 0.4
+param set-default FW_YR_P 0.2

 param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15

-param set-default FW_RR_FF 0.5
-param set-default FW_RR_P 0.3
-param set-default FW_RR_I 0.5
-
-param set-default FW_YR_FF 0.5
-param set-default FW_YR_P 0.6
-param set-default FW_YR_I 0.5
-
 param set-default FW_SPOILERS_LND 0.4

 param set-default FW_THR_MIN 0.05
 param set-default FW_THR_TRIM 0.25
+param set-default FW_THR_MAX 0.6

-param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_CLMB_R_SP 5
+param set-default FW_T_CLMB_MAX 6
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

-param set-default MIS_TAKEOFF_ALT 30
-
-param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1
@@ -56,7 +53,6 @@ param set-default RWTO_TKOFF 1
 param set-default CA_AIRFRAME 1

 param set-default CA_ROTOR_COUNT 1
-param set-default CA_ROTOR0_PX 0.3

 param set-default CA_SV_CS_COUNT 6
 param set-default CA_SV_CS0_TRQ_R -0.5
@@ -14,15 +14,19 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 # Rover parameters
 param set-default RD_WHEEL_TRACK 0.3
 param set-default RD_MAN_YAW_SCALE 0.1
-param set-default RD_YAW_RATE_I 0.1
-param set-default RD_YAW_RATE_P 5
 param set-default RD_MAX_ACCEL 6
 param set-default RD_MAX_JERK 30
-param set-default RD_MAX_SPEED 7
-param set-default RD_HEADING_P 5
-param set-default RD_HEADING_I 0.1
+param set-default RD_MAX_THR_YAW_R 5
+param set-default RD_YAW_RATE_P 0.1
+param set-default RD_YAW_RATE_I 0
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0
+param set-default RD_MAX_SPEED 5
+param set-default RD_MAX_THR_SPD 7
+param set-default RD_SPEED_P 1
+param set-default RD_SPEED_I 0
 param set-default RD_MAX_YAW_RATE 180
-param set-default RD_MISS_SPD_DEF 7
+param set-default RD_MISS_SPD_DEF 5
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533

@@ -27,8 +27,8 @@ param set-default RD_YAW_RATE_P 5
 param set-default RD_MAX_ACCEL 1
 param set-default RD_MAX_JERK 3
 param set-default RD_MAX_SPEED 8
-param set-default RD_HEADING_P 5
-param set-default RD_HEADING_I 0.1
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0.1
 param set-default RD_MAX_YAW_RATE 30
 param set-default RD_MISS_SPD_DEF 8
 param set-default RD_TRANS_DRV_TRN 0.349066
@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# @name Gazebo x500 mono cam
+#
+# @type Quadrotor
+#
+
+PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_mono_cam_down}
+
+. ${R}etc/init.d-posix/airframes/4001_gz_x500
@@ -85,6 +85,7 @@ px4_add_romfs_files(
 	4011_gz_lawnmower
 	4012_gz_rover_ackermann
 	4013_gz_x500_lidar
+	4014_gz_x500_mono_cam_down

 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
@@ -18,8 +18,6 @@ param set UAVCAN_ENABLE 0
 # disable some checks to allow to fly
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027

 # Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
@@ -96,7 +96,5 @@ param set UAVCAN_ENABLE 0
 # disable some checks to allow to fly
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027

 param set-default MAV_TYPE 22
@@ -20,8 +20,6 @@ param set SYS_HITL 2
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027

 param set SIH_VEHICLE_TYPE 0

@@ -41,8 +41,6 @@ param set-default SYS_HITL 2
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027

 param set SIH_T_MAX 6
 param set SIH_MASS 0.3
@@ -43,6 +43,10 @@ param set-default CA_SV_CS1_TRQ_P 0.3
 param set-default CA_SV_CS1_TRQ_Y -0.3
 param set-default CA_SV_CS1_TYPE 6

+param set-default FW_AIRSPD_MAX 12
+param set-default FW_AIRSPD_MIN 7
+param set-default FW_AIRSPD_TRIM 10
+
 param set-default HIL_ACT_FUNC1 101
 param set-default HIL_ACT_FUNC2 102
 param set-default HIL_ACT_FUNC5 202
@@ -59,8 +63,8 @@ param set-default SYS_HITL 2
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default CBRK_IO_SAFETY 22027
+
+param set-default SENS_DPRES_OFF 0.001

 param set SIH_T_MAX 2.0
 param set SIH_Q_MAX 0.0165
@@ -75,3 +79,5 @@ param set SIH_L_ROLL 0.145

