boards: sync

This PR fixes the yaw rate ignore case handling for offboard control using the SET_ATTITUDE_TARGET message

README.md

@@ -8,26 +8,30 @@
 
 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.
 
+PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of the box.
+
 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
-  * [Multicopters](https://docs.px4.io/master/en/airframes/airframe_reference.html#copter)
-  * [Fixed wing](https://docs.px4.io/master/en/airframes/airframe_reference.html#plane)
-  * [VTOL](https://docs.px4.io/master/en/airframes/airframe_reference.html#vtol)
-  * many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
+  * [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
+  * [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
+  * [VTOL](https://docs.px4.io/master/en/frames_vtol/)
+  * [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
+  * [Rover](https://docs.px4.io/master/en/frames_rover/)
+  * many more experimental types (Blimps, Boats, Submarines, Autogyros, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)
 
 
-## PX4 Users
+## Building a PX4 based drone, rover, boat or robot
 
 The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
 See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!
 
 
-## PX4 Developers
+## Changing code and contributing
 
-This [Developer Guide](https://dev.px4.io/) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
+This [Developer Guide](https://docs.px4.io/master/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
 
-Developers should read the [Guide for Contributions](https://dev.px4.io/master/en/contribute/).
+Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/).
 See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!
 
 
@@ -69,10 +73,8 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
     * [Daniel Agar](https://github.com/dagar)
   * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
     * [Paul Riseborough](https://github.com/priseborough)
-  * Vision based navigation
-    * [Julian Kent](https://github.com/jkflying)
-  * Obstacle Avoidance
-    * [Martina Rivizzigno](https://github.com/mrivi)
+  * Vision based navigation and Obstacle Avoidance
+    * [Markus Achtelik](https://github.com/markusachtelik)
   * RTPS/ROS2 Interface
     * [Nuno Marques](https://github.com/TSC21)
 
@@ -80,7 +82,9 @@ See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and
 
 ## Supported Hardware
 
-This repository contains code supporting these boards:
+This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
+
+### Pixhawk Standard Boards
   * FMUv2
     * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
     * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
@@ -88,19 +92,25 @@ This repository contains code supporting these boards:
     * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
     * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
     * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
-  * FMUv4
+  * FMUv4 (STM32F4)
     * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
     * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
-  * FMUv5 (ARM Cortex M7)
+  * FMUv5 (STM32F7)
     * [Pixhawk 4](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
     * [Pixhawk 4 mini](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
     * [CUAV V5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
     * [CUAV V5 nano](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
+  * FMUv6X and FMUv6U (STM32H7)
+    * Various vendors will provide FMUv6X and FMUv6U based designs Q2/2021
+
+### Manufacturer and Community supported
+  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
+  * [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
+  * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
   * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
   * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
   * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
   * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
-  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
   * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
   * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
 

boards/airmind/mindpx-v2/default.cmake

@@ -15,6 +15,7 @@ px4_add_board(
 		TEL1:/dev/ttyS1
 		TEL2:/dev/ttyS2
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -31,13 +32,12 @@ px4_add_board(
 		imu/invensense/mpu6000
 		imu/invensense/mpu6500
 		irlock
-		lights/blinkm
-		lights/rgbled
-		#lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -45,6 +45,7 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -57,6 +58,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -72,12 +74,15 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -85,6 +90,7 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -111,6 +117,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test

boards/av/x-v1/default.cmake

@@ -31,13 +31,12 @@ px4_add_board(
 		imu/adis16477
 		imu/adis16497
 		irlock
-		lights/blinkm
-		#lights/rgbled
-		#lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
 		#osd
 		pca9685
+		#pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		#pwm_input
@@ -45,6 +44,7 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		#tone_alarm
@@ -57,6 +57,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -72,19 +73,23 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
-		#bl_update
+		bl_update
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -108,6 +113,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test

boards/cuav/nora/default.cmake

@@ -19,6 +19,7 @@ px4_add_board(
 		# CONSOLE: /dev/ttyS4
 		# RC: /dev/ttyS5
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -30,24 +31,24 @@ px4_add_board(
 		gps
 		heater
 		#imu # all available imu drivers
+		imu/analog_devices/adis16448
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
-		lights/rgbled_pwm
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -61,6 +62,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -76,12 +78,15 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -89,6 +94,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -104,6 +110,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -115,6 +122,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
 		fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello

boards/cuav/nora/init/rc.board_mavlink

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# board specific board MAVLink startup script.
+# board specific MAVLink startup script.
 #------------------------------------------------------------------------------
 
 # Start MAVLink on the USB port

boards/cuav/nora/nuttx-config/include/board.h

@@ -220,55 +220,61 @@
 
 #define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
 
+
 /* UART/USART */
-#define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7 */
-#define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6  */
+#define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7  */
 
-#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_NSS_2 /* PD3 */
+#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3  */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4  */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5  */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6  */
 
-#define GPIO_UART4_RX    GPIO_UART4_RX_5       /* PD0 */
-#define GPIO_UART4_TX    GPIO_UART4_TX_5       /* PD1 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_5       /* PD1  */
+#define GPIO_UART4_RX    GPIO_UART4_RX_5       /* PD0  */
 
-#define GPIO_USART6_RX   GPIO_USART6_RX_2      /* PG9  */
 #define GPIO_USART6_TX   GPIO_USART6_TX_2      /* PG14 */
+#define GPIO_USART6_RX   GPIO_USART6_RX_2      /* PG9  */
 #define GPIO_USART6_RTS  GPIO_USART6_RTS_2     /* PG8  */
 #define GPIO_USART6_CTS  GPIO_USART6_CTS_NSS_2 /* PG15 */
 
-#define GPIO_UART7_RX    GPIO_UART7_RX_4       /* PF6 */
-#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8 */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
+#define GPIO_UART7_RX    GPIO_UART7_RX_4       /* PF6  */
+
+#define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1  */
+#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0  */
 
-#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0 */
-#define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1 */
 
 /* CAN */
-#define GPIO_CAN1_RX     GPIO_CAN1_RX_5        /* PI9  */
 #define GPIO_CAN1_TX     GPIO_CAN1_TX_4        /* PH13 */
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_5        /* PI9  */
 #define GPIO_CAN2_RX     GPIO_CAN2_RX_1        /* PB12 */
 #define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */
 
+
 /* SPI */
-#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_3    /* PG11 */
-#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6 */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3   /* PD7 */
+#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
 
