fix kconfig, add _REG32

If the measured temperature exceeds the fixed threshold of 100 degC, a
fault is declared, causing batteryCheck to show a failsafe warning to
the user.

.github/workflows/ros_integration_tests.yml

@@ -90,6 +90,9 @@ jobs:
         mkdir -p /opt/px4_ws/src
         cd /opt/px4_ws/src
         git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
+        # Ignore python packages due to compilation issue (can be enabled when updating ROS)
+        touch px4-ros2-interface-lib/px4_ros2_py/COLCON_IGNORE || true
+        touch px4-ros2-interface-lib/examples/python/COLCON_IGNORE || true
         cd ..
         # Copy messages to ROS workspace
         "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"

CLAUDE.md

@@ -0,0 +1,467 @@
+# Bitbang DShot Prototype - Design Specification
+
+## Goal
+
+Implement bitbang DShot (including bidirectional) as an alternative to the existing DMA burst/capture approach in the STM32H7 platform layer. The implementation is generic - it works on any STM32H7 board by dynamically discovering port/pin groupings from `timer_io_channels[]` at init time. The **ARK FPV** board is the test target.
+
+Bitbang DShot uses a pacer timer to trigger DMA transfers to/from GPIO registers (BSRR for output, IDR for input), instead of using timer PWM channels with DMA burst to CCR registers. This decouples motor signal generation from timer channel hardware and enables simultaneous capture of all motors on a GPIO port (eliminating round-robin).
+
+## Key Advantage Over Current Approach
+
+The current BDShot implementation captures **one motor per timer per cycle** (round-robin) because each capture channel needs its own DMA stream. At 200Hz update rate, each motor gets RPM updates at only 50Hz (200/4).
+
+Bitbang capture reads the entire GPIO IDR register on every sample, capturing **all motors on a port simultaneously**. Every cycle produces RPM data for every motor - a 4x improvement in per-motor RPM update rate.
+
+## Architecture Overview
+
+### Current (DMA Burst/Capture)
+```
+Timer (PWM mode) ──► CCR1-CCR4 (via DMA burst to DMAR) ──► Pin AF output
+Timer (Capture mode) ──► CCR edge timestamps (via per-channel DMA) ──► one channel at a time
+```
+
+### Bitbang
+```
+Timer (counter mode) ──► Update event triggers DMA ──► writes BSRR words to GPIO port
+Timer (counter mode) ──► Update event triggers DMA ──► reads IDR from GPIO port (all pins)
+```
+
+## Port Group Discovery
+
+At init time, the implementation iterates `timer_io_channels[]` and groups channels by GPIO port. The port and pin are extracted from the existing `gpio_out` field using NuttX bit encoding:
+
+```c
+#include <stm32_gpio.h>  // GPIO_PORT_MASK, GPIO_PORT_SHIFT, GPIO_PIN_MASK, GPIO_PIN_SHIFT
+
+// Extract port index and pin number from timer_io_channels[ch].gpio_out
+uint8_t port_index = (gpio_out & GPIO_PORT_MASK) >> GPIO_PORT_SHIFT;  // 0=A, 1=B, ... 7=H, 8=I
+uint8_t pin_number = (gpio_out & GPIO_PIN_MASK) >> GPIO_PIN_SHIFT;    // 0-15
+
+// Get GPIO peripheral base address from NuttX lookup table
+uint32_t gpio_base = g_gpiobase[port_index];  // e.g., STM32_GPIOH_BASE = 0x58021C00
+```
+
+### Port Group Init Algorithm
+
+```c
+// Pseudocode for up_dshot_init()
+for (uint8_t ch = 0; ch < MAX_TIMER_IO_CHANNELS; ch++) {
+    if (!(channel_mask & (1 << ch))) continue;
+
+    uint32_t gpio_out = timer_io_channels[ch].gpio_out;
+    uint8_t port_index = (gpio_out & GPIO_PORT_MASK) >> GPIO_PORT_SHIFT;
+    uint8_t pin_num = (gpio_out & GPIO_PIN_MASK) >> GPIO_PIN_SHIFT;
+    uint8_t timer_index = timer_io_channels[ch].timer_index;
+
+    // Find or create port group for this GPIO port
+    port_group_t *pg = find_or_create_port_group(port_index);
+    pg->gpio_base = g_gpiobase[port_index];
+    pg->pin_mask |= (1 << pin_num);
+    pg->moder_mask |= (3 << (pin_num * 2));
+    pg->moder_output |= (1 << (pin_num * 2));  // 01 = output mode
+    pg->pin_numbers[pg->pin_count] = pin_num;
+    pg->output_channels[pg->pin_count] = ch;
+    pg->pin_count++;
+
+    // Assign a pacer timer - use the first timer associated with any motor on this port.
+    // On H7 with DMAMUX the timer just needs a TIMx_UP DMA mapping; any timer works.
+    if (pg->timer_index == UINT8_MAX) {
+        pg->timer_index = timer_index;
+    }
+}
+```
+
+This works on any board. Motors on the same GPIO port share a port group regardless of which timer they were originally assigned to.
+
+### ARK FPV Example (test target)
+
+On the ARK FPV, the above algorithm produces two port groups:
+
+| Motor   | GPIO  | Pin | Port Group | Pacer Timer |
+|---------|-------|-----|------------|-------------|
+| FMU_CH1 | PI0   | 0   | Port I     | TIM5 (first timer seen on Port I) |
+| FMU_CH2 | PH12  | 12  | Port H     | TIM5        |
+| FMU_CH3 | PH11  | 11  | Port H     | TIM5        |
+| FMU_CH4 | PH10  | 10  | Port H     | TIM5        |
+| FMU_CH5 | PI5   | 5   | Port I     | (already assigned) |
+| FMU_CH6 | PI6   | 6   | Port I     | (already assigned) |
+| FMU_CH7 | PI7   | 7   | Port I     | (already assigned) |
+| FMU_CH8 | PI2   | 2   | Port I     | (already assigned) |
+
+- **Port H group**: 3 motors, pin_mask=0x1C00, pacer=TIM5
+- **Port I group**: 5 motors, pin_mask=0xE5, pacer=TIM5 (first timer found; could also be TIM8)
+
+Note: The pacer timer just needs a valid `dma_map_up` entry. The first timer encountered for a port group is used. Since DMAMUX on H7 can route any timer update event to any DMA stream, any timer with DMA configured works as a pacer.
+
+## GPIO Registers (STM32H7)
+
+```
+Offset 0x00: MODER   - Mode register (2 bits/pin: 00=input, 01=output, 10=AF, 11=analog)
+Offset 0x10: IDR     - Input data register (read-only, bits [15:0] = pin state)
+Offset 0x14: ODR     - Output data register
+Offset 0x18: BSRR    - Bit set/reset register (write-only, atomic)
+                        Bits [15:0]  = SET (writing 1 sets pin HIGH)
+                        Bits [31:16] = RESET (writing 1 sets pin LOW)
+                        Writing 0 = no change
+```
+
+GPIO base addresses are looked up at runtime via `g_gpiobase[port_index]` (NuttX global array).
+
+### MODER Manipulation
+
+Pin masks and MODER masks are computed dynamically during port group init from the discovered pin numbers:
+
+```c
+// For each pin in the port group:
+pg->pin_mask |= (1 << pin_num);                 // for BSRR set/reset
+pg->moder_mask |= (3 << (pin_num * 2));         // which MODER bits to touch
+pg->moder_output |= (1 << (pin_num * 2));       // 01 = general purpose output
+// moder_input is always 0 (clear the bits = input mode)
+```
+
+To switch to output: `modifyreg32(gpio_base + STM32_GPIO_MODER_OFFSET, pg->moder_mask, pg->moder_output)`
+To switch to input:  `modifyreg32(gpio_base + STM32_GPIO_MODER_OFFSET, pg->moder_mask, 0)`
+
+## DMA Configuration
+
+The DMA request source (DMAMUX) stays the same as current - TIMx_UP triggers each DMA transfer. The only change is the **peripheral address** and **transfer direction**.
+
+### Output DMA (Memory → GPIO BSRR)
+```c
+// Peripheral address is GPIO BSRR instead of TIM DMAR
+px4_stm32_dmasetup(pg->dma_handle,
+    pg->gpio_base + STM32_GPIO_BSRR_OFFSET,       // e.g., 0x58021C18 for Port H
+    (uint32_t)bsrr_output_buffer[pg_index],
+    SUBPERIODS_PER_BIT * DSHOT_FRAME_BITS,          // 20 * 16 = 320 transfers (+ 1 trailing zero)
+    DMA_SCR_PRIHI | DMA_SCR_MSIZE_32BITS | DMA_SCR_PSIZE_32BITS |
+    DMA_SCR_MINC | DMA_SCR_DIR_M2P | DMA_SCR_TCIE);
+```
+
+### Input DMA (GPIO IDR → Memory)
+```c
+px4_stm32_dmasetup(pg->dma_handle,
+    pg->gpio_base + STM32_GPIO_IDR_OFFSET,          // e.g., 0x58021C10 for Port H
+    (uint32_t)idr_capture_buffer[pg_index],
+    CAPTURE_SAMPLE_COUNT,                            // enough samples for GCR frame (~512)
+    DMA_SCR_PRIHI | DMA_SCR_MSIZE_16BITS | DMA_SCR_PSIZE_16BITS |
+    DMA_SCR_MINC | DMA_SCR_DIR_P2M | DMA_SCR_TCIE);
+```
+
+### DMAMUX Routing (unchanged)
+
+Each port group uses its pacer timer's `dma_map_up` for DMAMUX routing:
+```c
+pg->dma_handle = stm32_dmachannel(io_timers[pg->timer_index].dshot.dma_map_up);
+```
+
+The DMAMUX determines **when** the DMA fires (on timer update events). The DMA stream registers determine **what** gets transferred (BSRR/IDR addresses). These are independent - the DMA request source and transfer target don't need to be the same peripheral.
+
+## Timer Configuration
+
+Each port group's pacer timer is configured as a simple upcounter. No PWM output, no capture-compare - just generate periodic update events.
+
+```c
+// Same prescaler as current DShot implementation
+rPSC(timer) = ((timer_clock_freq / dshot_pwm_freq) / DSHOT_MOTOR_PWM_BIT_WIDTH) - 1;
+rARR(timer) = DSHOT_MOTOR_PWM_BIT_WIDTH - 1;  // 19 (20 counts per sub-period)
+// Enable update DMA request
+rDIER(timer) |= ATIM_DIER_UDE;
+// Enable counter
+rCR1(timer) |= GTIM_CR1_CEN;
+```
+
+With `DSHOT_MOTOR_PWM_BIT_WIDTH = 20`, each timer update fires DMA once per sub-period. One DShot bit = 20 sub-periods.
+
+## Output Buffer Layout (BSRR Words)
+
+Each DShot frame is 16 bits. Each bit has 20 sub-periods. The buffer contains one 32-bit BSRR word per sub-period.
+
+**DShot bit waveform (sub-periods 0-19):**
+- Bit '1' (70% duty): SET at sub-period 0, RESET at sub-period 14, zeros elsewhere
+- Bit '0' (35% duty): SET at sub-period 0, RESET at sub-period 7, zeros elsewhere
+
+**Buffer structure per port:**
+```
+[bit0_subperiod0] [bit0_subperiod1] ... [bit0_subperiod19]
+[bit1_subperiod0] [bit1_subperiod1] ... [bit1_subperiod19]
+...
+[bit15_subperiod0] [bit15_subperiod1] ... [bit15_subperiod19]
+[trailing_zero]  ← ensures all pins return LOW at frame end
+```
+
+Total: (16 * 20) + 1 = 321 BSRR words = 1284 bytes per port.
+
+**Encoding example** (3 motors on pins 10, 11, 12 of some port, sending bits 1, 0, 1):
+```
+Sub-period 0:  BSRR = (1<<10) | (1<<11) | (1<<12)  = 0x00001C00  (SET all three)
+Sub-period 7:  BSRR = (1<<(11+16))                  = 0x00080000  (RESET pin11 only - it's '0')
+Sub-period 14: BSRR = (1<<(10+16)) | (1<<(12+16))   = 0x14000000  (RESET pin10, pin12 - they're '1')
+All other sub-periods: BSRR = 0x00000000 (no change)
+```
+
+### Motor Data Set Function
+
+The port group index and pin number for each output channel are determined at init time and stored in a lookup table. No per-frame discovery needed.
+
+```c
+// Populated during up_dshot_init() from timer_io_channels[ch].gpio_out
+static uint8_t _channel_to_port_group[MAX_TIMER_IO_CHANNELS];
+static uint8_t _channel_to_pin[MAX_TIMER_IO_CHANNELS];
+
+void dshot_motor_data_set(uint8_t output_channel, uint16_t packet)
+{
+    uint8_t pg_index = _channel_to_port_group[output_channel];
+    uint8_t pin_num = _channel_to_pin[output_channel];
+    uint32_t set_mask = (1 << pin_num);
+    uint32_t reset_mask = (1 << (pin_num + 16));
+
+    uint32_t *buffer = bsrr_output_buffer[pg_index];
+
+    for (int bit = 0; bit < 16; bit++) {
+        int base = bit * SUBPERIODS_PER_BIT;
+        bool is_one = (packet >> (15 - bit)) & 1;  // MSB first
+        int reset_point = is_one ? MOTOR_PWM_BIT_1 : MOTOR_PWM_BIT_0;
+
+        buffer[base + 0] |= set_mask;               // SET at start of bit
+        buffer[base + reset_point] |= reset_mask;    // RESET at duty cycle end
+    }
+}
+```
+
+Note: Buffer must be zeroed before building each frame, then all motors OR their masks into the shared per-port buffer.
+
+## Capture Buffer Layout (IDR Samples)
+
+After transmitting, GPIO pins switch to input mode. DMA samples the IDR register at the same timer rate (20 sub-periods per DShot bit period).
+
+**GCR response timing:**
+- GCR bit rate = DShot bit rate * 5/4 (750kHz for DShot600)
+- GCR bit period = 1.333us
