FWPosCtrl: Rearrange VTOL transition code into eparate functions.

2026-06-09 05:40:05 +08:00 · 2023-06-05 09:44:43 +02:00
557 changed files with 16687 additions and 23225 deletions
@@ -9,7 +9,7 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2023-06-26",
+            armhf: "px4io/px4-dev-armhf:2022-08-12",
            arm64: "px4io/px4-dev-aarch64:2022-08-12",
            base: "px4io/px4-dev-ros2-foxy:2022-08-12",
            nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
@@ -40,8 +40,6 @@ pipeline {
                     "ark_can-flow_default",
                     "ark_can-gps_canbootloader",
                     "ark_can-gps_default",
-                     "ark_cannode_canbootloader",
-                     "ark_cannode_default",
                     "ark_can-rtk-gps_canbootloader",
                     "ark_can-rtk-gps_default",
                     "ark_fmu-v6x_bootloader",
@@ -55,10 +53,8 @@ pipeline {
                     "cuav_nora_default",
                     "cuav_x7pro_default",
                     "cubepilot_cubeorange_default",
-                     "cubepilot_cubeorangeplus_default",
                     "cubepilot_cubeyellow_default",
                     "diatone_mamba-f405-mk2_default",
-                     "flywoo_gn-f405_default",
                     "freefly_can-rtk-gps_canbootloader",
                     "freefly_can-rtk-gps_default",
                     "holybro_can-gps-v1_canbootloader",
@@ -76,7 +72,7 @@ pipeline {
                     "matek_h743_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v2_default",
-                     "mro_ctrl-zero-classic_default",
+                     "modalai_voxl2-io_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7-oem_default",
@@ -89,7 +85,6 @@ pipeline {
                     "nxp_fmuk66-v3_default",
                     "nxp_fmuk66-v3_socketcan",
                     "nxp_fmurt1062-v1_default",
-                     "nxp_mr-canhubk3_default",
                     "nxp_ucans32k146_canbootloader",
                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
@@ -169,7 +164,7 @@ pipeline {
  }
  options {
    buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
-    timeout(time: 120, unit: 'MINUTES')
+    timeout(time: 90, unit: 'MINUTES')
  }
 }

@@ -12,7 +12,7 @@ pipeline {
            stage("build cubepilot_cubeorange_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -91,7 +91,7 @@ pipeline {
            stage("build cuav_x7pro_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -165,7 +165,7 @@ pipeline {
            stage("build px4_fmu-v4_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -238,7 +238,7 @@ pipeline {
            stage("build px4_fmu-v4pro_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -312,7 +312,7 @@ pipeline {
            stage("build px4_fmu-v5_debug") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -362,7 +362,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'

                    // test dataman
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'

                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
@@ -403,7 +403,7 @@ pipeline {
            stage("build px4_fmu-v5_stackcheck") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -449,7 +449,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'

                    // test dataman
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
                  }
                }
                stage("status") {
@@ -486,7 +486,7 @@ pipeline {
            stage("build px4_fmu-v5_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -560,7 +560,7 @@ pipeline {
            stage("build nxp_fmuk66-v3_test") {
              agent {
                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2022-08-12",
+	"image": "px4io/px4-dev-nuttx-focal:2021-09-08",

 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],

@@ -0,0 +1,34 @@
+---
+name: 🐛 Bug report
+about: Create a report to help us improve
+labels: bug-report
+
+---
+
+## Describe the bug
+A clear and concise description of the bug.
+
+## To Reproduce
+Steps to reproduce the behavior:
+1. Drone switched on '...'
+2. Uploaded mission '....' (attach QGC mission file)
+3. Took off '....'
+4. See error
+
+## Expected behavior
+A clear and concise description of what you expected to happen.
+
+## Log Files and Screenshots
+*Always* provide a link to the flight log file:
+- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
+- Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
+- Share the link to the log (Copy and paste the URL of the log)
+
+Add screenshots to help explain your problem.
+
+## Drone (please complete the following information):
+- Describe the type of drone.
+- Photo of the IMU / autopilot setup if possible.
+
+## Additional context
+Add any other context about the problem here.
@@ -0,0 +1,20 @@
+---
+name: 🚀 Feature Request
+about: Suggest an idea for this project
+labels: feature-request
+
+---
+
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Discord (you can find an invite link on this project README).
+
+## Describe problem solved by the proposed feature
+A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
+
+## Describe your preferred solution
+A clear and concise description of what you want to happen.
+
+## Describe possible alternatives
+A clear and concise description of alternative solutions or features you've considered.
+
+## Additional context
+Add any other context or screenshots for the feature request here.
@@ -0,0 +1,13 @@
+---
+name: ⛔ Support Question
+about: See http://discuss.px4.io/ for questions about using PX4.
+
+---
+
+## Attention! Please read the note below
+
+We use GitHub issues only to discuss PX4 bugs and new features.
+
+**For questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).**
+
+Thanks!
@@ -0,0 +1,11 @@
+---
+name: ⛔ Documentation Issue
+about: See https://github.com/PX4/px4_user_guide for documentation issues
+
+---
+
+## Attention! Please read the note below
+
+**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.**
+
+Thanks!
@@ -1,94 +0,0 @@
-name: 🐛 Bug report
-description: Create a report to help us improve
-title: "[Bug] "
-labels: ["bug-report"]
-body:
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: A clear and concise description of the bug.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: To Reproduce
-      description: |
-          Steps to reproduce the behavior.
-          1. Drone switched on '...'
-          2. Uploaded mission '....' (attach QGC mission file)
-          3. Took off '....'
-          4. See error
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Expected behavior
-      description: A clear and concise description of what you expected to happen.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Screenshot / Media
-      description: Add screenshot / media if you have them
-
-  - type: textarea
-    attributes:
-      label: Flight Log
-      description: |
-          *Always* provide a link to the flight log file:
-          - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
-          - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
-          - Share the link to the log (Copy and paste the URL of the log)
-      placeholder: |
-          # PASTE HERE THE LINK TO THE LOG
-    validations:
-      required: true
-
-  - type: markdown
-    attributes:
-      value: |
-        ## Setup
-
-  - type: textarea
-    attributes:
-      label: Software Version
-      description: |
-          Which version of PX4 are you using?
-      placeholder: |
-          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
-    validations:
-      required: true
-
-  - type: input
-    attributes:
-      label: Flight controller
-      description: Specify your flight controller model (what type is it, where was it bought from, ...).
-    validations:
-      required: true
-
-  - type: dropdown
-    attributes:
-      label: Vehicle type
-      options:
-        - Multicopter
-        - Helicopter
-        - Fixed Wing
-        - Hybrid VTOL
-        - Airship/Balloon
-        - Rover
-        - Boat
-        - Submarine
-        - Other
-
-  - type: textarea
-    attributes:
-      label: How are the different components wired up (including port information)
-      description: Details about how all is wired.
-
-  - type: textarea
-    attributes:
-      label: Additional context
-      description: Add any other context about the problem here.
@@ -1,8 +0,0 @@
-blank_issues_enabled: false
-contact_links:
-  - name: Support Question
-    url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
-    about: For questions about using PX4 or related components, please use the discuss forum and discord server
-  - name: Documentation Issue
-    url: https://github.com/PX4/PX4-user_guide/issues
-    about: If you found an issue in documentation, please submit it directly to the docs repository issues
@@ -1,35 +0,0 @@
-name: 🚀 Feature Request
-description: Suggest an idea for this project
-labels: ["feature-request"]
-body:
-  - type: markdown
-    attributes:
-      value: |
-        ## Please note that feature requests are not 'fire and forget'
-        It is a lot more likely that the feature you would like to have will be implemented if you keep watching your feature request, and provide more details to developers looking into implementing your feature, and help them with testing.
-
-  - type: textarea
-    attributes:
-      label: Describe problem solved by the proposed feature
-      description: A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Describe your preferred solution
-      description: A clear and concise description of what you want to happen.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Describe possible alternatives
-      description: A clear and concise description of any alternative solutions or features you've considered.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Additional context
-      description: Add any other context or screenshots for the feature request here.
@@ -23,7 +23,7 @@ For release notes:
 ```
 Feature/Bugfix XYZ
 New parameter: XYZ_Z
-Documentation: Need to clarify page ... / done, read docs.px4.io/...
+Documentation: Need to clarfiy page ... / done, read docs.px4.io/...
 ```