-#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_6    /* PI1 */
-#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3   /* PI2 */
-#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4   /* PI3 */
+#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_3) /* PG11 */
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3               /* PD7  */
 
-#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_2    /* PE2 */
-#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1   /* PE13 */
-#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2   /* PE6 */
+#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1  */
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3               /* PI2  */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4               /* PI3  */
 
-#define GPIO_SPI5_SCK    GPIO_SPI5_SCK_1    /* PF7 */
-#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1   /* PF8 */
-#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2   /* PF9 */
+#define GPIO_SPI4_SCK    ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2  */
+#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1               /* PE13 */
+#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2               /* PE6  */
+
+#define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
+#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
+#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
+
+#define GPIO_SPI6_SCK    ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */
+#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1               /* PG12 */
+#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2               /* PA7  */
 
-#define GPIO_SPI6_SCK    GPIO_SPI6_SCK_1    /* PG13 */
-#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1   /* PG12 */
-#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2   /* PA7 */
 
 /* I2C */
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */

boards/cuav/x7pro/default.cmake

@@ -19,6 +19,7 @@ px4_add_board(
 		# CONSOLE: /dev/ttyS4
 		# RC: /dev/ttyS5
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -31,26 +32,23 @@ px4_add_board(
 		heater
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
-		lights/rgbled_pwm
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -64,6 +62,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -79,12 +78,15 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -92,6 +94,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -107,6 +110,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -118,6 +122,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
 		fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello

boards/cuav/x7pro/init/rc.board_mavlink

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# board specific board MAVLink startup script.
+# board specific MAVLink startup script.
 #------------------------------------------------------------------------------
 
 # Start MAVLink on the USB port

boards/cuav/x7pro/nuttx-config/include/board.h

@@ -220,55 +220,61 @@
 
 #define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
 
+
 /* UART/USART */
-#define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7 */
-#define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_3      /* PB6  */
+#define GPIO_USART1_RX   GPIO_USART1_RX_3      /* PB7  */
 
-#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_NSS_2 /* PD3 */
+#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3  */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4  */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5  */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6  */
 
-#define GPIO_UART4_RX    GPIO_UART4_RX_5       /* PD0 */
-#define GPIO_UART4_TX    GPIO_UART4_TX_5       /* PD1 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_5       /* PD1  */
+#define GPIO_UART4_RX    GPIO_UART4_RX_5       /* PD0  */
 
-#define GPIO_USART6_RX   GPIO_USART6_RX_2      /* PG9  */
 #define GPIO_USART6_TX   GPIO_USART6_TX_2      /* PG14 */
+#define GPIO_USART6_RX   GPIO_USART6_RX_2      /* PG9  */
 #define GPIO_USART6_RTS  GPIO_USART6_RTS_2     /* PG8  */
 #define GPIO_USART6_CTS  GPIO_USART6_CTS_NSS_2 /* PG15 */
 
-#define GPIO_UART7_RX    GPIO_UART7_RX_4       /* PF6 */
-#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8 */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
+#define GPIO_UART7_RX    GPIO_UART7_RX_4       /* PF6  */
+
+#define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1  */
+#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0  */
 
-#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0 */
-#define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1 */
 
 /* CAN */
-#define GPIO_CAN1_RX     GPIO_CAN1_RX_5        /* PI9  */
 #define GPIO_CAN1_TX     GPIO_CAN1_TX_4        /* PH13 */
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_5        /* PI9  */
 #define GPIO_CAN2_RX     GPIO_CAN2_RX_1        /* PB12 */
 #define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */
 
+
 /* SPI */
-#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_3    /* PG11 */
-#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6 */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3   /* PD7 */
+#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
 
-#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_6    /* PI1 */
-#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3   /* PI2 */
-#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4   /* PI3 */
+#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_3) /* PG11 */
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3               /* PD7  */
 
-#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_2    /* PE2 */
-#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1   /* PE13 */
-#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2   /* PE6 */
+#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1  */
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3               /* PI2  */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4               /* PI3  */
 
-#define GPIO_SPI5_SCK    GPIO_SPI5_SCK_1    /* PF7 */
-#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1   /* PF8 */
-#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2   /* PF9 */
+#define GPIO_SPI4_SCK    ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2  */
+#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1               /* PE13 */
+#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2               /* PE6  */
+
+#define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
+#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
+#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
+
+#define GPIO_SPI6_SCK    ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */
+#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1               /* PG12 */
+#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2               /* PA7  */
 
-#define GPIO_SPI6_SCK    GPIO_SPI6_SCK_1    /* PG13 */
-#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1   /* PG12 */
-#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2   /* PA7 */
 
 /* I2C */
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */

boards/cubepilot/cubeorange/default.cmake

@@ -107,6 +107,8 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
+		system_time
 		#tests # tests and test runner
 		top
 		topic_listener

boards/cubepilot/cubeyellow/default.cmake

@@ -30,8 +30,6 @@ px4_add_board(
 		#heater
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
 		imu/invensense/icm20602
 		imu/invensense/icm20649
 		imu/invensense/icm20948
@@ -51,7 +49,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
-		test_ppm
+		#test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -108,7 +106,9 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		tests # tests and test runner
+		serial_test
+		system_time
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control

boards/holybro/durandal-v1/default.cmake

@@ -10,7 +10,7 @@ px4_add_board(
 	BUILD_BOOTLOADER
 	IO px4_io-v2_default
 	TESTING
-#	UAVCAN_INTERFACES 2  - No H7 or FD can support in UAVCAN
+	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS1
@@ -30,30 +30,26 @@ px4_add_board(
 		heater
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
 		imu/bosch/bmi088
 		imu/invensense/icm20689
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
 		#osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
-#		pwm_input  - Need to create arch/stm32 arch/stm32h7 arch/kinetis and reloacate
-#					   all arch dependant code there
 		pwm_out_sim
 		pwm_out
 		px4io
 		roboclaw
+		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
-#		uavcan - No H7 or FD can support in UAVCAN yet
+		#uavcan
 	MODULES
 		airspeed_selector
 		attitude_estimator_q
@@ -62,6 +58,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -77,12 +74,15 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -90,6 +90,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -116,6 +117,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test

boards/modalai/fc-v1/default.cmake

@@ -28,7 +28,7 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm42688p
 		irlock
-		lights/blinkm
+		#lights/blinkm
 		lights/rgbled
 		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
@@ -43,6 +43,7 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -71,12 +72,15 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -84,6 +88,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -110,6 +115,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test