+- Sample period = 83.3ns (at DShot600 with 20 sub-periods)
+- Samples per GCR bit = ~16 (heavy oversampling, good for edge detection)
+- GCR frame = 21 bits = ~336 samples minimum
+- Use 400-512 samples to be safe
+
+**Buffer:** Array of uint16_t, one per IDR sample.
+```
+[idr_sample_0] [idr_sample_1] ... [idr_sample_N]
+```
+
+Each sample contains all 16 pins of the port. Extract per-motor bitstream by masking:
+```c
+bool pin_state = (idr_sample >> pin_num) & 1;
+```
+
+### Capture Processing
+
+Convert IDR samples to edge intervals, then reuse existing GCR decoder:
+
+```c
+void process_bitbang_capture(uint8_t port_group, uint8_t pin_num, uint8_t output_channel)
+{
+    uint16_t *buffer = idr_capture_buffer[port_group];
+    uint32_t intervals[32];
+    unsigned interval_count = 0;
+
+    // Extract edges from IDR samples
+    bool prev_state = (buffer[0] >> pin_num) & 1;
+    unsigned last_edge = 0;
+
+    for (unsigned i = 1; i < CAPTURE_SAMPLE_COUNT; i++) {
+        bool state = (buffer[i] >> pin_num) & 1;
+        if (state != prev_state) {
+            // Edge detected
+            if (last_edge > 0 && interval_count < 32) {
+                intervals[interval_count++] = i - last_edge;
+            }
+            last_edge = i;
+            prev_state = state;
+        }
+    }
+
+    // Now decode using same GCR logic as existing code
+    // intervals[] contains sample counts between edges
+    // (equivalent to CCR timestamp differences in current impl)
+}
+```
+
+The existing `convert_edge_intervals_to_bitstream()` logic (adaptive base interval, bit counting, RLL/GCR decode, CRC check) can be reused with minor adaptation since the interval units are now sample counts instead of timer ticks. The ratio math is identical.
+
+## Sequence of Operations
+
+### Per-cycle flow (called from `up_dshot_trigger()`):
+
+```
+1. TRANSMIT PHASE
+   a. Zero the BSRR output buffers for all port groups
+   b. Build BSRR buffers (call dshot_motor_data_set for each motor)
+      - Each motor ORs its pin masks into its port group's shared buffer
+   c. Configure GPIO pins as output (MODER = 01) for each port group
+   d. Flush dcache on output buffers
+   e. For each port group:
+      - Allocate DMA via stm32_dmachannel(io_timers[pg->timer_index].dshot.dma_map_up)
+      - Setup DMA: memory→BSRR, 32-bit, 321 transfers
+      - Enable timer UDE (update DMA request)
+      - Start DMA with burst_finished_callback
+      - Enable timer counter
+   f. ~27us later (16 bits × 20 sub-periods × 83.3ns), DMA complete fires
+
+2. TRANSITION PHASE (in burst_finished_callback, per port group)
+   a. Stop DMA, free DMA handle
+   b. Disable timer
+   c. Switch GPIO pins to input mode (MODER = 00)
+   d. Schedule capture start via hrt_call_after(30us)
+
+3. CAPTURE PHASE (in capture_start_callback, per port group)
+   a. Zero capture buffer for this port group
+   b. Flush dcache
+   c. Allocate DMA via stm32_dmachannel(dma_map_up) [reuse same DMAMUX route]
+   d. Setup DMA: IDR→memory, 16-bit, 512 transfers
+   e. Enable timer UDE, start DMA, enable timer
+   f. Schedule capture_complete via hrt_call_after(frame_time + margin)
+
+4. PROCESSING PHASE (in capture_complete_callback, per port group)
+   a. Stop DMA, free DMA handle
+   b. Disable timer
+   c. Invalidate dcache on capture buffer
+   d. For EACH motor on the port (not round-robin!):
+      - Extract per-pin bitstream from IDR samples using pin_numbers[]
+      - Detect edges, compute intervals
+      - Decode GCR → eRPM/EDT
+   e. Switch GPIO back to output mode (MODER = 01)
+   f. Mark port group cycle complete
+
+```
+
+## File Structure
+
+### New file: `platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot_bitbang.c`
+
+Implements the same `up_dshot_*` API as `dshot.c`:
+- `up_dshot_init()` - Initialize port groups, allocate DMA, configure timers
+- `up_dshot_trigger()` - Start the TX→wait→RX→process cycle
+- `dshot_motor_data_set()` - Build BSRR words into port group buffers
+- `up_dshot_arm()` - Enable/disable GPIO output
+- `up_bdshot_get_erpm()` - Return captured eRPM (unchanged)
+- `up_bdshot_channel_online()` - Return online status (unchanged)
+- `up_bdshot_status()` - Print diagnostics
+
+### New/modified: `platforms/nuttx/src/px4/stm/stm32_common/dshot/CMakeLists.txt`
+
+Add build option to select `dshot.c` vs `dshot_bitbang.c`.
+
+### Board-level config
+
+No board-specific changes needed. The bitbang implementation reads the same `io_timers[]` and `timer_io_channels[]` structures that every board already defines. It extracts GPIO port/pin from `timer_io_channels[].gpio_out` (which `initIOTimerChannel()` already populates with `getGPIOPort(pin.port) | getGPIOPin(pin.pin)`) and the DMA mapping from `io_timers[].dshot.dma_map_up`.
+
+A board opts into bitbang mode via a build flag or Kconfig option that selects `dshot_bitbang.c` instead of `dshot.c`.
+
+### What stays the same
+- `drv_dshot.h` API - no changes
+- `DShot.cpp` / `DShot.h` (the driver module) - no changes
+- `DShotTelemetry.cpp` / `DShotTelemetry.h` - no changes
+- GCR decoding logic - copied/adapted from dshot.c but the core algorithm is identical
+- All higher-level consumers of eRPM data
+
+## Data Structures
+
+```c
+#define MAX_PORT_GROUPS 4  // Max distinct GPIO ports with motor pins (typically 1-3)
+#define MAX_PINS_PER_GROUP 8
+
+// Port group: one per GPIO port that has motor pins. Built dynamically at init.
+typedef struct port_group_t {
+    uint32_t gpio_base;                          // GPIO port base address (from g_gpiobase[])
+    uint8_t  port_index;                         // NuttX port index (0=A, 7=H, 8=I, etc.)
+    uint32_t pin_mask;                           // Bitmask of motor pins on this port
+    uint32_t moder_mask;                         // MODER register mask for mode switching
+    uint32_t moder_output;                       // MODER value for output mode (01 per pin)
+    uint8_t  pin_count;                          // Number of motor pins on this port
+    uint8_t  pin_numbers[MAX_PINS_PER_GROUP];    // Pin numbers (0-15)
+    uint8_t  output_channels[MAX_PINS_PER_GROUP]; // Corresponding output channel indices
+    uint8_t  timer_index;                        // Pacer timer index (into io_timers[])
+    DMA_HANDLE dma_handle;                       // DMA stream handle (reused between TX/RX)
+    bool     bidirectional;                      // BDShot enabled for this group
+    bool     cycle_complete;                     // Ready for next trigger
+} port_group_t;
+
+static port_group_t _port_groups[MAX_PORT_GROUPS] = {};
+static uint8_t _num_port_groups = 0;
+
+// Per-channel lookup tables (populated at init from timer_io_channels[].gpio_out)
+static uint8_t _channel_to_port_group[MAX_TIMER_IO_CHANNELS];
+static uint8_t _channel_to_pin[MAX_TIMER_IO_CHANNELS];
+```
+
+## DMA Resource Usage Comparison
+
+### Current (DMA burst + capture)
+- **Output**: 1 DMA stream per timer = N_timers streams
+- **Capture**: 1 DMA stream per captured channel (round-robin, 1 at a time per timer)
+- DMA streams are freed/reallocated between burst and capture phases
+
+### Bitbang
+- **Output**: 1 DMA stream per port group = N_ports streams
+- **Capture**: 1 DMA stream per port group (same streams, reconfigured)
+- DMA streams freed/reallocated between phases (same pattern as current)
+
+DMA resource usage is equivalent (typically N_timers == N_ports or close). The DMAMUX routing uses the same timer update event mappings.
+
+## Memory Usage
+
+### Current
+- Output: ~272 bytes per timer (4 channels * 17 words * 4 bytes, cache-aligned)
+- Capture: ~256 bytes per timer (4 channels * 32 samples * 2 bytes)
+
+### Bitbang
+- Output: ~1284 bytes per port group (321 words * 4 bytes, cache-aligned)
+- Capture: ~1024 bytes per port group (512 samples * 2 bytes, cache-aligned)
+- Scales with number of port groups, not number of motors
+- Higher per-group cost, but acceptable for H7 (1MB+ SRAM)
+
+## Open Questions / Risks
+
+1. **GPIO output speed**: BSRR writes through AHB4 bus on H7. At 83.3ns per DMA transfer (12MHz), is there enough bus bandwidth? Should be fine - AHB4 runs at 240MHz, and BSRR writes are single-cycle.
+
+2. **DMA priority vs other peripherals**: SPI1 (IMU) is on DMA1. Timer DMA is already high priority. No change expected.
+
+3. **GPIO input threshold**: When reading IDR for bidir, the input threshold depends on GPIO input configuration (Schmitt trigger, pull-up/down). The current capture approach uses timer input capture which has different input characteristics. May need to configure GPIO pull-up to match idle-high behavior.
+
+4. **Signal integrity**: Timer PWM output has precise edge timing locked to the timer clock. BSRR writes via DMA may have slight jitter due to bus arbitration. This is likely negligible (< 10ns on H7) but should be verified.
+
+5. **OTYPER configuration**: For bidirectional DShot, the pin needs to be open-drain (or at least not actively driven when in input mode). The MODER switch to input (00) handles this, but verify that switching MODER during/after a frame doesn't cause glitches.
+
+6. **Cache coherency**: BSRR output buffers need dcache clean before DMA. IDR capture buffers need dcache invalidate after DMA. Same pattern as current code.
+
+## Implementation Order
+
+1. **Port group initialization**: Parse `timer_io_channels[]` to build `port_group_t` structures grouped by GPIO port instead of timer
+2. **Output-only DShot**: Implement BSRR buffer building and DMA output. Verify with logic analyzer that DShot frames are correct
+3. **Bidirectional capture**: Implement IDR sampling and per-pin edge extraction. Verify GCR decode produces valid eRPM
+4. **Integration**: Wire up to the existing `up_dshot_*` API so `DShot.cpp` works unchanged
+5. **Testing**: Compare eRPM data quality (CRC error rate, update rate) vs current implementation
+
+## Reference: Betaflight Bitbang Implementation
+
+- [Betaflight dshot_bitbang.c](https://github.com/betaflight/betaflight/blob/master/src/platform/STM32/dshot_bitbang.c)
+- [Betaflight dshot_bitbang_impl.h](https://github.com/betaflight/betaflight/blob/master/src/main/drivers/dshot_bitbang_impl.h)
+- [Original GPIO banging PR #7446](https://github.com/betaflight/betaflight/pull/7446)
+- [Bidirectional bitbang PR #8779](https://github.com/betaflight/betaflight/pull/8779)
+
+## Reference: Current PX4 Implementation Files
+
+- DShot platform layer: `platforms/nuttx/src/px4/stm/stm32_common/dshot/dshot.c`
+- IO timer layer: `platforms/nuttx/src/px4/stm/stm32_common/io_pins/io_timer.c`
+- IO timer struct defs: `platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/io_timer.h`
+- GPIO/pin helpers: `platforms/nuttx/src/px4/stm/stm32_common/include/px4_arch/hw_description.h`
+- H7 timer/DMA descriptions: `platforms/nuttx/src/px4/stm/stm32h7/include/px4_arch/io_timer_hw_description.h`
+- H7 GPIO register defs: NuttX `arch/arm/src/stm32h7/stm32_gpio.h` (GPIO_PORT_MASK, GPIO_PIN_MASK, g_gpiobase[])
+- H7 GPIO HW registers: NuttX `arch/arm/src/stm32h7/hardware/stm32h7x3xx_gpio.h` (STM32_GPIO_MODER_OFFSET, etc.)
+- DShot API header: `src/drivers/drv_dshot.h`
+- DShot driver module: `src/drivers/dshot/DShot.cpp`
+
+## Reference: Test Target (ARK FPV)
+
+- Timer config: `boards/ark/fpv/src/timer_config.cpp`
+- DMA map: `boards/ark/fpv/nuttx-config/include/board_dma_map.h`
+- Board config: `boards/ark/fpv/src/board_config.h`

ROMFS/px4fmu_common/init.d-posix/airframes/4004_gz_standard_vtol

@@ -101,6 +101,6 @@ param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2
 
 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.3
+param set-default VT_F_TRANS_THR 1
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0