 ### Alternatives
@@ -0,0 +1,24 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
+  <linearGradient id="smooth" x2="0" y2="100%">
+    <stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
+    <stop offset="1" stop-opacity=".1"/>
+  </linearGradient>
+
+  <mask id="round">
+    <rect width="90" height="20" rx="3" fill="#fff"/>
+  </mask>
+
+  <g mask="url(#round)">
+    <rect width="42" height="20" fill="#555"/>
+    <rect x="42" width="48" height="20" fill="#E01563"/>
+    <rect width="90" height="20" fill="url(#smooth)"/>
+  </g>
+
+  <g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
+    <text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
+    <text x="22" y="14">slack</text>
+    <text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
+    <text x="65" y="14">Join us!</text>
+  </g>
+</svg>
+
@@ -0,0 +1,15 @@
+# Number of days of inactivity before an issue becomes stale
+daysUntilStale: 90
+# Number of days of inactivity before a stale issue is closed, or `false` to disable
+daysUntilClose: false
+# Issues with these labels will never be considered stale
+exemptLabels:
+  - pinned
+# Label to use when marking an issue as stale
+staleLabel: stale
+# Comment to post when marking an issue as stale. Set to `false` to disable
+markComment: >
+  This issue has been automatically marked as stale because it has not had
+  recent activity. Thank you for your contributions.
+# Comment to post when closing a stale issue. Set to `false` to disable
+closeComment: false
@@ -28,7 +28,7 @@ jobs:
          "parameters_metadata",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2022-08-12
+      image: px4io/px4-dev-nuttx-focal:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -1,12 +1,9 @@
-name: Compile Linux Targets
+name: Linux Targets

 on:
  push:
    branches:
    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
  pull_request:
    branches:
    - '*'
@@ -14,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2023-06-26
+    container: px4io/px4-dev-armhf:2021-09-08
    strategy:
      matrix:
        config: [
@@ -27,8 +24,7 @@ jobs:
    - uses: actions/checkout@v1
      with:
        token: ${{secrets.ACCESS_TOKEN}}
-    - name: ownership workaround
-      run: git config --system --add safe.directory '*'
+
    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
      shell: cmake -P {0}
@@ -1,12 +1,9 @@
-name: Compile Linux ARM64 Targets
+name: Linux ARM64 Targets

 on:
  push:
    branches:
    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
  pull_request:
    branches:
    - '*'
@@ -14,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2022-08-12
+    container: px4io/px4-dev-aarch64:2021-09-08
    strategy:
      matrix:
        config: [
@@ -10,12 +10,13 @@ on:

 jobs:
  build:
-    runs-on: macos-latest
+    runs-on: macos-10.15
    strategy:
      matrix:
        config: [
          px4_fmu-v5_default,
          px4_sitl
+          #tests, # includes px4_sitl
          ]
    steps:
    - uses: actions/checkout@v1
@@ -1,12 +1,9 @@
-name: Compile Nuttx Targets
+name: Nuttx Targets

 on:
  push:
    branches:
    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
  pull_request:
    branches:
    - '*'
@@ -14,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2022-08-12
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
    strategy:
      fail-fast: false
      matrix:
@@ -24,15 +24,12 @@ jobs:
    needs: enumerate_targets
    strategy:
      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: ${{ matrix.container }}
+    container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
        token: ${{secrets.ACCESS_TOKEN}}

-    - name: ownership workaround
-      run: git config --system --add safe.directory '*'
-
    - name: make ${{matrix.target}}
      run: make ${{matrix.target}}

@@ -21,7 +21,7 @@ jobs:
          "failsafe_web",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2022-08-12
+      image: px4io/px4-dev-nuttx-focal:2021-09-08
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -103,7 +103,7 @@ jobs:

  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2022-08-12
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
    steps:
    - uses: actions/checkout@v1
      with:
@@ -1,4 +1,4 @@
-name: 'Handle stale issues and PRs'
+name: 'Close stale issues and PRs'
 on:
  schedule:
    - cron: '30 1 * * *'
@@ -7,10 +7,14 @@ jobs:
  stale:
    runs-on: ubuntu-latest
    steps:
-      - uses: actions/stale@v8
+      - uses: actions/stale@v4.1.1
        with:
-          days-before-stale: 30
-          days-before-close: -1
-          stale-issue-label: 'stale'
-          stale-pr-label: 'stale'
-          remove-stale-when-updated: true
+          stale-issue-message: 'This issue is stale because it has been open 30 days with no activity. Remove stale label or comment or this will be closed in 5 days.'
+          stale-pr-message: 'This PR is stale because it has been open 45 days with no activity. Remove stale label or comment or this will be closed in 10 days.'
+          close-issue-message: 'This issue was closed because it has been stalled for 5 days with no activity.'
+          close-pr-message: 'This PR was closed because it has been stalled for 10 days with no activity.'
+          days-before-issue-stale: 30
+          days-before-pr-stale: 45
+          days-before-issue-close: 5
+          days-before-pr-close: 10
+          debug-only: true
@@ -94,7 +94,7 @@ pipeline {

        stage('failsafe docs') {
          agent {
-            docker { image 'px4io/px4-dev-nuttx-focal:2022-08-12' }
+            docker { image 'px4io/px4-dev-nuttx-focal:2021-08-18' }
          }
          steps {
            sh '''#!/bin/bash -l
@@ -125,7 +125,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+              image 'px4io/px4-dev-nuttx-focal:2021-08-18'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@@ -1,122 +0,0 @@
-#!/bin/sh
-#
-# @name 6DoF Omnicopter SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Jaeyoung Lim <jalim@ethz.ch>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=omnicopter}
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 255
-
-param set-default CA_ROTOR0_PX 0.14435
-param set-default CA_ROTOR0_PY -0.14435
-param set-default CA_ROTOR0_PZ -0.14435
-param set-default CA_ROTOR0_KM 0.05 # CCW
-param set-default CA_ROTOR0_AX -0.788675
-param set-default CA_ROTOR0_AY -0.211325
-param set-default CA_ROTOR0_AZ -0.57735
-
-param set-default CA_ROTOR1_PX -0.14435
-param set-default CA_ROTOR1_PY -0.14435
-param set-default CA_ROTOR1_PZ -0.14435
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR1_AX 0.211325
-param set-default CA_ROTOR1_AY -0.788675
-param set-default CA_ROTOR1_AZ 0.57735
-
-param set-default CA_ROTOR2_PX 0.14435
-param set-default CA_ROTOR2_PY 0.14435
-param set-default CA_ROTOR2_PZ -0.14435
-param set-default CA_ROTOR2_KM 0.05
-param set-default CA_ROTOR2_AX -0.211325
-param set-default CA_ROTOR2_AY 0.788675
-param set-default CA_ROTOR2_AZ 0.57735
-
-param set-default CA_ROTOR3_PX -0.14435
-param set-default CA_ROTOR3_PY 0.14435
-param set-default CA_ROTOR3_PZ -0.14435
-param set-default CA_ROTOR3_KM 0.05
-param set-default CA_ROTOR3_AX 0.788675
-param set-default CA_ROTOR3_AY 0.211325
-param set-default CA_ROTOR3_AZ -0.57735
-
-param set-default CA_ROTOR4_PX 0.14435
-param set-default CA_ROTOR4_PY -0.14435
-param set-default CA_ROTOR4_PZ 0.14435
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR4_AX 0.788675
-param set-default CA_ROTOR4_AY 0.211325
-param set-default CA_ROTOR4_AZ -0.57735
-
-param set-default CA_ROTOR5_PX -0.14435
-param set-default CA_ROTOR5_PY -0.14435
-param set-default CA_ROTOR5_PZ 0.14435
-param set-default CA_ROTOR5_KM 0.05
-param set-default CA_ROTOR5_AX -0.211325
-param set-default CA_ROTOR5_AY 0.788675
-param set-default CA_ROTOR5_AZ 0.57735
-
-param set-default CA_ROTOR6_PX 0.14435
-param set-default CA_ROTOR6_PY 0.14435
-param set-default CA_ROTOR6_PZ 0.14435
-param set-default CA_ROTOR6_KM 0.05
-param set-default CA_ROTOR6_AX 0.211325
-param set-default CA_ROTOR6_AY -0.788675
-param set-default CA_ROTOR6_AZ 0.57735
-
-param set-default CA_ROTOR7_PX -0.14435
-param set-default CA_ROTOR7_PY 0.14435
-param set-default CA_ROTOR7_PZ 0.14435
-param set-default CA_ROTOR7_KM 0.05
-param set-default CA_ROTOR7_AX -0.788675
-param set-default CA_ROTOR7_AY -0.211325
-param set-default CA_ROTOR7_AZ -0.57735
-
-param set-default SIM_GZ_EN 1
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-param set-default SIM_GZ_EC_FUNC5 105
-param set-default SIM_GZ_EC_FUNC6 106
-param set-default SIM_GZ_EC_FUNC7 107
-param set-default SIM_GZ_EC_FUNC8 108
-
-param set-default SIM_GZ_EC_MIN1 0
-param set-default SIM_GZ_EC_MIN2 0
-param set-default SIM_GZ_EC_MIN3 0
-param set-default SIM_GZ_EC_MIN4 0
-param set-default SIM_GZ_EC_MIN5 0
-param set-default SIM_GZ_EC_MIN6 0
-param set-default SIM_GZ_EC_MIN7 0
-param set-default SIM_GZ_EC_MIN8 0
-
-param set-default SIM_GZ_EC_MAX1 1100
-param set-default SIM_GZ_EC_MAX2 1100
-param set-default SIM_GZ_EC_MAX3 1100
-param set-default SIM_GZ_EC_MAX4 1100
-param set-default SIM_GZ_EC_MAX5 1100
-param set-default SIM_GZ_EC_MAX6 1100
-param set-default SIM_GZ_EC_MAX7 1100
-param set-default SIM_GZ_EC_MAX8 1100
-# disable MC desaturation which improves attitude tracking
-param set-default CA_METHOD 0
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
@@ -81,8 +81,6 @@ px4_add_romfs_files(
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post

