boards: CUAV Nora disable icm20649 until SPI6 BDMA is working

- lower compression level to 5 as recommended by ccache manual

.ci/Jenkinsfile-compile

@@ -70,16 +70,12 @@ pipeline {
                      "omnibus_f4sd_default",
                      "px4_fmu-v2_default",
                      "px4_fmu-v2_fixedwing",
-                     "px4_fmu-v2_lpe",
                      "px4_fmu-v2_multicopter",
                      "px4_fmu-v2_rover",
                      "px4_fmu-v2_test",
-                     "px4_fmu-v3_ctrlalloc",
                      "px4_fmu-v3_default",
                      "px4_fmu-v4_cannode",
-                     "px4_fmu-v4_ctrlalloc",
                      "px4_fmu-v4_default",
-                     "px4_fmu-v4_optimized",
                      "px4_fmu-v4pro_default",
                      "px4_fmu-v5_ctrlalloc",
                      "px4_fmu-v5_debug",

.github/workflows/checks.yml

@@ -52,8 +52,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
     - name: check environment

.github/workflows/clang-tidy.yml

@@ -34,8 +34,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/compile_linux.yml

@@ -43,8 +43,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/compile_linux_arm64.yml

@@ -39,8 +39,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/compile_macos.yml

@@ -43,8 +43,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/compile_nuttx.yml

@@ -49,16 +49,12 @@ jobs:
           omnibus_f4sd_default,
           px4_fmu-v2_default,
           px4_fmu-v2_fixedwing,
-          px4_fmu-v2_lpe,
           px4_fmu-v2_multicopter,
           px4_fmu-v2_rover,
           px4_fmu-v2_test,
-          px4_fmu-v3_ctrlalloc,
           px4_fmu-v3_default,
           px4_fmu-v4_cannode,
-          px4_fmu-v4_ctrlalloc,
           px4_fmu-v4_default,
-          px4_fmu-v4_optimized,
           px4_fmu-v4pro_default,
           px4_fmu-v5_ctrlalloc,
           px4_fmu-v5_default,
@@ -67,7 +63,6 @@ jobs:
           px4_fmu-v5_optimized,
           px4_fmu-v5_rover,
           px4_fmu-v5_rtps,
-          px4_fmu-v5_stackcheck,
           px4_fmu-v5_uavcanv0periph,
           px4_fmu-v5_uavcanv1,
           px4_fmu-v5x_base_phy_DP83848C,
@@ -100,8 +95,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/compile_nuttx_cannode.yml

@@ -43,8 +43,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/mavros_avoidance_tests.yml

@@ -43,8 +43,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/mavros_mission_tests.yml

@@ -49,8 +49,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/mavros_offboard_tests.yml

@@ -44,8 +44,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

.github/workflows/sitl_tests.yml

@@ -49,8 +49,8 @@ jobs:
           mkdir -p ~/.ccache
           echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
           echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
           ccache -s
           ccache -z
 

ROMFS/px4fmu_common/init.d/rcS

@@ -382,23 +382,25 @@ else
 
 	if param greater -s TRIG_MODE 0
 	then
-		# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
-		if param compare TRIG_PINS 56
-		then
-			# clear pins 5 and 6
-			set FMU_MODE pwm4
-			set AUX_MODE pwm4
-		else
-			if param compare TRIG_PINS 78
-			then
-				# clear pins 7 and 8
-				set FMU_MODE pwm6
-				set AUX_MODE pwm6
-			else
-				set FMU_MODE none
-				set AUX_MODE none
-			fi
-		fi
+		# # We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
+		# if param compare TRIG_PINS 56
+		# then
+		# 	# clear pins 5 and 6
+		# 	set FMU_MODE pwm4
+		# 	set AUX_MODE pwm4
+		# else
+		# 	if param compare TRIG_PINS 78
+		# 	then
+		# 		# clear pins 7 and 8
+		# 		set FMU_MODE pwm6
+		# 		set AUX_MODE pwm6
+		# 	else
+		# 		set FMU_MODE none
+		# 		set AUX_MODE none
+		# 	fi
+		# fi
+
+		set FMU_MODE pwm12
 
 		camera_trigger start
 		camera_feedback start

boards/cuav/nora/default.cmake

@@ -31,7 +31,7 @@ px4_add_board(
 		heater
 		#imu # all available imu drivers
 		imu/bosch/bmi088
-		imu/invensense/icm20649
+		#imu/invensense/icm20649
 		imu/invensense/icm20689
 		irlock
 		lights/blinkm

boards/cuav/nora/init/rc.board_sensors

@@ -16,7 +16,7 @@ bmi088 -s -b 4 -G -R 2 start
 ms5611 -s -b 4 start
 
 # SPI6
-icm20649 -s -b 6 -R 2 start
+#icm20649 -s -b 6 -R 2 start # TODO: not started by default until NuttX SPI6 BDMA is fixed
 ms5611 -s -b 6 start
 
 # External compass on GPS1/I2C1: standard CUAV GPS/compass puck (with lights, safety button, and buzzer)

boards/holybro/durandal-v1/nuttx-config/stackcheck/defconfig

@@ -1,242 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743II=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DTCM=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_STACKCHECK=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=95150
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_PRODUCTID=0x004b
-CONFIG_CDCACM_PRODUCTSTR="PX4 DurandalV1"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x3162
-CONFIG_CDCACM_VENDORSTR="Holybro"
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_MEMFAULT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_EXPERIMENTAL=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MAX_TASKS=64
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDMMC1_SDIO_MODE=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=256
-CONFIG_STM32H7_ADC1=y
-CONFIG_STM32H7_BBSRAM=y
-CONFIG_STM32H7_BBSRAM_FILES=5
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
-CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_DTCMEXCLUDE=y
-CONFIG_STM32H7_DTCM_PROCFS=y
-CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32H7_I2C1=y
-CONFIG_STM32H7_I2C2=y
-CONFIG_STM32H7_I2C3=y
-CONFIG_STM32H7_I2C4=y
-CONFIG_STM32H7_I2C_DYNTIMEO=y
-CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_RTC=y
-CONFIG_STM32H7_RTC_MAGIC_REG=1
-CONFIG_STM32H7_SAVE_CRASHDUMP=y
-CONFIG_STM32H7_SDMMC1=y
-CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_SPI1=y
-CONFIG_STM32H7_SPI1_DMA=y
-CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI2=y
-CONFIG_STM32H7_SPI4=y
-CONFIG_STM32H7_SPI5=y
-CONFIG_STM32H7_SPI6=y
-CONFIG_STM32H7_SPI6_DMA=y
-CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI_DMA=y
-CONFIG_STM32H7_SPI_DMATHRESHOLD=8
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_TIM3=y
-CONFIG_STM32H7_TIM4=y
-CONFIG_STM32H7_UART4=y
-CONFIG_STM32H7_UART7=y
-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
-CONFIG_STM32H7_USART_SWAP=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGSTP=y
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_SERIAL_CONSOLE=y
-CONFIG_UART7_TXBUFSIZE=1500
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_TXBUFSIZE=1500
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART3_BAUD=57600
-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
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
-CONFIG_WATCHDOG=y

boards/intel/aerofc-v1/rtps.cmake

@@ -1,104 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR intel
-	MODEL aerofc-v1
-	LABEL rtps
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_MEMORY
-	ROMFSROOT px4fmu_common
-	SERIAL_PORTS
-		GPS1:/dev/ttyS5
-		TEL1:/dev/ttyS3
-		TEL2:/dev/ttyS1
-	DRIVERS
-		barometer/ms5611
-		#camera_trigger
-		#differential_pressure # all available differential pressure drivers
-		distance_sensor
-		gps
-		imu/invensense/mpu9250
-		#irlock
-		#magnetometer # all available magnetometer drivers
-		magnetometer/hmc5883
-		magnetometer/isentek/ist8310
-		#optical_flow/px4flow
-		protocol_splitter
-		pwm_out_sim
-		pwm_out
-		rc_input
-		tap_esc
-		#telemetry # all available telemetry drivers
-		#uavcan
-	MODULES
-		#airspeed_selector
-		attitude_estimator_q
-		battery_status
-		#camera_feedback
-		commander
-		dataman
-		ekf2
-		events
-		flight_mode_manager
-		#fw_att_control
-		#fw_pos_control_l1
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		micrortps_bridge
-		navigator
-		rc_update
-		#rover_pos_control
-		sensors
-		#sih
-		#temperature_compensation
-		vmount
-		#vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		#dmesg
-		dumpfile
-		esc_calib
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		system_time
-		#tests # tests and test runner
-		top
-		#topic_listener
-		tune_control
-		uorb
-		ver
-		work_queue
-	EXAMPLES
-		#fake_gps
-		#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
-	)

boards/px4/fmu-v2/lpe.cmake

@@ -1,123 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR px4
-	MODEL fmu-v2
-	LABEL lpe
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_MEMORY
-	ROMFSROOT px4fmu_common
-	BOOTLOADER ${PX4_SOURCE_DIR}/ROMFS/px4fmu_common/extras/px4fmuv3_bl.bin
-	IO px4_io-v2_default
-	#TESTING
-	CONSTRAINED_FLASH
-	#UAVCAN_INTERFACES 2
-
-	SERIAL_PORTS
-		GPS1:/dev/ttyS3
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-		TEL4:/dev/ttyS6
-
-	DRIVERS
-		adc/board_adc
-		#barometer # all available barometer drivers
-		barometer/ms5611
-		#batt_smbus
-		camera_capture
-		camera_trigger
-		#differential_pressure # all available differential pressure drivers
-		#differential_pressure/ms4525
-		distance_sensor # all available distance sensor drivers
-		gps
-		#heater
-		#imu/analog_devices/adis16448
-		#imu # all available imu drivers
-		imu/l3gd20
-		imu/lsm303d
-		imu/invensense/mpu6000
-		#iridiumsbd
-		irlock
-		#lights/blinkm
-		lights/rgbled
-		#magnetometer # all available magnetometer drivers
-		magnetometer/hmc5883
-		#optical_flow # all available optical flow drivers
-		optical_flow/px4flow
-		#pca9685
-		#protocol_splitter
-		#pwm_input
-		pwm_out_sim
-		pwm_out
-		px4io
-		#tap_esc
-		#telemetry # all available telemetry drivers
-		#test_ppm
-		tone_alarm
-		#uavcan
-
-	MODULES
-		attitude_estimator_q
-		camera_feedback
-		commander
-		dataman
-		#ekf2
-		events
-		flight_mode_manager
-		#fw_att_control
-		#fw_pos_control_l1
-		#rover_pos_control
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_rate_control
-		mc_pos_control
-		navigator
-		battery_status
-		rc_update
-		sensors
-		temperature_compensation
-		#vmount
-		#vtol_att_control
-		#airspeed_selector
-
-	SYSTEMCMDS
-		bl_update
-		#dumpfile
-		#esc_calib
-		hardfault_log
-		i2cdetect
-		#led_control
-		mft
-		mixer
-		#motor_ramp
-		motor_test
-		mtd
-		#nshterm
-		param
-		perf
-		pwm
-		reboot
-		#sd_bench
-		#tests # tests and test runner
-		top
-		#topic_listener
-		tune_control
-		uorb
-		ver
-		work_queue
-
-	EXAMPLES
-		#fake_gps
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
-		#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
-	)

boards/px4/fmu-v3/ctrlalloc.cmake

@@ -1,140 +0,0 @@
-
-# FMUv3 is FMUv2 with access to the full 2MB flash
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR px4
-	MODEL fmu-v3
-	LABEL ctrlalloc
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_MEMORY
-	ROMFSROOT px4fmu_common
-	IO px4_io-v2_default
-	TESTING
-	UAVCAN_INTERFACES 2
-	SERIAL_PORTS
-		GPS1:/dev/ttyS3
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-		TEL4:/dev/ttyS6
-	DRIVERS
-		adc/board_adc
-		adc/ads1115
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		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
-		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
-		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
-		optical_flow/px4flow
-		#osd
-		pca9685
-		pca9685_pwm_out
-		#power_monitor/ina226
-		#protocol_splitter
-		pwm_input
-		pwm_out_sim
-		pwm_out
-		px4io
-		roboclaw
-		tap_esc
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		angular_velocity_controller
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		control_allocator
-		dataman
-		ekf2
-		esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		#dmesg
-		dumpfile
-		esc_calib
-		gpio
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		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
-	)