Tools/bdshot_analyzer.py

@@ -0,0 +1,433 @@
+#!/usr/bin/env python3
+"""
+BDShot Timing Jitter Analyzer
+
+Analyzes BDShot (Bidirectional DShot) signal timing from Saleae Logic Analyzer
+CSV exports. Measures scheduling consistency and jitter in PX4 flight controller
+DShot output timing.
+
+Usage:
+    python bdshot_analyzer.py capture.csv
+    python bdshot_analyzer.py capture.csv --dshot-rate 300 --loop-rate 800
+    python bdshot_analyzer.py capture.csv --channel-a 0 --channel-b 1
+
+Arguments:
+    input_file          Path to Saleae CSV export
+    --dshot-rate        DShot variant: 150/300/600/1200 (default: 300)
+    --loop-rate         Expected loop rate in Hz (default: 800)
+    --channel-a         CSV column index for first channel (default: 0)
+    --channel-b         CSV column index for second channel (default: 1)
+    --no-plots          Disable histogram display
+    --verbose           Enable verbose debugging output
+
+Capture Setup:
+    1. Connect Saleae to two BDShot signals from different timers
+       (e.g., Motor 1 from Timer1, Motor 5 from Timer2)
+    2. Sample rate: 24+ MS/s for DShot300
+    3. Export as CSV: File -> Export Raw Data -> CSV
+
+Interpreting Results:
+    - Frame Intervals: Should cluster tightly around expected loop period
+    - Inter-Channel Gap: Measures sequential DMA scheduling overhead
+    - Jitter: Small std dev is typical for well-behaved systems
+
+Dependencies: numpy, matplotlib
+"""
+
+import argparse
+import csv
+import sys
+from dataclasses import dataclass
+from pathlib import Path
+
+import numpy as np
+
+# Try to import matplotlib, but allow running without it
+try:
+    import matplotlib.pyplot as plt
+    HAS_MATPLOTLIB = True
+except ImportError:
+    HAS_MATPLOTLIB = False
+
+
+# DShot bit periods in microseconds
+DSHOT_BIT_PERIODS = {
+    150: 6.67,
+    300: 3.33,
+    600: 1.67,
+    1200: 0.83,
+}
+
+
+@dataclass
+class BDShotTransaction:
+    """Represents a single BDShot transaction (command + response)."""
+    start: float   # Timestamp of first falling edge (seconds)
+    end: float     # Timestamp of final rising edge before idle (seconds)
+
+    @property
+    def duration_us(self) -> float:
+        """Transaction duration in microseconds."""
+        return (self.end - self.start) * 1_000_000
+
+
+@dataclass
+class ChannelStats:
+    """Statistics for a single channel's frame intervals."""
+    channel_name: str
+    count: int
+    min_us: float
+    max_us: float
+    mean_us: float
+    std_us: float
+    expected_us: float
+
+    @property
+    def min_jitter_us(self) -> float:
+        return self.min_us - self.expected_us
+
+    @property
+    def max_jitter_us(self) -> float:
+        return self.max_us - self.expected_us
+
+    @property
+    def mean_jitter_us(self) -> float:
+        return self.mean_us - self.expected_us
+
+
+@dataclass
+class GapStats:
+    """Statistics for inter-channel gaps."""
+    count: int
+    min_us: float
+    max_us: float
+    mean_us: float
+    std_us: float
+
+
+def parse_csv(filepath: Path, channel_a_idx: int, channel_b_idx: int, verbose: bool = False):
+    """
+    Parse Saleae CSV export and extract edges for each channel.
+
+    Returns:
+        Tuple of (edges_a, edges_b) where each is a list of (timestamp, new_state) tuples.
+    """
+    edges_a, edges_b = [], []
+    prev_a, prev_b = None, None
+    ch_a_col, ch_b_col = channel_a_idx + 1, channel_b_idx + 1  # +1 for time column
+
+    with open(filepath, 'r', newline='') as f:
+        reader = csv.reader(f)
+        header = next(reader)
+
+        if verbose:
+            print(f"CSV Header: {header}")
+            print(f"Using columns: time=0, ch_a={ch_a_col} ({header[ch_a_col]}), "
+                  f"ch_b={ch_b_col} ({header[ch_b_col]})")
+
+        if ch_a_col >= len(header) or ch_b_col >= len(header):
+            raise ValueError(
+                f"Channel indices out of range. CSV has {len(header)-1} channels. "
+                f"Requested channel_a={channel_a_idx}, channel_b={channel_b_idx}"
+            )
+
+        for row_num, row in enumerate(reader, start=2):
+            try:
+                timestamp = float(row[0])
+                state_a, state_b = int(row[ch_a_col]), int(row[ch_b_col])
+
+                # Record edges (state changes) or initial LOW state
+                if (prev_a is not None and state_a != prev_a) or (prev_a is None and state_a == 0):
+                    edges_a.append((timestamp, state_a))
+                if (prev_b is not None and state_b != prev_b) or (prev_b is None and state_b == 0):
+                    edges_b.append((timestamp, state_b))
+
+                prev_a, prev_b = state_a, state_b
+
+            except (ValueError, IndexError) as e:
+                if verbose:
+                    print(f"Warning: Skipping malformed row {row_num}: {e}")
+
+    if verbose:
+        print(f"Parsed {len(edges_a)} edges for channel A, {len(edges_b)} edges for channel B")
+
+    return edges_a, edges_b
+
+
+def detect_transactions(edges, idle_threshold_us: float, verbose: bool = False):
+    """
+    Detect BDShot transactions from edge list.
+
+    A transaction starts with a falling edge after an idle period and ends
+    when the line returns HIGH and stays HIGH for > idle_threshold_us.
+    """
+    if not edges:
+        return []
+
+    idle_threshold_s = idle_threshold_us / 1_000_000
+    transactions = []
+    tx_start = None
+    last_rising = None
+
+    for i, (timestamp, state) in enumerate(edges):
+        if state == 0:  # Falling edge - start transaction if idle
+            if tx_start is None and (last_rising is None or timestamp - last_rising > idle_threshold_s):
+                tx_start = timestamp
+        elif tx_start is not None:  # Rising edge with active transaction
+            last_rising = timestamp
+            # Complete transaction if next edge is far away or this is the last edge
+            next_gap = edges[i + 1][0] - timestamp if i + 1 < len(edges) else float('inf')
+            if next_gap > idle_threshold_s:
+                transactions.append(BDShotTransaction(start=tx_start, end=timestamp))
+                tx_start = None
+        else:
+            last_rising = timestamp
+
+    if verbose:
+        print(f"Detected {len(transactions)} transactions")
+        if transactions:
+            durations = [tx.duration_us for tx in transactions]
+            print(f"  Duration range: {min(durations):.1f} - {max(durations):.1f} us")
+
+    return transactions
+
+
+def compute_channel_stats(transactions, channel_name: str, expected_interval_us: float):
+    """Compute frame interval statistics for a channel."""
+    if len(transactions) < 2:
+        raise ValueError(f"Need at least 2 transactions to compute intervals, got {len(transactions)}")
+
+    intervals_us = np.diff([tx.start for tx in transactions]) * 1_000_000
+
+    stats = ChannelStats(
+        channel_name=channel_name,
+        count=len(intervals_us),
+        min_us=float(np.min(intervals_us)),
+        max_us=float(np.max(intervals_us)),
+        mean_us=float(np.mean(intervals_us)),
+        std_us=float(np.std(intervals_us)),
+        expected_us=expected_interval_us,
+    )
+
+    return stats, intervals_us
+
+
+def compute_inter_channel_gaps(transactions_a, transactions_b, expected_interval_us: float,
+                               verbose: bool = False):
+    """Compute inter-channel gap statistics (CH_A end -> CH_B start)."""
+    gaps = []
+    max_reasonable_gap_us = expected_interval_us * 0.5
+    b_idx = 0
+
+    for tx_a in transactions_a:
+        # Find first CH_B transaction that starts after this CH_A ends
+        while b_idx < len(transactions_b) and transactions_b[b_idx].start <= tx_a.end:
+            b_idx += 1
+        if b_idx >= len(transactions_b):
+            break
+
+        gap_us = (transactions_b[b_idx].start - tx_a.end) * 1_000_000
+        if 0 < gap_us < max_reasonable_gap_us:
+            gaps.append(gap_us)
+
+    if verbose:
+        print(f"Inter-channel gap matching: {len(gaps)} matched")
+
+    if not gaps:
+        raise ValueError("No valid inter-channel gaps found")
+
+    gaps_arr = np.array(gaps)
+    stats = GapStats(
+        count=len(gaps_arr),
+        min_us=float(np.min(gaps_arr)),
+        max_us=float(np.max(gaps_arr)),
+        mean_us=float(np.mean(gaps_arr)),
+        std_us=float(np.std(gaps_arr)),
+    )
+
+    return stats, gaps_arr
+
+
+def _plot_histogram(ax, data, title: str, xlabel: str, expected_value=None, stats_text=None):
+    """Plot a histogram on the given axes."""
+    bin_count = min(100, max(20, len(data) // 100)) if np.ptp(data) > 0 else 20
+    ax.hist(data, bins=bin_count, edgecolor='black', alpha=0.7)
+    ax.set_title(title, fontsize=12, fontweight='bold')
+    ax.set_xlabel(xlabel, fontsize=10)
+    ax.set_ylabel('Count', fontsize=10)
+
+    if expected_value is not None:
+        ax.axvline(expected_value, color='red', linestyle='--', linewidth=2,
+                   label=f'Expected: {expected_value:.2f} us')
+    ax.axvline(np.mean(data), color='green', linestyle='-', linewidth=2,
+               label=f'Mean: {np.mean(data):.2f} us')
+
+    if stats_text:
+        ax.text(0.98, 0.97, stats_text, transform=ax.transAxes, fontsize=9,
+                verticalalignment='top', horizontalalignment='right',
+                bbox=dict(boxstyle='round', facecolor='wheat', alpha=0.8), family='monospace')
+
+    ax.legend(loc='upper left', fontsize=8)
+    ax.grid(True, alpha=0.3)
+
+
+def generate_combined_histogram(intervals_a, intervals_b, gaps, stats_a, stats_b,
+                                gap_stats, expected_interval_us: float, dshot_rate: int):
+    """Generate a combined figure with all histograms."""
+    if not HAS_MATPLOTLIB:
+        return None
+
+    fig = plt.figure(figsize=(14, 10))
+    gs = fig.add_gridspec(2, 2, height_ratios=[1, 1], hspace=0.3, wspace=0.25)
+    ax_a, ax_b, ax_gap = fig.add_subplot(gs[0, 0]), fig.add_subplot(gs[0, 1]), fig.add_subplot(gs[1, :])
+
+    def stats_text(s):
+        return format_stats_text(s.min_us, s.max_us, s.mean_us, s.std_us, s.count)
+
+    _plot_histogram(ax_a, intervals_a, "Channel A Frame Intervals", "Interval (us)",
+                    expected_value=expected_interval_us, stats_text=stats_text(stats_a))
+    _plot_histogram(ax_b, intervals_b, "Channel B Frame Intervals", "Interval (us)",
+                    expected_value=expected_interval_us, stats_text=stats_text(stats_b))
+
+    if len(gaps) > 0:
+        _plot_histogram(ax_gap, gaps, "Inter-Channel Gap (CH_A End -> CH_B Start)",
+                        "Gap (us)", stats_text=stats_text(gap_stats))
+    else:
+        ax_gap.text(0.5, 0.5, "No inter-channel gap data available",
+                    ha='center', va='center', transform=ax_gap.transAxes)
+        ax_gap.set_title("Inter-Channel Gap (CH_A End -> CH_B Start)")
+
+    fig.suptitle(f"BDShot Timing Analysis (DShot{dshot_rate})", fontsize=14, fontweight='bold', y=0.98)
+    return fig
+
+
+def format_stats_text(min_val: float, max_val: float, mean_val: float,
+                      std_val: float, count: int) -> str:
+    """Format statistics as a text block for histogram annotation."""
+    return (f"Count: {count}\n"
+            f"Min:   {min_val:.2f} us\n"
+            f"Max:   {max_val:.2f} us\n"
+            f"Mean:  {mean_val:.2f} us\n"
+            f"Std:   {std_val:.2f} us")
+
+
+def print_report(input_file: Path, dshot_rate: int, loop_rate: float,
+                 capture_duration: float, tx_count_a: int, tx_count_b: int,
+                 stats_a: ChannelStats, stats_b: ChannelStats, gap_stats: GapStats):
+    """Print the analysis report to console."""
+    bit_period = DSHOT_BIT_PERIODS.get(dshot_rate, 3.33)
+    expected_interval = 1_000_000 / loop_rate
+
+    print(f"""
+BDShot Timing Analysis
+{"=" * 60}
+Input: {input_file}
+DShot Rate: {dshot_rate} (bit period: {bit_period:.2f} us)
+Expected Loop Rate: {loop_rate:.0f} Hz ({expected_interval:.2f} us interval)
+Capture Duration: {capture_duration:.2f} s
+Transactions Detected: CH_A={tx_count_a}, CH_B={tx_count_b}
+""")
+
+    def print_channel_stats(name: str, s: ChannelStats):
+        print(f"{name} Frame Intervals")
+        print("-" * 40)
+        print(f"  Count:     {s.count}")
+        print(f"  Min:       {s.min_us:.2f} us  ({s.min_jitter_us:+.2f} us from nominal)")
+        print(f"  Max:       {s.max_us:.2f} us  ({s.max_jitter_us:+.2f} us from nominal)")
+        print(f"  Mean:      {s.mean_us:.2f} us  ({s.mean_jitter_us:+.2f} us from nominal)")
+        print(f"  Std Dev:   {s.std_us:.2f} us\n")
+
+    print_channel_stats("Channel A", stats_a)
+    print_channel_stats("Channel B", stats_b)
+
+    print(f"""Inter-Channel Gap (CH_A End -> CH_B Start)
+{"-" * 40}
+  Count:     {gap_stats.count}
+  Min:       {gap_stats.min_us:.2f} us
+  Max:       {gap_stats.max_us:.2f} us
+  Mean:      {gap_stats.mean_us:.2f} us
+  Std Dev:   {gap_stats.std_us:.2f} us
+""")
+
+
+def fatal(msg: str):
+    """Print error and exit."""
+    print(f"Error: {msg}", file=sys.stderr)
+    sys.exit(1)
+
+
+def main():
+    parser = argparse.ArgumentParser(
+        description="Analyze BDShot timing from Saleae Logic Analyzer CSV exports",
+        formatter_class=argparse.RawDescriptionHelpFormatter,
+        epilog="Examples:\n  %(prog)s capture.csv\n  %(prog)s capture.csv --dshot-rate 300 --loop-rate 800"
+    )
+    parser.add_argument('input_file', type=Path, help='Path to Saleae CSV export')
+    parser.add_argument('--dshot-rate', type=int, default=300, choices=[150, 300, 600, 1200],
+                        help='DShot variant (default: 300)')
+    parser.add_argument('--loop-rate', type=float, default=800, help='Expected loop rate in Hz (default: 800)')
+    parser.add_argument('--channel-a', type=int, default=0, help='CSV column index for first channel (default: 0)')
+    parser.add_argument('--channel-b', type=int, default=1, help='CSV column index for second channel (default: 1)')
+    parser.add_argument('--no-plots', action='store_true', help='Disable histogram display')
+    parser.add_argument('--verbose', '-v', action='store_true', help='Enable verbose output for debugging')
+    args = parser.parse_args()
+
+    if not args.input_file.exists():
+        fatal(f"Input file not found: {args.input_file}")
+
+    # Calculate timing parameters
+    bit_period_us = DSHOT_BIT_PERIODS.get(args.dshot_rate, 3.33)
+    idle_threshold_us = max(50.0, bit_period_us * 15)  # Must exceed turnaround gap (~25-30us)
+    expected_interval_us = 1_000_000 / args.loop_rate
+
+    if args.verbose:
+        print(f"Bit period: {bit_period_us:.2f} us\nIdle threshold: {idle_threshold_us:.2f} us\n"
+              f"Expected interval: {expected_interval_us:.2f} us\n")
+
+    # Parse CSV
+    print(f"Parsing {args.input_file}...")
+    try:
+        edges_a, edges_b = parse_csv(args.input_file, args.channel_a, args.channel_b, args.verbose)
+    except Exception as e:
+        fatal(f"parsing CSV: {e}")
+
+    if not edges_a or not edges_b:
+        fatal("No edges found in one or both channels")
+
+    # Detect transactions
+    print("Detecting transactions...")
+    transactions_a = detect_transactions(edges_a, idle_threshold_us, args.verbose)
+    transactions_b = detect_transactions(edges_b, idle_threshold_us, args.verbose)
+
+    for name, txns in [("A", transactions_a), ("B", transactions_b)]:
+        if len(txns) < 2:
+            fatal(f"Insufficient transactions in channel {name} ({len(txns)})")
+
+    # Calculate capture duration
+    all_txns = transactions_a + transactions_b
+    capture_duration = max(tx.end for tx in all_txns) - min(tx.start for tx in all_txns)
+
+    # Compute statistics
+    print("Computing statistics...")
+    stats_a, intervals_a = compute_channel_stats(transactions_a, "Channel A", expected_interval_us)
+    stats_b, intervals_b = compute_channel_stats(transactions_b, "Channel B", expected_interval_us)
+
+    try:
+        gap_stats, gaps = compute_inter_channel_gaps(transactions_a, transactions_b,
+                                                     expected_interval_us, args.verbose)
+    except ValueError as e:
+        print(f"Warning: {e}", file=sys.stderr)
+        gap_stats = GapStats(count=0, min_us=0, max_us=0, mean_us=0, std_us=0)
+        gaps = np.array([])
+
+    print_report(args.input_file, args.dshot_rate, args.loop_rate, capture_duration,
+                 len(transactions_a), len(transactions_b), stats_a, stats_b, gap_stats)
+
+    if not args.no_plots and HAS_MATPLOTLIB:
+        generate_combined_histogram(intervals_a, intervals_b, gaps, stats_a, stats_b,
+                                    gap_stats, expected_interval_us, args.dshot_rate)
+        plt.show()
+
+
+if __name__ == '__main__':
+    main()