boards/mro/ctrl-zero-f7-oem/default.cmake

@@ -17,6 +17,7 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		#FRSKY:/dev/ttyS5
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/dps310
@@ -25,7 +26,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
-		#dshot
+		dshot
 		gps
 		#heater
 		#imu # all available imu drivers
@@ -33,13 +34,12 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
-		#osd
+		optical_flow # all available optical flow drivers
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		#pwm_input
@@ -47,6 +47,7 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -60,6 +61,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -82,6 +84,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -89,6 +93,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -115,6 +120,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test

boards/mro/ctrl-zero-f7/default.cmake

@@ -17,6 +17,7 @@ px4_add_board(
 		#CONSOLE:/dev/ttyS4
 		#FRSKY:/dev/ttyS5
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/dps310
@@ -25,7 +26,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
-		#dshot
+		dshot
 		gps
 		#heater
 		#imu # all available imu drivers
@@ -33,13 +34,12 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
-		#osd
+		optical_flow # all available optical flow drivers
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		#pwm_input
@@ -47,6 +47,7 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -60,6 +61,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -82,6 +84,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -89,6 +93,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -115,6 +120,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test

boards/mro/ctrl-zero-h7-oem/default.cmake

@@ -48,7 +48,6 @@ px4_add_board(
 		rc_input
 		roboclaw
 		rpm
-		#safety_button TODO
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -107,23 +106,26 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
 	EXAMPLES
+		fake_gps
 		fake_magnetometer
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		hello
-		hwtest # Hardware test
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hello
+		#hwtest # Hardware test
 		#matlab_csv_serial
-		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		rover_steering_control # Rover example app
-		uuv_example_app
-		work_item
+		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		#rover_steering_control # Rover example app
+		#uuv_example_app
+		#work_item
 	)

boards/mro/ctrl-zero-h7-oem/init/rc.board_mavlink

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# Board specific MAVLink startup script.
+# board specific MAVLink startup script.
 #------------------------------------------------------------------------------
 
 # Start MAVLink on the USB port

boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board.h

@@ -187,7 +187,7 @@
  *  Note: look at Table 54 in ST Manual
  */
 #define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI  /* I2C123 clock source */
-#define STM32_RCC_D3CCIPR_I2C4SRC	   RCC_D3CCIPR_I2C4SEL_HSI	 /* I2C4 clock source */
+#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI     /* I2C4 clock source */
 #define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */
 #define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2  /* SPI45 clock source */
 #define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2    /* SPI6 clock source */
@@ -222,34 +222,35 @@
 
 
 /* UART/USART */
-#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_NSS_2  /* PD3 */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5  */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6  */
+#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3  */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4  */
 
-#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_NSS_2  /* PD11 */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3      /* PD8  */
+#define GPIO_USART3_RX   GPIO_USART3_RX_3      /* PD9  */
+#define GPIO_USART3_CTS  GPIO_USART3_CTS_NSS_2 /* PD11 */
+#define GPIO_USART3_RTS  GPIO_USART3_RTS_2     /* PD12 */
 
-#define GPIO_UART4_RX    GPIO_UART4_RX_1        /* PA1 */
-#define GPIO_UART4_TX    GPIO_UART4_TX_1        /* PA0 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_2       /* PA0  */
+#define GPIO_UART4_RX    GPIO_UART4_RX_2       /* PA1  */
 
-#define GPIO_USART6_RX   GPIO_USART6_RX_1       /* PC7 */
-#define GPIO_USART6_TX   GPIO_USART6_TX_2       /* PG14 */
+#define GPIO_USART6_TX   0
+#define GPIO_USART6_RX   GPIO_USART6_RX_1      /* PC7  */
 
-#define GPIO_UART7_RX    GPIO_UART7_RX_1        /* PE7 */
-#define GPIO_UART7_TX    GPIO_UART7_TX_1        /* PE8 */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
+#define GPIO_UART7_RX    GPIO_UART7_RX_3       /* PE7  */
 
-#define GPIO_UART8_RX    GPIO_UART8_RX_1        /* PE0 */
-#define GPIO_UART8_TX    GPIO_UART8_TX_1        /* PE1 */
+#define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1  */
+#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0  */
 
 
 /* CAN */
-#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
-#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1 */
-#define GPIO_CAN2_RX     GPIO_CAN2_RX_1     /* PB12 */
-#define GPIO_CAN2_TX     GPIO_CAN2_TX_1     /* PB13 */
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_3        /* PD0  */
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_3        /* PD1  */
+
+#define GPIO_CAN2_RX     GPIO_CAN2_RX_1        /* PB12 */
+#define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */
 
 
 /* SPI */
@@ -265,15 +266,15 @@
 
 #define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
 #define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
-#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_1               /* PF9  */
+#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
 
 
 /* I2C */
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
 #define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */
 
-#define GPIO_I2C3_SCL GPIO_I2C3_SCL_2       /* PH7 */
-#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2       /* PH8 */
+#define GPIO_I2C3_SCL GPIO_I2C3_SCL_2       /* PH7  */
+#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2       /* PH8  */
 
-#define GPIO_I2C4_SCL GPIO_I2C4_SCL_4       /* PB6 */
-#define GPIO_I2C4_SDA GPIO_I2C4_SDA_4       /* PB7 */
+#define GPIO_I2C4_SCL GPIO_I2C4_SCL_4       /* PB6  */
+#define GPIO_I2C4_SDA GPIO_I2C4_SDA_4       /* PB7  */

boards/mro/ctrl-zero-h7-oem/nuttx-config/include/board_dma_map.h

@@ -37,8 +37,5 @@
 #define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
 #define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
 
-#define DMAMAP_USART6_RX   DMAMAP_DMA12_USART6RX_1 /* DMA1:71 */
-#define DMAMAP_USART6_TX   DMAMAP_DMA12_USART6TX_1 /* DMA1:72 */
-
-#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_0 /* DMA1:83 */
-#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_0 /* DMA1:84 */
+#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_0 /* DMA1:85 */
+#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_0 /* DMA1:86 */

boards/mro/ctrl-zero-h7-oem/nuttx-config/scripts/bootloader_script.ld

@@ -196,6 +196,11 @@ SECTIONS
 		_ebss = ABSOLUTE(.);
 	} > AXI_SRAM
 
+	/* Emit the the D3 power domain section for locating BDMA data */
+	.SRAM4 (NOLOAD) :
+	{
+	} > SRAM4
+
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }

boards/mro/ctrl-zero-h7-oem/src/board_config.h

@@ -77,14 +77,14 @@
 
 /* CAN Silence: Silent mode control */
 #define GPIO_CAN1_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
-#define GPIO_CAN2_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
+//#define GPIO_CAN2_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
 