boards/px4/fmu-v3/nuttx-config/stackcheck/defconfig

@@ -1,238 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_STM32_CCMEXCLUDE is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32"
-CONFIG_ARCH_CHIP_STM32=y
-CONFIG_ARCH_CHIP_STM32F427V=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_STACKCHECK=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_PRODUCTID=0x0011
-CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v2.x"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=2000
-CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_VENDORSTR="3D Robotics"
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=2
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
-CONFIG_RAM_SIZE=262144
-CONFIG_RAM_START=0x20000000
-CONFIG_RAW_BINARY=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDIO_BLOCKSETUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_STM32_ADC1=y
-CONFIG_STM32_BBSRAM=y
-CONFIG_STM32_BBSRAM_FILES=5
-CONFIG_STM32_BKPSRAM=y
-CONFIG_STM32_CCMDATARAM=y
-CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
-CONFIG_STM32_DMA1=y
-CONFIG_STM32_DMA2=y
-CONFIG_STM32_FLASH_CONFIG_I=y
-CONFIG_STM32_FLOWCONTROL_BROKEN=y
-CONFIG_STM32_I2C1=y
-CONFIG_STM32_I2C2=y
-CONFIG_STM32_I2CTIMEOMS=10
-CONFIG_STM32_I2CTIMEOTICKS=10
-CONFIG_STM32_JTAG_SW_ENABLE=y
-CONFIG_STM32_OTGFS=y
-CONFIG_STM32_PWR=y
-CONFIG_STM32_RTC=y
-CONFIG_STM32_RTC_HSECLOCK=y
-CONFIG_STM32_RTC_MAGIC=0xfacefeee
-CONFIG_STM32_RTC_MAGIC_REG=1
-CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
-CONFIG_STM32_SAVE_CRASHDUMP=y
-CONFIG_STM32_SDIO=y
-CONFIG_STM32_SDIO_CARD=y
-CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32_SPI1=y
-CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=1024
-CONFIG_STM32_SPI2=y
-CONFIG_STM32_SPI4=y
-CONFIG_STM32_SPI4_DMA=y
-CONFIG_STM32_SPI4_DMA_BUFFER=1024
-CONFIG_STM32_SPI_DMA=y
-CONFIG_STM32_SPI_DMATHRESHOLD=32
-CONFIG_STM32_TIM10=y
-CONFIG_STM32_TIM11=y
-CONFIG_STM32_TIM3=y
-CONFIG_STM32_TIM9=y
-CONFIG_STM32_UART4=y
-CONFIG_STM32_UART7=y
-CONFIG_STM32_UART8=y
-CONFIG_STM32_USART1=y
-CONFIG_STM32_USART2=y
-CONFIG_STM32_USART3=y
-CONFIG_STM32_USART6=y
-CONFIG_STM32_USART_BREAKS=y
-CONFIG_STM32_USART_SINGLEWIRE=y
-CONFIG_STM32_WWDG=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=300
-CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=300
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=300
-CONFIG_UART7_RXDMA=y
-CONFIG_UART7_SERIAL_CONSOLE=y
-CONFIG_UART7_TXBUFSIZE=300
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=300
-CONFIG_UART8_TXBUFSIZE=300
-CONFIG_USART1_RXBUFSIZE=128
-CONFIG_USART1_TXBUFSIZE=32
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_RXDMA=y
-CONFIG_USART2_TXBUFSIZE=1100
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_IFLOWCONTROL=y
-CONFIG_USART3_OFLOWCONTROL=y
-CONFIG_USART3_RXBUFSIZE=300
-CONFIG_USART3_RXDMA=y
-CONFIG_USART3_TXBUFSIZE=600
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=300
-CONFIG_USART6_RXDMA=y
-CONFIG_USART6_TXBUFSIZE=300
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"

boards/px4/fmu-v3/rtps.cmake

@@ -1,134 +0,0 @@
-
-# FMUv3 is FMUv2 with access to the full 2MB flash
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR px4
-	MODEL fmu-v3
-	LABEL rtps
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_MEMORY
-	ROMFSROOT px4fmu_common
-	IO px4_io-v2_default
-	TESTING
-	UAVCAN_INTERFACES 2
-	SERIAL_PORTS
-		GPS1:/dev/ttyS3
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-		TEL4:/dev/ttyS6
-	DRIVERS
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		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
-		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
-		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
-		optical_flow/px4flow
-		#osd
-		pca9685
-		#power_monitor/ina226
-		protocol_splitter
-		pwm_input
-		pwm_out_sim
-		pwm_out
-		px4io
-		roboclaw
-		tap_esc
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		micrortps_bridge
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		#dmesg
-		dumpfile
-		esc_calib
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		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
-	)

boards/px4/fmu-v3/stackcheck.cmake

@@ -1,130 +0,0 @@
-
-# FMUv3 is FMUv2 with access to the full 2MB flash
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR px4
-	MODEL fmu-v3
-	LABEL stackcheck
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_MEMORY
-	ROMFSROOT px4fmu_common
-	IO px4_io-v2_default
-	TESTING
-	#UAVCAN_INTERFACES 2
-
-	SERIAL_PORTS
-		GPS1:/dev/ttyS0
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-		TEL4:/dev/ttyS3
-
-	DRIVERS
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		gps
-		#heater
-		imu/analog_devices/adis16448
-		#imu # all available imu drivers
-		imu/l3gd20
-		imu/lsm303d
-		imu/invensense/icm20608g
-		imu/invensense/mpu6000
-		imu/invensense/mpu9250
-		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
-		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
-		optical_flow/px4flow
-		pca9685
-		protocol_splitter
-		pwm_input
-		pwm_out_sim
-		pwm_out
-		px4io
-		roboclaw
-		tap_esc
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		#uavcan
-
-	MODULES
-		attitude_estimator_q
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		rover_pos_control
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_rate_control
-		mc_pos_control
-		navigator
-		battery_status
-		rc_update
-		sensors
-		sih
-		temperature_compensation
-		vmount
-		vtol_att_control
-		airspeed_selector
-
-	SYSTEMCMDS
-		bl_update
-		dumpfile
-		esc_calib
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-
-	EXAMPLES
-		#fake_gps
-		#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
-
-	)

boards/px4/fmu-v4/ctrlalloc.cmake

@@ -1,140 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR px4
-	MODEL fmu-v4
-	LABEL ctrlalloc
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_MEMORY
-	ROMFSROOT px4fmu_common
-	TESTING
-	UAVCAN_INTERFACES 1
-	SERIAL_PORTS
-		GPS1:/dev/ttyS3
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-		WIFI:/dev/ttyS0
-
-	DRIVERS
-		adc/board_adc
-		adc/ads1115
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		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
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		#osd
-		pca9685
-		pca9685_pwm_out
-		#protocol_splitter
-		pwm_input
-		pwm_out_sim
-		pwm_out
-		rc_input
-		roboclaw
-		safety_button
-		tap_esc
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		angular_velocity_controller
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		control_allocator
-		dataman
-		ekf2
-		esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		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
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		#dmesg
-		dumpfile
-		esc_calib
-		gpio
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		fake_gyro
-		fake_magnetometer
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		gyro_fft
-		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
-	)

boards/px4/fmu-v4/nuttx-config/optimized/defconfig

@@ -1,236 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_STM32_CCMEXCLUDE is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32"
-CONFIG_ARCH_CHIP_STM32=y
-CONFIG_ARCH_CHIP_STM32F427V=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_PRODUCTID=0x0012
-CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v4.x"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=2000
-CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_VENDORSTR="3D Robotics"
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_CUSTOMOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_OPTLEVEL="-O3"
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=2
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
-CONFIG_RAM_SIZE=262144
-CONFIG_RAM_START=0x20000000
-CONFIG_RAW_BINARY=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDIO_BLOCKSETUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_STM32_ADC1=y
-CONFIG_STM32_BBSRAM=y
-CONFIG_STM32_BBSRAM_FILES=5
-CONFIG_STM32_BKPSRAM=y
-CONFIG_STM32_CCMDATARAM=y
-CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
-CONFIG_STM32_DMA1=y
-CONFIG_STM32_DMA2=y
-CONFIG_STM32_FLASH_CONFIG_I=y
-CONFIG_STM32_FLOWCONTROL_BROKEN=y
-CONFIG_STM32_I2C1=y
-CONFIG_STM32_I2CTIMEOMS=10
-CONFIG_STM32_I2CTIMEOTICKS=10
-CONFIG_STM32_JTAG_SW_ENABLE=y
-CONFIG_STM32_OTGFS=y
-CONFIG_STM32_PWR=y
-CONFIG_STM32_RTC=y
-CONFIG_STM32_RTC_HSECLOCK=y
-CONFIG_STM32_RTC_MAGIC=0xfacefeee
-CONFIG_STM32_RTC_MAGIC_REG=1
-CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
-CONFIG_STM32_SAVE_CRASHDUMP=y
-CONFIG_STM32_SDIO=y
-CONFIG_STM32_SDIO_CARD=y
-CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32_SPI1=y
-CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=1024
-CONFIG_STM32_SPI2=y
-CONFIG_STM32_SPI4=y
-CONFIG_STM32_SPI_DMA=y
-CONFIG_STM32_SPI_DMATHRESHOLD=8
-CONFIG_STM32_TIM10=y
-CONFIG_STM32_TIM11=y
-CONFIG_STM32_TIM8=y
-CONFIG_STM32_TIM9=y
-CONFIG_STM32_UART4=y
-CONFIG_STM32_UART7=y
-CONFIG_STM32_UART8=y
-CONFIG_STM32_USART1=y
-CONFIG_STM32_USART2=y
-CONFIG_STM32_USART3=y
-CONFIG_STM32_USART6=y
-CONFIG_STM32_USART_BREAKS=y
-CONFIG_STM32_USART_SINGLEWIRE=y
-CONFIG_STM32_WWDG=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=300
-CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=300
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=300
-CONFIG_UART7_RXDMA=y
-CONFIG_UART7_SERIAL_CONSOLE=y
-CONFIG_UART7_TXBUFSIZE=300
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=300
-CONFIG_UART8_TXBUFSIZE=300
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_RXDMA=y
-CONFIG_USART1_TXBUFSIZE=2500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_RXDMA=y
-CONFIG_USART2_TXBUFSIZE=1100
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_IFLOWCONTROL=y
-CONFIG_USART3_OFLOWCONTROL=y
-CONFIG_USART3_RXBUFSIZE=1200
-CONFIG_USART3_RXDMA=y
-CONFIG_USART3_TXBUFSIZE=900
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=300
-CONFIG_USART6_RXDMA=y
-CONFIG_USART6_TXBUFSIZE=300
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"

boards/px4/fmu-v4/nuttx-config/stackcheck/defconfig

@@ -1,236 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_STM32_CCMEXCLUDE is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32"
-CONFIG_ARCH_CHIP_STM32=y
-CONFIG_ARCH_CHIP_STM32F427V=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_STACKCHECK=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_PRODUCTID=0x0012
-CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v4.x"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=2000
-CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_VENDORSTR="3D Robotics"
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=2
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
-CONFIG_RAM_SIZE=262144
-CONFIG_RAM_START=0x20000000
-CONFIG_RAW_BINARY=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDIO_BLOCKSETUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_STM32_ADC1=y
-CONFIG_STM32_BBSRAM=y
-CONFIG_STM32_BBSRAM_FILES=5
-CONFIG_STM32_BKPSRAM=y
-CONFIG_STM32_CCMDATARAM=y
-CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
-CONFIG_STM32_DMA1=y
-CONFIG_STM32_DMA2=y
-CONFIG_STM32_FLASH_CONFIG_I=y
-CONFIG_STM32_FLOWCONTROL_BROKEN=y
-CONFIG_STM32_I2C1=y
-CONFIG_STM32_I2CTIMEOMS=10
-CONFIG_STM32_I2CTIMEOTICKS=10
-CONFIG_STM32_JTAG_SW_ENABLE=y
-CONFIG_STM32_OTGFS=y
-CONFIG_STM32_PWR=y
-CONFIG_STM32_RTC=y
-CONFIG_STM32_RTC_HSECLOCK=y
-CONFIG_STM32_RTC_MAGIC=0xfacefeee
-CONFIG_STM32_RTC_MAGIC_REG=1
-CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
-CONFIG_STM32_SAVE_CRASHDUMP=y
-CONFIG_STM32_SDIO=y
-CONFIG_STM32_SDIO_CARD=y
-CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32_SPI1=y
-CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=1024
-CONFIG_STM32_SPI2=y
-CONFIG_STM32_SPI4=y
-CONFIG_STM32_SPI_DMA=y
-CONFIG_STM32_SPI_DMATHRESHOLD=8
-CONFIG_STM32_TIM10=y
-CONFIG_STM32_TIM11=y
-CONFIG_STM32_TIM8=y
-CONFIG_STM32_TIM9=y
-CONFIG_STM32_UART4=y
-CONFIG_STM32_UART7=y
-CONFIG_STM32_UART8=y
-CONFIG_STM32_USART1=y
-CONFIG_STM32_USART2=y
-CONFIG_STM32_USART3=y
-CONFIG_STM32_USART6=y
-CONFIG_STM32_USART_BREAKS=y
-CONFIG_STM32_USART_SINGLEWIRE=y
-CONFIG_STM32_WWDG=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=300
-CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=300
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=300
-CONFIG_UART7_RXDMA=y
-CONFIG_UART7_SERIAL_CONSOLE=y
-CONFIG_UART7_TXBUFSIZE=300
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=300
-CONFIG_UART8_TXBUFSIZE=300
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_RXDMA=y
-CONFIG_USART1_TXBUFSIZE=2500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_RXDMA=y
-CONFIG_USART2_TXBUFSIZE=1100
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_IFLOWCONTROL=y
-CONFIG_USART3_OFLOWCONTROL=y
-CONFIG_USART3_RXBUFSIZE=1200
-CONFIG_USART3_RXDMA=y
-CONFIG_USART3_TXBUFSIZE=900
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=300
-CONFIG_USART6_RXDMA=y
-CONFIG_USART6_TXBUFSIZE=300
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"