Tools/msg/generate_msg_docs.py

@@ -8,6 +8,803 @@ Also generates docs/en/middleware/dds_topics.md from dds_topics.yaml
 import os
 import argparse
 import sys
+import re
+
+VALID_FIELDS = { #Note, also have to add the message types as those can be fields
+    'uint64',
+    'uint16',
+    'uint8',
+    'uint32'
+}
+
+ALLOWED_UNITS = set(["m", "m/s", "m/s^2", "(m/s)^2", "deg", "deg/s", "rad", "rad/s", "rad^2", "rpm" ,"V", "A", "mA", "mAh", "W", "dBm", "h", "s", "ms", "us", "Ohm", "MB", "Kb/s", "degC","Pa","%","-"])
+invalid_units = set()
+ALLOWED_FRAMES = set(["NED","Body"])
+ALLOWED_INVALID_VALUES = set(["NaN", "0"])
+ALLOWED_CONSTANTS_NOT_IN_ENUM = set(["ORB_QUEUE_LENGTH","MESSAGE_VERSION"])
+
+class Error:
+    def __init__(self, type, message, linenumber=None, issueString = None, field = None):
+        self.type = type
+        self.message = message
+        self.linenumber = linenumber
+        self.issueString = issueString
+        self.field = field
+
+    def display_error(self):
+        #print(f"Debug: Error: display_error")
+
+
+        if 'trailing_whitespace' == self.type:
+            if self.issueString.strip():    
+                print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber}): {self.issueString}")
+            else:
+                print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber})")
+        elif 'leading_whitespace_field_or_constant' == self.type:
+            print(f"NOTE: Whitespace before field or constant ({self.message}: {self.linenumber}): {self.issueString}")             
+        elif 'field_or_constant_has_multiple_whitepsace' == self.type:
+            print(f"NOTE: Field/constant has more than one sequential whitespace character ({self.message}: {self.linenumber}): {self.issueString}") 
+        elif 'empty_start_line' == self.type:
+            print(f"NOTE: Empty line at start of file ({self.message}: {self.linenumber})")
+        elif 'internal_comment' == self.type:
+            print(f"NOTE: Internal Comment ({self.message}: {self.linenumber})\n {self.issueString}")
+        elif 'internal_comment_empty' == self.type:
+            print(f"NOTE: Empty Internal Comment ({self.message}: {self.linenumber})")
+        elif 'summary_missing' == self.type:
+            print(f"WARNING: No message description ({self.message})")
+        elif 'topic_error' == self.type:
+            print(f"NOTE: TOPIC ISSUE: {self.issueString}")
+        elif 'unknown_unit' == self.type:
+            print(f"WARNING: Unknown Unit: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
+        elif 'constant_not_in_assigned_enum' == self.type:
+            print(f"WARNING: `{self.issueString}` constant: Prefix not in `@enum` field metadata ({self.message}: {self.linenumber})")
+        elif 'unknown_invalid_value' == self.type:
+            print(f"WARNING: Unknown @invalid value: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
+        elif 'unknown_frame' == self.type:
+            print(f"WARNING: Unknown @frame: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
+        elif 'command_no_params_pipes' == self.type:
+            print(f"WARNING: `{self.field}` command has no parameters (pipes): [{self.issueString}] ({self.message}: {self.linenumber})")
+        elif 'command_missing_params' == self.type:
+            print(f"WARNING: `{self.field}` command missing params - should be 7 params surrounded by 8 pipes: [{self.issueString}] ({self.message}: {self.linenumber})")
+        elif 'command_too_many_params' == self.type:
+            print(f"WARNING: `{self.field}` command too many params (should be 7). Extras: [{self.issueString}] ({self.message}: {self.linenumber})")
+
+
+        else:
+            self.display_info()
+
+    def display_info(self):
+        """
+        Display info about an error.
+        Used as a fallback if error does not have specific printout in display_error()
+        """
+        #print(f"Debug: Error: display_info")
+        print(f" type: {self.type}, message: {self.message}, linenumber: {self.linenumber}, issueString: {self.issueString}, field: {self.field}")
+
+class Enum:
+    def __init__(self, name, parentMessage):
+        self.name = name
+        self.parent = parentMessage
+        self.enumValues = dict()
+
+    def display_info(self):
+        """
+        Display info about an enum
+        """
+        print(f"Debug: Enum: display_info")
+        print(f" name: {self.name}")
+        for key, value in self.enumValues.items():
+            value.display_info()
+
+class ConstantValue:
+    def __init__(self, name, type, value, comment, line_number):
+        self.name = name.strip()
+        self.type = type.strip()
+        self.value = value.strip()
+        self.comment = comment
+        self.line_number = line_number
+
+        if not self.value:
+            print(f"Debug WARNING: NO VALUE in ConstantValue: {self.name}")  ## TODO make into ERROR
+            exit()
+
+        # TODO if value or name are empty, error
+
+    def display_info(self):
+        print(f"Debug: ConstantValue: display_info")
+        print(f" name: {self.name}, type: {self.type}, value: {self.value}, comment: {self.comment}, line: {self.line_number}")
+
+
+class CommandParam:
+    """
+    Represents an individual param in a command constant
+    Encapsulates parsing of the param to extract units etc.
+    """
+
+    def __init__(self, num, paramText, line_number, parentCommand):
+        self.paramNum = num
+        self.paramText = paramText.strip()
+        self.enum = None
+        self.range = None
+        #self.type = type
+        self.units = []
+        self.enums = []
+        self.minValue = None
+        self.maxValue = None
+        self.invalidValue = None
+        self.frameValue = None
+        self.lineNumber = line_number
+        self.parent = parentCommand
+        self.parentMessage = self.parent.parent
+
+        match = None
+        if self.paramText:
+            match = re.match(r'^((?:\[[^\]]*\]\s*)+)(.*)$', paramText)
+        self.description = paramText
+        bracketed_part = None
+        if match:
+            bracketed_part = match.group(1).strip() # .strip() removes trailing whitespace from the bracketed part
+            self.description = match.group(2).strip()
+        if bracketed_part:
+          # get units
+            bracket_content_matches = re.findall(r'\[(.*?)\]', bracketed_part)
+            #print(f"DEBUG: bracket_content_matches: {bracket_content_matches}")
+            for item in bracket_content_matches:
+                item = item.strip()
+                if item.startswith('@'): # Not a unit:
+                    if item.startswith('@enum'):
+                        item = item.split(" ")
+                        enum = item[1].strip()
+                        if enum and enum not in self.enums:
+                            self.enums.append(enum)
+
+                        # Create parent enum objects for any enums created in this step
+                        for enumName in self.enums:
+                            if not enumName in self.parentMessage.enums:
+                                self.parentMessage.enums[enumName]=Enum(enumName,self.parentMessage)
+
+                    elif item.startswith('@range'):
+                        item = item[6:].strip().split(",")
+                        self.range = item
+                        self.minValue = item[0].strip()
+                        self.maxValue = item[1].strip()
+                    elif item.startswith('@invalid'):
+                        self.invalidValue = item[8:].strip()
+                        #TODO: Do we require a description? (not currently)
+                        if self.invalidValue.split(" ")[0] not in ALLOWED_INVALID_VALUES:
+                            print(f"TODO: Command param do not support @invalid: {self.invalidValue}")
+                            """
+                            error = Error("unknown_invalid_value", self.parent.filename, self.lineNumber, self.invalidValue, self.name)
+                            #error.display_error()
+                            if not "unknown_invalid_value" in self.parent.errors:
+                                self.parent.errors["unknown_invalid_value"] = []
+                            self.parent.errors["unknown_invalid_value"].append(error)
+                            """
+
+                    elif item.startswith('@frame'):
+                        self.frameValue = item[6:].strip()
+                        print(f"TODO: Command param do not support @frame: {self.frameValue}")
+                        """
+                        if self.frameValue not in ALLOWED_FRAMES:
+                            error = Error("unknown_frame", self.parent.filename, self.lineNumber, self.frameValue, self.name)
+                            #error.display_error()
+                            if not "unknown_frame" in self.parent.errors:
+                                self.parent.errors["unknown_frame"] = []
+                            self.parent.errors["unknown_frame"].append(error)
+                        """    
+                    else:
+                        print(f"WARNING: Unhandled metadata in message comment: {item}")
+                        # TODO - report errors for different kinds of metadata
+                        exit()
+
+                else: # bracket is a unit
+                    unit = item.strip()
+
+                    if item == "-":
+                        unit = ""
+                    
+                    if unit and unit not in self.units:
+                        self.units.append(unit) 
+
+                    if unit not in ALLOWED_UNITS:
+                        invalid_units.add(unit)
+                        error = Error("unknown_unit", self.parentMessage.filename, self.lineNumber, unit, self.parent.name)
+                        #error.display_error()
+                        if not "unknown_unit" in self.parentMessage.errors:
+                            self.parentMessage.errors["unknown_unit"] = []
+                        self.parentMessage.errors["unknown_unit"].append(error)
+
+
+    def display_info(self):
+        print(f"Debug: CommandParam: display_info")
+        print(f" id: {self.paramNum}")
+        print(f"   paramText: {self.paramText}\n  unit:  {self.units}\n  enums: {self.enums}\n  lineNumber: {self.lineNumber}\n  range: {self.range}\n  minValue: {self.minValue}\n  maxValue: {self.maxValue}\n  invalidValue: {self.invalidValue}\n  frameValue: {self.frameValue}\n  parent: {self.parent}\n  ")
+
+
+        
+class CommandConstant:
+    """
+    Represents a constant that is a command definition.
+    Encapsulates parsing of the command format.
+    The individual params are further parsed in CommandParam
+    """
+    def __init__(self, name, type, value, comment, line_number, parentMessage):
+        self.name = name.strip()
+        self.type = type.strip()
+        self.value = value.strip()
+        self.comment = comment
+        self.line_number = line_number
+        self.parent = parentMessage
+
+        self.description = self.comment
+        self.param1 = None
+        self.param2 = None
+        self.param3 = None
+        self.param4 = None
+        self.param5 = None
+        self.param6 = None
+        self.param7 = None
+
+        if not self.value:
+            print(f"Debug WARNING: NO VALUE in CommandConstant: {self.name}")  ## TODO make into ERROR
+            exit()
+
+        if not self.comment: # This is an bug for a command
+            #print(f"Debug WARNING: NO COMMENT in CommandConstant: {self.name}")  ## TODO make into ERROR
+            return
+            
+        # Parse command comment to get the description and parameters.
+        # print(f"Debug CommandConstant: {self.comment}") 
+        if not "|" in self.comment:
+            # This is an error for a command constant
+            error = Error("command_no_params_pipes", self.parent.filename, self.line_number, self.comment, self.name)
+            #error.display_error()
+            if not "command_no_params_pipes" in self.parent.errors:
+                self.parent.errors["command_no_params_pipes"] = []
+            self.parent.errors["command_no_params_pipes"].append(error)
+            return
+        
+        # Split on pipes
+        commandSplit = self.comment.split("|")
+        if len(commandSplit) < 9:
+            # Should 7 pipes, so each command is fully surrounded
+            error = Error("command_missing_params", self.parent.filename, self.line_number, self.comment, self.name)
+            #error.display_error()
+            if not "command_missing_params" in self.parent.errors:
+                self.parent.errors["command_missing_params"] = []
+            self.parent.errors["command_missing_params"].append(error)
+
+        self.description = commandSplit[0].strip()
+        self.description = self.description if self.description else None
+
+        params_to_update = commandSplit[1:8]
+
+        for i, value in enumerate(params_to_update, start=1):
+            if value.strip():
+                # parse the param
+                param = CommandParam(i, value, self.line_number, self)
+                #param.display_info() # DEBUG CODE XXX
+                setattr(self, f"param{i}", param)
+                # parse the param
+
+        if len(commandSplit) > 8:
+            extras = commandSplit[8:]
+            error = Error("command_too_many_params", self.parent.filename, self.line_number, extras, self.name)
+            if not "command_too_many_params" in self.parent.errors:
+                self.parent.errors["command_too_many_params"] = []
+            self.parent.errors["command_too_many_params"].append(error)
+
+
+        # TODO if value or name are empty, error
+
+    def markdown_out(self):
+        #print("DEBUG: CommandConstant.markdown_out")
+        output = f"""### {self.name} ({self.value})
+
+{self.description}
+
+Param | Units | Range/Enum | Description
+--- | --- | --- | ---
+"""
+        for i in range(1, 8):
+            attr_name = f"param{i}"
+            # getattr returns None if the attribute doesn't exist
+            val = getattr(self, attr_name, None)
+
+            if val is not None:
+                rangeVal = ""
+                if val.minValue or val.maxValue:
+                    rangeVal = f"[{val.minValue if val.minValue else '-'} : {val.maxValue if val.maxValue else '-' }]"
+
+                output+=f"{i} | {", ".join(val.units)}|{', '.join(f"[{e}](#{e})" for e in val.enums)}{rangeVal} | {val.description}\n"
+            else:
+                output+=f"{i} | | | ?\n"                
+
+        output+=f"\n"
+        return output
+
+
+    def display_info(self):
+        print(f"Debug: CommandConstant: display_info")
+        print(f" name: {self.name}, type: {self.type}, value: {self.value}, comment: {self.comment}, line: {self.line_number}")
+        print(f"   description: {self.description}\n  param1: {self.param1}\n  param2: {self.param2}\n  param3: {self.param3}\n  param4: {self.param4}\n  param5: {self.param5}\n  param6: {self.param6}\n  param7: {self.param7}")
+
+class MessageField:
+    """
+    Represents a field.
+    Encapsulates parsing of the field information.
+    """
+    def __init__(self, name, type, comment, line_number, parentMessage):
+        self.name = name
+        self.type = type
+        self.comment = comment
+        self.unit = None
+        self.enums = None
+        self.minValue = None
+        self.maxValue = None
+        self.invalidValue = None
+        self.frameValue = None
+        self.lineNumber = line_number
+        self.parent = parentMessage
+
+        #print(f"MessageComment: {comment}")
+        match = None
+        if self.comment:
+            match = re.match(r'^((?:\[[^\]]*\]\s*)+)(.*)$', comment)
+        self.description = comment
+        bracketed_part = None
+        if match:
+            bracketed_part = match.group(1).strip() # .strip() removes trailing whitespace from the bracketed part
+            self.description = match.group(2).strip()
+        if bracketed_part:
+          # get units
+            bracket_content_matches = re.findall(r'\[(.*?)\]', bracketed_part)
+            #print(f"bracket_content_matches: {bracket_content_matches}")
+            for item in bracket_content_matches:
+                item = item.strip()
+                if item.startswith('@'): # Not a unit:
+                    if item.startswith('@enum'):
+                        item = item.split(" ")
+                        self.enums = item[1:]
+                        # Create parent enum objects
+                        for enumName in self.enums:
+                            if not enumName in parentMessage.enums:
+                                parentMessage.enums[enumName]=Enum(enumName,parentMessage)
+                    elif item.startswith('@range'):
+                        item = item[6:].strip().split(",")
+                        self.minValue = item[0].strip()
+                        self.maxValue = item[1].strip()
+                    elif item.startswith('@invalid'):
+                        self.invalidValue = item[8:].strip()
+                        #TODO: Do we require a description? (not currently)
+                        if self.invalidValue.split(" ")[0] not in ALLOWED_INVALID_VALUES:
+                            error = Error("unknown_invalid_value", self.parent.filename, self.lineNumber, self.invalidValue, self.name)
+                            #error.display_error()
+                            if not "unknown_invalid_value" in self.parent.errors:
+                                self.parent.errors["unknown_invalid_value"] = []
+                            self.parent.errors["unknown_invalid_value"].append(error)
+                    elif item.startswith('@frame'):
+                        self.frameValue = item[6:].strip()
+                        if self.frameValue not in ALLOWED_FRAMES:
+                            error = Error("unknown_frame", self.parent.filename, self.lineNumber, self.frameValue, self.name)
+                            #error.display_error()
+                            if not "unknown_frame" in self.parent.errors:
+                                self.parent.errors["unknown_frame"] = []
+                            self.parent.errors["unknown_frame"].append(error)
+                    else:
+                        print(f"WARNING: Unhandled metadata in message comment: {item}")
+                        # TODO - report errors for different kinds of metadata
+                        exit()
+
+                else: # bracket is a unit
+                    self.unit = item
+
+                    if self.unit not in ALLOWED_UNITS:
+                        invalid_units.add(self.unit)
+                        error = Error("unknown_unit", self.parent.filename, self.lineNumber, self.unit, self.name)
+                        #error.display_error()
+                        if not "unknown_unit" in self.parent.errors:
+                            self.parent.errors["unknown_unit"] = []