-	8011_gz_omnicopter
-
 	10015_gazebo-classic_iris
 	10016_none_iris
 	10017_jmavsim_iris
@@ -96,6 +94,4 @@ px4_add_romfs_files(

 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
-
-	# [22000, 22999] Reserve for custom models
 )
@@ -59,7 +59,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 	fi

 	# look for running ${gz_command} gazebo world
-	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )

 	# shellcheck disable=SC2153
 	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
@@ -17,7 +17,6 @@
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
 # @board bitcraze_crazyflie exclude
-# @board diatone_mamba-f405-mk2 exclude
 #

 . ${R}etc/init.d/rc.fw_defaults
@@ -34,9 +34,9 @@ param set-default CA_ROTOR3_PX -0.25
 param set-default CA_ROTOR3_PY 0.25
 param set-default CA_ROTOR3_KM -0.05

-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_TIM0 -4
+param set-default PWM_AUX_FUNC1 101
+param set-default PWM_AUX_FUNC2 102
+param set-default PWM_AUX_FUNC3 103
+param set-default PWM_AUX_FUNC4 104
+param set-default PWM_AUX_TIM0 -4

@@ -13,7 +13,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board diatone_mamba-f405-mk2 exclude
 #
 . ${R}etc/init.d/rc.mc_defaults

@@ -13,7 +13,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board diatone_mamba-f405-mk2 exclude
 #
 . ${R}etc/init.d/rc.mc_defaults

@@ -254,8 +254,6 @@ else
 	#
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q
-	rgbled_lp5562 start -X -q
-	rgbled_is31fl3195 start -X -q

 	#
 	# Override parameters from user configuration file.
@@ -330,12 +328,6 @@ else
 		fi
 	fi

-	# PPS capture driver
-	if param greater -s INPUT_CAP_ENABLE 0
-	then
-		input_capture start
-	fi
-
 	#
 	# Sensors System (start before Commander so Preflight checks are properly run).
 	# Commander needs to be this early for in-air-restarts.
@@ -39,7 +39,7 @@ def print_line(line):
        print('{0}'.format(line), end='')


-def do_nsh_cmd(port_url, baudrate, cmd, ignore_stdout_errors=False):
+def do_nsh_cmd(port_url, baudrate, cmd):
    ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)

    timeout_start = time.monotonic()
@@ -106,7 +106,7 @@ def do_nsh_cmd(port_url, baudrate, cmd, ignore_stdout_errors=False):
            if success_cmd in serial_line:
                sys.exit(return_code)
            else:
-                if "ERROR " in serial_line and not ignore_stdout_errors:
+                if "ERROR " in serial_line:
                    return_code = -1

                print_line(serial_line)
@@ -148,8 +148,6 @@ def main():
    parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
    parser.add_argument("--cmd", "-c", dest="cmd", help="Command to run")
-    parser.add_argument('--ignore-stdout-errors', action='store_true',
-                        help='Ignore errors printed to stdout')
    args = parser.parse_args()

    tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
@@ -157,7 +155,7 @@ def main():

    print("pyserial url: {0}".format(port_url))

-    do_nsh_cmd(port_url, args.baudrate, args.cmd, args.ignore_stdout_errors)
+    do_nsh_cmd(port_url, args.baudrate, args.cmd)

 if __name__ == "__main__":
   main()
@@ -4,16 +4,16 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
 		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
 		# scumaker_pilotpi_arm64
-		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:2022-08-12"
+		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
 		# posix_rpi_cross, posix_bebop_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
 	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
 		# clang tools
 		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
@@ -27,7 +27,7 @@ fi

 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
 fi

 # docker hygiene
@@ -56,14 +56,11 @@ def perform_imu_checks(
    # perform the vibration check
    imu_status['imu_vibration_check'] = 'Pass'
    for imu_vibr_metric in ['imu_coning', 'imu_hfgyro', 'imu_hfaccel']:
-        mean_metric = '{:s}_mean_warn'.format(imu_vibr_metric)
-        peak_metric = '{:s}_peak_warn'.format(imu_vibr_metric)
-        mean_key = '{:s}_mean'.format(imu_vibr_metric)
-        peak_key = '{:s}_peak'.format(imu_vibr_metric)
-        if mean_key in imu_metrics and peak_key in imu_metrics:
-            if imu_metrics[mean_key] > check_levels[mean_metric] \
-                   or imu_metrics[peak_key] > check_levels[peak_metric]:
-                imu_status['imu_vibration_check'] = 'Warning'
+        mean_metric = '{:s}_mean'.format(imu_vibr_metric)
+        peak_metric = '{:s}_peak'.format(imu_vibr_metric)
+        if imu_metrics[mean_metric] > check_levels['{:s}_warn'.format(mean_metric)] \
+                or imu_metrics[peak_metric] > check_levels['{:s}_warn'.format(peak_metric)]:
+            imu_status['imu_vibration_check'] = 'Warning'

    if imu_status['imu_vibration_check'] == 'Warning':
        print('IMU vibration check warning.')
@@ -104,9 +104,9 @@ def calculate_innov_fail_metrics(

    # calculate innovation check fail metrics
    for signal_id, signal, result in [('posv', 'reject_ver_pos', 'hgt_fail_percentage'),
-                                      ('magx', 'fs_bad_mag_x', 'magx_fail_percentage'),
-                                      ('magy', 'fs_bad_mag_y', 'magy_fail_percentage'),
-                                      ('magz', 'fs_bad_mag_z', 'magz_fail_percentage'),
+                                      ('magx', 'reject_mag_x', 'magx_fail_percentage'),
+                                      ('magy', 'reject_mag_y', 'magy_fail_percentage'),
+                                      ('magz', 'reject_mag_z', 'magz_fail_percentage'),
                                      ('yaw', 'reject_yaw', 'yaw_fail_percentage'),
                                      ('velh', 'reject_hor_vel', 'vel_fail_percentage'),
                                      ('velv', 'reject_ver_vel', 'vel_fail_percentage'),
@@ -222,7 +222,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
        data_plot = CheckFlagsPlot(
            status_flags_time, estimator_status_flags, [['reject_hor_vel', 'reject_hor_pos'], ['reject_ver_vel', 'reject_ver_pos',
                                                                               'reject_hagl'],
-                                       ['fs_bad_mag_x', 'fs_bad_mag_y', 'fs_bad_mag_z',
+                                       ['reject_mag_x', 'reject_mag_y', 'reject_mag_z',
                                        'reject_yaw'], ['reject_airspeed'], ['reject_sideslip'],
                                       ['reject_optflow_x',
                                        'reject_optflow_y']], x_label='time (sec)',
@@ -61,19 +61,18 @@ def process_target(px4board_file, target_name):

    if platform not in excluded_platforms:
        # get the container based on the platform and toolchain
+        container = platform
        if platform == 'posix':
-            container = 'px4io/px4-dev-base-focal:2021-09-08'
+            container = 'base-focal'
            if toolchain:
                if toolchain.startswith('aarch64'):
-                    container = 'px4io/px4-dev-aarch64:2022-08-12'
+                    container = 'aarch64'
                elif toolchain == 'arm-linux-gnueabihf':
-                    container = 'px4io/px4-dev-armhf:2023-06-26'
+                    container = 'armhf'
                else:
-                    if verbose: print(f'unmatched toolchain: {toolchain}')
+                    if verbose: print(f'possibly unmatched toolchain: {toolchain}')
        elif platform == 'nuttx':
-            container = 'px4io/px4-dev-nuttx-focal:2022-08-12'
-        else:
-            if verbose: print(f'unmatched platform: {platform}')
+            container = 'nuttx-focal'

        ret = {'target': target_name, 'container': container}

@@ -114,3 +113,4 @@ extra_args = {}
 if args.pretty:
    extra_args['indent'] = 2
 print(json.dumps(github_action_config, **extra_args))
+
@@ -1 +1 @@
-symforce>=0.9.0
+symforce>=0.5.0
@@ -1,15 +0,0 @@
-<?xml version="1.0"?>
-<model>
-  <name>Omnicopter</name>
-  <version>1.0</version>
-  <sdf version='1.9'>model.sdf</sdf>
-
-  <author>
-   <name>Jaeyoung Lim</name>
-   <email>jalim@ethz.ch</email>
-  </author>
-
-  <description>
-    Omnicopter model for over actuated system
-  </description>
-</model>
@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<sdf version='1.9'>
-  <include>
-      <name>omnicopter</name>
-      <pose>0 0 0 0 0 0</pose>
-      <uri>https://fuel.gazebosim.org/1.0/PX4/models/Omnicopter</uri>
-    </include>
-</sdf>
@@ -11,7 +11,6 @@
    <plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
    <plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/>
    <plugin name='gz::sim::systems::AirPressure' filename='gz-sim-air-pressure-system'/>
-    <plugin name='gz::sim::systems::ApplyLinkWrench' filename='gz-sim-apply-link-wrench-system'/>
    <plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
      <render_engine>ogre2</render_engine>
    </plugin>
@@ -106,7 +106,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -7,7 +7,6 @@
 #
 # CONFIG_DEV_CONSOLE is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_SPI_EXCHANGE is not set
 # CONFIG_STM32H7_SYSCFG is not set
 CONFIG_ARCH="arm"
@@ -49,14 +48,13 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_PREALLOC_TIMERS=50
-CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -387,7 +387,7 @@