boards/px4/fmu-v4/nuttx-config/uavcanv1/defconfig

@@ -1,239 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_STM32_CCMEXCLUDE is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32"
-CONFIG_ARCH_CHIP_STM32=y
-CONFIG_ARCH_CHIP_STM32F427V=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_LAZYFPU=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CAN_EXTID=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_PRODUCTID=0x0012
-CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v4.x"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=2000
-CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_VENDORSTR="3D Robotics"
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=2
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
-CONFIG_RAM_SIZE=262144
-CONFIG_RAM_START=0x20000000
-CONFIG_RAW_BINARY=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDIO_BLOCKSETUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_STM32_ADC1=y
-CONFIG_STM32_BBSRAM=y
-CONFIG_STM32_BBSRAM_FILES=5
-CONFIG_STM32_BKPSRAM=y
-CONFIG_STM32_CAN1=y
-CONFIG_STM32_CAN1_BAUD=1000000
-CONFIG_STM32_CCMDATARAM=y
-CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
-CONFIG_STM32_DMA1=y
-CONFIG_STM32_DMA2=y
-CONFIG_STM32_FLASH_CONFIG_I=y
-CONFIG_STM32_FLOWCONTROL_BROKEN=y
-CONFIG_STM32_I2C1=y
-CONFIG_STM32_I2CTIMEOMS=10
-CONFIG_STM32_I2CTIMEOTICKS=10
-CONFIG_STM32_JTAG_SW_ENABLE=y
-CONFIG_STM32_OTGFS=y
-CONFIG_STM32_PWR=y
-CONFIG_STM32_RTC=y
-CONFIG_STM32_RTC_HSECLOCK=y
-CONFIG_STM32_RTC_MAGIC=0xfacefeee
-CONFIG_STM32_RTC_MAGIC_REG=1
-CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
-CONFIG_STM32_SAVE_CRASHDUMP=y
-CONFIG_STM32_SDIO=y
-CONFIG_STM32_SDIO_CARD=y
-CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32_SPI1=y
-CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=1024
-CONFIG_STM32_SPI2=y
-CONFIG_STM32_SPI4=y
-CONFIG_STM32_SPI_DMA=y
-CONFIG_STM32_SPI_DMATHRESHOLD=8
-CONFIG_STM32_TIM10=y
-CONFIG_STM32_TIM11=y
-CONFIG_STM32_TIM8=y
-CONFIG_STM32_TIM9=y
-CONFIG_STM32_UART4=y
-CONFIG_STM32_UART7=y
-CONFIG_STM32_UART8=y
-CONFIG_STM32_USART1=y
-CONFIG_STM32_USART2=y
-CONFIG_STM32_USART3=y
-CONFIG_STM32_USART6=y
-CONFIG_STM32_USART_BREAKS=y
-CONFIG_STM32_USART_SINGLEWIRE=y
-CONFIG_STM32_WWDG=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=300
-CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=300
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=300
-CONFIG_UART7_RXDMA=y
-CONFIG_UART7_SERIAL_CONSOLE=y
-CONFIG_UART7_TXBUFSIZE=300
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=300
-CONFIG_UART8_TXBUFSIZE=300
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_RXDMA=y
-CONFIG_USART1_TXBUFSIZE=2500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_RXDMA=y
-CONFIG_USART2_TXBUFSIZE=1100
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_IFLOWCONTROL=y
-CONFIG_USART3_OFLOWCONTROL=y
-CONFIG_USART3_RXBUFSIZE=1200
-CONFIG_USART3_RXDMA=y
-CONFIG_USART3_TXBUFSIZE=900
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=300
-CONFIG_USART6_RXDMA=y
-CONFIG_USART6_TXBUFSIZE=300
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"

boards/px4/fmu-v4/optimized.cmake

@@ -1,119 +0,0 @@
-
-# set Release for -O3
-set(CMAKE_BUILD_TYPE "Release" CACHE STRING "Build type" FORCE)
-add_compile_options(-Wno-error=array-bounds)
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR px4
-	MODEL fmu-v4
-	LABEL optimized
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_MEMORY
-	ROMFSROOT px4fmu_common
-	TESTING
-	UAVCAN_INTERFACES 1
-	SERIAL_PORTS
-		GPS1:/dev/ttyS3
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-	DRIVERS
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		#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
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		#pwm_input
-		pwm_out_sim
-		pwm_out
-		rc_input
-		#roboclaw
-		safety_button
-		#tap_esc
-		#telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		#uavcan
-	MODULES
-		airspeed_selector
-		#attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		land_detector
-		#landing_target_estimator
-		load_mon
-		#local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		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
-		#vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		#dmesg
-		dumpfile
-		esc_calib
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	)

boards/px4/fmu-v4/rtps.cmake

@@ -1,130 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR px4
-	MODEL fmu-v4
-	LABEL rtps
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_MEMORY
-	ROMFSROOT px4fmu_common
-	TESTING
-	UAVCAN_INTERFACES 1
-	SERIAL_PORTS
-		GPS1:/dev/ttyS3
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-	DRIVERS
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		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
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		#osd
-		pca9685
-		protocol_splitter
-		pwm_input
-		pwm_out_sim
-		pwm_out
-		rc_input
-		roboclaw
-		safety_button
-		tap_esc
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		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
-		#dmesg
-		dumpfile
-		esc_calib
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		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
-	)

boards/px4/fmu-v4/stackcheck.cmake

@@ -1,129 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR px4
-	MODEL fmu-v4
-	LABEL stackcheck
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_MEMORY
-	ROMFSROOT px4fmu_common
-	TESTING
-	#UAVCAN_INTERFACES 1
-	SERIAL_PORTS
-		GPS1:/dev/ttyS3
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-	DRIVERS
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		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
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		#osd
-		pca9685
-		#protocol_splitter
-		pwm_input
-		pwm_out_sim
-		pwm_out
-		rc_input
-		#roboclaw
-		safety_button
-		tap_esc
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		#uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		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
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		#dmesg
-		dumpfile
-		esc_calib
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		#fake_gps
-		#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
-	)

boards/px4/fmu-v4pro/rtps.cmake

@@ -1,129 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR px4
-	MODEL fmu-v4pro
-	LABEL rtps
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_MEMORY
-	ROMFSROOT px4fmu_common
-	IO px4_io-v2_default
-	TESTING
-	UAVCAN_INTERFACES 2
-	SERIAL_PORTS
-		GPS1:/dev/ttyS3
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-		TEL3:/dev/ttyS0
-		TEL4:/dev/ttyS6
-	DRIVERS
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		#dshot
-		gps
-		#heater
-		#imu # all available imu drivers
-		imu/invensense/icm20602
-		imu/invensense/icm20608g
-		imu/invensense/mpu9250
-		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
-		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
-		optical_flow/px4flow
-		#osd
-		pca9685
-		power_monitor/ina226
-		protocol_splitter
-		pwm_input
-		pwm_out_sim
-		pwm_out
-		px4io
-		roboclaw
-		tap_esc
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		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
-		#dmesg
-		dumpfile
-		esc_calib
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		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
-	)

boards/px4/fmu-v5/critmonitor.cmake

@@ -1,131 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR px4
-	MODEL fmu-v5
-	LABEL critmonitor
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m7
-	ROMFSROOT px4fmu_common
-	IO px4_io-v2_default
-	TESTING
-	UAVCAN_INTERFACES 2
-	SERIAL_PORTS
-		GPS1:/dev/ttyS0
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-		TEL4:/dev/ttyS3
-	DRIVERS
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		#heater
-		#imu # all available imu drivers
-		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
-		imu/bosch/bmi055
-		imu/invensense/icm20602
-		imu/invensense/icm20689
-		#imu/mpu6000 # legacy icm20602/icm20689 driver
-		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
-		lights/rgbled_pwm
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		#osd
-		pca9685
-		power_monitor/ina226
-		#protocol_splitter
-		pwm_input
-		pwm_out_sim
-		pwm_out
-		px4io
-		rc_input
-		roboclaw
-		safety_button
-		tap_esc
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		dmesg
-		dumpfile
-		esc_calib
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		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
-	)

boards/px4/fmu-v5/irqmonitor.cmake

@@ -1,132 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR px4
-	MODEL fmu-v5
-	LABEL irqmonitor
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m7
-	ROMFSROOT px4fmu_common
-	IO px4_io-v2_default
-	TESTING
-	UAVCAN_INTERFACES 2
-	SERIAL_PORTS
-		GPS1:/dev/ttyS0
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-		TEL4:/dev/ttyS3
-	DRIVERS
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		#heater
-		#imu # all available imu drivers
-		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
-		imu/bosch/bmi055
-		imu/invensense/icm20602
-		imu/invensense/icm20689
-		#imu/mpu6000 # legacy icm20602/icm20689 driver
-		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
-		lights/rgbled_pwm
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		#osd
-		pca9685
-		power_monitor/ina226
-		#protocol_splitter
-		pwm_input
-		pwm_out_sim
-		pwm_out
-		px4io
-		rc_input
-		roboclaw
-		rpm
-		safety_button
-		tap_esc
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		dmesg
-		dumpfile
-		esc_calib
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		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
-	)

boards/px4/fmu-v5/nuttx-config/critmonitor/defconfig

@@ -1,245 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_FS_PROCFS_EXCLUDE_ENVIRON is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32f7"
-CONFIG_ARCH_CHIP_STM32F765II=y
-CONFIG_ARCH_CHIP_STM32F7=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DTCM=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=22114
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_PRODUCTID=0x0032
-CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v5.x"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_VENDORSTR="3D Robotics"
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MAX_TASKS=64
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
-CONFIG_SCHED_CRITMONITOR=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDMMC1_SDIO_MODE=y
-CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=256
-CONFIG_STM32F7_ADC1=y
-CONFIG_STM32F7_BBSRAM=y
-CONFIG_STM32F7_BBSRAM_FILES=5
-CONFIG_STM32F7_BKPSRAM=y
-CONFIG_STM32F7_DMA1=y
-CONFIG_STM32F7_DMA2=y
-CONFIG_STM32F7_DMACAPABLE=y
-CONFIG_STM32F7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32F7_I2C1=y
-CONFIG_STM32F7_I2C2=y
-CONFIG_STM32F7_I2C3=y
-CONFIG_STM32F7_I2C4=y
-CONFIG_STM32F7_I2C_DYNTIMEO=y
-CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32F7_OTGFS=y
-CONFIG_STM32F7_PROGMEM=y
-CONFIG_STM32F7_PWR=y
-CONFIG_STM32F7_RTC=y
-CONFIG_STM32F7_RTC_HSECLOCK=y
-CONFIG_STM32F7_RTC_MAGIC_REG=1
-CONFIG_STM32F7_SAVE_CRASHDUMP=y
-CONFIG_STM32F7_SDMMC1=y
-CONFIG_STM32F7_SDMMC_DMA=y
-CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32F7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32F7_SPI1=y
-CONFIG_STM32F7_SPI1_DMA=y
-CONFIG_STM32F7_SPI1_DMA_BUFFER=1024
-CONFIG_STM32F7_SPI2=y
-CONFIG_STM32F7_SPI4=y
-CONFIG_STM32F7_SPI5=y
-CONFIG_STM32F7_SPI6=y
-CONFIG_STM32F7_SPI_DMA=y
-CONFIG_STM32F7_SPI_DMATHRESHOLD=8
-CONFIG_STM32F7_TIM10=y
-CONFIG_STM32F7_TIM11=y
-CONFIG_STM32F7_UART4=y
-CONFIG_STM32F7_UART7=y
-CONFIG_STM32F7_UART8=y
-CONFIG_STM32F7_USART1=y
-CONFIG_STM32F7_USART2=y
-CONFIG_STM32F7_USART3=y
-CONFIG_STM32F7_USART6=y
-CONFIG_STM32F7_USART_BREAKS=y
-CONFIG_STM32F7_USART_INVERT=y
-CONFIG_STM32F7_USART_SINGLEWIRE=y
-CONFIG_STM32F7_USART_SWAP=y
-CONFIG_STM32F7_WWDG=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_CRITMONITOR=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_SERIAL_CONSOLE=y
-CONFIG_UART7_TXBUFSIZE=1500
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_RXDMA=y
-CONFIG_UART8_TXBUFSIZE=1500
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_RXDMA=y
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_IFLOWCONTROL=y
-CONFIG_USART3_OFLOWCONTROL=y
-CONFIG_USART3_RXBUFSIZE=600
-CONFIG_USART3_RXDMA=y
-CONFIG_USART3_TXBUFSIZE=3000
-CONFIG_USART3_TXDMA=y
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_RXDMA=y
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"