+                        self.parent.errors["unknown_unit"].append(error)
+
+                    if item == "-":
+                        self.unit = ""
+
+
+    def display_info(self):
+        print(f"Debug: MessageField: display_info")
+        print(f" name: {self.name}, type: {self.type}, description: {self.description}, enums: {self.enums}, minValue: {self.minValue}, maxValue: {self.maxValue}, invalidValue: {self.invalidValue}, frameValue: {self.frameValue}")
+
+
+class UORBMessage:
+    """
+    Represents a whole message, including fields, enums, commands, constants.
+    The parser function delegates the parsing of each part of the message to 
+    more appropriate classes, once the specific type of line has been identified.
+    """
+
+    def __init__(self, filename):
+
+        self.filename = filename
+        msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
+        self.msg_filename = os.path.join(msg_path, self.filename)
+        self.name = os.path.splitext(os.path.basename(msg_file))[0]
+        self.shortDescription = ""
+        self.longDescription = ""
+        self.fields = []
+        self.constantFields = dict()
+        self.commandConstants = dict()
+        self.enums = dict()
+        self.output_file = os.path.join(output_dir, f"{self.name}.md")
+        self.topics = []
+        self.errors = dict()
+
+        self.parseFile()
+
+        if args.errors:
+            #print(f"DEBUG: args.errors: {args.errors}")
+            if args.error_messages:
+                messages = args.error_messages.split(" ")
+                #print(f"DEBUG: args.errors: {messages},self.name: {self.name}")
+                if self.name in messages:
+                    self.reportErrors()
+                    #print(f"Debug: {self.name} in {messages}")
+            else:
+              self.reportErrors()
+
+    def reportErrors(self):
+        #print(f"Debug: UORBMessage: reportErrors()")
+        for errorType, errors in self.errors.items():
+            for error in errors:
+               error.display_error()
+
+    def markdown_out(self):
+        #print(f"Debug: UORBMessage: markdown_out()")
+
+        # Add page header (forces wide pages)
+        markdown = f"""---
+pageClass: is-wide-page
+---
+
+# {self.name} (UORB message)
+
+"""
+        ## Append description info if present
+        markdown += f"{self.shortDescription}\n\n" if self.shortDescription else ""
+        markdown += f"{self.longDescription}\n\n" if self.longDescription else ""
+
+        topicList = " ".join(self.topics)
+        markdown += f"**TOPICS:** {topicList}\n\n"
+
+        # Generate field docs
+        markdown += f"## Fields\n\n"
+        markdown += "Name | Type | Unit [Frame] | Range/Enum | Description\n"
+        markdown += "--- | --- | --- | --- | ---\n"
+        for field in self.fields:
+            unit = f"{field.unit}" if field.unit else ""
+            frame = f"[{field.frameValue}]" if field.frameValue else ""
+            unit = f"{unit} {frame}"
+            unit.strip()
+            unit = f" {unit}"
+
+            value = " "
+            if field.enums:
+                value = ""
+                for enum in field.enums:
+                    value += f"[{enum}](#{enum})"
+                value = value.strip()
+                value = f"{value}"
+            elif field.minValue or field.maxValue:
+                value = f"[{field.minValue if field.minValue else '-'} : {field.maxValue if field.maxValue else '-' }]"
+
+            description = f" {field.description}" if field.description else ""
+            invalid = f" (Invalid: {field.invalidValue}) " if field.invalidValue else ""
+            markdown += f"{field.name} | `{field.type}` |{unit}|{value}|{description}{invalid}\n"
+
+        # Generate table for command docs
+        if len(self.commandConstants) > 0:
+            #print("DEBUGCOMMAND")
+            markdown += f"\n## Commands\n\n"
+
+            """
+            markdown += "Name | Type | Value | Description\n"
+            markdown += "--- | --- | --- |---\n"
+            for name, command in self.commandConstants.items():
+                description = f" {command.comment} " if enum.comment else " "
+                markdown += f'<a href="#{name}"></a> {name} | `{command.type}` | {command.value} |{description}\n'            
+            """
+            for commandConstant in self.commandConstants.values():
+                #print(commandConstant)
+                markdown += commandConstant.markdown_out()     
+
+        # Generate enum docs
+        if len(self.enums) > 0:
+            markdown += f"\n## Enums\n"
+
+            for name, enum in self.enums.items():
+                markdown += f"\n### {name} {{#{name}}}\n\n"
+
+                markdown += "Name | Type | Value | Description\n"
+                markdown += "--- | --- | --- | ---\n"
+
+                for enumValueName, enumValue in enum.enumValues.items():
+                    description = f" {enumValue.comment} " if enumValue.comment else " "
+                    markdown += f'<a href="#{enumValueName}"></a> {enumValueName} | `{enumValue.type}` | {enumValue.value} |{description}\n'
+
+        # Generate table for constants docs
+        if len(self.constantFields) > 0:
+            markdown += f"\n## Constants\n\n"
+            markdown += "Name | Type | Value | Description\n"
+            markdown += "--- | --- | --- |---\n"
+            for name, enum in self.constantFields.items():
+                description = f" {enum.comment} " if enum.comment else " "
+                markdown += f'<a href="#{name}"></a> {name} | `{enum.type}` | {enum.value} |{description}\n'
+
+
+
+        # Append msg contents to the end
+        with open(self.msg_filename, 'r') as source_file:
+            msg_contents = source_file.read()
+            msg_contents = msg_contents.strip()
+
+        #Format markdown using msg name, comment, url, contents.
+        markdown += f"""
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/{self.filename})
+
+::: details Click here to see original file
+
+```c
+{msg_contents}
+```
+
+:::
+"""
+
+        with open(self.output_file, 'w') as content_file:
+            content_file.write(markdown)
+
+        #exit()
+
+
+    def display_info(self):
+        print(f"UORBMessage: display_info")
+        print(f" name: {self.name}")
+        print(f" filename: {self.filename}, ")
+        print(f" msg_filename: {self.msg_filename}, ")
+        print(f"self.shortDescription: {self.shortDescription}")
+        print(f"self.longDescription: {self.longDescription}")
+        print(f"self.enums: {self.enums}")
+
+        for enum, enumObject in self.enums.items():
+            enumObject.display_info()
+
+        # Output our data so far
+        for field in self.fields:
+            field.display_info()
+
+        for enumvalue in self.constantFields:
+            print(enumvalue)
+            self.constantFields[enumvalue].display_info()
+
+    def handleField(self, line, line_number, parentMessage):
+        #print(f"debug: handleField: (line): \n {line}")
+        # Note, here we know we don't have a comment or a topic.
+        # We expect it to be a field.
+
+        # Check field doesn't have leading whitespace (trailing spaces already checked)
+        if line[:1].isspace(): # Returns True for ' ', '\t', '\n', '\r', etc.
+            #print("First character is whitespace")
+            error = Error("leading_whitespace_field_or_constant", self.filename, line_number, line)
+            if not "leading_whitespace_field_or_constant" in self.errors:
+                self.errors["leading_whitespace_field_or_constant"] = []
+                self.errors["leading_whitespace_field_or_constant"].append(error)
+
+        # Now we can parse the stripped line
+        fieldOrConstant = line.strip()
+
+        # Check that the field or constant has only single whitespace separators
+        stripped_fieldOrConstant = re.sub(r'\s+', ' ', fieldOrConstant) # Collapse all spaces to a single space (LHS already stripped).
+        if stripped_fieldOrConstant != fieldOrConstant:
+            #print("Field/Constant has multiple whitespace characters") # Since the collapsed version shows them.
+            error = Error("field_or_constant_has_multiple_whitepsace", self.filename, line_number, line)
+            if not "field_or_constant_has_multiple_whitepsace" in self.errors:
+                self.errors["field_or_constant_has_multiple_whitepsace"] = []
+                self.errors["field_or_constant_has_multiple_whitepsace"].append(error)
+
+        fieldOrConstant = stripped_fieldOrConstant
+
+
+
+        comment = None
+        if "#" in line:
+            commentExtract = line.split("#", 1) # Split once on left-most '#'
+            fieldOrConstant = commentExtract[0].strip()
+            comment = commentExtract[-1].strip()
+
+        if "=" not in fieldOrConstant:
+            # Is a field:
+            field = fieldOrConstant.split(" ")
+            type = field[0].strip()
+            name = field[1].strip()
+            field = MessageField(name, type, comment, line_number, parentMessage)
+            self.fields.append(field)
+        else:
+            temp = fieldOrConstant.split("=")
+            value = temp[-1]
+            typeAndName = temp[0].split(" ")
+            type = typeAndName[0]
+            name = typeAndName[1]
+            if name.startswith("VEHICLE_CMD_") and parentMessage.name == 'VehicleCommand': #it's a command.
+                #print(f"DEBUG: startswith VEHICLE_CMD_ {name}")
+                commandConstant = CommandConstant(name, type, value, comment, line_number, parentMessage)
+                #commandConstant.display_info()
+                self.commandConstants[name]=commandConstant
+            else: #it's a constant (or part of an enum)
+                constantField = ConstantValue(name, type, value, comment, line_number)
+                self.constantFields[name]=constantField
+
+
+    def parseFile(self):
+        initial_block_lines = []
+        #stopping_token = None
+        found_first_relevant_content = False
+        gettingInitialComments = False
+        gettingFields = False
+
+        with open(self.msg_filename, 'r', encoding='utf-8') as uorbfile:
+            lines = uorbfile.read().splitlines()
+            for line_number, line in enumerate(lines, 1):
+
+                if line != line.rstrip():
+                    #print(f"[{self.filename}] Trailing whitespace on line {line_number}: XX{line}YY")
+                    error = Error("trailing_whitespace", self.filename, line_number, line)
+                    if not "trailing_whitespace" in self.errors:
+                        self.errors["trailing_whitespace"] = []
+                    self.errors["trailing_whitespace"].append(error)
+
+                #print(f"line: {line}")
+                stripped_line = re.sub(r'\s+', ' ', line).strip() # Collapse all spaces to a single space and strip stuff off end.
+                #print(f"stripped_line: {stripped_line}")
+                # TODO? Perhaps report whitespace if the size of those two is different and it is empty
+                # Or perhaps we just fix it on request
+
+                isEmptyLine = False if line.strip() else True
+                if not found_first_relevant_content and isEmptyLine: #Empty line
+                    #print(f"{self.filename}: Empty line at start of file: [{line_number}]\n {line}")
+                    error = Error("empty_start_line", self.filename, line_number, line)
+                    if not "empty_start_line" in self.errors:
+                        self.errors["empty_start_line"] = []
+                    self.errors["empty_start_line"].append(error)
+                    #error.display_error()
+                    continue
+                if not found_first_relevant_content and not isEmptyLine:
+                    found_first_relevant_content = True
+
+                    if stripped_line.startswith("#"):
+                        gettingInitialComments = True
+                    else:
+                        gettingInitialComments = False
+                        gettingFields = True
+
+                if gettingInitialComments and stripped_line.startswith("#"):
+                    stripped_line=stripped_line[1:].strip()
+                    #print(f"DEBUG: gettingInitialComments: comment line: {stripped_line}")
+                    initial_block_lines.append(stripped_line)
+                else:
+                    gettingInitialComments = False
+                    gettingFields = True #Getting fields and constants
+                if gettingFields:
+                    if isEmptyLine:
+                        continue # empty line
+                    if stripped_line.startswith("# TOPICS "):
+                        stripped_line = stripped_line[9:]
+                        stripped_line = stripped_line.split(" ")
+                        self.topics+= stripped_line
+                        # Note, default topic and topic errors handled after all lines parsed
+                        continue
+                    if stripped_line.startswith("#"):
+                        # Its an internal comment
+                        stripped_line=stripped_line[1:].strip()
+                        
+                        if stripped_line:
+                            #print(f"{self.filename}: Internal comment: [{line_number}]\n {line}")
+                            error = Error("internal_comment", self.filename, line_number, line)
+                            if not "internal_comment" in self.errors:
+                                self.errors["internal_comment"] = []
+                            self.errors["internal_comment"].append(error)
+                        else:
+                            #print(f"{self.filename}: Empty internal comment: [{line_number}]\n {line}")
+                            error = Error("internal_comment_empty", self.filename, line_number, line)
+                            if not "internal_comment_empty" in self.errors:
+                                self.errors["internal_comment_empty"] = []
+                            self.errors["internal_comment_empty"].append(error)
+                            #pass # Empty comment
+                        continue
+                    
+                    # Must be a field or a comment.
+                    self.handleField(line, line_number, parentMessage=self)
+
+            # Fix up topics if the topic is empty
+            def camel_to_snake(name):
+                # Match upper case not at start of string
+                s1 = re.sub('(.)([A-Z][a-z]+)', r'\1_\2', name)
+                # Handle cases with multiple capital first letter
+                return re.sub('([A-Z]+)([A-Z][a-z]*)', r'\1_\2', s1).lower()
+
+            defaultTopic = camel_to_snake(self.name)
+            if len(self.topics) == 0:
+                # We have no topic declared, so set the default topic
+                self.topics.append(defaultTopic)
+            elif len(self.topics) == 1:
+                # We have 1 topic declared - either it is default or there is some issue.
+                if defaultTopic in self.topics:
+                    # Declared topic is default topic
+                    error = Error("topic_error", self.filename, "", f"WARNING: TOPIC {defaultTopic} unnecessarily declared for {self.name}")
+                else:
+                    # Declared topic is not default topic
+                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC {self.topics[1]}: Only Declared topic is not default topic {defaultTopic} for {self.name}")
+                if not "topic_error" in self.errors:
+                    self.errors["topic_error"] = []
+                    self.errors["topic_error"].append(error)
+            elif len(self.topics) > 1:
+                if defaultTopic not in self.topics:
+                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC - Default topic {defaultTopic} for {self.name} not in {self.topics}")
+
+            # Parse our short and long description
+            #print(f"DEBUG: initial_block_lines: {initial_block_lines}")
+            doingLongDescription = False
+            for summaryline in initial_block_lines:
+                if not self.shortDescription and summaryline.strip() == '':
+                    continue
+                if not doingLongDescription and not summaryline.strip() == '':
+                   self.shortDescription += f" {summaryline}"
+                   self.shortDescription = self.shortDescription.strip()
+                   if not self.shortDescription[-1:] == ".": # Add terminating fullstop if not present.
+                       self.shortDescription += "."
+                if not doingLongDescription and summaryline.strip() == '':
+                   doingLongDescription = True
+                   continue
+                if doingLongDescription:
+                    self.longDescription += f"{summaryline}\n"
+
+            if self.longDescription:
+                self.longDescription.strip()
+
+            if not self.shortDescription:
+                # Summary has not been defined
+                error = Error("summary_missing", self.filename)
+                if not "summary_missing" in self.errors:
+                    self.errors["summary_missing"] = []
+                self.errors["summary_missing"].append(error)
+
+
+            # TODO Parse our constantValues into enums, leaving only constants
+            constantValuesToRemove = []
+            #print(f"DEBUG: Self.enums: {self.enums}")
+            for enumName, enumObject in self.enums.items():
+                for enumValueName, enumValueObject in self.constantFields.items():
+                    if enumValueName.startswith(enumName):
+                        # Copy this value into the object (cant be duplicate because parent is dict)
+                        enumObject.enumValues[enumValueName]=enumValueObject
+                        constantValuesToRemove.append(enumValueName)
+            # Now delete the original enumvalues
+            for enumValName in constantValuesToRemove:
+                del self.constantFields[enumValName]
+            constantsNotAssignedToEnums = len(self.constantFields)
+            if constantsNotAssignedToEnums > 0:
+                #print(f"Debug: WARNING constantsNotAssignedToEnums: {constantsNotAssignedToEnums}")
+                for enumValueName, enumValue in self.constantFields.items():
+                    if enumValueName in ALLOWED_CONSTANTS_NOT_IN_ENUM: # Ignore constants
+                        pass
+                    else:
+                        error = Error("constant_not_in_assigned_enum", self.filename, enumValue.line_number, enumValueName)
+                        if not "constant_not_in_assigned_enum" in self.errors:
+                            self.errors["constant_not_in_assigned_enum"] = []
+                        self.errors["constant_not_in_assigned_enum"].append(error)
+                # TODO Maybe present as list of possible enums.
 