 #define GPIO_UART7_RX    GPIO_UART7_RX_4    /* PF6  */
 #define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
-#define GPIO_UART7_RTS   GPIO_UART7_RTS_2   /* PF8  */
+#define GPIO_UART7_RTS   (GPIO_UART7_RTS_2 | GPIO_PULLDOWN)   /* PF8  */
 #define GPIO_UART7_CTS   (GPIO_UART7_CTS_1 | GPIO_PULLDOWN)   /* PE10 */

 #define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0 */
@@ -118,7 +118,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_IPCFG_BINARY=y
@@ -292,7 +292,7 @@ CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART5_IFLOWCONTROL=y
 CONFIG_UART5_OFLOWCONTROL=y
 CONFIG_UART5_RXDMA=y
-CONFIG_UART5_TXBUFSIZE=10000
+CONFIG_UART5_TXBUFSIZE=3000
 CONFIG_UART5_TXDMA=y
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_IFLOWCONTROL=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -120,7 +120,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_LIBC_LONG_LONG=y
@@ -105,7 +105,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -140,7 +140,15 @@

 #define PX4_PWM_ALTERNATE_RANGES
 #define PWM_LOWEST_MIN 0
+#define PWM_MOTOR_OFF	0
+#define PWM_SERVO_STOP	0
+#define PWM_DEFAULT_MIN 20
+#define PWM_HIGHEST_MIN 0
 #define PWM_HIGHEST_MAX 255
+#define PWM_DEFAULT_MAX 255
+#define PWM_LOWEST_MAX 255
+#define PWM_DEFAULT_TRIM 1500
+

 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer8 for the HRT */
@@ -106,7 +106,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -141,7 +141,15 @@

 #define PX4_PWM_ALTERNATE_RANGES
 #define PWM_LOWEST_MIN 0
+#define PWM_MOTOR_OFF	0
+#define PWM_SERVO_STOP	0
+#define PWM_DEFAULT_MIN 20
+#define PWM_HIGHEST_MIN 0
 #define PWM_HIGHEST_MAX 255
+#define PWM_DEFAULT_MAX 255
+#define PWM_LOWEST_MAX 255
+#define PWM_DEFAULT_TRIM 1500
+

 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer8 for the HRT */
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -111,7 +111,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
@@ -49,7 +49,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -23,8 +23,6 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
-# CONFIG_EKF2_GNSS_YAW is not set
-# CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -38,6 +36,7 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
@@ -62,7 +62,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
@@ -109,7 +109,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -10,10 +10,8 @@ CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
-CONFIG_DRIVERS_OSD_ATXXXX=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=y
@@ -33,6 +31,5 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_TOP=y
@@ -115,7 +115,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -113,7 +113,6 @@
 /* RC Serial port */

 #define RC_SERIAL_PORT                     "/dev/ttyS4"
-#define RC_SERIAL_SINGLEWIRE

 #define GPIO_RSSI_IN                       /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)

@@ -130,8 +129,6 @@
 		GPIO_RSSI_IN,                \
 	}

-#define BOARD_ENABLE_CONSOLE_BUFFER
-
 #define BOARD_NUM_IO_TIMERS 4

 __BEGIN_DECLS
@@ -252,5 +252,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif

+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -47,7 +47,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -47,7 +47,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -30,7 +30,7 @@ CONFIG_FDCLONE_STDIO=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=4096
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -104,7 +104,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -47,7 +47,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -111,7 +111,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -47,7 +47,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -111,7 +111,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -14,6 +14,10 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
@@ -66,7 +70,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -20,8 +20,8 @@ icm42688p -s -b 1 -R 12 start
 # Internal SPI2 ICM-42688
 icm42688p -s -b 2 -R 12 start

-# Don't start Internal I2C mag
-# bmm150 -I start
+# Internal I2C mag
+bmm150 -I start

 # Internal I2C baro
 icp201xx -I start
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_NCHAINS=24
 CONFIG_LIBC_FLOATINGPOINT=y
@@ -68,18 +68,4 @@ else()
 			nuttx_drivers # sdio
 			px4_layer
 	)
-
-	set(COMMON_MODALAI_SRC_DIR ${PX4_SOURCE_DIR}/boards/modalai/src)
-	set(MODALAI_SYSTEMCMD_SRC_DIR ${COMMON_MODALAI_SRC_DIR}/systemcmds/modalai)
-
-	px4_add_module(
-		MODULE systemcmds__modalai
-		MAIN modalai
-		COMPILE_FLAGS
-		SRCS
-			${MODALAI_SYSTEMCMD_SRC_DIR}/modalai_fc-v2.c
-			${MODALAI_SYSTEMCMD_SRC_DIR}/modalai_fc-v1.c
-			${MODALAI_SYSTEMCMD_SRC_DIR}/modalai.c
-		DEPENDS
-	)
 endif()
@@ -91,12 +91,6 @@
 #  define GPIO_nLED_GREEN      /* PE4 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
 #  define GPIO_nLED_BLUE       /* PE5 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)

-// GPIO_nLED_2_RED/ GPIO_nLED_2_GREEN /GPIO_nLED_2_BLUE are for v1 LED tests
-
-#  define GPIO_nLED_2_RED      /* PI0 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTI|GPIO_PIN0)
-#  define GPIO_nLED_2_GREEN    /* PH11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN11)
-#  define GPIO_nLED_2_BLUE     /* PA2 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN2)
-
 #  define BOARD_HAS_CONTROL_STATUS_LEDS      1
 #  define BOARD_OVERLOAD_LED     LED_RED
 #  define BOARD_ARMED_STATE_LED  LED_BLUE
@@ -214,12 +208,6 @@

 #define CAN1_SILENT                       /* PD15 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)

-/* For primary/backup signaling with VOXL, 2 pins on J4 are exposed */
-// GPIO_VOXL_STATUS_OUT/ GPIO_VOXL_STATUS_IN are for v1 Spare MSS Communications Interface and J4 tests
-
-#define GPIO_VOXL_STATUS_OUT            /* PE4 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
-#define GPIO_VOXL_STATUS_IN             /* PE3 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTE|GPIO_PIN3)
-
 /* Define True logic Power Control in arch agnostic form */

 #define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (on_true))
@@ -350,8 +338,8 @@

 #define BOARD_NUM_IO_TIMERS 5

-// J5 USART5 TELEM2 Port next to PWM connector
-#define MODAL_IO_DEFAULT_PORT                     "/dev/ttyS4"
+// J1 / TELEM1 / USART7
+#define MODAL_IO_DEFAULT_PORT                     "/dev/ttyS6"