boards/px4/fmu-v5/nuttx-config/irqmonitor/defconfig

@@ -1,244 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_FS_PROCFS_EXCLUDE_ENVIRON is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32f7"
-CONFIG_ARCH_CHIP_STM32F765II=y
-CONFIG_ARCH_CHIP_STM32F7=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DTCM=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=22114
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_PRODUCTID=0x0032
-CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v5.x"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_VENDORSTR="3D Robotics"
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MAX_TASKS=64
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_IRQMONITOR=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDMMC1_SDIO_MODE=y
-CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=256
-CONFIG_STM32F7_ADC1=y
-CONFIG_STM32F7_BBSRAM=y
-CONFIG_STM32F7_BBSRAM_FILES=5
-CONFIG_STM32F7_BKPSRAM=y
-CONFIG_STM32F7_DMA1=y
-CONFIG_STM32F7_DMA2=y
-CONFIG_STM32F7_DMACAPABLE=y
-CONFIG_STM32F7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32F7_I2C1=y
-CONFIG_STM32F7_I2C2=y
-CONFIG_STM32F7_I2C3=y
-CONFIG_STM32F7_I2C4=y
-CONFIG_STM32F7_I2C_DYNTIMEO=y
-CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32F7_OTGFS=y
-CONFIG_STM32F7_PROGMEM=y
-CONFIG_STM32F7_PWR=y
-CONFIG_STM32F7_RTC=y
-CONFIG_STM32F7_RTC_HSECLOCK=y
-CONFIG_STM32F7_RTC_MAGIC_REG=1
-CONFIG_STM32F7_SAVE_CRASHDUMP=y
-CONFIG_STM32F7_SDMMC1=y
-CONFIG_STM32F7_SDMMC_DMA=y
-CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32F7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32F7_SPI1=y
-CONFIG_STM32F7_SPI1_DMA=y
-CONFIG_STM32F7_SPI1_DMA_BUFFER=1024
-CONFIG_STM32F7_SPI2=y
-CONFIG_STM32F7_SPI4=y
-CONFIG_STM32F7_SPI5=y
-CONFIG_STM32F7_SPI6=y
-CONFIG_STM32F7_SPI_DMA=y
-CONFIG_STM32F7_SPI_DMATHRESHOLD=8
-CONFIG_STM32F7_TIM10=y
-CONFIG_STM32F7_TIM11=y
-CONFIG_STM32F7_UART4=y
-CONFIG_STM32F7_UART7=y
-CONFIG_STM32F7_UART8=y
-CONFIG_STM32F7_USART1=y
-CONFIG_STM32F7_USART2=y
-CONFIG_STM32F7_USART3=y
-CONFIG_STM32F7_USART6=y
-CONFIG_STM32F7_USART_BREAKS=y
-CONFIG_STM32F7_USART_INVERT=y
-CONFIG_STM32F7_USART_SINGLEWIRE=y
-CONFIG_STM32F7_USART_SWAP=y
-CONFIG_STM32F7_WWDG=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_SERIAL_CONSOLE=y
-CONFIG_UART7_TXBUFSIZE=1500
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_RXDMA=y
-CONFIG_UART8_TXBUFSIZE=1500
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_RXDMA=y
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_IFLOWCONTROL=y
-CONFIG_USART3_OFLOWCONTROL=y
-CONFIG_USART3_RXBUFSIZE=600
-CONFIG_USART3_RXDMA=y
-CONFIG_USART3_TXBUFSIZE=3000
-CONFIG_USART3_TXDMA=y
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_RXDMA=y
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"

boards/px4/fmu-v6u/nuttx-config/stackcheck/defconfig

@@ -1,280 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_ARP is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743ZI=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DTCM=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_STACKCHECK=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=95751
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_PRODUCTID=0x0036
-CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v6U.x"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x1B8C
-CONFIG_CDCACM_VENDORSTR="Gumstix"
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_MEMFAULT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_ETH0_PHY_LAN8742A=y
-CONFIG_EXPERIMENTAL=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_IOB_NBUFFERS=24
-CONFIG_IOB_THROTTLE=0
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MAX_TASKS=64
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NET=y
-CONFIG_NETDB_DNSCLIENT=y
-CONFIG_NETDB_DNSCLIENT_ENTRIES=8
-CONFIG_NETDB_DNSSERVER_NOADDR=y
-CONFIG_NETDEV_PHY_IOCTL=y
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
-CONFIG_NETINIT_IPADDR=0XC0A8007B
-CONFIG_NETINIT_THREAD=y
-CONFIG_NETINIT_THREAD_PRIORITY=49
-CONFIG_NETUTILS_TELNETD=y
-CONFIG_NET_ARP_IPIN=y
-CONFIG_NET_ARP_SEND=y
-CONFIG_NET_BROADCAST=y
-CONFIG_NET_ICMP=y
-CONFIG_NET_ICMP_SOCKET=y
-CONFIG_NET_SOCKOPTS=y
-CONFIG_NET_SOLINGER=y
-CONFIG_NET_TCP=y
-CONFIG_NET_TCPBACKLOG=y
-CONFIG_NET_TCP_WRITE_BUFFERS=y
-CONFIG_NET_UDP=y
-CONFIG_NET_UDP_CHECKSUMS=y
-CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_TELNET=y
-CONFIG_NSH_TELNET_LOGIN=y
-CONFIG_NSH_VARS=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDMMC2_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=256
-CONFIG_STM32H7_ADC1=y
-CONFIG_STM32H7_ADC3=y
-CONFIG_STM32H7_BBSRAM=y
-CONFIG_STM32H7_BBSRAM_FILES=5
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
-CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_DTCMEXCLUDE=y
-CONFIG_STM32H7_DTCM_PROCFS=y
-CONFIG_STM32H7_ETHMAC=y
-CONFIG_STM32H7_FLASH_OVERRIDE_I=y
-CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32H7_I2C1=y
-CONFIG_STM32H7_I2C2=y
-CONFIG_STM32H7_I2C3=y
-CONFIG_STM32H7_I2C4=y
-CONFIG_STM32H7_I2C_DYNTIMEO=y
-CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PHYSR=31
-CONFIG_STM32H7_PHYSR_100MBPS=0x8
-CONFIG_STM32H7_PHYSR_FULLDUPLEX=0x10
-CONFIG_STM32H7_PHYSR_MODE=0x10
-CONFIG_STM32H7_PHYSR_SPEED=0x8
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_RTC=y
-CONFIG_STM32H7_RTC_MAGIC_REG=1
-CONFIG_STM32H7_SAVE_CRASHDUMP=y
-CONFIG_STM32H7_SDMMC2=y
-CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_SPI1=y
-CONFIG_STM32H7_SPI1_DMA=y
-CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI2=y
-CONFIG_STM32H7_SPI2_DMA=y
-CONFIG_STM32H7_SPI2_DMA_BUFFER=4096
-CONFIG_STM32H7_SPI3=y
-CONFIG_STM32H7_SPI3_DMA=y
-CONFIG_STM32H7_SPI3_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI5=y
-CONFIG_STM32H7_SPI6=y
-CONFIG_STM32H7_SPI6_DMA=y
-CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI_DMA=y
-CONFIG_STM32H7_SPI_DMATHRESHOLD=8
-CONFIG_STM32H7_TIM12=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_TIM4=y
-CONFIG_STM32H7_TIM5=y
-CONFIG_STM32H7_UART4=y
-CONFIG_STM32H7_UART5=y
-CONFIG_STM32H7_UART7=y
-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
-CONFIG_STM32H7_USART_SWAP=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_SYSTEM_PING=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART5_IFLOWCONTROL=y
-CONFIG_UART5_OFLOWCONTROL=y
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_IFLOWCONTROL=y
-CONFIG_UART7_OFLOWCONTROL=y
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_TXBUFSIZE=3000
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_TXBUFSIZE=1500
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=3000
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_RXBUFSIZE=180
-CONFIG_USART3_SERIAL_CONSOLE=y
-CONFIG_USART3_TXBUFSIZE=1500
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
-CONFIG_WATCHDOG=y

boards/px4/fmu-v6u/stackcheck.cmake

@@ -1,135 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR px4
-	MODEL fmu-v6u
-	LABEL default
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m7
-	ROMFSROOT px4fmu_common
-	BUILD_BOOTLOADER
-	TESTING
-	UAVCAN_INTERFACES 1
-	SERIAL_PORTS
-		GPS1:/dev/ttyS0
-		TEL1:/dev/ttyS6
-		TEL2:/dev/ttyS4
-		TEL3:/dev/ttyS1
-		GPS2:/dev/ttyS7
-	DRIVERS
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		heater
-		#imu # all available imu drivers
-		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
-		imu/bosch/bmi088
-		imu/invensense/icm20649
-		imu/invensense/icm20602
-		imu/invensense/icm42605
-		imu/invensense/icm42688p
-		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		#osd
-		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_out_sim
-		pwm_out
-		rc_input
-		roboclaw
-		rpm
-		safety_button
-		tap_esc
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		dmesg
-		dumpfile
-		esc_calib
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-		serial_test
-	EXAMPLES
-		fake_gps
-		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
-	)

boards/px4/fmu-v6x/nuttx-config/stackcheck/defconfig

@@ -1,280 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_ARP is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743ZI=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DTCM=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_STACKCHECK=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=95751
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_PRODUCTID=0x0035
-CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v6X.x"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x3185
-CONFIG_CDCACM_VENDORSTR="Auterion"
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_MEMFAULT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_ETH0_PHY_LAN8742A=y
-CONFIG_EXPERIMENTAL=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_IOB_NBUFFERS=24
-CONFIG_IOB_THROTTLE=0
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MAX_TASKS=64
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NET=y
-CONFIG_NETDB_DNSCLIENT=y
-CONFIG_NETDB_DNSCLIENT_ENTRIES=8
-CONFIG_NETDB_DNSSERVER_NOADDR=y
-CONFIG_NETDEV_PHY_IOCTL=y
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
-CONFIG_NETINIT_IPADDR=0XC0A8007B
-CONFIG_NETINIT_THREAD=y
-CONFIG_NETINIT_THREAD_PRIORITY=49
-CONFIG_NETUTILS_TELNETD=y
-CONFIG_NET_ARP_IPIN=y
-CONFIG_NET_ARP_SEND=y
-CONFIG_NET_BROADCAST=y
-CONFIG_NET_ICMP=y
-CONFIG_NET_ICMP_SOCKET=y
-CONFIG_NET_SOCKOPTS=y
-CONFIG_NET_SOLINGER=y
-CONFIG_NET_TCP=y
-CONFIG_NET_TCPBACKLOG=y
-CONFIG_NET_TCP_WRITE_BUFFERS=y
-CONFIG_NET_UDP=y
-CONFIG_NET_UDP_CHECKSUMS=y
-CONFIG_NFILE_DESCRIPTORS=12
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_TELNET=y
-CONFIG_NSH_TELNET_LOGIN=y
-CONFIG_NSH_VARS=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDMMC2_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=256
-CONFIG_STM32H7_ADC1=y
-CONFIG_STM32H7_ADC3=y
-CONFIG_STM32H7_BBSRAM=y
-CONFIG_STM32H7_BBSRAM_FILES=5
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
-CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_DTCMEXCLUDE=y
-CONFIG_STM32H7_DTCM_PROCFS=y
-CONFIG_STM32H7_ETHMAC=y
-CONFIG_STM32H7_FLASH_OVERRIDE_I=y
-CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32H7_I2C1=y
-CONFIG_STM32H7_I2C2=y
-CONFIG_STM32H7_I2C3=y
-CONFIG_STM32H7_I2C4=y
-CONFIG_STM32H7_I2C_DYNTIMEO=y
-CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PHYSR=31
-CONFIG_STM32H7_PHYSR_100MBPS=0x8
-CONFIG_STM32H7_PHYSR_FULLDUPLEX=0x10
-CONFIG_STM32H7_PHYSR_MODE=0x10
-CONFIG_STM32H7_PHYSR_SPEED=0x8
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_RTC=y
-CONFIG_STM32H7_RTC_MAGIC_REG=1
-CONFIG_STM32H7_SAVE_CRASHDUMP=y
-CONFIG_STM32H7_SDMMC2=y
-CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_SPI1=y
-CONFIG_STM32H7_SPI1_DMA=y
-CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI2=y
-CONFIG_STM32H7_SPI2_DMA=y
-CONFIG_STM32H7_SPI2_DMA_BUFFER=4096
-CONFIG_STM32H7_SPI3=y
-CONFIG_STM32H7_SPI3_DMA=y
-CONFIG_STM32H7_SPI3_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI5=y
-CONFIG_STM32H7_SPI6=y
-CONFIG_STM32H7_SPI6_DMA=y
-CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI_DMA=y
-CONFIG_STM32H7_SPI_DMATHRESHOLD=8
-CONFIG_STM32H7_TIM12=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_TIM4=y
-CONFIG_STM32H7_TIM5=y
-CONFIG_STM32H7_UART4=y
-CONFIG_STM32H7_UART5=y
-CONFIG_STM32H7_UART7=y
-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
-CONFIG_STM32H7_USART_SWAP=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_SYSTEM_PING=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART5_IFLOWCONTROL=y
-CONFIG_UART5_OFLOWCONTROL=y
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_IFLOWCONTROL=y
-CONFIG_UART7_OFLOWCONTROL=y
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_TXBUFSIZE=3000
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_TXBUFSIZE=1500
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=3000
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_RXBUFSIZE=180
-CONFIG_USART3_SERIAL_CONSOLE=y
-CONFIG_USART3_TXBUFSIZE=1500
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
-CONFIG_WATCHDOG=y