 
 import yaml
@@ -127,83 +924,50 @@ if __name__ == "__main__":
 
     parser = argparse.ArgumentParser(description='Generate docs from .msg files')
     parser.add_argument('-d', dest='dir', help='output directory', required=True)
+    parser.add_argument('-e', dest='errors', action='store_true', help='Report errors')
+    parser.add_argument('-m', dest='error_messages', help='Message to report errors against (by default all)')
     args = parser.parse_args()
 
     output_dir = args.dir
     if not os.path.isdir(output_dir):
+        print(f"making output_dir {output_dir}")
         os.mkdir(output_dir)
 
     msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
     msg_files = get_msgs_list(msg_path)
+
     msg_files.sort()
 
     versioned_msgs_list = ''
     unversioned_msgs_list = ''
+    msgTypes = set()
 
     for msg_file in msg_files:
+        # Add messages to set of allowed types (compound types)
+        #msg_type = msg_file.rsplit('/')[-1]
+        #msg_type = msg_type.rsplit('\\')[-1]
+        #msg_type = msg_type.rsplit('.')[0]
         msg_name = os.path.splitext(os.path.basename(msg_file))[0]
-        output_file = os.path.join(output_dir, msg_name+'.md')
-        msg_filename = os.path.join(msg_path, msg_file)
-        print("{:} -> {:}".format(msg_filename, output_file))
+        msgTypes.add(msg_name)
 
-        #Format msg url
-        msg_url="[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/%s)" % msg_file
-
-        msg_description = ""
-        summary_description = ""
-
-        #Get msg description (first non-empty comment line from top of msg)
-        with open(msg_filename, 'r') as lineparser:
-            line = lineparser.readline()
-            while line.startswith('#') or (line.strip() == ''):
-                print('DEBUG: line: %s' % line)
-                line=line[1:].strip()+'\n'
-                stripped_line=line.strip()
-                if msg_description and not summary_description and stripped_line=='':
-                    summary_description = msg_description.strip()
-
-                msg_description+=line
-                line = lineparser.readline()
-            msg_description=msg_description.strip()
-            if not summary_description and msg_description:
-                summary_description = msg_description
-            print('msg_description: Z%sZ' % msg_description)
-            print('summary_description: Z%sZ' % summary_description)
-            summary_description
-        msg_contents = ""
-        #Get msg contents (read the file)
-        with open(msg_filename, 'r') as source_file:
-            msg_contents = source_file.read()
-
-        #Format markdown using msg name, comment, url, contents.
-        markdown_output="""# %s (UORB message)
-
-%s
-
-%s
-
-```c
-%s
-```
-""" % (msg_name, msg_description, msg_url, msg_contents)
-
-        with open(output_file, 'w') as content_file:
-            content_file.write(markdown_output)
+    for msg_file in msg_files:
+        message = UORBMessage(msg_file)
+        # Any additional tests that can't be in UORBMessage parser go here.
+        message.markdown_out()
 