 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS  8
 #define DIRECT_INPUT_TIMER_CHANNELS  8
 
 /* Power supply control and monitoring GPIOs */
-#define GPIO_nPOWER_IN_A                /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_nPOWER_IN_A                /* PB5 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN5)
 
 #define GPIO_VDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
 #define BOARD_NUMBER_BRICKS             1
@@ -109,7 +109,7 @@
 
 /* High-resolution timer */
 #define HRT_TIMER               3  /* use timer3 for the HRT */
-#define HRT_TIMER_CHANNEL       1 /* use capture/compare channel 1 */
+#define HRT_TIMER_CHANNEL       2  /* use capture/compare channel 2 */
 
 #define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
 #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
@@ -148,20 +148,11 @@
 #define BOARD_ADC_SERVO_VALID   (1) /* never powers off the Servo rail */
 #define BOARD_ADC_BRICK_VALID   (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID))
 
-/* 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_STATIC_MANIFEST 1
-
 #define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
-
 #define BOARD_NUM_IO_TIMERS 3
-
 #define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
-
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */
+#define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */
 #define BOARD_ENABLE_CONSOLE_BUFFER
 
 #define PX4_GPIO_INIT_LIST { \
@@ -171,9 +162,15 @@
 		GPIO_CAN2_TX,                     \
 		GPIO_CAN2_RX,                     \
 		GPIO_CAN1_SILENT_S0,              \
-		GPIO_CAN2_SILENT_S0,              \
+		GPIO_LEVEL_SHIFTER_OE,            \
+		GPIO_PWM_VOLT_SEL,                \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD),\
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_OTGFS_VBUS,                  \

boards/mro/ctrl-zero-h7-oem/src/init.c

@@ -164,7 +164,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
 
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -195,7 +194,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 #endif /* CONFIG_MMCSD */
 
 	/* Configure the HW based on the manifest */
-
 	px4_platform_configure();
 
 	return OK;

boards/mro/ctrl-zero-h7-oem/src/usb.c

@@ -37,21 +37,10 @@
  * Board-specific USB functions.
  */
 
-#include <px4_platform_common/px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-
+#include "board_config.h"
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
-
-#include <arm_arch.h>
-#include <chip.h>
-#include <stm32_gpio.h>
 #include <stm32_otg.h>
-#include "board_config.h"
 
 /************************************************************************************
  * Name:  stm32_usbsuspend
@@ -63,19 +52,6 @@
  *   while the USB is suspended.
  *
  ************************************************************************************/
-__EXPORT void stm32_usbinitialize(void)
-{
-	/* The OTG FS has an internal soft pull-up */
-
-	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
-
-#ifdef CONFIG_STM32H7_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-#endif
-}
-
-
-
 __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
 {
 	uinfo("resume: %d\n", resume);

boards/mro/ctrl-zero-h7/default.cmake

@@ -48,7 +48,6 @@ px4_add_board(
 		rc_input
 		roboclaw
 		rpm
-		#safety_button TODO
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -107,23 +106,26 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
 	EXAMPLES
+		fake_gps
 		fake_magnetometer
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		hello
-		hwtest # Hardware test
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hello
+		#hwtest # Hardware test
 		#matlab_csv_serial
-		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		rover_steering_control # Rover example app
-		uuv_example_app
-		work_item
+		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		#rover_steering_control # Rover example app
+		#uuv_example_app
+		#work_item
 	)

boards/mro/ctrl-zero-h7/init/rc.board_mavlink

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# Board specific MAVLink startup script.
+# board specific MAVLink startup script.
 #------------------------------------------------------------------------------
 
 # Start MAVLink on the USB port

boards/mro/ctrl-zero-h7/nuttx-config/include/board.h

@@ -187,6 +187,7 @@
  *  Note: look at Table 54 in ST Manual
  */
 #define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI  /* I2C123 clock source */
+#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI     /* I2C4 clock source */
 #define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */
 #define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2  /* SPI45 clock source */
 #define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2    /* SPI6 clock source */
@@ -221,32 +222,32 @@
 
 
 /* UART/USART */
-#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_NSS_2  /* PD3 */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5  */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6  */
+#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3  */
+#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4  */
 
-#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_NSS_2  /* PD11 */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3      /* PD8  */
+#define GPIO_USART3_RX   GPIO_USART3_RX_3      /* PD9  */
+#define GPIO_USART3_CTS  GPIO_USART3_CTS_NSS_2 /* PD11 */
+#define GPIO_USART3_RTS  GPIO_USART3_RTS_2     /* PD12 */
 
-#define GPIO_UART4_RX    GPIO_UART4_RX_1        /* PA1 */
-#define GPIO_UART4_TX    GPIO_UART4_TX_1        /* PA0 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_2       /* PA0  */
+#define GPIO_UART4_RX    GPIO_UART4_RX_2       /* PA1  */
 
-#define GPIO_USART6_RX   GPIO_USART6_RX_1       /* PC7 */
-#define GPIO_USART6_TX   GPIO_USART6_TX_2       /* PG14 */
+#define GPIO_USART6_TX   0
+#define GPIO_USART6_RX   GPIO_USART6_RX_1      /* PC7  */
 
-#define GPIO_UART7_RX    GPIO_UART7_RX_1        /* PE7 */
-#define GPIO_UART7_TX    GPIO_UART7_TX_1        /* PE8 */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
+#define GPIO_UART7_RX    GPIO_UART7_RX_3       /* PE7  */
 
-#define GPIO_UART8_RX    GPIO_UART8_RX_1        /* PE0 */
-#define GPIO_UART8_TX    GPIO_UART8_TX_1        /* PE1 */
+#define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1  */
+#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0  */
 
 
 /* CAN */
-#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
-#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1 */
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_3        /* PD0  */
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_3        /* PD1  */
 
 
 /* SPI */
@@ -262,7 +263,7 @@
 
 #define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
 #define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
-#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_1               /* PF9  */
+#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
 
 
 /* I2C */

boards/mro/ctrl-zero-h7/nuttx-config/include/board_dma_map.h

@@ -37,8 +37,5 @@
 #define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
 #define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
 