boards/px4/fmu-v6x/stackcheck.cmake

@@ -1,132 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR px4
-	MODEL fmu-v6x
-	LABEL default
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m7
-	ROMFSROOT px4fmu_common
-	BUILD_BOOTLOADER
-	IO px4_io-v2_default
-	TESTING
-#	UAVCAN_INTERFACES 2  - No H7 or FD can support in UAVCAN
-	SERIAL_PORTS
-		GPS1:/dev/ttyS0
-		TEL1:/dev/ttyS6
-		TEL2:/dev/ttyS4
-		TEL3:/dev/ttyS1
-		GPS2:/dev/ttyS7
-	DRIVERS
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		heater
-		#imu # all available imu drivers
-		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
-		imu/bosch/bmi088
-		imu/invensense/icm20649
-		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		#osd
-		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_out_sim
-		pwm_out
-		px4io
-		rc_input
-		roboclaw
-		rpm
-		safety_button
-		tap_esc
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-#		uavcan - No H7 or FD can support in UAVCAN yet
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		dmesg
-		dumpfile
-		esc_calib
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-		serial_test
-	EXAMPLES
-		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
-	)

platforms/common/include/px4_platform_common/px4_work_queue/WorkQueueManager.hpp

@@ -66,7 +66,7 @@ static constexpr wq_config_t I2C3{"wq:I2C3", 2336, -11};
 static constexpr wq_config_t I2C4{"wq:I2C4", 2336, -12};
 
 // PX4 att/pos controllers, highest priority after sensors.
-static constexpr wq_config_t nav_and_controllers{"wq:nav_and_controllers", 1760, -13};
+static constexpr wq_config_t nav_and_controllers{"wq:nav_and_controllers", 1824, -13};
 
 static constexpr wq_config_t INS0{"wq:INS0", 6000, -14};
 static constexpr wq_config_t INS1{"wq:INS1", 6000, -15};

src/drivers/camera_trigger/CMakeLists.txt

@@ -34,6 +34,7 @@ px4_add_module(
 	MODULE drivers__camera_trigger
 	MAIN camera_trigger
 	COMPILE_FLAGS
+		-O0
 	SRCS
 		camera_trigger.cpp
                 interfaces/src/camera_interface.cpp

src/drivers/camera_trigger/camera_trigger.cpp

@@ -69,8 +69,6 @@
 #include "interfaces/src/pwm.h"
 #include "interfaces/src/seagull_map2.h"
 
-extern "C" __EXPORT int camera_trigger_main(int argc, char *argv[]);
-
 typedef enum : int32_t {
 	CAMERA_INTERFACE_MODE_NONE = 0,
 	CAMERA_INTERFACE_MODE_GPIO,
@@ -154,41 +152,41 @@ public:
 
 private:
 
-	struct hrt_call		_engagecall;
-	struct hrt_call		_disengagecall;
-	struct hrt_call     _engage_turn_on_off_call;
-	struct hrt_call     _disengage_turn_on_off_call;
-	struct hrt_call		_keepalivecall_up;
-	struct hrt_call		_keepalivecall_down;
+	struct hrt_call _engagecall {};
+	struct hrt_call _disengagecall {};
+	struct hrt_call _engage_turn_on_off_call {};
+	struct hrt_call _disengage_turn_on_off_call {};
+	struct hrt_call _keepalivecall_up {};
+	struct hrt_call _keepalivecall_down {};
 
-	float			_activation_time;
-	float			_interval;
-	float			_min_interval;
-	float 			_distance;
-	uint32_t 		_trigger_seq;
-	hrt_abstime		_last_trigger_timestamp;
-	bool			_trigger_enabled;
-	bool			_trigger_paused;
-	bool			_one_shot;
-	bool			_test_shot;
-	bool 			_turning_on;
-	matrix::Vector2f	_last_shoot_position;
-	bool			_valid_position;
+	float			_activation_time{0.5f};
+	float			_interval{100.f};
+	float			_min_interval{1.f};
+	float 			_distance{25.f};
+	uint32_t 		_trigger_seq{0};
+	hrt_abstime		_last_trigger_timestamp{0};
+	bool			_trigger_enabled{false};
+	bool			_trigger_paused{false};
+	bool			_one_shot{false};
+	bool			_test_shot{false};
+	bool 			_turning_on{false};
+	matrix::Vector2f	_last_shoot_position{0.f, 0.f};
+	bool			_valid_position{false};
 
 	//Camera Auto Mount Pivoting Oblique Survey (CAMPOS)
-	uint32_t		_CAMPOS_num_poses;
-	uint32_t		_CAMPOS_pose_counter;
-	float			_CAMPOS_roll_angle;
-	float			_CAMPOS_angle_interval;
-	float			_CAMPOS_pitch_angle;
-	bool			_CAMPOS_updated_roll_angle;
-	uint32_t		_target_system;
-	uint32_t		_target_component;
+	uint32_t		_CAMPOS_num_poses{0};
+	uint32_t		_CAMPOS_pose_counter{0};
+	float			_CAMPOS_roll_angle{0.f};
+	float			_CAMPOS_angle_interval{0.f};
+	float			_CAMPOS_pitch_angle{-90.f};
+	bool			_CAMPOS_updated_roll_angle{false};
+	uint32_t		_target_system{0};
+	uint32_t		_target_component{0};
 
 	uORB::Subscription	_command_sub{ORB_ID(vehicle_command)};
 	uORB::Subscription	_lpos_sub{ORB_ID(vehicle_local_position)};
 
-	orb_advert_t		_trigger_pub;
+	orb_advert_t		_trigger_pub{nullptr};
 
 	uORB::Publication<vehicle_command_ack_s>	_cmd_ack_pub{ORB_ID(vehicle_command_ack)};
 
@@ -200,11 +198,11 @@ private:
 	param_t			_p_interface;
 	param_t 		_p_cam_cap_fback;
 
-	trigger_mode_t		_trigger_mode;
-	int32_t _cam_cap_fback;
+	trigger_mode_t		_trigger_mode{TRIGGER_MODE_NONE};
+	int32_t _cam_cap_fback{0};
 
-	camera_interface_mode_t	_camera_interface_mode;
-	CameraInterface		*_camera_interface;  ///< instance of camera interface
+	camera_interface_mode_t	_camera_interface_mode{CAMERA_INTERFACE_MODE_GPIO};
+	CameraInterface		*_camera_interface{nullptr};  ///< instance of camera interface
 
 	/**
 	 * Vehicle command handler
@@ -248,39 +246,7 @@ CameraTrigger	*g_camera_trigger;
 }
 
 CameraTrigger::CameraTrigger() :
-	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default),
-	_engagecall {},
-	_disengagecall {},
-	_engage_turn_on_off_call {},
-	_disengage_turn_on_off_call {},
-	_keepalivecall_up {},
-	_keepalivecall_down {},
-	_activation_time(0.5f /* ms */),
-	_interval(100.0f /* ms */),
-	_min_interval(1.0f /* ms */),
-	_distance(25.0f /* m */),
-	_trigger_seq(0),
-	_last_trigger_timestamp(0),
-	_trigger_enabled(false),
-	_trigger_paused(false),
-	_one_shot(false),
-	_test_shot(false),
-	_turning_on(false),
-	_last_shoot_position(0.0f, 0.0f),
-	_valid_position(false),
-	_CAMPOS_num_poses(0),
-	_CAMPOS_pose_counter(0),
-	_CAMPOS_roll_angle(0.0f),
-	_CAMPOS_angle_interval(0.0f),
-	_CAMPOS_pitch_angle(-90),
-	_CAMPOS_updated_roll_angle(false),
-	_target_system(0),
-	_target_component(0),
-	_trigger_pub(nullptr),
-	_trigger_mode(TRIGGER_MODE_NONE),
-	_cam_cap_fback(0),
-	_camera_interface_mode(CAMERA_INTERFACE_MODE_GPIO),
-	_camera_interface(nullptr)
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
 {
 	// Initiate camera interface based on camera_interface_mode
 	if (_camera_interface != nullptr) {
@@ -338,13 +304,14 @@ CameraTrigger::CameraTrigger() :
 	if ((_activation_time < 40.0f) &&
 	    (_camera_interface_mode == CAMERA_INTERFACE_MODE_GENERIC_PWM ||
 	     _camera_interface_mode == CAMERA_INTERFACE_MODE_SEAGULL_MAP2_PWM)) {
+
 		_activation_time = 40.0f;
 		PX4_WARN("Trigger interval too low for PWM interface, setting to 40 ms");
 		param_set_no_notification(_p_activation_time, &(_activation_time));
 	}
 
 	// Advertise critical publishers here, because we cannot advertise in interrupt context
-	struct camera_trigger_s trigger = {};
+	camera_trigger_s trigger{};
 
 	if (!_cam_cap_fback) {
 		_trigger_pub = orb_advertise(ORB_ID(camera_trigger), &trigger);
@@ -370,13 +337,12 @@ CameraTrigger::update_intervalometer()
 	// control_intervalometer once on enabling/disabling trigger to schedule the calls.
 
 	if (_trigger_enabled && !_trigger_paused) {
+		PX4_INFO("update intervalometer, trigger enabled: %d, trigger paused: %d", _trigger_enabled, _trigger_paused);
 		// schedule trigger on and off calls
-		hrt_call_every(&_engagecall, 0, (_interval * 1000),
-			       (hrt_callout)&CameraTrigger::engage, this);
+		hrt_call_every(&_engagecall, 0, (_interval * 1000), &CameraTrigger::engage, this);
 
 		// schedule trigger on and off calls
-		hrt_call_every(&_disengagecall, 0 + (_activation_time * 1000), (_interval * 1000),
-			       (hrt_callout)&CameraTrigger::disengage, this);
+		hrt_call_every(&_disengagecall, 0 + (_activation_time * 1000), (_interval * 1000), &CameraTrigger::disengage, this);
 
 	}
 }
@@ -392,7 +358,6 @@ CameraTrigger::update_distance()
 	_lpos_sub.copy(&local);
 
 	if (local.xy_valid) {
-
 		// Initialize position if not done yet
 		matrix::Vector2f current_position(local.x, local.y);
 
@@ -426,14 +391,15 @@ void
 CameraTrigger::enable_keep_alive(bool on)
 {
 	if (on) {
-		// schedule keep-alive up and down calls
-		hrt_call_every(&_keepalivecall_up, 0, (60000 * 1000),
-			       (hrt_callout)&CameraTrigger::keep_alive_up, this);
+		PX4_INFO("keep alive enable");
 
-		hrt_call_every(&_keepalivecall_down, 0 + (30000 * 1000), (60000 * 1000),
-			       (hrt_callout)&CameraTrigger::keep_alive_down, this);
+		// schedule keep-alive up and down calls
+		hrt_call_every(&_keepalivecall_up, 0, (60000 * 1000), &CameraTrigger::keep_alive_up, this);
+
+		hrt_call_every(&_keepalivecall_down, 0 + (30000 * 1000), (60000 * 1000), &CameraTrigger::keep_alive_down, this);
 