         # Categorize as versioned or unversioned
         if "versioned" in msg_file:
-            versioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
-            if summary_description:
-                versioned_msgs_list += " — %s" % summary_description
+            versioned_msgs_list += f"- [{message.name}]({message.name}.md)"
+            if message.shortDescription:
+                versioned_msgs_list += f" — {message.shortDescription}"
             versioned_msgs_list += "\n"
         else:
-            unversioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
-            if summary_description:
-                unversioned_msgs_list += " — %s" % summary_description
+            unversioned_msgs_list += f"- [{message.name}]({message.name}.md)"
+            if message.shortDescription:
+                unversioned_msgs_list += f" — {message.shortDescription}"
             unversioned_msgs_list += "\n"
-
     # Write out the index.md file
-    index_text="""# uORB Message Reference
+    index_text=f"""# uORB Message Reference
 
 ::: info
 This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
@@ -218,14 +982,14 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 
 ## Versioned Messages
 
-%s
+{versioned_msgs_list}
 
 ## Unversioned Messages
 
-%s
-    """ % (versioned_msgs_list, unversioned_msgs_list)
+{unversioned_msgs_list}
+    """
     index_file = os.path.join(output_dir, 'index.md')
-    with open(index_file, 'w') as content_file:
+    with open(index_file, 'w', encoding='utf-8') as content_file:
             content_file.write(index_text)
 
     generate_dds_yaml_doc(msg_files)

boards/ark/cannode/default.px4board

@@ -31,6 +31,7 @@ CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
 CONFIG_UAVCANNODE_ESC_STATUS=y
 CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
 CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_HARDPOINT_COMMAND=y
 CONFIG_UAVCANNODE_HYGROMETER_MEASUREMENT=y
 CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
 CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y

boards/ark/fmu-v6x/default.px4board

@@ -28,16 +28,10 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
-CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
-CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
 CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
 CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
-CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT=y

boards/ark/fmu-v6x/src/board_config.h

@@ -419,9 +419,6 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
-/* This board has 4 DMA channels available for bidirectional dshot */
-#define BOARD_DMA_NUM_DSHOT_CHANNELS 4
-
 /* This board provides the board_on_reset interface */
 
 #define BOARD_HAS_ON_RESET 1

boards/ark/fpv/default.px4board

@@ -14,6 +14,7 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DSHOT_BITBANG=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
@@ -59,6 +60,7 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
+CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y

boards/ark/fpv/init/rc.board_airframes

@@ -0,0 +1,18 @@
+4001_quad_x
+4050_generic_250
+6001_hexa_x
+12001_octo_cox
+13100_generic_vtol_tiltrotor
+5001_quad_+
+24001_dodeca_cox
+2100_standard_plane
+13000_generic_vtol_standard
+4601_droneblocks_dexi_5
+11001_hexa_cox
+14001_generic_mc_with_tilt
+16001_helicopter
+9001_octo_+
+7001_hexa_+
+3000_generic_wing
+13200_generic_vtol_tailsitter
+13030_generic_vtol_quad_tiltrotor

boards/ark/fpv/src/board_config.h

@@ -307,9 +307,6 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
-/* This board has 3 DMA channels available for bidirectional dshot */
-#define BOARD_DMA_NUM_DSHOT_CHANNELS 3
-
 /* This board provides the board_on_reset interface */
 
 #define BOARD_HAS_ON_RESET 1

boards/ark/pi6x/src/board_config.h

@@ -309,9 +309,6 @@
 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120
 
-/* This board has 4 DMA channels available for bidirectional dshot */
-#define BOARD_DMA_NUM_DSHOT_CHANNELS 4
-
 /* This board provides the board_on_reset interface */
 
 #define BOARD_HAS_ON_RESET 1

boards/auterion/fmu-v6x/zenoh.px4board

@@ -1,4 +1,6 @@
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_UXRCE_DDS_CLIENT=n
+CONFIG_SYSTEMCMDS_SD_BENCH=n
+CONFIG_SYSTEMCMDS_I2CDETECT=n
 CONFIG_MODULES_ZENOH=y

boards/gearup/airbrainh743/bootloader.px4board

@@ -0,0 +1,3 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROMFSROOT=""

boards/gearup/airbrainh743/default.px4board

@@ -0,0 +1,86 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROOT_PATH="/fs/flash"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS6"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS1"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
+CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
+CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
+CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
+# CONFIG_EKF2_AUXVEL is not set
+# CONFIG_EKF2_BARO_COMPENSATION is not set
+# CONFIG_EKF2_DRAG_FUSION is not set
+# CONFIG_EKF2_GNSS_YAW is not set
+# CONFIG_EKF2_SIDESLIP is not set
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_GPIO=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/gearup/airbrainh743/firmware.prototype

@@ -0,0 +1,13 @@
+{
+    "board_id": 1209,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the AirBrainH743 by Gear Up",
+    "image": "",
+    "build_time": 0,
+    "summary": "AirBrainH743",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1966080,
+    "git_identity": "",
+    "board_revision": 0
+}

boards/gearup/airbrainh743/init/rc.board_defaults

@@ -0,0 +1,17 @@
+#!/bin/sh
+#
+# AirBrainH743 board specific defaults
+#------------------------------------------------------------------------------
+
+# Battery voltage divider and current scale
+param set-default BAT1_V_DIV 15.0
+param set-default BAT1_A_PER_V 101.0
+
+# system_power unavailable
+param set-default CBRK_SUPPLY_CHK 894281
+
+param set-default IMU_GYRO_RATEMAX 2000
+
+# W25N NAND flash with littlefs (128 MB): larger buffer, auto-rotate
+set LOGGER_BUF 32
+param set-default SDLOG_DIRS_MAX 3

boards/gearup/airbrainh743/init/rc.board_extras

@@ -0,0 +1,6 @@
+#!/bin/sh
+#
+# AirBrainH743 specific board extras init
+#------------------------------------------------------------------------------
+
+# No extras configured by default

boards/gearup/airbrainh743/init/rc.board_sensors

@@ -0,0 +1,16 @@
+#!/bin/sh
+#
+# AirBrainH743 specific board sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+# Internal SPI bus IMU - ICM42688P (Invensensev3)
+icm42688p -R 2 -b 1 -s start
+
+# Internal I2C bus barometer - DPS310 @ 0x76 (118 decimal)
+dps310 -I -a 118 start
+
+# Internal I2C bus magnetometer - LIS2MDL @ 0x1E (30 decimal)
+# Using iis2mdc driver (functionally equivalent to LIS2MDL)
+iis2mdc -I -R 2 -a 30 start

boards/gearup/airbrainh743/nuttx-config/Kconfig

@@ -0,0 +1,3 @@
+#
+# Board-specific Kconfig for AirBrainH743
+#

boards/gearup/airbrainh743/nuttx-config/bootloader/defconfig

@@ -0,0 +1,89 @@
+#
+# 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_DEV_CONSOLE is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_SPI_EXCHANGE is not set
+# CONFIG_STM32H7_SYSCFG is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/gearup/airbrainh743/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743VI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_INITTHREAD_PRIORITY=254
+CONFIG_BOARD_LATE_INITIALIZE=y
+CONFIG_BOARD_LOOPSPERMSEC=22114
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_CDCACM=y
+CONFIG_CDCACM_PRODUCTID=0x004b
+CONFIG_CDCACM_PRODUCTSTR="AirBrainH743 BL"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3162
+CONFIG_CDCACM_VENDORSTR="Gear Up"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=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_SPI=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_USART1=y
+CONFIG_SYSTEMTICK_HOOK=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGINT_CHAR=0x03
+CONFIG_TTY_SIGTSTP=y
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=300
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000

boards/gearup/airbrainh743/nuttx-config/include/board.h

@@ -0,0 +1,346 @@
+/************************************************************************************
+ * nuttx-config/include/board.h
+ *
+ *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+#ifndef __NUTTX_CONFIG_AIRBRAINH743_INCLUDE_BOARD_H
+#define __NUTTX_CONFIG_AIRBRAINH743_INCLUDE_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include "board_dma_map.h"
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include "stm32_rcc.h"
+#include "stm32_sdmmc.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The AirBrainH743 board provides the following clock sources:
+ *
+ *   X1: 8 MHz crystal for HSE
+ */
+
+#define STM32_BOARD_XTAL        8000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+#define STM32_LSE_FREQUENCY     32768
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE = 8,000,000
+ *
+ * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ *
+ * SYSCLK  = PLL_VCO / PLLP
+ * CPUCLK  = SYSCLK / D1CPRE
+ */
+
+#define STM32_BOARD_USEHSE
+
+#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
+
+/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
+ *
+ *   PLL1_VCO = (8,000,000 / 1) * 120 = 960 MHz
+ *
+ *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
+ *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
+ *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
+ */
+
+#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVP1EN | \
+				 RCC_PLLCFGR_DIVQ1EN | \
+				 RCC_PLLCFGR_DIVR1EN)
+#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
+#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(120)
+#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
+#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(5)
+#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
+
+#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 120)
+#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
+#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 5)
+#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
+
+/* PLL2 */
+
+#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
+				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
+				  RCC_PLLCFGR_DIVP2EN | \
+				  RCC_PLLCFGR_DIVQ2EN | \
+				  RCC_PLLCFGR_DIVR2EN)
+#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(2)
+#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(48)
+#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
+#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
+#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
+
+#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 2) * 48)
+#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+
+/* PLL3 */
+
+#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVQ3EN)
+#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(2)
+#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(48)
+#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
+#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
+#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
+
+#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 2) * 48)
+#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
+#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+
+/* SYSCLK = PLL1P = 480MHz
+ * CPUCLK = SYSCLK / 1 = 480 MHz
+ */
+
+#define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
+#define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
+#define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
+
+/* Configure Clock Assignments */
+
+/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
+ * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
+ */
+
+#define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
+#define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
+#define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
+#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB4 clock (PCLK4) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
+#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* Timer clock frequencies */
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Kernel Clock Configuration */
+
+/* I2C123 clock source */
+
+#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
+
+/* I2C4 clock source */
+
+#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
+
+/* SPI123 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
+
+/* SPI45 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2
+
+/* SPI6 clock source */
+
+#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2
+
+/* USB 1 and 2 clock source */
+
+#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3
+
+/* ADC 1 2 3 clock source */
+
+#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
+
+/* FDCAN 1 clock source */
+
+#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE
+#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
+
+/* FLASH wait states */
+
+#define BOARD_FLASH_WAITSTATES 2
+
+/* LED definitions ******************************************************************/
+
+#define BOARD_LED1        0
+#define BOARD_LED2        1
+#define BOARD_LED3        2
+#define BOARD_NLEDS       3
+
+#define BOARD_LED_RED     BOARD_LED1
+#define BOARD_LED_GREEN   BOARD_LED2
+#define BOARD_LED_BLUE    BOARD_LED3
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+#define BOARD_LED2_BIT    (1 << BOARD_LED2)
+#define BOARD_LED3_BIT    (1 << BOARD_LED3)
+
+#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
+#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
+#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
+#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
+#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
+#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
+#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
+#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
+#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
+
+/* Alternate function pin selections ************************************************/
+
+/* USART1 - Debug (PA9 TX, PA10 RX) */
+#define GPIO_USART1_RX   GPIO_USART1_RX_2   /* PA10 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_2   /* PA9  */
+
+/* USART2 - RC input (PD5 TX, PD6 RX) */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2   /* PD6  */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5  */
+
+/* USART3 - DJI/MSP (PD8 TX, PD9 RX) */
+#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9  */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8  */
+
+/* UART4 - General (PB9 TX, PB8 RX) */
+#define GPIO_UART4_RX    GPIO_UART4_RX_3    /* PB8  */
+#define GPIO_UART4_TX    GPIO_UART4_TX_3    /* PB9  */
+
+/* UART5 - Companion (PB13 TX, PB12 RX) */
+#define GPIO_UART5_RX    GPIO_UART5_RX_1    /* PB12 */
+#define GPIO_UART5_TX    GPIO_UART5_TX_1    /* PB13 */
+
+/* UART7 - ESC telemetry (PE8 TX, PE7 RX) */
+#define GPIO_UART7_RX    GPIO_UART7_RX_3    /* PE7  */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
+
+/* UART8 - GPS (PE1 TX, PE0 RX) */
+#define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0  */
+#define GPIO_UART8_TX    GPIO_UART8_TX_1    /* PE1  */
+
+
+/* SPI
+ *
+ * SPI1: IMU (PA5 SCK, PA6 MISO, PA7 MOSI)
+ * SPI2: W25N Flash (PD3 SCK, PB14 MISO, PC3 MOSI)
+ * SPI4: External (PE12 SCK, PE5 MISO, PE6 MOSI)
+ */
+
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6  */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1   /* PA7  */
+#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_1    /* PA5  */
+
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1   /* PB14 */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_3   /* PC3  */
+#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_5    /* PD3  */
+
+#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_2   /* PE5  */
+#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2   /* PE6  */
+#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_1    /* PE12 */
+
+/* I2C
+ *
+ * I2C1: Internal (PB6 SCL, PB7 SDA)
+ * I2C4: External (PD12 SCL, PD13 SDA)
+ */
+
+#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1       /* PB6  */
+#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1       /* PB7  */
+
+#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
+#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
+
+#define GPIO_I2C4_SCL GPIO_I2C4_SCL_1       /* PD12 */
+#define GPIO_I2C4_SDA GPIO_I2C4_SDA_1       /* PD13 */
+
+#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN12)
+#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN13)
+
+
+/* USB
+ *
+ *      OTG_FS_DM                           PA11
+ *      OTG_FS_DP                           PA12
+ *      VBUS                                PD0
+ */
+
+
+#endif  /*__NUTTX_CONFIG_AIRBRAINH743_INCLUDE_BOARD_H  */