-#define DMAMAP_USART6_RX   DMAMAP_DMA12_USART6RX_1 /* DMA1:71 */
-#define DMAMAP_USART6_TX   DMAMAP_DMA12_USART6TX_1 /* DMA1:72 */
-
-#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_0 /* DMA1:83 */
-#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_0 /* DMA1:84 */
+#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_0 /* DMA1:85 */
+#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_0 /* DMA1:86 */

boards/mro/ctrl-zero-h7/nuttx-config/scripts/bootloader_script.ld

@@ -196,6 +196,11 @@ SECTIONS
 		_ebss = ABSOLUTE(.);
 	} > AXI_SRAM
 
+	/* Emit the the D3 power domain section for locating BDMA data */
+	.SRAM4 (NOLOAD) :
+	{
+	} > SRAM4
+
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }

boards/mro/ctrl-zero-h7/src/board_config.h

@@ -76,14 +76,17 @@
 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
 
 /* CAN Silence: Silent mode control */
-#define GPIO_CAN1_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
+#define GPIO_CAN1_SILENT_S0  /* PF5 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
+
+#define GPIO_LEVEL_SHIFTER_OE /* PI3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN3)
+#define GPIO_PWM_VOLT_SEL     /* PG6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN6)
 
 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS  8
 #define DIRECT_INPUT_TIMER_CHANNELS  8
 
 /* Power supply control and monitoring GPIOs */
-#define GPIO_nPOWER_IN_A                /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_nPOWER_IN_A                /* PB5 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN5)
 
 #define GPIO_VDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
 #define BOARD_NUMBER_BRICKS             1
@@ -108,7 +111,7 @@
 
 /* High-resolution timer */
 #define HRT_TIMER               3  /* use timer3 for the HRT */
-#define HRT_TIMER_CHANNEL       1 /* use capture/compare channel 1 */
+#define HRT_TIMER_CHANNEL       2  /* use capture/compare channel 2 */
 
 #define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
 #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
@@ -147,20 +150,11 @@
 #define BOARD_ADC_SERVO_VALID   (1) /* never powers off the Servo rail */
 #define BOARD_ADC_BRICK_VALID   (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID))
 
-/* 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_STATIC_MANIFEST 1
-
 #define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
-
 #define BOARD_NUM_IO_TIMERS 3
-
 #define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
-
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */
+#define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */
 #define BOARD_ENABLE_CONSOLE_BUFFER
 
 #define PX4_GPIO_INIT_LIST { \
@@ -168,8 +162,15 @@
 		GPIO_CAN1_TX,                     \
 		GPIO_CAN1_RX,                     \
 		GPIO_CAN1_SILENT_S0,              \
+		GPIO_LEVEL_SHIFTER_OE,            \
+		GPIO_PWM_VOLT_SEL,                \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D0), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D1), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D2), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_D3), \
+		PX4_GPIO_PIN_OFF(GPIO_SDMMC1_CMD),\
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_OTGFS_VBUS,                  \

boards/mro/ctrl-zero-h7/src/init.c

@@ -164,7 +164,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
 	}
 
-
 	/* initial LED state */
 	drv_led_start();
 	led_off(LED_RED);
@@ -195,7 +194,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 #endif /* CONFIG_MMCSD */
 
 	/* Configure the HW based on the manifest */
-
 	px4_platform_configure();
 
 	return OK;

boards/mro/ctrl-zero-h7/src/usb.c

@@ -37,21 +37,10 @@
  * Board-specific USB functions.
  */
 
-#include <px4_platform_common/px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-
+#include "board_config.h"
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
-
-#include <arm_arch.h>
-#include <chip.h>
-#include <stm32_gpio.h>
 #include <stm32_otg.h>
-#include "board_config.h"
 
 /************************************************************************************
  * Name:  stm32_usbsuspend
@@ -63,19 +52,6 @@
  *   while the USB is suspended.
  *
  ************************************************************************************/
-__EXPORT void stm32_usbinitialize(void)
-{
-	/* The OTG FS has an internal soft pull-up */
-
-	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
-
-#ifdef CONFIG_STM32H7_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-#endif
-}
-
-
-
 __EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
 {
 	uinfo("resume: %d\n", resume);

boards/mro/pixracerpro/default.cmake

@@ -11,12 +11,13 @@ px4_add_board(
 	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
-		TEL1:/dev/ttyS0
-		TEL2:/dev/ttyS1
-		GPS1:/dev/ttyS2
-		#RC:/dev/ttyS3
-		#CONSOLE:/dev/ttyS4
-		#FRSKY:/dev/ttyS5
+		#SPARE:/dev/ttyS0
+		TEL1:/dev/ttyS1
+		TEL2:/dev/ttyS2
+		GPS1:/dev/ttyS3
+		#RC:/dev/ttyS4
+		#CONSOLE:/dev/ttyS5
+		#FRSKY:/dev/ttyS6
 	DRIVERS
 		adc/board_adc
 		#barometer # all available barometer drivers
@@ -94,6 +95,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test
@@ -105,6 +107,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -116,14 +119,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
 		fake_magnetometer
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		hello
-		hwtest # Hardware test
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hello
+		#hwtest # Hardware test
 		#matlab_csv_serial
-		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		rover_steering_control # Rover example app
-		uuv_example_app
-		work_item
+		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		#rover_steering_control # Rover example app
+		#uuv_example_app
+		#work_item
 	)

boards/mro/pixracerpro/init/rc.board_extras

@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# board specific extras init
+#------------------------------------------------------------------------------
+
+# Run FrSky Telemetry on Pixracer on the FrSky port if not enabled already
+if param compare TEL_FRSKY_CONFIG 0
+then
+	frsky_telemetry start -d /dev/ttyS6 -t 15
+fi

boards/mro/pixracerpro/init/rc.board_mavlink

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# Board specific MAVLink startup script.
+# board specific MAVLink startup script.
 #------------------------------------------------------------------------------
 
 # Start MAVLink on the USB port

boards/mro/pixracerpro/init/rc.board_sensors

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# Board specific sensors init
+# board specific sensors init
 #------------------------------------------------------------------------------
 board_adc start
 

boards/mro/pixracerpro/nuttx-config/bootloader/defconfig

@@ -25,7 +25,7 @@ CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_INITTHREAD_PRIORITY=254
 CONFIG_BOARD_LATE_INITIALIZE=y
-CONFIG_BOARD_LOOPSPERMSEC=22114
+CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y

boards/mro/pixracerpro/nuttx-config/include/board.h

@@ -237,8 +237,8 @@
 #define GPIO_UART4_TX    GPIO_UART4_TX_2       /* PA0  */
 #define GPIO_UART4_RX    GPIO_UART4_RX_2       /* PA1  */
 