 	} else {
+		PX4_INFO("keep alive disable");
 		// cancel all calls
 		hrt_cancel(&_keepalivecall_up);
 		hrt_cancel(&_keepalivecall_down);
@@ -443,23 +409,25 @@ CameraTrigger::enable_keep_alive(bool on)
 void
 CameraTrigger::toggle_power()
 {
-	// schedule power toggle calls
-	hrt_call_after(&_engage_turn_on_off_call, 0,
-		       (hrt_callout)&CameraTrigger::engange_turn_on_off, this);
+	PX4_INFO("toggle power");
 
-	hrt_call_after(&_disengage_turn_on_off_call, 0 + (200 * 1000),
-		       (hrt_callout)&CameraTrigger::disengage_turn_on_off, this);
+	// schedule power toggle calls
+	hrt_call_after(&_engage_turn_on_off_call, 0, &CameraTrigger::engange_turn_on_off, this);
+
+	hrt_call_after(&_disengage_turn_on_off_call, 0 + (200 * 1000), &CameraTrigger::disengage_turn_on_off, this);
 }
 
 void
 CameraTrigger::shoot_once()
 {
+	PX4_INFO("shoot once");
+
 	// schedule trigger on and off calls
 	hrt_call_after(&_engagecall, 0,
 		       (hrt_callout)&CameraTrigger::engage, this);
 
 	hrt_call_after(&_disengagecall, 0 + (_activation_time * 1000),
-		       (hrt_callout)&CameraTrigger::disengage, this);
+		       &CameraTrigger::disengage, this);
 }
 
 bool
@@ -527,13 +495,13 @@ void
 CameraTrigger::test()
 {
 	vehicle_command_s vcmd{};
-	vcmd.timestamp = hrt_absolute_time();
 	vcmd.param5 = 1.0;
 	vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL;
 	vcmd.target_system = 1;
 	vcmd.target_component = 1;
 
 	uORB::Publication<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
+	vcmd.timestamp = hrt_absolute_time();
 	vcmd_pub.publish(vcmd);
 }
 
@@ -559,6 +527,7 @@ CameraTrigger::Run()
 	// Command handling
 	if (updated) {
 		if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_DIGICAM_CONTROL) {
+			PX4_INFO("received DO_DIGICAM_CONTROL");
 
 			need_ack = true;
 			hrt_abstime now = hrt_absolute_time();
@@ -571,20 +540,18 @@ CameraTrigger::Run()
 				if (commandParamToInt(cmd.param7) == 1) {
 					// test shots are not logged or forwarded to GCS for geotagging
 					_test_shot = true;
-
 				}
 
 				if (commandParamToInt((float)cmd.param5) == 1) {
 					// Schedule shot
 					_one_shot = true;
-
 				}
 
 				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
 			}
 
 		} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_TRIGGER_CONTROL) {
-
+			PX4_INFO("received DO_TRIGGER_CONTROL");
 			need_ack = true;
 
 			if (commandParamToInt(cmd.param3) == 1) {
@@ -610,13 +577,12 @@ CameraTrigger::Run()
 			cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
 
 		} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_CAM_TRIGG_DIST) {
-
+			PX4_INFO("received DO_SET_CAM_TRIGG_DIST");
 			need_ack = true;
 
 			/*
 			 * TRANSITIONAL SUPPORT ADDED AS OF 11th MAY 2017 (v1.6 RELEASE)
 			 */
-
 			if (cmd.param1 > 0.0f) {
 				_distance = cmd.param1;
 				param_set_no_notification(_p_distance, &_distance);
@@ -649,7 +615,7 @@ CameraTrigger::Run()
 			cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
 
 		} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_DO_SET_CAM_TRIGG_INTERVAL) {
-
+			PX4_INFO("received DO_SET_CAM_TRIGG_INTERVAL");
 			need_ack = true;
 
 			if (cmd.param1 > 0.0f) {
@@ -668,7 +634,7 @@ CameraTrigger::Run()
 			cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
 
 		} else if (cmd.command == vehicle_command_s::VEHICLE_CMD_OBLIQUE_SURVEY) {
-
+			PX4_INFO("received OBLIQUE_SURVEY");
 			// Camera Auto Mount Pivoting Oblique Survey (CAMPOS)
 
 			need_ack = true;
@@ -792,7 +758,6 @@ unknown_cmd:
 
 	// One shot command-based capture handling
 	if (_one_shot && !_turning_on) {
-
 		// One-shot trigger
 		shoot_once();
 		_one_shot = false;
@@ -804,20 +769,44 @@ unknown_cmd:
 
 	// Command ACK handling
 	if (updated && need_ack) {
+		PX4_INFO("acknowledging command %d, result=%d", cmd.command, cmd_result);
 		vehicle_command_ack_s command_ack{};
-
-		command_ack.timestamp = hrt_absolute_time();
 		command_ack.command = cmd.command;
 		command_ack.result = (uint8_t)cmd_result;
 		command_ack.target_system = cmd.source_system;
 		command_ack.target_component = cmd.source_component;
-
+		command_ack.timestamp = hrt_absolute_time();
 		_cmd_ack_pub.publish(command_ack);
 	}
 
 	ScheduleDelayed(poll_interval_usec);
 }
 
+void
+CameraTrigger::adjust_roll()
+{
+	vehicle_command_s vcmd{};
+	vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL;
+	vcmd.target_system = _target_system;
+	vcmd.target_component = _target_component;
+
+	//param1 of VEHICLE_CMD_DO_MOUNT_CONTROL in VEHICLE_MOUNT_MODE_MAVLINK_TARGETING mode is pitch
+	vcmd.param1 = _CAMPOS_pitch_angle;
+
+	//param2 of VEHICLE_CMD_DO_MOUNT_CONTROL in VEHICLE_MOUNT_MODE_MAVLINK_TARGETING mode is roll
+	if (++_CAMPOS_pose_counter == _CAMPOS_num_poses) {
+		_CAMPOS_pose_counter = 0;
+	}
+
+	vcmd.param2 = _CAMPOS_angle_interval * _CAMPOS_pose_counter - _CAMPOS_roll_angle;
+
+	vcmd.param7 = vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING;
+
+	uORB::Publication<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
+	vcmd.timestamp = hrt_absolute_time();
+	vcmd_pub.publish(vcmd);
+}
+
 void
 CameraTrigger::engage(void *arg)
 {
@@ -841,18 +830,15 @@ CameraTrigger::engage(void *arg)
 
 	// Send camera trigger message. This messages indicates that we sent
 	// the camera trigger request. Does not guarantee capture.
+	camera_trigger_s trigger{};
 
-	struct camera_trigger_s	trigger = {};
-
-	// Set timestamp the instant after the trigger goes off
-	trigger.timestamp = now;
-
-	timespec tv = {};
+	timespec tv{};
 	px4_clock_gettime(CLOCK_REALTIME, &tv);
 	trigger.timestamp_utc = (uint64_t) tv.tv_sec * 1000000 + tv.tv_nsec / 1000;
 
 	trigger.seq = trig->_trigger_seq;
 	trigger.feedback = false;
+	trigger.timestamp = hrt_absolute_time();
 
 	if (!trig->_cam_cap_fback) {
 		orb_publish(ORB_ID(camera_trigger), trig->_trigger_pub, &trigger);
@@ -935,7 +921,7 @@ static int usage()
 	return 1;
 }
 
-int camera_trigger_main(int argc, char *argv[])
+extern "C" __EXPORT int camera_trigger_main(int argc, char *argv[])
 {
 	if (argc < 2) {
 		return usage();
@@ -985,28 +971,3 @@ int camera_trigger_main(int argc, char *argv[])
 
 	return 0;
 }
-
-void
-CameraTrigger::adjust_roll()
-{
-	vehicle_command_s vcmd{};
-	vcmd.timestamp = hrt_absolute_time();
-	vcmd.command = vehicle_command_s::VEHICLE_CMD_DO_MOUNT_CONTROL;
-	vcmd.target_system = _target_system;
-	vcmd.target_component = _target_component;
-
-	//param1 of VEHICLE_CMD_DO_MOUNT_CONTROL in VEHICLE_MOUNT_MODE_MAVLINK_TARGETING mode is pitch
-	vcmd.param1 = _CAMPOS_pitch_angle;
-
-	//param2 of VEHICLE_CMD_DO_MOUNT_CONTROL in VEHICLE_MOUNT_MODE_MAVLINK_TARGETING mode is roll
-	if (++_CAMPOS_pose_counter == _CAMPOS_num_poses) {
-		_CAMPOS_pose_counter = 0;
-	}
-
-	vcmd.param2 = _CAMPOS_angle_interval * _CAMPOS_pose_counter - _CAMPOS_roll_angle;
-
-	vcmd.param7 = vehicle_command_s::VEHICLE_MOUNT_MODE_MAVLINK_TARGETING;
-
-	uORB::Publication<vehicle_command_s> vcmd_pub{ORB_ID(vehicle_command)};
-	vcmd_pub.publish(vcmd);
-}

src/drivers/camera_trigger/interfaces/src/camera_interface.cpp

@@ -1,20 +1,8 @@
 #include "camera_interface.h"
 #include <px4_platform_common/log.h>
 
-/**
- * @file camera_interface.cpp
- *
- */
-
-CameraInterface::CameraInterface():
-	_p_pin(PARAM_INVALID),
-	_pins{}
-{
-}
-
 void CameraInterface::get_pins()
 {
-
 	// Get parameter handle
 	_p_pin = param_find("TRIG_PINS");
 

src/drivers/camera_trigger/interfaces/src/camera_interface.h

@@ -12,15 +12,7 @@
 class CameraInterface
 {
 public:
-
-	/**
-	 * Constructor
-	 */
-	CameraInterface();
-
-	/**
-	 * Destructor.
-	 */
+	CameraInterface() = default;
 	virtual ~CameraInterface() = default;
 
 	/**
@@ -72,8 +64,8 @@ protected:
 	 */
 	void get_pins();
 
-	param_t _p_pin;
+	param_t _p_pin{PARAM_INVALID};
 
-	int _pins[6];
+	int _pins[6]{};
 
 };

src/drivers/camera_trigger/interfaces/src/gpio.cpp

@@ -4,15 +4,12 @@
 #include <cstring>
 #include <px4_arch/io_timer.h>
 
-CameraInterfaceGPIO::CameraInterfaceGPIO():
-	CameraInterface(),
-	_trigger_invert(false),
-	_triggers{}
+CameraInterfaceGPIO::CameraInterfaceGPIO()
 {
 	_p_polarity = param_find("TRIG_POLARITY");
 
 	// polarity of the trigger (0 = active low, 1 = active high )
-	int32_t polarity;
+	int32_t polarity = 0;
 	param_get(_p_polarity, &polarity);
 	_trigger_invert = (polarity == 0);
 
@@ -23,7 +20,6 @@ CameraInterfaceGPIO::CameraInterfaceGPIO():
 void CameraInterfaceGPIO::setup()
 {
 	for (unsigned i = 0, t = 0; i < arraySize(_pins); i++) {
-
 		// Pin range is from 0 to num_gpios - 1
 		if (_pins[i] >= 0 && t < (int)arraySize(_triggers)) {
 			uint32_t gpio = io_timer_channel_get_gpio_output(_pins[i]);
@@ -39,10 +35,9 @@ void CameraInterfaceGPIO::trigger(bool trigger_on_true)
 	bool trigger_state = trigger_on_true ^ _trigger_invert;
 
 	for (unsigned i = 0; i < arraySize(_triggers); i++) {
-
-		if (_triggers[i] == 0) { break; }
-
-		px4_arch_gpiowrite(_triggers[i], trigger_state);
+		if (_triggers[i] != 0) {
+			px4_arch_gpiowrite(_triggers[i], trigger_state);
+		}
 	}
 }
 

src/drivers/camera_trigger/interfaces/src/gpio.h

@@ -27,11 +27,11 @@ private:
 
 	void setup();
 
-	param_t _p_polarity;
+	param_t _p_polarity{PARAM_INVALID};
 
-	bool _trigger_invert;
+	bool _trigger_invert{false};
 
-	uint32_t _triggers[num_gpios];
+	uint32_t _triggers[num_gpios]{};
 };
 
 #endif /* ifdef __PX4_NUTTX */

src/drivers/camera_trigger/interfaces/src/pwm.h

@@ -25,10 +25,10 @@ public:
 	void info();
 
 private:
-	int32_t _pwm_camera_shoot = 0;
-	int32_t _pwm_camera_neutral = 0;
 	void setup();
 
+	int32_t _pwm_camera_shoot{0};
+	int32_t _pwm_camera_neutral{0};
 };
 
 #endif /* ifdef __PX4_NUTTX */

src/drivers/camera_trigger/interfaces/src/seagull_map2.cpp

@@ -17,11 +17,19 @@
 #define PWM_2_CAMERA_KEEP_ALIVE		1700
 #define PWM_2_CAMERA_ON_OFF			1900
 