 __BEGIN_DECLS

@@ -1,131 +0,0 @@
-#include <px4_platform_common/module.h>
-
-#include "chip.h"
-#include "stm32_gpio.h"
-#include "board_config.h"
-
-#include <nuttx/board.h>
-#include <arch/board/board.h>
-
-// v2
-#ifdef CONFIG_ARCH_CHIP_STM32H753II		// chip on M0087
-#include "modalai_fc-v2.h"
-#define MODALAI_FC_V2 1
-#else
-#include "modalai_fc-v1.h"
-#endif
-
-__EXPORT int modalai_main(int argc, char *argv[]);
-
-int modalai_main(int argc, char *argv[])
-{
-	int hw_rev = board_get_hw_revision();
-	int hw_ver = board_get_hw_version();
-
-	eHW_TYPE hw_type = eHwNone;
-
-#ifdef MODALAI_FC_V2
-
-	if (hw_rev == 0 && hw_ver == 3) {	// (should be hw_rev == 1 && hw_ver == 3) eventually...
-		hw_type = eM0087;
-
-	} else if (hw_rev == 0 && hw_ver == 3) {
-		hw_type = eM0079;
-
-	} else {
-		return -1;
-
-	}
-
-#else
-
-	if (hw_rev == 6 && hw_ver == 0) {
-		hw_type = eM0018;
-
-	} else if (hw_rev == 0 && hw_ver == 1) {
-		hw_type = eM0019;
-
-	} else if (hw_rev == 0 && hw_ver == 2) {
-		hw_type = eM0051;
-
-	} else {
-		return -1;
-
-	}
-
-#endif
-
-	if (argc <= 1) {
-#ifdef MODALAI_FC_V2
-		modalai_print_usage_v2();
-#else
-		modalai_print_usage_v1();
-#endif
-		return 1;
-	}
-
-	if (!strcmp(argv[1], "led")) {
-#ifdef MODALAI_FC_V2
-		return modalai_led_test_v2();
-#else
-		return modalai_led_test_v1();
-#endif
-
-	} else if (!strcmp(argv[1], "con")) {
-		if (argc <= 2) {
-			PRINT_MODULE_USAGE_COMMAND("con");
-			PRINT_MODULE_USAGE_ARG("<1,4,5,6,7,9,10,12,13>", "Connector ID", false);
-			PRINT_MODULE_USAGE_ARG("<uint>", "Pin Number", false);
-			PRINT_MODULE_USAGE_ARG("0 | 1", "<output state> (defaults to 0)", false);
-			return 1;
-		}
-
-		uint8_t con = 0;
-		uint8_t pin = 0;
-		bool state = false;
-
-		if (argc > 2) {
-			con = atoi(argv[2]);
-		}
-
-		if (argc > 3) {
-			pin = atoi(argv[3]);
-		}
-
-		if (argc > 4) {
-			state = atoi(argv[4]);
-		}
-
-#ifdef MODALAI_FC_V2
-		return modalai_con_gpio_test_v2(con, pin, state);
-#else
-		return modalai_con_gpio_test_v1(con, pin, state);
-#endif
-
-	} else if (!strcmp(argv[1], "buzz")) {
-
-#ifdef MODALAI_FC_V2
-		return modalai_buzz_test_v2(hw_type);
-#else
-		return modalai_buzz_test_v1(hw_type);
-#endif
-
-
-
-	} else if (!strcmp(argv[1], "detect")) {
-#ifdef MODALAI_FC_V2
-		modalai_hw_detect_v2(hw_type);
-#else
-		modalai_hw_detect_v1(hw_type);
-#endif
-
-		return 0;
-	}
-
-#ifdef MODALAI_FC_V2
-	modalai_print_usage_v2();
-#else
-	modalai_print_usage_v1();
-#endif
-	return -EINVAL;
-}
@@ -1,913 +0,0 @@
-#include <px4_platform_common/module.h>
-
-
-#include "chip.h"
-#include "stm32_gpio.h"
-#include "board_config.h"
-
-#include <nuttx/board.h>
-#include <arch/board/board.h>
-
-// v1
-#ifndef CONFIG_ARCH_CHIP_STM32H743ZI
-
-#include "modalai_fc-v1.h"
-
-
-
-
-void modalai_print_usage_v1(void)
-{
-	PRINT_MODULE_DESCRIPTION("ModalAI Test utility\n");
-
-	PRINT_MODULE_USAGE_NAME_SIMPLE("modalai", "command");
-
-	PRINT_MODULE_USAGE_COMMAND_DESCR("led", "LED Test");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("con", "Connector Output Test (as GPIO)");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("buzz", "Automated buzz out test");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("detect", "Detect board type");
-}
-
-void modalai_print_usage_con_gpio_test_v1(void)
-{
-	PRINT_MODULE_USAGE_NAME_SIMPLE("modalai con", "command");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("1",  "W<3,6> R<2,6>, <0-1>");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("4",  "W<2-4,6-7> R<8>, <0-1>");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("5",  "W<2-5>,   <0-1>");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("6",  "W<2-5>,   <0-1>");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("7",  "W<2-9>,   <0-1>");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("9",  "R<2>");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("10", "W<2-5>,   <0-1>");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("12", "W<1-3>,   <0-1>");
-	PRINT_MODULE_USAGE_COMMAND_DESCR("13", "W<3-5>,   <0-1>");
-}
-
-int modalai_led_test_v1(void)
-{
-	PX4_INFO("Running led test");
-
-	stm32_configgpio(GPIO_nLED_RED);
-	stm32_configgpio(GPIO_nLED_GREEN);
-	stm32_configgpio(GPIO_nLED_BLUE);
-
-	int i = 0;
-
-	stm32_configgpio(GPIO_nLED_2_RED);
-	stm32_configgpio(GPIO_nLED_2_GREEN);
-	stm32_configgpio(GPIO_nLED_2_BLUE);
-
-	for (i = 0; i < 3; i++) {
-		usleep(1000 * 100);
-		stm32_gpiowrite(GPIO_nLED_RED, false);
-
-		stm32_gpiowrite(GPIO_nLED_2_RED, false);
-		usleep(1000 * 100);
-		stm32_gpiowrite(GPIO_nLED_RED, true);
-		stm32_gpiowrite(GPIO_nLED_2_RED, true);
-
-		usleep(1000 * 100);
-		stm32_gpiowrite(GPIO_nLED_GREEN, false);
-		stm32_gpiowrite(GPIO_nLED_2_GREEN, false);
-		usleep(1000 * 100);
-		stm32_gpiowrite(GPIO_nLED_GREEN, true);
-		stm32_gpiowrite(GPIO_nLED_2_GREEN, true);
-
-		usleep(1000 * 100);
-		stm32_gpiowrite(GPIO_nLED_BLUE, false);
-		stm32_gpiowrite(GPIO_nLED_2_BLUE, false);
-		usleep(1000 * 100);
-		stm32_gpiowrite(GPIO_nLED_BLUE, true);
-		stm32_gpiowrite(GPIO_nLED_2_BLUE, true);
-	}
-
-	return OK;
-}
-
-int modalai_con_gpio_test_v1(uint8_t con, uint8_t pin, bool state)
-{
-	// validate
-	switch (con) {
-	// Primary MSS Communications Interface
-	case 1:
-		switch (pin) {
-		case 2:
-			stm32_configgpio(J1_PIN2_IN);
-			state = stm32_gpioread(J1_PIN2_IN);
-			break;
-
-		case 3:
-			stm32_configgpio(J1_PIN3);
-			stm32_gpiowrite(J1_PIN3, state);
-			break;
-
-		case 4:
-			stm32_configgpio(J1_PIN4);
-			stm32_gpiowrite(J1_PIN4, state);
-			break;
-
-		case 6:
-			stm32_configgpio(J1_PIN6_IN);
-			state = stm32_gpioread(J1_PIN6_IN);
-			break;
-
-		default:
-			modalai_print_usage_con_gpio_test_v1();
-			return -1;
-		}
-
-		break;
-
-	// STM JTAG Programming Header
-	case 2:
-		modalai_print_usage_con_gpio_test_v1();
-		return -1;
-
-	// USB 2.0 Full-Speed Downstream Device Port
-	case 3:
-		modalai_print_usage_con_gpio_test_v1();
-		return -1;
-
-	// Spare MSS Communications Interface
-	case 4:
-		switch (pin) {
-		case 2:
-			stm32_configgpio(J4_PIN2);
-			stm32_gpiowrite(J4_PIN2, state);
-			break;
-
-		case 3:
-			stm32_configgpio(J4_PIN3);
-			stm32_gpiowrite(J4_PIN3, state);
-			break;
-
-		case 4:
-			stm32_configgpio(J4_PIN4);
-			stm32_gpiowrite(J4_PIN4, state);
-			break;
-
-		case 6:
-			stm32_configgpio(J4_PIN6);
-			stm32_gpiowrite(J4_PIN6, state);
-			break;
-
-		case 7:
-			stm32_configgpio(J4_PIN7);
-			stm32_gpiowrite(J4_PIN7, state);
-			break;
-
-		case 8:
-			stm32_configgpio(J4_PIN8);
-			state = stm32_gpioread(J4_PIN8);
-			break;
-
-		default:
-			modalai_print_usage_con_gpio_test_v1();
-			return -1;
-		}
-
-		break;
-
-	// TELEMETRY CONNECTOR
-	case 5:
-		switch (pin) {
-		case 2:
-			stm32_configgpio(J5_PIN2);
-			stm32_gpiowrite(J5_PIN2, state);
-			break;
-
-		case 3:
-			stm32_configgpio(J5_PIN3);
-			stm32_gpiowrite(J5_PIN3, state);
-			break;
-
-		case 4:
-			stm32_configgpio(J5_PIN4);
-			stm32_gpiowrite(J5_PIN4, state);
-			break;
-
-		case 5:
-			stm32_configgpio(J5_PIN5);
-			stm32_gpiowrite(J5_PIN5, state);
-			break;
-
-		default:
-			modalai_print_usage_con_gpio_test_v1();
-			return -1;
-		}
-
-		break;
-
-	// EXPANSION CONNECTOR
-	case 6:
-		switch (pin) {
-		case 2:
-			stm32_configgpio(J6_PIN2);
-			stm32_gpiowrite(J6_PIN2, state);
-			break;
-
-		case 3:
-			stm32_configgpio(J6_PIN3);
-			stm32_gpiowrite(J6_PIN3, state);
-			break;
-
-		case 4:
-			stm32_configgpio(J6_PIN4);
-			stm32_gpiowrite(J6_PIN4, state);
-			break;
-
-		case 5:
-			stm32_configgpio(J6_PIN5);
-			stm32_gpiowrite(J6_PIN5, state);
-			break;
-
-		default:
-			modalai_print_usage_con_gpio_test_v1();
-			return -1;
-		}
-
-		break;
-
-	// PWM Output Connector
-	case 7:
-		switch (pin) {
-		case 2:
-			stm32_configgpio(J7_PIN2);
-			stm32_gpiowrite(J7_PIN2, state);
-			break;
-
-		case 3:
-			stm32_configgpio(J7_PIN3);
-			stm32_gpiowrite(J7_PIN3, state);
-			break;
-
-		case 4:
-			stm32_configgpio(J7_PIN4);
-			stm32_gpiowrite(J7_PIN4, state);
-			break;
-
-		case 5:
-			stm32_configgpio(J7_PIN5);
-			stm32_gpiowrite(J7_PIN5, state);
-			break;
-
-		case 6:
-			stm32_configgpio(J7_PIN6);
-			stm32_gpiowrite(J7_PIN6, state);
-			break;
-
-		case 7:
-			stm32_configgpio(J7_PIN7);
-			stm32_gpiowrite(J7_PIN7, state);
-			break;
-
-		case 8:
-			stm32_configgpio(J7_PIN8);
-			stm32_gpiowrite(J7_PIN8, state);
-			break;
-
-		case 9:
-			stm32_configgpio(J7_PIN9);
-			stm32_gpiowrite(J7_PIN9, state);
-			break;
-
-		default:
-			modalai_print_usage_con_gpio_test_v1();
-			return -1;
-		}
-
-		break;
-
-	// CAN 1 Peripheral Connector
-	case 8:
-		modalai_print_usage_con_gpio_test_v1();
-		return -1;
-
-	// PPM (RC) IN
-	case 9:
-		switch (pin) {
-		case 2:
-			stm32_configgpio(J9_PIN2_IN);
-			state = stm32_gpioread(J9_PIN2_IN);
-			break;
-
-		default:
-			modalai_print_usage_con_gpio_test_v1();
-			return -1;
-		}
-
-		break;
-
-	// GPS CONNECTOR
-	case 10:
-		switch (pin) {
-		case 2:
-			stm32_configgpio(J10_PIN2);
-			stm32_gpiowrite(J10_PIN2, state);
-			break;
-
-		case 3:
-			stm32_configgpio(J10_PIN3);
-			stm32_gpiowrite(J10_PIN3, state);
-			break;
-
-		case 4:
-			stm32_configgpio(J10_PIN4);
-			stm32_gpiowrite(J10_PIN4, state);
-			break;
-
-		case 5:
-			stm32_configgpio(J10_PIN5);
-			stm32_gpiowrite(J10_PIN5, state);
-			break;
-
-		default:
-			modalai_print_usage_con_gpio_test_v1();
-			return -1;
-		}
-
-		break;
-
-	// Micro SD Card Slot
-	case 11:
-		modalai_print_usage_con_gpio_test_v1();
-		return -1;
-
-	// Spektrum RC Input Connector
-	case 12:
-		switch (pin) {
-		case 1:
-			VDD_3V3_SPEKTRUM_POWER_EN(state);
-			break;
-
-		case 2:
-			__asm("nop");
-			stm32_configgpio(J12_PIN2);
-			stm32_gpiowrite(J12_PIN2, state);
-			//state = stm32_gpioread(J12_PIN2);
-			__asm("nop");
-			break;
-
-		case 3:
-			stm32_configgpio(J12_PIN3);
-			stm32_gpiowrite(J12_PIN3, state);
-			break;
-
-		default:
-			modalai_print_usage_con_gpio_test_v1();
-			return -1;
-		}
-
-		break;
-
-	// I2C DISPLAY / SPARE SENSOR CONNECTOR
-	case 13:
-		switch (pin) {
-		case 3:
-			stm32_configgpio(J13_PIN3);
-			stm32_gpiowrite(J13_PIN3, state);
-			break;
-
-		case 4:
-			stm32_configgpio(J13_PIN4);
-			stm32_gpiowrite(J13_PIN4, state);
-			break;
-
-		case 5:
-			stm32_configgpio(J13_PIN5);
-			stm32_gpiowrite(J13_PIN5, state);
-			break;
-
-		default:
-			modalai_print_usage_con_gpio_test_v1();
-			return -1;
-		}
-
-		break;
-	}
-
-	printf("GPIO - Con: %d, Pin: %d, State: %d\n", con, pin, state);
-	return OK;
-}
-
-bool test_pair(uint32_t output_pin, uint32_t input_pin)
-{
-
-	bool state = false;
-
-	stm32_gpiowrite(output_pin, true);
-	usleep(1000 * 10);
-	state = stm32_gpioread(input_pin);
-
-	if (state != true) {
-		return false;
-	}
-
-	usleep(1000 * 10);
-
-	stm32_gpiowrite(output_pin, false);
-	usleep(1000 * 10);
-	state = stm32_gpioread(input_pin);
-
-	if (state != false) {
-		return false;
-	}
-
-	return true;
-}
-
-bool modalai_test_pair(uint32_t output_pin, uint32_t input_pin)
-{
-
-	bool state = false;
-
-	stm32_gpiowrite(output_pin, true);
-	usleep(1000 * 10);
-	state = stm32_gpioread(input_pin);
-
-	if (state != true) {
-		return false;
-	}
-
-	usleep(1000 * 10);
-
-	stm32_gpiowrite(output_pin, false);
-	usleep(1000 * 10);
-	state = stm32_gpioread(input_pin);
-
-	if (state != false) {
-		return false;
-	}
-
-	return true;
-}
-
-int modalai_buzz_test_v1(eHW_TYPE hw_type)
-{
-	PX4_INFO("test: buzz");
-	usleep(1000 * 100 * 10);
-
-	if (hw_type == eM0018) {
-		PX4_INFO("Using Flight Core Config");
-
-	} else if (hw_type == eM0019) {
-		PX4_INFO("Using VOXL-Flight Config");
-
-	} else if (hw_type == eM0051) {
-		PX4_INFO("Using M0051 Config");
-
-	} else {
-		return -1;
-	}
-
-	if (hw_type == eM0018) {
-		PX4_INFO(">> Testing J1");
-		stm32_configgpio(J1_PIN2_IN); // 2 [in] to 4 [out]
-		stm32_configgpio(J1_PIN3); // 3 [out] to 6 [in]
-		stm32_configgpio(J1_PIN4); // 4 [out] to 2 [in]
-		stm32_configgpio(J1_PIN6_IN); // 6 [in] to 3 [out]
-
-		if (test_pair(J1_PIN4, J1_PIN2_IN)) {
-			PX4_INFO("PASS: J1P4-J1P2");
-
-		} else {
-			PX4_ERR("FAIL: J1P4-J1P2 ----------------------------------------");
-		}
-
-		if (test_pair(J1_PIN3, J1_PIN6_IN)) {
-			PX4_INFO("PASS: J1P3-J1P6");
-
-		} else {
-			PX4_ERR("FAIL: J1P3-J1P6 ----------------------------------------");
-		}
-
-	} else if (hw_type == eM0019) {
-		// NA on VOXL-Flight (internally routed)
-	}
-
-	if (hw_type == eM0018) {