-//#define GPIO_USART6_TX   GPIO_USART6_TX_2      /* PG14 */
-//#define GPIO_USART6_RX   GPIO_USART6_RX_1      /* PC7  */
+#define GPIO_USART6_TX   0
+#define GPIO_USART6_RX   GPIO_USART6_RX_1      /* PC7  */
 
 #define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
 #define GPIO_UART7_RX    GPIO_UART7_RX_3       /* PE7  */
@@ -252,7 +252,7 @@
 #define GPIO_CAN1_TX     GPIO_CAN1_TX_3        /* PD1  */
 
 #define GPIO_CAN2_RX     GPIO_CAN2_RX_1        /* PB12 */
-#define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13  */
+#define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */
 
 
 /* SPI */

boards/mro/pixracerpro/nuttx-config/include/board_dma_map.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 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
@@ -37,9 +37,6 @@
 #define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
 #define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
 
-#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */
-#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */
-
 #define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_0 /* DMA1:85 */
 #define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_0 /* DMA1:86 */
 

boards/mro/pixracerpro/nuttx-config/nsh/defconfig

@@ -141,7 +141,7 @@ 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
@@ -198,6 +198,7 @@ CONFIG_STM32H7_UART8=y
 CONFIG_STM32H7_USART1=y
 CONFIG_STM32H7_USART2=y
 CONFIG_STM32H7_USART3=y
+CONFIG_STM32H7_USART6=y
 CONFIG_STM32H7_USART_BREAKS=y
 CONFIG_STM32H7_USART_INVERT=y
 CONFIG_STM32H7_USART_SINGLEWIRE=y
@@ -227,6 +228,9 @@ CONFIG_USART3_IFLOWCONTROL=y
 CONFIG_USART3_OFLOWCONTROL=y
 CONFIG_USART3_RXBUFSIZE=600
 CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_TXBUFSIZE=1500
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500

boards/mro/pixracerpro/nuttx-config/scripts/script.ld

@@ -111,6 +111,7 @@ MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
 	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
+
 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
 	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
@@ -167,6 +168,7 @@ SECTIONS
 		_einit = ABSOLUTE(.);
 	} > FLASH
 
+
 	.ARM.extab : {
 		*(.ARM.extab*)
 	} > FLASH
@@ -201,6 +203,7 @@ SECTIONS
 	{
 	} > SRAM4
 
+
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }

boards/mro/pixracerpro/src/board_config.h

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2020-2021 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
@@ -58,29 +58,30 @@
 	/* PA2 */  GPIO_ADC12_INP14,  \
 	/* PA3 */  GPIO_ADC12_INP15,  \
 	/* PA4 */  GPIO_ADC12_INP18,  \
-	/* PC1 */  GPIO_ADC123_INN10
+	/* PC1 */  GPIO_ADC123_INP11
 
-/* Define Channel numbers must match above GPIO pin */
-#define ADC_BATTERY_VOLTAGE_CHANNEL        14 /* PA2 BATT_VOLT_SENS */
-#define ADC_BATTERY_CURRENT_CHANNEL        15 /* PA3 BATT_CURRENT_SENS */
-#define ADC_SCALED_V5_CHANNEL              18 /* PA4 VDD_5V_SENS */
-#define ADC_RSSI_IN_CHANNEL                10 /* PC1 */
+/* Define Channel numbers must match above GPIO pins */
+#define ADC_BATTERY_VOLTAGE_CHANNEL       14 /* PA2 BATT_VOLT_SENS */
+#define ADC_BATTERY_CURRENT_CHANNEL       15 /* PA3 BATT_CURRENT_SENS */
+#define ADC_SCALED_V5_CHANNEL             18 /* PA4 VDD_5V_SENS */
+#define ADC_RC_RSSI_CHANNEL               11 /* PC1 */
 
 #define ADC_CHANNELS \
 	((1 << ADC_BATTERY_VOLTAGE_CHANNEL)       | \
 	 (1 << ADC_BATTERY_CURRENT_CHANNEL)       | \
 	 (1 << ADC_SCALED_V5_CHANNEL)             | \
-	 (1 << ADC_RSSI_IN_CHANNEL))
+	 (1 << ADC_RC_RSSI_CHANNEL))
 
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
 
 /* CAN Silence: Silent mode control */
-#define GPIO_CAN1_SILENT_S0  /* PF11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN11)
-#define GPIO_CAN2_SILENT_S0  /* PF14 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN14)
+#define GPIO_CAN1_SILENT_S0     /* PF11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN11)
+#define GPIO_CAN2_SILENT_S0     /* PF14 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN14)
 
-#define GPIO_LEVEL_SHIFTER_OE /* PI3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN3)
-#define GPIO_PWM_VOLT_SEL     /* PG6 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN6)
+#define GPIO_LEVEL_SHIFTER_OE   /* PI3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN3)
+#define GPIO_VDD_3V3_SENSORS_EN /* PE3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
+#define GPIO_PWM_VOLT_SEL       /* PG6  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN6)
 
 /* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS  8
@@ -118,7 +119,7 @@
 #define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
 
 /* RC Serial port */
-#define RC_SERIAL_PORT          "/dev/ttyS3"
+#define RC_SERIAL_PORT          "/dev/ttyS4"
 
 #define GPIO_RSSI_IN            /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
 
@@ -148,7 +149,7 @@
 
 #define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
 #define BOARD_NUM_IO_TIMERS 3
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};
+#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */
 #define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */
 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -162,6 +163,7 @@
 		GPIO_CAN1_SILENT_S0,              \
 		GPIO_CAN2_SILENT_S0,              \
 		GPIO_LEVEL_SHIFTER_OE,            \
+		GPIO_VDD_3V3_SENSORS_EN,          \
 		GPIO_PWM_VOLT_SEL,                \
 		GPIO_nPOWER_IN_A,                 \
 		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \

boards/mro/pixracerpro/src/init.c

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *   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
@@ -193,5 +193,8 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	sdio_mediachange(sdio_dev, true);
 #endif /* CONFIG_MMCSD */
 