-CameraInterfaceSeagull::CameraInterfaceSeagull():
-	CameraInterface(),
-	_camera_is_on(false)
+CameraInterfaceSeagull::CameraInterfaceSeagull()
 {
-	get_pins();
+	//get_pins();
+
+	// NORA hacks
+	// Set all pins as invalid
+	for (unsigned i = 0; i < arraySize(_pins); i++) {
+		_pins[i] = -1;
+	}
+
+	_pins[0] = 14 - 1;
+	_pins[1] = 13 - 1;
+
 	setup();
 }
 
@@ -37,14 +45,16 @@ void CameraInterfaceSeagull::setup()
 		if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
 
 			// Initialize the interface
-			uint8_t pin_bitmask = (1 << _pins[i + 1]) | (1 << _pins[i]);
+			uint32_t pin_bitmask = (1 << _pins[i + 1]) | (1 << _pins[i]);
 			up_pwm_trigger_init(pin_bitmask);
 
 			// Set both interface pins to disarmed
-			up_pwm_trigger_set(_pins[i + 1], PWM_CAMERA_DISARMED);
-			up_pwm_trigger_set(_pins[i], PWM_CAMERA_DISARMED);
+			int ret1 = up_pwm_trigger_set(_pins[i + 1], PWM_CAMERA_DISARMED);
+			PX4_INFO("pwm trigger set %d %d=%d, ret=%d", i + 1, _pins[i + 1], PWM_CAMERA_DISARMED, ret1);
+
+			int ret2 = up_pwm_trigger_set(_pins[i], PWM_CAMERA_DISARMED);
+			PX4_INFO("pwm trigger set %d %d=%d, ret=%d", i, _pins[i], PWM_CAMERA_DISARMED, ret2);
 
-			// We only support 2 consecutive pins while using the Seagull MAP2
 			return;
 		}
 	}
@@ -54,7 +64,6 @@ void CameraInterfaceSeagull::setup()
 
 void CameraInterfaceSeagull::trigger(bool trigger_on_true)
 {
-
 	if (!_camera_is_on) {
 		return;
 	}
@@ -70,7 +79,6 @@ void CameraInterfaceSeagull::trigger(bool trigger_on_true)
 void CameraInterfaceSeagull::send_keep_alive(bool enable)
 {
 	// This should alternate between enable and !enable to keep the camera alive
-
 	if (!_camera_is_on) {
 		return;
 	}
@@ -85,9 +93,7 @@ void CameraInterfaceSeagull::send_keep_alive(bool enable)
 
 void CameraInterfaceSeagull::send_toggle_power(bool enable)
 {
-
 	// This should alternate between enable and !enable to toggle camera power
-
 	for (unsigned i = 0; i < arraySize(_pins); i = i + 2) {
 		if (_pins[i] >= 0 && _pins[i + 1] >= 0) {
 			// Set channel 1 to neutral
@@ -97,7 +103,9 @@ void CameraInterfaceSeagull::send_toggle_power(bool enable)
 		}
 	}
 
-	if (!enable) { _camera_is_on = !_camera_is_on; }
+	if (!enable) {
+		_camera_is_on = !_camera_is_on;
+	}
 }
 
 void CameraInterfaceSeagull::info()

src/drivers/camera_trigger/interfaces/src/seagull_map2.h

@@ -33,7 +33,7 @@ public:
 private:
 	void setup();
 
-	bool _camera_is_on;
+	bool _camera_is_on{false};
 
 };
 

src/drivers/pwm_out/PWMOut.cpp

@@ -1113,16 +1113,26 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 
 	case PWM_SERVO_GET(13):
 	case PWM_SERVO_GET(12):
-	case PWM_SERVO_GET(11):
-	case PWM_SERVO_GET(10):
-	case PWM_SERVO_GET(9):
-	case PWM_SERVO_GET(8):
 		if (_mode < MODE_14PWM) {
 			ret = -EINVAL;
 			break;
 		}
 
 #endif
+#if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 12
+
+	// FALLTHROUGH
+	case PWM_SERVO_GET(11):
+	case PWM_SERVO_GET(10):
+	case PWM_SERVO_GET(9):
+	case PWM_SERVO_GET(8):
+		if (_mode < MODE_12PWM) {
+			ret = -EINVAL;
+			break;
+		}
+
+		// FALLTHROUGH
+#endif
 #if defined(BOARD_HAS_PWM) && BOARD_HAS_PWM >= 8
 
 	/* FALLTHROUGH */

src/modules/commander/Arming/PreFlightCheck/checks/ekf2Check.cpp

@@ -242,7 +242,7 @@ bool PreFlightCheck::ekf2CheckSensorBias(orb_advert_t *mavlink_log_pub, const bo
 
 		// check accelerometer bias estimates
 		if (bias.accel_bias_valid) {
-			const float ekf_ab_test_limit = 0.5f * bias.accel_bias_limit;
+			const float ekf_ab_test_limit = 0.75f * bias.accel_bias_limit;
 
 			for (uint8_t axis_index = 0; axis_index < 3; axis_index++) {
 				// allow for higher uncertainty in estimates for axes that are less observable to prevent false positives
@@ -263,7 +263,7 @@ bool PreFlightCheck::ekf2CheckSensorBias(orb_advert_t *mavlink_log_pub, const bo
 
 		// check gyro bias estimates
 		if (bias.gyro_bias_valid) {
-			const float ekf_gb_test_limit = 0.5f * bias.gyro_bias_limit;
+			const float ekf_gb_test_limit = 0.75f * bias.gyro_bias_limit;
 
 			for (uint8_t axis_index = 0; axis_index < 3; axis_index++) {
 				// allow for higher uncertainty in estimates for axes that are less observable to prevent false positives

src/modules/commander/Arming/PreFlightCheck/checks/preArmCheck.cpp

@@ -94,7 +94,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
 		}
 	}
 
-	if (arm_requirements.global_position) {
+	if (arm_requirements.global_position && !status_flags.circuit_breaker_engaged_posfailure_check) {
 
 		if (!status_flags.condition_global_position_valid) {
 			if (prearm_ok) {

src/modules/commander/commander_params.c

@@ -307,7 +307,8 @@ PARAM_DEFINE_FLOAT(COM_DISARM_PRFLT, 10.0f);
  * The default allows to arm the vehicle without GPS signal.
  *
  * @group Commander
- * @boolean
+ * @value 0 Allow arming without GPS
+ * @value 1 Require GPS lock to arm
  */
 PARAM_DEFINE_INT32(COM_ARM_WO_GPS, 1);
 
@@ -685,7 +686,7 @@ PARAM_DEFINE_INT32(COM_POSCTL_NAVL, 0);
 /**
  * Require arm authorization to arm
  *
- * The default allows to arm the vehicle without a arm authorization.
+ * By default off. The default allows to arm the vehicle without a arm authorization.
  *
  * @group Commander
  * @boolean

src/modules/logger/params.c

@@ -108,8 +108,8 @@ PARAM_DEFINE_INT32(SDLOG_MISSION, 0);
  * Logging topic profile (integer bitmask).
  *
  * This integer bitmask controls the set and rates of logged topics.
- * The default allows for general log analysis and estimator replay, while
- * keeping the log file size reasonably small.
+ * The default allows for general log analysis while keeping the
+ * log file size reasonably small.
  *
  * Enabling multiple sets leads to higher bandwidth requirements and larger log
  * files.

src/modules/mavlink/mavlink_main.cpp

@@ -1476,6 +1476,9 @@ Mavlink::update_radio_status(const radio_status_s &radio_status)
 			/* this indicates spare bandwidth, increase by 2.5% */
 			_radio_status_mult *= 1.025f;
 		}
+
+		/* Constrain radio status multiplier between 1% and 100% to allow recovery */
+		_radio_status_mult = math::constrain(_radio_status_mult, 0.01f, 1.0f);
 	}
 }
 

src/modules/mavlink/mavlink_main.h

@@ -518,6 +518,8 @@ public:
 
 	static hrt_abstime &get_first_start_time() { return _first_start_time; }
 
+	bool radio_status_critical() const { return _radio_status_critical; }
+
 private:
 	int			_instance_id{0};
 

src/modules/mavlink/mavlink_parameters.cpp

@@ -329,7 +329,8 @@ MavlinkParametersManager::send()
 	int i = 0;
 
 	// Send while burst is not exceeded, we still have buffer space and still something to send
-	while ((i++ < max_num_to_send) && (_mavlink->get_free_tx_buf() >= get_size()) && send_params()) {}
+	while ((i++ < max_num_to_send) && (_mavlink->get_free_tx_buf() >= get_size()) && !_mavlink->radio_status_critical()
+	       && send_params()) {}
 }
 
 bool
@@ -390,7 +391,8 @@ MavlinkParametersManager::send_untransmitted()
 					break;
 				}
 			}
-		} while ((_mavlink->get_free_tx_buf() >= get_size()) && (_param_update_index < (int) param_count()));
+		} while ((_mavlink->get_free_tx_buf() >= get_size()) && !_mavlink->radio_status_critical()
+			 && (_param_update_index < (int) param_count()));
 
 		// Flag work as done once all params have been sent
 		if (_param_update_index >= (int) param_count()) {

src/modules/navigator/rtl.cpp

@@ -257,6 +257,8 @@ void RTL::on_activation()
 
 	const vehicle_global_position_s &global_position = *_navigator->get_global_position();
 
+	_rtl_loiter_rad = _param_rtl_loiter_rad.get();
+
 	if (_navigator->get_vstatus()->vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING) {
 		_rtl_alt = calculate_return_alt_from_cone_half_angle((float)_param_rtl_cone_half_angle_deg.get());
 
@@ -410,6 +412,10 @@ void RTL::set_rtl_item()
 				_mission_item.yaw = _destination.yaw;
 			}
 
+			if (_navigator->get_vstatus()->is_vtol) {
+				_mission_item.loiter_radius = _rtl_loiter_rad;
+			}
+
 			_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
 			_mission_item.time_inside = 0.0f;
 			_mission_item.autocontinue = true;
@@ -453,6 +459,24 @@ void RTL::set_rtl_item()
 			break;
 		}
 
+	case RTL_STATE_HEAD_TO_CENTER: {
+			_mission_item.nav_cmd = NAV_CMD_WAYPOINT;
+
+			_mission_item.lat = _destination.lat;
+			_mission_item.lon = _destination.lon;
+			_mission_item.altitude = loiter_altitude;
+			_mission_item.altitude_is_relative = false;
+			_mission_item.yaw = get_bearing_to_next_waypoint(gpos.lat, gpos.lon, _mission_item.lat, _mission_item.lon);
+			_mission_item.acceptance_radius = _navigator->get_acceptance_radius();
+			_mission_item.time_inside = 0.0f;
+			_mission_item.autocontinue = true;
+			_mission_item.origin = ORIGIN_ONBOARD;
+
+			// Disable previous setpoint to prevent drift.
+			pos_sp_triplet->previous.valid = false;
+			break;
+		}
+
 	case RTL_STATE_TRANSITION_TO_MC: {
 			set_vtol_transition_item(&_mission_item, vtol_vehicle_status_s::VEHICLE_VTOL_STATE_MC);
 			break;
@@ -554,7 +578,7 @@ void RTL::advance_rtl()
 			_rtl_state = RTL_STATE_LOITER;
 
 		} else if (vtol_in_fw_mode) {
-			_rtl_state = RTL_STATE_TRANSITION_TO_MC;
+			_rtl_state = RTL_STATE_HEAD_TO_CENTER;
 
 		} else {
 			_rtl_state = RTL_STATE_LAND;
@@ -573,6 +597,12 @@ void RTL::advance_rtl()
 		_rtl_state = RTL_STATE_LAND;
 		break;
 
+	case RTL_STATE_HEAD_TO_CENTER:
+
+		_rtl_state = RTL_STATE_TRANSITION_TO_MC;
+
+		break;
+
 	case RTL_STATE_TRANSITION_TO_MC:
 
 		_rtl_state = RTL_MOVE_TO_LAND_HOVER_VTOL;

src/modules/navigator/rtl.h

@@ -121,6 +121,7 @@ private:
 		RTL_MOVE_TO_LAND_HOVER_VTOL,
 		RTL_STATE_LAND,
 		RTL_STATE_LANDED,
+		RTL_STATE_HEAD_TO_CENTER,
 	} _rtl_state{RTL_STATE_NONE};
 
 	struct RTLPosition {
@@ -148,6 +149,7 @@ private:
 
 	float _rtl_alt{0.0f};	// AMSL altitude at which the vehicle should return to the home position
 	bool _rtl_alt_min{false};
+	float _rtl_loiter_rad{50.0f};		// radius at which a fixed wing would loiter while descending
 	bool _climb_and_return_done{false};	// this flag is set to true if RTL is active and we are past the climb state and return state
 	bool _deny_mission_landing{false};
 