-		PX4_INFO(">> Testing J4");
-		stm32_configgpio(J4_PIN2);    // 2 [out] 6 [in]
-		stm32_configgpio(J4_PIN3);    // 3 [out] 7 [in]
-		stm32_configgpio(J4_PIN4);    // 4 [out] 8 [in]
-		stm32_configgpio(J4_PIN6_IN); // 2 [out] 6 [in]
-		stm32_configgpio(J4_PIN7_IN); // 3 [out] 7 [in]
-		stm32_configgpio(J4_PIN8_IN); // 4 [out] 8 [in]
-
-		if (test_pair(J4_PIN2, J4_PIN6_IN)) {
-			PX4_INFO("PASS: J4P2-J4P6");
-
-		} else {
-			PX4_ERR("FAIL: J4P2-J4P6 ----------------------------------------");
-		}
-
-		if (test_pair(J4_PIN3, J4_PIN7_IN)) {
-			PX4_INFO("PASS: J4P3-J4P7");
-
-		} else {
-			PX4_ERR("FAIL: J4P3-J4P7 ----------------------------------------");
-		}
-
-		if (test_pair(J4_PIN4, J4_PIN8_IN)) {
-			PX4_INFO("PASS: J4P4-J4P8");
-
-		} else {
-			PX4_ERR("FAIL: J4P4-J4P8 ----------------------------------------");
-		}
-
-	} else if (hw_type == eM0019) {
-		PX4_INFO(">> Testing J1002");
-		stm32_configgpio(J1002_PIN2);    // 2 [out] 4 [in]
-		stm32_configgpio(J1002_PIN3);    // 3 [out] 6 [in]
-		stm32_configgpio(J1002_PIN4_IN); // 2 [out] 4 [in]
-		stm32_configgpio(J1002_PIN6_IN); // 3 [out] 6 [in]
-
-		if (test_pair(J1002_PIN2, J1002_PIN4_IN)) {
-			PX4_INFO("PASS: J1002P2-J1002P4");
-
-		} else {
-			PX4_ERR("FAIL: J1002P2-J1002P4 ----------------------------------------");
-		}
-
-		if (test_pair(J1002_PIN3, J1002_PIN6_IN)) {
-			PX4_INFO("PASS: J1002P3-J1002P6");
-
-		} else {
-			PX4_ERR("FAIL: J1002P3-J1002P6 ----------------------------------------");
-		}
-
-	}
-
-	if (hw_type == eM0018) {
-		PX4_INFO(">> Testing J5");
-		stm32_configgpio(J5_PIN2);    // 2 [out] 4 [in]
-		stm32_configgpio(J5_PIN3);    // 3 [out] 5 [in]
-		stm32_configgpio(J5_PIN4_IN); // 4 [in] 2 [out]
-		stm32_configgpio(J5_PIN5_IN); // 5 [in] 3 [out]
-
-		if (test_pair(J5_PIN2, J5_PIN4_IN)) {
-			PX4_INFO("PASS: J5P2-J5P4");
-
-		} else {
-			PX4_ERR("FAIL: J5P2-J5P4 ----------------------------------------");
-		}
-
-		if (test_pair(J5_PIN3, J5_PIN5_IN)) {
-			PX4_INFO("PASS: J5P3-J5P5");
-
-		} else {
-			PX4_ERR("FAIL: J5P3-J5P5 ----------------------------------------");
-		}
-
-	} else if (hw_type == eM0019) {
-		PX4_INFO(">> Testing J1010");
-		stm32_configgpio(J1010_PIN2);    // 2 [out] 4 [in]
-		stm32_configgpio(J1010_PIN3);    // 3 [out] 5 [in]
-		stm32_configgpio(J1010_PIN4_IN); // 4 [in] 2 [out]
-		stm32_configgpio(J1010_PIN5_IN); // 5 [in] 3 [out]
-
-		if (test_pair(J1010_PIN2, J1010_PIN4_IN)) {
-			PX4_INFO("PASS: J1010P2-J1010P4");
-
-		} else {
-			PX4_ERR("FAIL: J1010P2-J1010P4 ----------------------------------------");
-		}
-
-		if (test_pair(J1010_PIN3, J1010_PIN5_IN)) {
-			PX4_INFO("PASS: J1010P3-J1010P5");
-
-		} else {
-			PX4_ERR("FAIL: J1010P3-J1010P5 ----------------------------------------");
-		}
-
-	}
-
-	if (hw_type == eM0018) {
-		PX4_INFO(">> Testing J6");
-		stm32_configgpio(J6_PIN2);    // 2 [out] 4 [in]
-		stm32_configgpio(J6_PIN3);    // 3 [out] 5 [in]
-		stm32_configgpio(J6_PIN4_IN); // 4 [in] 2 [out]
-		stm32_configgpio(J6_PIN5_IN); // 5 [in] 3 [out]
-
-		if (test_pair(J6_PIN2, J6_PIN4_IN)) {
-			PX4_INFO("PASS: J6P2-J6P4");
-
-		} else {
-			PX4_ERR("FAIL: J6P2-J6P4 ----------------------------------------");
-		}
-
-		if (test_pair(J6_PIN3, J6_PIN5_IN)) {
-			PX4_INFO("PASS: J6P3-J6P5");
-
-		} else {
-			PX4_ERR("FAIL: J6P3-J6P5 ----------------------------------------");
-		}
-
-	} else if (hw_type == eM0019) {
-		PX4_INFO(">> Testing J1009");
-		stm32_configgpio(J1009_PIN2);    // 2 [out] 4 [in]
-		stm32_configgpio(J1009_PIN3);    // 3 [out] 5 [in]
-		stm32_configgpio(J1009_PIN4_IN); // 4 [in] 2 [out]
-		stm32_configgpio(J1009_PIN5_IN); // 5 [in] 3 [out]
-
-		if (test_pair(J1009_PIN2, J1009_PIN4_IN)) {
-			PX4_INFO("PASS: J1009P2-J1009P4");
-
-		} else {
-			PX4_ERR("FAIL: J1009P2-J1009P4 ----------------------------------------");
-		}
-
-		if (test_pair(J1009_PIN3, J1009_PIN5_IN)) {
-			PX4_INFO("PASS: J1009P3-J1009P5");
-
-		} else {
-			PX4_ERR("FAIL: J1009P3-J1009P5 ----------------------------------------");
-		}
-	}
-
-
-	if (hw_type == eM0018) {
-		PX4_INFO(">> Testing J7");
-		stm32_configgpio(J7_PIN2);    // 2 [out] 6 [in]
-		stm32_configgpio(J7_PIN3);    // 3 [out] 7 [in]
-		stm32_configgpio(J7_PIN4);    // 4 [out] 8 [in]
-		stm32_configgpio(J7_PIN5);    // 5 [out] 9 [in]
-		stm32_configgpio(J7_PIN6_IN); // 6 [in] 2 [out]
-		stm32_configgpio(J7_PIN7_IN); // 7 [in] 3 [out]
-		stm32_configgpio(J7_PIN8_IN); // 8 [in] 4 [out]
-		stm32_configgpio(J7_PIN9_IN); // 9 [in] 5 [out]
-
-		if (test_pair(J7_PIN2, J7_PIN6_IN)) {
-			PX4_INFO("PASS: J7P2-J7P6");
-
-		} else {
-			PX4_ERR("FAIL: J7P2-J7P6 ----------------------------------------");
-		}
-
-		if (test_pair(J7_PIN3, J7_PIN7_IN)) {
-			PX4_INFO("PASS: J7P3-J7P7");
-
-		} else {
-			PX4_ERR("FAIL: J7P3-J7P7 ----------------------------------------");
-		}
-
-		if (test_pair(J7_PIN4, J7_PIN8_IN)) {
-			PX4_INFO("PASS: J7P4-J7P8");
-
-		} else {
-			PX4_ERR("FAIL: J7P4-J7P8 ----------------------------------------");
-		}
-
-		if (test_pair(J7_PIN5, J7_PIN9_IN)) {
-			PX4_INFO("PASS: J7P5-J7P9");
-
-		} else {
-			PX4_ERR("FAIL: J7P5-J7P9 ----------------------------------------");
-		}
-
-	} else if (hw_type == eM0019) {
-		PX4_INFO(">> Testing J1007");
-		stm32_configgpio(J1007_PIN2);    // 2 [out] 6 [in]
-		stm32_configgpio(J1007_PIN3);    // 3 [out] 7 [in]
-		stm32_configgpio(J1007_PIN4);    // 4 [out] 8 [in]
-		stm32_configgpio(J1007_PIN5);    // 5 [out] 9 [in]
-		stm32_configgpio(J1007_PIN6_IN); // 6 [in] 2 [out]
-		stm32_configgpio(J1007_PIN7_IN); // 7 [in] 3 [out]
-		stm32_configgpio(J1007_PIN8_IN); // 8 [in] 4 [out]
-		stm32_configgpio(J1007_PIN9_IN); // 9 [in] 5 [out]
-
-		if (test_pair(J1007_PIN2, J1007_PIN6_IN)) {
-			PX4_INFO("PASS: J1007P2-J1007P6");
-
-		} else {
-			PX4_ERR("FAIL: J1007P2-J1007P6 ----------------------------------------");
-		}
-
-		if (test_pair(J1007_PIN3, J1007_PIN7_IN)) {
-			PX4_INFO("PASS: J1007P3-J1007P7");
-
-		} else {
-			PX4_ERR("FAIL: J1007P3-J1007P7 ----------------------------------------");
-		}
-
-		if (test_pair(J1007_PIN4, J1007_PIN8_IN)) {
-			PX4_INFO("PASS: J1007P4-J1007P8");
-
-		} else {
-			PX4_ERR("FAIL: J1007P4-J1007P8 ----------------------------------------");
-		}
-