+	/* Configure the HW based on the manifest */
+	px4_platform_configure();
+
 	return OK;
 }

boards/mro/pixracerpro/src/spi.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2020-2021 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
@@ -39,7 +39,7 @@ 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::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}),
-	}, {GPIO::PortE, GPIO::Pin3}),
+	}),
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
 		initSPIDevice(DRV_BARO_DEVTYPE_DPS310, SPI::CS{GPIO::PortD, GPIO::Pin7}),

boards/mro/x21-777/default.cmake

@@ -19,6 +19,7 @@ px4_add_board(
 		# CONSOLE:/dev/tty5
 		# OSD:/dev/tty6
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -33,13 +34,12 @@ px4_add_board(
 		imu/invensense/icm20608g
 		imu/invensense/mpu9250
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
-		#osd
+		optical_flow # all available optical flow drivers
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -83,6 +83,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -117,6 +119,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
 		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello

boards/mro/x21/default.cmake

@@ -16,6 +16,7 @@ px4_add_board(
 		TEL1:/dev/ttyS1
 		TEL2:/dev/ttyS2
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -23,7 +24,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
-		#dshot
+		dshot
 		gps
 		#heater
 		#imu # all available imu drivers
@@ -31,14 +32,12 @@ px4_add_board(
 		imu/invensense/icm20608g
 		imu/invensense/mpu9250
 		irlock
-		lights/blinkm
-		lights/rgbled
-		#lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
-		optical_flow/px4flow
-		#osd
+		optical_flow # all available optical flow drivers
+		osd
 		pca9685
+		pca9685_pwm_out
 		#power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -46,6 +45,7 @@ px4_add_board(
 		pwm_out
 		px4io
 		roboclaw
+		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -58,6 +58,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -80,6 +81,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -87,6 +90,7 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -113,6 +117,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test

boards/nxp/fmuk66-v3/default.cmake

@@ -15,6 +15,7 @@ px4_add_board(
 		TEL1:/dev/ttyS4
 		TEL2:/dev/ttyS1
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		barometer/mpl3115a2
@@ -30,21 +31,20 @@ px4_add_board(
 		imu/fxas21002c
 		imu/fxos8701cq
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
-		optical_flow/px4flow
-		#osd
+		optical_flow # all available optical flow drivers
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		#test_ppm # NOT Portable YET
@@ -58,6 +58,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -73,12 +74,15 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -86,7 +90,7 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
-		#hardfault_log # Needs bbsrm
+		gpio
 		i2cdetect
 		led_control
 		mft
@@ -112,6 +116,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test

boards/omnibus/f4sd/default.cmake

@@ -3,6 +3,7 @@ px4_add_board(
 	PLATFORM nuttx
 	VENDOR omnibus
 	MODEL f4sd
+	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
@@ -24,7 +25,6 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/mpu6000
 		#irlock
-		#lights/blinkm
 		lights/rgbled
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883
@@ -46,6 +46,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		#esc_battery
 		events
 		flight_mode_manager
 		#fw_att_control
@@ -61,12 +62,15 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		#rover_pos_control
 		sensors
 		#sih
 		#temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		#vmount
 		#vtol_att_control
 	SYSTEMCMDS
@@ -74,6 +78,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		#gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -89,6 +94,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		#system_time
 		#tests # tests and test runner
 		top
 		#topic_listener
@@ -99,6 +105,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		#fake_gps
+		#fake_gyro
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

boards/px4/fmu-v2/default.cmake

@@ -33,25 +33,21 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
-		#imu/analog_devices/adis16448
-		#imu/adis16477
-		#imu/adis16497
 		imu/l3gd20
 		imu/lsm303d
 		#imu/invensense/icm20608g
 		#imu/invensense/icm20948
 		imu/invensense/mpu6000
 		#imu/invensense/mpu9250
-		#iridiumsbd
 		#irlock
-		#lights/blinkm
+		#lights # all available light drivers
 		lights/rgbled
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883
 		#optical_flow # all available optical flow drivers
-		#optical_flow/px4flow
 		#osd
 		#pca9685
+		#pca9685_pwm_out
 		#power_monitor/ina226
 		#protocol_splitter
 		#pwm_input
@@ -59,6 +55,7 @@ px4_add_board(
 		pwm_out
 		px4io
 		#roboclaw
+		#rpm
 		#telemetry # all available telemetry drivers
 		#test_ppm
 		tone_alarm
@@ -94,6 +91,8 @@ px4_add_board(
 		sensors
 		#sih
 		#temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		#vmount
 		#vtol_att_control
 	SYSTEMCMDS
@@ -101,6 +100,7 @@ px4_add_board(
 		#dmesg
 		#dumpfile
 		#esc_calib
+		#gpio
 		hardfault_log
 		#i2cdetect
 		#led_control
@@ -116,7 +116,7 @@ px4_add_board(
 		reboot
 		#reflect
 		#sd_bench
-		#shutdown
+		#system_time
 		#tests # tests and test runner
 		top
 		#topic_listener
@@ -127,6 +127,8 @@ px4_add_board(
 		#work_queue
 	EXAMPLES
 		#fake_gps
+		#fake_gyro
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

boards/px4/fmu-v3/default.cmake

@@ -1,6 +1,4 @@
 
-# FMUv3 is FMUv2 with access to the full 2MB flash
-
 px4_add_board(
 	PLATFORM nuttx
 	VENDOR px4
@@ -19,8 +17,8 @@ px4_add_board(
 		TEL2:/dev/ttyS2
 		TEL4:/dev/ttyS6
 	DRIVERS
-		adc/board_adc
 		adc/ads1115
+		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
 		camera_capture
@@ -32,8 +30,6 @@ px4_add_board(
 		#heater
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
 		imu/l3gd20
 		imu/lsm303d
 		imu/invensense/icm20608g
@@ -41,13 +37,10 @@ px4_add_board(
 		imu/invensense/mpu6000
 		imu/invensense/mpu9250
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
-		optical_flow/px4flow
-		#osd
+		optical_flow # all available optical flow drivers
+		osd
 		pca9685
 		pca9685_pwm_out
 		#power_monitor/ina226
@@ -57,6 +50,7 @@ px4_add_board(
 		pwm_out
 		px4io
 		roboclaw
+		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -92,6 +86,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -126,6 +122,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test