@@ -159,7 +161,8 @@ private:
 		(ParamInt<px4::params::RTL_TYPE>) _param_rtl_type,
 		(ParamInt<px4::params::RTL_CONE_ANG>) _param_rtl_cone_half_angle_deg,
 		(ParamFloat<px4::params::RTL_FLT_TIME>) _param_rtl_flt_time,
-		(ParamInt<px4::params::RTL_PLD_MD>) _param_rtl_pld_md
+		(ParamInt<px4::params::RTL_PLD_MD>) _param_rtl_pld_md,
+		(ParamFloat<px4::params::RTL_LOITER_RAD>) _param_rtl_loiter_rad
 	)
 
 	// These need to point at different parameters depending on vehicle type.

src/modules/navigator/rtl_params.c

@@ -159,3 +159,17 @@ PARAM_DEFINE_FLOAT(RTL_FLT_TIME, 15);
  * @group Return To Land
  */
 PARAM_DEFINE_INT32(RTL_PLD_MD, 0);
+
+/**
+ * Loiter radius for rtl descend
+ *
+ * Set the radius for loitering to a safe altitude for VTOL transition.
+ *
+ * @unit m
+ * @min 25
+ * @max 1000
+ * @decimal 1
+ * @increment 0.5
+ * @group Return Mode
+ */
+PARAM_DEFINE_FLOAT(RTL_LOITER_RAD, 50.0f);

src/modules/sih/sih.cpp

@@ -61,7 +61,7 @@ Sih::Sih() :
 
 	parameters_updated();
 	init_variables();
-	init_sensors();
+	gps_no_fix();
 
 	const hrt_abstime task_start = hrt_absolute_time();
 	_last_run = task_start;
@@ -125,14 +125,17 @@ void Sih::Run()
 	_px4_gyro.update(_now, _gyro(0), _gyro(1), _gyro(2));
 
 	// magnetometer published at 50 Hz
-	if (_now - _mag_time >= 20_ms) {
+	if (_now - _mag_time >= 20_ms
+	    && fabs(_mag_offset_x) < 10000
+	    && fabs(_mag_offset_y) < 10000
+	    && fabs(_mag_offset_z) < 10000) {
 		_mag_time = _now;
-
 		_px4_mag.update(_now, _mag(0), _mag(1), _mag(2));
 	}
 
 	// baro published at 20 Hz
-	if (_now - _baro_time >= 50_ms) {
+	if (_now - _baro_time >= 50_ms
+	    && fabs(_baro_offset_m) < 10000) {
 		_baro_time = _now;
 		_px4_baro.set_temperature(_baro_temp_c);
 		_px4_baro.update(_now, _baro_p_mBar);
@@ -182,6 +185,12 @@ void Sih::parameters_updated()
 	_Im1 = inv(_I);
 
 	_mu_I = Vector3f(_sih_mu_x.get(), _sih_mu_y.get(), _sih_mu_z.get());
+
+	_gps_used = _sih_gps_used.get();
+	_baro_offset_m = _sih_baro_offset.get();
+	_mag_offset_x = _sih_mag_offset_x.get();
+	_mag_offset_y = _sih_mag_offset_y.get();
+	_mag_offset_z = _sih_mag_offset_z.get();
 }
 
 // initialization of the variables for the simulator
@@ -197,10 +206,10 @@ void Sih::init_variables()
 	_u[0] = _u[1] = _u[2] = _u[3] = 0.0f;
 }
 
-void Sih::init_sensors()
+void Sih::gps_fix()
 {
 	_sensor_gps.fix_type = 3;  // 3D fix
-	_sensor_gps.satellites_used = 8;
+	_sensor_gps.satellites_used = _gps_used;
 	_sensor_gps.heading = NAN;
 	_sensor_gps.heading_offset = NAN;
 	_sensor_gps.s_variance_m_s = 0.5f;
@@ -211,6 +220,21 @@ void Sih::init_sensors()
 	_sensor_gps.vdop = 1.1f;
 }
 
+void Sih::gps_no_fix()
+{
+	_sensor_gps.fix_type = 0;  // 3D fix
+	_sensor_gps.satellites_used = _gps_used;
+	_sensor_gps.heading = NAN;
+	_sensor_gps.heading_offset = NAN;
+	_sensor_gps.s_variance_m_s = 100.f;
+	_sensor_gps.c_variance_rad = 100.f;
+	_sensor_gps.eph = 100.f;
+	_sensor_gps.epv = 100.f;
+	_sensor_gps.hdop = 100.f;
+	_sensor_gps.vdop = 100.f;
+}
+
+
 // read the motor signals outputted from the mixer
 void Sih::read_motors()
 {
@@ -282,9 +306,12 @@ void Sih::reconstruct_sensors_signals()
 	_acc = _C_IB.transpose() * (_v_I_dot - Vector3f(0.0f, 0.0f, CONSTANTS_ONE_G)) + noiseGauss3f(0.5f, 1.7f, 1.4f);
 	_gyro = _w_B + noiseGauss3f(0.14f, 0.07f, 0.03f);
 	_mag = _C_IB.transpose() * _mu_I + noiseGauss3f(0.02f, 0.02f, 0.03f);
+	_mag(0) += _mag_offset_x;
+	_mag(1) += _mag_offset_y;
+	_mag(2) += _mag_offset_z;
 
 	// barometer
-	float altitude = (_H0 - _p_I(2)) + generate_wgn() * 0.14f; // altitude with noise
+	float altitude = (_H0 - _p_I(2)) + _baro_offset_m + generate_wgn() * 0.14f; // altitude with noise
 	_baro_p_mBar = CONSTANTS_STD_PRESSURE_MBAR *        // reconstructed pressure in mBar
 		       powf((1.0f + altitude * TEMP_GRADIENT / T1_K), -CONSTANTS_ONE_G / (TEMP_GRADIENT * CONSTANTS_AIR_GAS_CONST));
 	_baro_temp_c = T1_K + CONSTANTS_ABSOLUTE_NULL_CELSIUS + TEMP_GRADIENT * altitude; // reconstructed temperture in celcius
@@ -316,6 +343,13 @@ void Sih::send_gps()
 	_sensor_gps.cog_rad = atan2(_gps_vel(1),
 				    _gps_vel(0)); // Course over ground (NOT heading, but direction of movement), -PI..PI, (radians)
 
+	if (_gps_used >= 4) {
+		gps_fix();
+
+	} else {
+		gps_no_fix();
+	}
+
 	_sensor_gps_pub.publish(_sensor_gps);
 }
 

src/modules/sih/sih.hpp

@@ -118,7 +118,8 @@ private:
 	static constexpr float TEMP_GRADIENT  = -6.5f / 1000.0f;    // temperature gradient in degrees per metre
 
 	void init_variables();
-	void init_sensors();
+	void gps_fix();
+	void gps_no_fix();
 	void read_motors();
 	void generate_force_and_torques();
 	void equations_of_motion();
@@ -174,6 +175,9 @@ private:
 	matrix::Matrix3f _Im1;  // inverse of the intertia matrix
 	matrix::Vector3f _mu_I; // NED magnetic field in inertial frame [G]
 
+	int _gps_used;
+	float _baro_offset_m, _mag_offset_x, _mag_offset_y, _mag_offset_z;
+
 	// parameters defined in sih_params.c
 	DEFINE_PARAMETERS(
 		(ParamInt<px4::params::IMU_GYRO_RATEMAX>) _imu_gyro_ratemax,
@@ -196,6 +200,11 @@ private:
 		(ParamFloat<px4::params::SIH_LOC_H0>) _sih_h0,
 		(ParamFloat<px4::params::SIH_LOC_MU_X>) _sih_mu_x,
 		(ParamFloat<px4::params::SIH_LOC_MU_Y>) _sih_mu_y,
-		(ParamFloat<px4::params::SIH_LOC_MU_Z>) _sih_mu_z
+		(ParamFloat<px4::params::SIH_LOC_MU_Z>) _sih_mu_z,
+		(ParamInt<px4::params::SIH_GPS_USED>) _sih_gps_used,
+		(ParamFloat<px4::params::SIH_BARO_OFFSET>) _sih_baro_offset,
+		(ParamFloat<px4::params::SIH_MAG_OFFSET_X>) _sih_mag_offset_x,
+		(ParamFloat<px4::params::SIH_MAG_OFFSET_Y>) _sih_mag_offset_y,
+		(ParamFloat<px4::params::SIH_MAG_OFFSET_Z>) _sih_mag_offset_z
 	)
 };

src/modules/sih/sih_params.c

@@ -343,3 +343,51 @@ PARAM_DEFINE_FLOAT(SIH_LOC_MU_Y, -0.045f);
  * @group Simulation In Hardware
  */
 PARAM_DEFINE_FLOAT(SIH_LOC_MU_Z,  0.504f);
+
+/**
+ * Number of GPS satellites used
+ *
+ * @min 0
+ * @max  50
+ * @group Simulation In Hardware
+ */
+PARAM_DEFINE_INT32(SIH_GPS_USED, 10);
+
+/**
+ * Barometer offset in meters
+ *
+ * Absolute value superior to 10000 will disable barometer
+ *
+ * @unit m
+ * @group Simulation In Hardware
+ */
+PARAM_DEFINE_FLOAT(SIH_BARO_OFFSET,  0.0f);
+
+/**
+ * magnetometer X offset in Gauss
+ *
+ * Absolute value superior to 10000 will disable magnetometer
+ *
+ * @unit gauss
+ * @group Simulation In Hardware
+ */
+PARAM_DEFINE_FLOAT(SIH_MAG_OFFSET_X,  0.0f);
+
+/**
+ * magnetometer Y offset in Gauss
+ *
+ * Absolute value superior to 10000 will disable magnetometer
+ *
+ * @unit gauss
+ * @group Simulation In Hardware
+ */
+PARAM_DEFINE_FLOAT(SIH_MAG_OFFSET_Y,  0.0f);
+/**
+ * magnetometer Z offset in Gauss
+ *
+ * Absolute value superior to 10000 will disable magnetometer
+ *
+ * @unit gauss
+ * @group Simulation In Hardware
+ */
+PARAM_DEFINE_FLOAT(SIH_MAG_OFFSET_Z,  0.0f);

src/modules/vtol_att_control/standard_params.c

@@ -53,6 +53,8 @@
  * @value 2 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT1.
  * @value 3 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT2.
  * @value 4 Enable FW forward actuation in hover in altitude, position and auto modes.
+ * @value 5 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT1 (except LANDING).
+ * @value 6 Enable FW forward actuation in hover in altitude, position and auto modes if above MPC_LAND_ALT2 (except LANDING).
  *
  * @group VTOL Attitude Control
  */

src/modules/vtol_att_control/vtol_type.cpp

@@ -497,6 +497,26 @@ float VtolType::pusher_assist()
 			return 0.0f;
 		}
 
+		break;
+
+	case ENABLE_ABOVE_MPC_LAND_ALT1_WITHOUT_LAND: // disable if below MPC_LAND_ALT1 or in land mode
+		if ((_attc->get_pos_sp_triplet()->current.valid
+		     && _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND
+		     && _v_control_mode->flag_control_auto_enabled) ||
+		    (!PX4_ISFINITE(dist_to_ground) || (dist_to_ground < _params->mpc_land_alt1))) {
+			return 0.0f;
+		}
+
+		break;
+
+	case ENABLE_ABOVE_MPC_LAND_ALT2_WITHOUT_LAND: // disable if below MPC_LAND_ALT2 or in land mode
+		if ((_attc->get_pos_sp_triplet()->current.valid
+		     && _attc->get_pos_sp_triplet()->current.type == position_setpoint_s::SETPOINT_TYPE_LAND
+		     && _v_control_mode->flag_control_auto_enabled) ||
+		    (!PX4_ISFINITE(dist_to_ground) || (dist_to_ground < _params->mpc_land_alt2))) {
+			return 0.0f;
+		}
+
 		break;
 	}
 

src/modules/vtol_att_control/vtol_type.h

@@ -100,7 +100,9 @@ enum VtolForwardActuationMode {
 	ENABLE_WITHOUT_LAND,
 	ENABLE_ABOVE_MPC_LAND_ALT1,
 	ENABLE_ABOVE_MPC_LAND_ALT2,
-	ENABLE_ALL_MODES
+	ENABLE_ALL_MODES,
+	ENABLE_ABOVE_MPC_LAND_ALT1_WITHOUT_LAND,
+	ENABLE_ABOVE_MPC_LAND_ALT2_WITHOUT_LAND
 };
 
 // these are states that can be applied to a selection of multirotor motors.