-		if (test_pair(J1007_PIN5, J1007_PIN9_IN)) {
-			PX4_INFO("PASS: J1007P5-J1007P9");
-
-		} else {
-			PX4_ERR("FAIL: J1007P5-J1007P9 ----------------------------------------");
-		}
-
-	} else if (hw_type == eM0051) {
-		PX4_INFO(">> Testing M0051 J13");
-		stm32_configgpio(M0051J13_PIN2);    // 2 [out] 6 [in]
-		stm32_configgpio(M0051J13_PIN3);    // 3 [out] 7 [in]
-		stm32_configgpio(M0051J13_PIN4);    // 4 [out] 8 [in]
-		stm32_configgpio(M0051J13_PIN5);    // 5 [out] 9 [in]
-		stm32_configgpio(M0051J13_PIN6_IN); // 6 [in] 2 [out]
-		stm32_configgpio(M0051J13_PIN7_IN); // 7 [in] 3 [out]
-		stm32_configgpio(M0051J13_PIN8_IN); // 8 [in] 4 [out]
-		stm32_configgpio(M0051J13_PIN9_IN); // 9 [in] 5 [out]
-
-		if (test_pair(M0051J13_PIN2, M0051J13_PIN6_IN)) {
-			PX4_INFO("PASS: J13_P2-J13_P6");
-
-		} else {
-			PX4_ERR("FAIL: J13_P2-J13_P6 ----------------------------------------");
-		}
-
-		if (test_pair(M0051J13_PIN3, M0051J13_PIN7_IN)) {
-			PX4_INFO("PASS: JJ13_P3-J13_P7");
-
-		} else {
-			PX4_ERR("FAIL: J13_P3-J13_7P7 ----------------------------------------");
-		}
-
-		if (test_pair(M0051J13_PIN4, M0051J13_PIN8_IN)) {
-			PX4_INFO("PASS: J13_P4-J13_P8");
-
-		} else {
-			PX4_ERR("FAIL: J13_P4-J13_P8 ----------------------------------------");
-		}
-
-		if (test_pair(M0051J13_PIN5, M0051J13_PIN9_IN)) {
-			PX4_INFO("PASS: J13_P5-J13_P9");
-
-		} else {
-			PX4_ERR("FAIL: J13_P5-J13_P9 ----------------------------------------");
-		}
-	}
-
-	if (hw_type == eM0018) {
-		PX4_INFO(">> Testing J10");
-		stm32_configgpio(J10_PIN2);    // 2 [out] 4 [in]
-		stm32_configgpio(J10_PIN3);    // 3 [out] 5 [in]
-		stm32_configgpio(J10_PIN4_IN); // 4 [in] 2 [out]
-		stm32_configgpio(J10_PIN5_IN); // 5 [in] 3 [out]
-
-		if (test_pair(J10_PIN2, J10_PIN4_IN)) {
-			PX4_INFO("PASS: J10P2-J10P4");
-
-		} else {
-			PX4_ERR("FAIL: J10P2-J10P4 --------------------------------------");
-		}
-
-		if (test_pair(J10_PIN3, J10_PIN5_IN)) {
-			PX4_INFO("PASS: J10P3-J10P5");
-
-		} else {
-			PX4_ERR("FAIL: J10P3-J10P5 --------------------------------------");
-		}
-
-	} else if (hw_type == eM0019) {
-		PX4_INFO(">> Testing J1012");
-		stm32_configgpio(J1012_PIN2);    // 2 [out] 4 [in]
-		stm32_configgpio(J1012_PIN3);    // 3 [out] 5 [in]
-		stm32_configgpio(J1012_PIN4_IN); // 4 [in] 2 [out]
-		stm32_configgpio(J1012_PIN5_IN); // 5 [in] 3 [out]
-
-		if (test_pair(J1012_PIN2, J1012_PIN4_IN)) {
-			PX4_INFO("PASS: J1012P2-J1120P4");
-
-		} else {
-			PX4_ERR("FAIL: J1012P2-J1012P4 --------------------------------------");
-		}
-
-		if (test_pair(J1012_PIN3, J1012_PIN5_IN)) {
-			PX4_INFO("PASS: J1012P3-J1012P5");
-
-		} else {
-			PX4_ERR("FAIL: J1012P3-J1012P5 --------------------------------------");
-		}
-
-	} else if (hw_type == eM0051) {
-		PX4_INFO(">> Testing M0051 J15");
-		stm32_configgpio(M0051J15_PIN2);    // 2 [out] 4 [in]
-		stm32_configgpio(M0051J15_PIN3);    // 3 [out] 5 [in]
-		stm32_configgpio(M0051J15_PIN4_IN); // 4 [in] 2 [out]
-		stm32_configgpio(M0051J15_PIN5_IN); // 5 [in] 3 [out]
-
-		if (test_pair(M0051J15_PIN2, M0051J15_PIN4_IN)) {
-			PX4_INFO("PASS: J15_P2-J15_P4");
-
-		} else {
-			PX4_ERR("FAIL: J15_P2-JJ15_P4 --------------------------------------");
-		}
-
-		if (test_pair(M0051J15_PIN3, M0051J15_PIN5_IN)) {
-			PX4_INFO("PASS: J15_P3-J15_P5");
-
-		} else {
-			PX4_ERR("FAIL: J15_P3-J15_P5 --------------------------------------");
-		}
-
-	}
-
-	if (hw_type == eM0018) {
-		PX4_INFO(">> Testing J9/J12/J13");
-		stm32_configgpio(J9_PIN2_IN);  // J9-2 [in] J13-5 [out]
-
-		stm32_configgpio(J12_PIN2_IN); // J12-2 [in] J13-3 [out]
-		stm32_configgpio(J12_PIN3_IN); // J12-3 [in] J13-4 [out]
-
-		stm32_configgpio(J13_PIN3);    // J13-3 [out] J12-2 [in]
-		stm32_configgpio(J13_PIN4);    // J13-4 [out] J12-3 [in]
-		stm32_configgpio(J13_PIN5);    // J13-5 [out] J9-2 [in]
-
-		if (test_pair(J13_PIN3, J12_PIN2_IN)) {
-			PX4_INFO("PASS: J13P3-J12P2");
-
-		} else {
-			PX4_ERR("FAIL: J13P3-J12P2 --------------------------------------");
-		}
-
-		if (test_pair(J13_PIN4, J12_PIN3_IN)) {
-			PX4_INFO("PASS: J13P4-J12P3");
-
-		} else {
-			PX4_ERR("FAIL: J13P4-J12P3 --------------------------------------");
-		}
-
-		if (test_pair(J13_PIN5, J9_PIN2_IN)) {
-			PX4_INFO("PASS: J13P5-J9P2");
-
-		} else {
-			PX4_ERR("FAIL: J13P5-J9P2 --------------------------------------");
-		}
-
-	} else if (hw_type == eM0019) {
-		PX4_INFO(">> Testing J1003/J1004/J1011");
-		stm32_configgpio(J1003_PIN2_IN);  // J1003-2 [in] J13-5 [out]
-
-		stm32_configgpio(J1004_PIN2_IN); // J1004-2 [in] J13-3 [out]
-		stm32_configgpio(J1004_PIN3_IN); // J1004-3 [in] J13-4 [out]
-
-		stm32_configgpio(J1011_PIN3);    // J1011-3 [out] J12-2 [in]
-		stm32_configgpio(J1011_PIN4);    // J1011-4 [out] J12-3 [in]
-		stm32_configgpio(J1011_PIN5);    // J1011-5 [out] J9-2 [in]
-
-		if (test_pair(J1011_PIN3, J1004_PIN2_IN)) {
-			PX4_INFO("PASS: J1011P3-J1004P2");
-
-		} else {
-			PX4_ERR("FAIL: J1011P3-J1004P2 --------------------------------------");
-		}
-
-		if (test_pair(J1011_PIN4, J1004_PIN3_IN)) {
-			PX4_INFO("PASS: J1011P4-J1004P3");
-
-		} else {
-			PX4_ERR("FAIL: J1011P4-J1004P3 --------------------------------------");
-		}
-
-		if (test_pair(J1011_PIN5, J1003_PIN2_IN)) {
-			PX4_INFO("PASS: J1011P5-J1011P5");
-
-		} else {
-			PX4_ERR("FAIL: J1011P5-J1011P5 --------------------------------------");
-		}
-
-	} else if (hw_type == eM0051) {
-		PX4_INFO(">> Testing M0051 J14");
-		stm32_configgpio(M0051J14_PIN2);  // J14-2 [out] J14-3 [in]
-		stm32_configgpio(M0051J14_PIN3_IN); // J14-3 [in] J14-2 [out]
-
-		if (test_pair(M0051J14_PIN2, M0051J14_PIN3_IN)) {
-			PX4_INFO("PASS: J14_P2-J14_P3");
-
-		} else {
-			PX4_ERR("FAIL: J14_P2-J14_P3 --------------------------------------");
-		}
-
-	}
-
-	return 0;
-}
-
-int modalai_hw_detect_v1(eHW_TYPE hw_type)
-{
-	int result = 0;
-
-	if (hw_type == eM0018) {
-		PX4_INFO("V106 - Flight Core");
-
-	} else if (hw_type == eM0019) {
-		PX4_INFO("V110 - VOXL-Flight");
-
-	} else if (hw_type == eM0051) {
-		PX4_INFO("V120 - M0051");
-
-	} else {
-		PX4_ERR("Unknown hardware");
-		result = -1;
-	}
-
-	return result;
-}
-
-#endif //CONFIG_ARCH_CHIP_STM32H743ZI
--- a/Show More
+++ b/Show More