boards/px4/fmu-v4/default.cmake

@@ -15,10 +15,9 @@ px4_add_board(
 		TEL1:/dev/ttyS1
 		TEL2:/dev/ttyS2
 		WIFI:/dev/ttyS0
-
 	DRIVERS
-		adc/board_adc
 		adc/ads1115
+		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
 		camera_capture
@@ -30,28 +29,24 @@ px4_add_board(
 		heater
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
-		imu/invensense/icm40609d
-		imu/invensense/mpu6500
 		imu/invensense/mpu9250
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
 		pca9685_pwm_out
+		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
 		pwm_out_sim
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm

boards/px4/fmu-v4pro/default.cmake

@@ -18,8 +18,8 @@ px4_add_board(
 		TEL3:/dev/ttyS0
 		TEL4:/dev/ttyS6
 	DRIVERS
-		adc/board_adc
 		adc/ads1115
+		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
 		camera_capture
@@ -30,26 +30,25 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
+		imu/analog_devices/adis16448
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
 		imu/invensense/mpu9250
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
-		optical_flow/px4flow
-		#osd
+		optical_flow # all available optical flow drivers
+		osd
 		pca9685
 		pca9685_pwm_out
-		power_monitor/ina226
+		#power_monitor/ina226
 		#protocol_splitter
 		pwm_input
 		pwm_out_sim
 		pwm_out
 		px4io
 		roboclaw
+		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -94,6 +93,7 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -120,6 +120,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test

boards/px4/fmu-v5/default.cmake

@@ -16,8 +16,8 @@ px4_add_board(
 		TEL2:/dev/ttyS2
 		TEL4:/dev/ttyS3
 	DRIVERS
-		adc/board_adc
 		adc/ads1115
+		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
 		camera_capture
@@ -29,19 +29,14 @@ px4_add_board(
 		#heater
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
 		imu/bosch/bmi055
 		imu/invensense/icm20602
 		imu/invensense/icm20689
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
-		lights/rgbled_pwm
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
 		pca9685_pwm_out
 		power_monitor/ina226

boards/px4/fmu-v5x/default.cmake

@@ -18,8 +18,8 @@ px4_add_board(
 		TEL3:/dev/ttyS1
 		GPS2:/dev/ttyS7
 	DRIVERS
-		adc/board_adc
 		adc/ads1115
+		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
 		camera_capture
@@ -31,19 +31,15 @@ px4_add_board(
 		#heater
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
 		imu/bosch/bmi088
 		imu/invensense/icm20602
 		imu/invensense/icm42688p
 		irlock
-		#lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
-		#pca9685
+		osd
+		pca9685
 		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
@@ -89,6 +85,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -124,6 +122,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test

boards/px4/fmu-v6u/default.cmake

@@ -28,6 +28,7 @@ px4_add_board(
 		gps
 		heater
 		#imu # all available imu drivers
+		imu/analog_devices/adis16448
 		imu/bosch/bmi088
 		imu/invensense/icm20602
 		imu/invensense/icm42605
@@ -117,7 +118,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		fake_magnetometer
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test
 		#matlab_csv_serial

boards/px4/fmu-v6x/default.cmake

@@ -10,7 +10,7 @@ px4_add_board(
 	BUILD_BOOTLOADER
 	IO px4_io-v2_default
 	TESTING
-#	UAVCAN_INTERFACES 2  - No H7 or FD can support in UAVCAN
+	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS6
@@ -30,8 +30,6 @@ px4_add_board(
 		heater
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		irlock
@@ -44,8 +42,7 @@ px4_add_board(
 		pca9685
 		power_monitor/ina226
 		#protocol_splitter
-#		pwm_input  - Need to create arch/stm32 arch/stm32h7 arch/kinetis and reloacate
-#					   all arch dependant code there
+		#pwm_input  - Need to create arch/stm32 arch/stm32h7
 		pwm_out_sim
 		pwm_out
 		px4io
@@ -56,10 +53,11 @@ px4_add_board(
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
-#		uavcan - No H7 or FD can support in UAVCAN yet
+		uavcan
 	MODULES
 		airspeed_selector
 		attitude_estimator_q
+		#battery_status
 		camera_feedback
 		commander
 		dataman
@@ -94,6 +92,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -109,6 +108,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -118,7 +118,6 @@ px4_add_board(
 		usb_connected
 		ver
 		work_queue
-		serial_test
 	EXAMPLES
 		fake_gps
 		fake_magnetometer

boards/px4/sitl/default.cmake

@@ -88,6 +88,7 @@ px4_add_board(
 	EXAMPLES
 		dyn_hello # dynamically loading modules example
 		fake_gps
+		fake_gyro
 		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello

src/drivers/lights/CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2018-2021 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
@@ -32,6 +32,7 @@
 ############################################################################
 
 add_subdirectory(blinkm)
+#add_subdirectory(neopixel) # requiers board support (BOARD_HAS_N_S_RGB_LED)
 add_subdirectory(rgbled)
 add_subdirectory(rgbled_ncp5623c)
 #add_subdirectory(rgbled_pwm) # requires board support (BOARD_HAS_LED_PWM/BOARD_HAS_UI_LED_PWM)

src/modules/mavlink/mavlink_receiver.cpp

@@ -1398,7 +1398,7 @@ MavlinkReceiver::handle_message_set_attitude_target(mavlink_message_t *msg)
 
 			// TODO: review use case
 			attitude_setpoint.yaw_sp_move_rate = (type_mask & ATTITUDE_TARGET_TYPEMASK_BODY_YAW_RATE_IGNORE) ?
-							     attitude_target.body_yaw_rate : NAN;
+							     NAN : attitude_target.body_yaw_rate;
 
 			if (!(attitude_target.type_mask & ATTITUDE_TARGET_TYPEMASK_THROTTLE_IGNORE)) {
 				fill_thrust(attitude_setpoint.thrust_body, vehicle_status.vehicle_type, attitude_target.thrust);

src/modules/mc_att_control/AttitudeControl/AttitudeControl.cpp

@@ -97,7 +97,9 @@ matrix::Vector3f AttitudeControl::update(const Quatf &q) const
 	// and multiply it by the yaw setpoint rate (yawspeed_setpoint).
 	// This yields a vector representing the commanded rotatation around the world z-axis expressed in the body frame
 	// such that it can be added to the rates setpoint.
-	rate_setpoint += q.inversed().dcm_z() * _yawspeed_setpoint;
+	if (is_finite(_yawspeed_setpoint)) {
+		rate_setpoint += q.inversed().dcm_z() * _yawspeed_setpoint;
+	}
 
 	// limit rates
 	for (int i = 0; i < 3; i++) {