 # sih as tailsitter
 param set SIH_VEHICLE_TYPE 2
+
+param set-default VT_ARSP_TRANS 6
@@ -29,7 +29,6 @@ param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025

 param set-default SYS_HAS_NUM_ASPD 0
-param set-default CBRK_IO_SAFETY 22027

 param set-default EKF2_GPS_POS_X -0.12
 param set-default EKF2_IMU_POS_X -0.12
@@ -16,7 +16,6 @@
 . ${R}etc/init.d/rc.balloon_defaults

 param set-default COM_PREARM_MODE 2  # always in prearm state
-param set-default CBRK_IO_SAFETY 22027
 param set-default SDLOG_PROFILE 17
 param set-default SDLOG_MODE 2
 param set-default MAV_0_MODE 1
@@ -16,7 +16,6 @@
 . ${R}etc/init.d/rc.airship_defaults

 param set-default COM_PREARM_MODE 2
-param set-default CBRK_IO_SAFETY 22027

 param set-default CA_AIRFRAME 9

@@ -92,9 +92,6 @@ param set-default BAT1_N_CELLS 4
 param set-default BAT1_A_PER_V 36.364
 param set-default BAT1_V_DIV 18.182

-# Circuit breakers
-param set-default CBRK_IO_SAFETY 22027
-
 param set-default THR_MDL_FAC 0.3

 # Square quadrotor X PX4 numbering
@@ -93,9 +93,6 @@ param set-default BAT1_N_CELLS 4
 param set-default BAT1_A_PER_V 36.364
 param set-default BAT1_V_DIV 18.182

-# Circuit breakers
-param set-default CBRK_IO_SAFETY 22027
-
 param set-default THR_MDL_FAC 0.3

 # Square quadrotor X PX4 numbering
@@ -20,3 +20,27 @@ param set-default RBCLW_ADDRESS 128
 param set-default RBCLW_FUNC1 101
 param set-default RBCLW_FUNC2 102
 param set-default RBCLW_REV 1 # reverse right wheels
+
+# Rover parameters
+param set-default RD_WHEEL_TRACK 0.3
+param set-default RD_MAN_YAW_SCALE 1
+param set-default RD_MAX_ACCEL 5
+param set-default RD_MAX_JERK 10
+param set-default RD_MAX_THR_YAW_R 4
+param set-default RD_YAW_RATE_P 0.1
+param set-default RD_YAW_RATE_I 0
+param set-default RD_YAW_P 5
+param set-default RD_YAW_I 0
+param set-default RD_MAX_SPEED 1.8
+param set-default RD_MAX_THR_SPD 2
+param set-default RD_SPEED_P 0.5
+param set-default RD_SPEED_I 0.1
+param set-default RD_MAX_YAW_RATE 300
+param set-default RD_MISS_SPD_DEF 1.8
+param set-default RD_TRANS_DRV_TRN 0.349066
+param set-default RD_TRANS_TRN_DRV 0.174533
+
+# Pure pursuit parameters
+param set-default PP_LOOKAHD_MAX 10
+param set-default PP_LOOKAHD_MIN 1
+param set-default PP_LOOKAHD_GAIN 1
@@ -23,9 +23,6 @@
 . ${R}etc/init.d/rc.uuv_defaults


-# companion computer is connected via USB permanently
-param set-default CBRK_IO_SAFETY 22027
-
 param set-default MAV_1_CONFIG 102

 param set-default BAT1_A_PER_V 37.8798
@@ -73,8 +73,6 @@ param set-default SENS_EN_PX4FLOW 1
 param set-default SENS_EN_LL40LS 2
 param set-default SENS_FLOW_ROT 2

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

 # Battery
@@ -184,6 +184,13 @@ then
 	asp5033 start -X
 fi

+# AUAV absolute/differential pressure sensor external I2C
+if param greater -s SENS_EN_AUAVX 0
+then
+	auav start -D -X
+	auav start -A -X
+fi
+
 # SHT3x temperature and hygrometer sensor, external I2C
 if param compare -s SENS_EN_SHT3X 1
 then
@@ -225,7 +225,7 @@ if [[ $INSTALL_SIM == "true" ]]; then

 	# Gazebo / Gazebo classic installation
 	if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		echo "Gazebo (Garden) will be installed"
+		echo "Gazebo (Harmonic) will be installed"
 		echo "Earlier versions will be removed"
 		# Add Gazebo binary repository
 		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
@@ -233,7 +233,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		sudo apt-get update -y --quiet

 		# Install Gazebo
-		gazebo_packages="gz-garden"
+		gazebo_packages="gz-harmonic"
 	elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
 		echo "Gazebo (Garden) will be installed"
 		echo "Earlier versions will be removed"
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file mindpx_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file mindpx2_init.c
+ * @file init.c
 *
 * MINDPX-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file mindpx2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file mindpx_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -85,8 +85,6 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -33,7 +33,7 @@
 ****************************************************************************/

 /**
- * @file pwr.c
+ * @file pwr.cpp
 *
 * Board-specific power button functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file init.cpp
 *
 * BBBLUE specific initialization
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file crazyflie_init.c
+ * @file init.c
 *
 * Crazyflie specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file crazyflie_led.c
+ * @file led.c
 *
 * Crazyflie LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file crazyflie_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -402,11 +402,12 @@ Syslink::handle_message(syslink_message_t *msg)

 		float vbat; //, iset;
 		memcpy(&vbat, &msg->data[1], sizeof(float));
-		//memcpy(&iset, &msg->data[5], sizeof(float));

-		_battery.setConnected(true);
-		_battery.updateVoltage(vbat);
-		_battery.updateAndPublishBatteryStatus(t);
+		Battery::InputSample sample{
+			.timestamp = t,
+			.voltage_v = vbat,
+		};
+		_battery.updateAndPublishBatteryStatus(sample);

 		// Update battery charge state
 		if (charging) {
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file crazyflie_init.c
+ * @file init.c
 *
 * Crazyflie specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file crazyflie_led.c
+ * @file led.c
 *
 * Crazyflie LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file crazyflie_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -39,7 +39,6 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -70,7 +69,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -79,7 +77,6 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -91,7 +88,6 @@ CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
@@ -99,4 +95,3 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_EXAMPLES_FAKE_GPS=y
@@ -6,7 +6,4 @@
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281

-# Disable safety switch by default
-param set-default CBRK_IO_SAFETY 22027
-
 param set-default SYS_HAS_MAG 0
@@ -9,9 +9,6 @@ param set-default SYS_AUTOSTART 4001
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281

-# Disable safety switch by default
-param set-default CBRK_IO_SAFETY 22027
-
 param set-default EKF2_MAG_TYPE 5
 param set-default SENS_BOARD_ROT 6

@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4_simple_app.c
+ * @file rc_controller.cpp
 * Minimal application example for PX4 autopilot
 *
 * @author Example User <mail@example.com>
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /*
- * @file timer_config.c
+ * @file timer_config.cpp
 *
 * Configuration data for the kinetis pwm_servo, input capture and pwm input driver.
 *
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /*
- * @file timer_config.c
+ * @file timer_config.cpp
 *
 * Configuration data for the kinetis pwm_servo, input capture and pwm input driver.
 *
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /*
- * @file timer_config.c
+ * @file timer_config.cpp
 *
 * Configuration data for the kinetis pwm_servo, input capture and pwm input driver.
 *
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /*
- * @file timer_config.c
+ * @file timer_config.cpp
 *
 * Configuration data for the S32K1XX pwm_servo, input capture and pwm input driver.
 *
@@ -9,7 +9,4 @@ param set-default BAT1_A_PER_V 31
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281

-# Disable safety switch by default
-param set-default CBRK_IO_SAFETY 22027
-
 param set-default SYS_HAS_MAG 0
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_i2c.c
+ * @file i2c.cpp
 *
 * Board-specific I2C functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_init.c
+ * @file init.c
 *
 * PX4FMUv2-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_i2c.c
+ * @file i2c.cpp
 *
 * Board-specific I2C functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_init.c
+ * @file init.c
 *
 * PX4FMUv2-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_init.c
+ * @file init.c
 *
 * PX4FMU-specific early startup code.  This file implements the
 * board_app_initializ() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -3,6 +3,8 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_TESTING=y
@@ -1,4 +1,6 @@
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_BOARD_CRYPTO=y
 CONFIG_DRIVERS_STUB_KEYSTORE=y
 CONFIG_DRIVERS_SW_CRYPTO=y
@@ -22,20 +22,27 @@ CONFIG_DRIVERS_PWM_INPUT=n
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
 CONFIG_DRIVERS_TONE_ALARM=n
 CONFIG_DRIVERS_UAVCAN=n
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_CAMERA_FEEDBACK=n
 CONFIG_MODULES_ESC_BATTERY=n
+CONFIG_MODULES_EVENTS=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_GIMBAL=n
 CONFIG_MODULES_GYRO_CALIBRATION=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_SYSTEMCMDS_REFLECT=n
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_EKF2_AUX_GLOBAL_POSITION=y
@@ -29,7 +29,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
-CONFIG_COMMON_INS=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file init.cpp
 *
 * PX4FMU-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_usb.c
+ * @file usb.c
 *
 * Board-specific USB functions.
 */
@@ -30,7 +30,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
-CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu_can.c
+ * @file can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file init.cpp
 *
 * PX4FMU-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file px4fmu2_led.c
+ * @file led.c
 *
 * PX4FMU LED backend.
 */
--- a/Show More
+++ b/Show More