boards/gearup/airbrainh743/nuttx-config/include/board_dma_map.h

@@ -0,0 +1,42 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+/* DMA mapping for SPI1 (IMU) */
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
+
+/* DMA mapping for SPI2 (W25N Flash) */
+#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */
+#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */

boards/gearup/airbrainh743/nuttx-config/nsh/defconfig

@@ -0,0 +1,258 @@
+#
+# 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_DISABLE_PTHREAD is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PRINTF is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_RM is not set
+# CONFIG_NSH_DISABLE_RMDIR is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SET is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_TEST is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_NSH_DISABLE_UMOUNT is not set
+# CONFIG_NSH_DISABLE_UNSET is not set
+# CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_SPI_CALLBACK is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/gearup/airbrainh743/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743VI=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_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x0050
+CONFIG_CDCACM_PRODUCTSTR="AirBrainH743"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3162
+CONFIG_CDCACM_VENDORSTR="Gear Up"
+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_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
+CONFIG_FS_LITTLEFS_READ_SIZE_FACTOR=1
+CONFIG_FS_LITTLEFS_CACHE_SIZE_FACTOR=1
+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_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=4
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
+CONFIG_MTD_W25N=y
+CONFIG_W25N_SPIFREQUENCY=104000000
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SEM_PREALLOCHOLDERS=32
+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_BDMA=y
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_DMAMUX1=y
+CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32H7_I2C1=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_HSECLOCK=y
+CONFIG_STM32H7_RTC_MAGIC_REG=1
+CONFIG_STM32H7_SAVE_CRASHDUMP=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=4096
+CONFIG_STM32H7_SPI2=y
+CONFIG_STM32H7_SPI2_DMA=y
+CONFIG_STM32H7_SPI2_DMA_BUFFER=4096
+CONFIG_STM32H7_SPI4=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM2=y
+CONFIG_STM32H7_TIM3=y
+CONFIG_STM32H7_TIM5=y
+CONFIG_STM32H7_TIM8=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_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_SIGTSTP=y
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART5_BAUD=57600
+CONFIG_UART5_RXBUFSIZE=600
+CONFIG_UART5_TXBUFSIZE=1500
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=600
+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_SERIAL_CONSOLE=y
+CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_TXBUFSIZE=1500
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_WATCHDOG=y

boards/gearup/airbrainh743/nuttx-config/scripts/bootloader_script.ld

@@ -0,0 +1,213 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743II, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
+ * drepresed, then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743ZI also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ */
+
+MEMORY
+{
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08000000, LENGTH = 2048K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}

boards/gearup/airbrainh743/nuttx-config/scripts/script.ld

@@ -0,0 +1,228 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The board uses an STM32H743II and has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743II, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * There's a switch on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
+ * drepresed, then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743ZI also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ */
+
+MEMORY
+{
+	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
+
+	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
+	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
+	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
+	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > FLASH
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+	.init_section : {
+		_sinit = ABSOLUTE(.);
+		KEEP(*(.init_array .init_array.*))
+		_einit = ABSOLUTE(.);
+	} > FLASH
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > FLASH
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > FLASH
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > AXI_SRAM
+
+	/* Emit the the D3 power domain section for locating BDMA data */
+
+	.sram4_reserve (NOLOAD) :
+	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
+	} > SRAM4
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}

boards/gearup/airbrainh743/src/CMakeLists.txt

@@ -0,0 +1,67 @@
+############################################################################
+#
+#   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
+	add_library(drivers_board
+		bootloader_main.c
+		usb.c
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			bootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
+
+else()
+	add_library(drivers_board
+		i2c.cpp
+		init.c
+		led.c
+		spi.cpp
+		timer_config.cpp
+		usb.c
+	)
+	add_dependencies(drivers_board arch_board_hw_info)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_io_pins
+			arch_spi
+			arch_board_hw_info
+			drivers__led
+			nuttx_arch
+			nuttx_drivers
+			px4_layer
+	)
+endif()

boards/gearup/airbrainh743/src/board_config.h

@@ -0,0 +1,223 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * AirBrainH743 (Gear Up) internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+#include <stm32_gpio.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+
+/* Enable small flash logging support (for W25N NAND flash) */
+#ifdef CONFIG_MTD_W25N
+#  define BOARD_SMALL_FLASH_LOGGING 1
+#endif
+
+/* LEDs are active low
+ * STAT RGB LED:
+ *   PB15 = Blue
+ *   PD11 = Green
+ *   PD15 = Red
+ * BAT LED (orange): hardwired to power input
+ */
+#define GPIO_nLED_BLUE       /* PB15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
+#define GPIO_nLED_GREEN      /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
+#define GPIO_nLED_RED        /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN15)
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS   1
+#define BOARD_OVERLOAD_LED              LED_RED
+#define BOARD_ARMED_STATE_LED           LED_GREEN
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that
+ * can be used by the Px4 Firmware in the adc driver
+ */
+
+/* ADC defines to be used in sensors.cpp to read from a particular channel */
+#define ADC1_CH(n)                  (n)
+
+/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
+#define PX4_ADC_GPIO  \
+	/* PC4 */  GPIO_ADC12_INP4, \
+	/* PC5 */  GPIO_ADC12_INP8
+
+/* Define Channel numbers must match above GPIO pin IN(n)*/
+#define ADC_BATTERY_VOLTAGE_CHANNEL     /* PC4 */  ADC1_CH(4)
+#define ADC_BATTERY_CURRENT_CHANNEL     /* PC5 */  ADC1_CH(8)
+
+#define ADC_CHANNELS \
+	((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
+	 (1 << ADC_BATTERY_CURRENT_CHANNEL))
+
+
+/* Define Battery Voltage Divider and A per V
+ */
+#define BOARD_BATTERY1_V_DIV         (15.0f)
+#define BOARD_BATTERY1_A_PER_V       (101.0f)
+
+
+/* PWM
+ * 8 PWM outputs for motors + 1 for LED strip
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS   9
+#define DIRECT_INPUT_TIMER_CHANNELS  9
+
+#define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
+
+
+/* Tone alarm output (directly connected to transistor switch of external buzzer)
+ *
+ * GPIO mode only (active buzzer) - passive buzzer with different tones is not
+ * supported because PA15 can only use TIM2, which is also used for motor outputs
+ * M7 (PB10, TIM2_CH3) and M8 (PB11, TIM2_CH4). The PWM tone alarm driver changes
+ * the timer's prescaler and auto-reload registers (shared across all channels),
+ * which would affect M7/M8 PWM frequency during tone playback.
+ */
+#define GPIO_TONE_ALARM_IDLE    /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
+#define GPIO_TONE_ALARM_GPIO    /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN15)
+
+
+/* ICM42688P FSYNC - directly connected to IMU via GPIO (no timer).
+ * The driver clears TMST_FSYNC_EN and FIFO_TMST_FSYNC_EN, so FSYNC is unused.
+ * This GPIO is kept low to prevent spurious triggers.
+ */
+#define GPIO_42688P_FSYNC       /* PC7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN7)
+
+
+/* USB OTG FS
+ *
+ * PD0 VBUS sensing (active high input)
+ */
+#define GPIO_OTGFS_VBUS         /* PD0 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTD|GPIO_PIN0)
+
+
+/* High-resolution timer */
+#define HRT_TIMER               8  /* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
+
+
+/*
+ * Serial Port Mapping:
+ *
+ *   UART    Device    Pins          Function
+ *   ----    ------    ----          --------
+ *   USART1  /dev/ttyS0  PA9/PA10    Console/Debug
+ *   USART2  /dev/ttyS1  PD5/PD6     RC Input
+ *   USART3  /dev/ttyS2  PD8/PD9     TEL4 (DJI/MSP)
+ *   UART4   /dev/ttyS3  PA0/PA1     TEL1
+ *   UART5   /dev/ttyS4  PB13/PB12   TEL2
+ *   UART7   /dev/ttyS5  PE8/PE7     TEL3 (ESC Telemetry)
+ *   UART8   /dev/ttyS6  PE1/PE0     GPS1
+ */
+
+/* RC Serial port - USART2 (PD5/PD6) */
+#define RC_SERIAL_PORT          "/dev/ttyS1"
+#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
+
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* This board provides the board_on_reset interface */
+#define BOARD_HAS_ON_RESET 1
+
+
+#define PX4_GPIO_INIT_LIST { \
+		PX4_ADC_GPIO, \
+		GPIO_nLED_RED, \
+		GPIO_nLED_GREEN, \
+		GPIO_nLED_BLUE, \
+		GPIO_TONE_ALARM_IDLE, \
+		GPIO_42688P_FSYNC, \
+	}
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
+#define BOARD_NUM_IO_TIMERS 4
+
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the board.
+ *
+ ****************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+extern void stm32_usbinitialize(void);
+
+extern void board_peripheral_reset(int ms);
+
+/* Parameters stored in internal flash */
+#define FLASH_BASED_PARAMS
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS

boards/gearup/airbrainh743/src/bootloader_main.c

@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file bootloader_main.c
+ *
+ * AirBrainH743-specific early startup code for bootloader
+ */
+
+#include "board_config.h"
+#include "bl.h"
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+#include <px4_platform_common/init.h>
+
+extern int sercon_main(int c, char **argv);
+
+__EXPORT void board_on_reset(int status) {}
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	/* configure USB interfaces */
+	stm32_usbinitialize();
+}
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	return 0;
+}
+
+void board_late_initialize(void)
+{
+	sercon_main(0, NULL);
+}
+
+extern void sys_tick_handler(void);
+void board_timerhook(void)
+{
+	sys_tick_handler();
+}

boards/gearup/airbrainh743/src/hw_config.h

@@ -0,0 +1,85 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#define APP_LOAD_ADDRESS               0x08020000
+#define BOOTLOADER_DELAY               5000
+#define INTERFACE_USB                  1
+#define INTERFACE_USB_CONFIG           "/dev/ttyACM0"
+#define BOARD_VBUS                     MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
+
+#define INTERFACE_USART                1
+#define INTERFACE_USART_CONFIG         "/dev/ttyS0,57600"
+#define BOOT_DELAY_ADDRESS             0x000001a0
+#define BOARD_TYPE                     1209
+#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
+#define BOARD_FLASH_SECTORS            (14)
+#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
+
+#define OSC_FREQ                       8
+
+#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_BLUE
+#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_GREEN
+#define BOARD_LED_ON                   0
+#define BOARD_LED_OFF                  1
+
+#define SERIAL_BREAK_DETECT_DISABLED   1
+
+#if !defined(ARCH_SN_MAX_LENGTH)
+# define ARCH_SN_MAX_LENGTH 12
+#endif
+
+/* Reserve 128KB (1 sector) at end of flash for parameters */
+#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
+
+#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
+#  define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
+#endif
+
+#if !defined(USB_DATA_ALIGN)
+# define USB_DATA_ALIGN
+#endif
+
+#ifndef BOOT_DEVICES_SELECTION
+#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+#ifndef BOOT_DEVICES_FILTER_ONUSB
+#  define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+/* Boot device selection list*/
+#define USB0_DEV       0x01
+#define SERIAL0_DEV    0x02
+#define SERIAL1_DEV    0x04

boards/gearup/airbrainh743/src/i2c.cpp

@@ -0,0 +1,47 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+/*
+ * I2C bus configuration for AirBrainH743
+ *
+ * I2C1: Internal bus - PB6 (SCL), PB7 (SDA)
+ *       Devices: DPS310 baro @ 0x76, LIS2MDL compass @ 0x1E
+ * I2C4: External bus - PD12 (SCL), PD13 (SDA)
+ */
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusInternal(1),
+	initI2CBusExternal(4),
+};

boards/gearup/airbrainh743/src/init.c

@@ -0,0 +1,249 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file init.c
+ *
+ * AirBrainH743-specific early startup code.
+ */
+
+#include "board_config.h"
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+#include <fcntl.h>
+#include <unistd.h>
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/mtd/mtd.h>
+#include <nuttx/fs/fs.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <systemlib/px4_macros.h>
+#include <px4_arch/io_timer.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform/gpio.h>
+#include <px4_platform/board_dma_alloc.h>
+
+#if defined(FLASH_BASED_PARAMS)
+#include <parameters/flashparams/flashfs.h>
+#endif
+
+#ifdef CONFIG_MTD_W25N
+extern FAR struct mtd_dev_s *w25n_initialize(FAR struct spi_dev_s *dev, uint32_t spi_devid);
+#endif
+
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+	UNUSED(ms);
+}
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+	}
+
+	if (status >= 0) {
+		up_mdelay(100);
+	}
+}
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.
+ *
+ ************************************************************************************/
+__EXPORT void stm32_boardinitialize(void)
+{
+	/* Reset PWM first thing */
+	board_on_reset(-1);
+
+	/* configure LEDs */
+	board_autoled_initialize();
+
+	/* configure pins */
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	/* configure USB interfaces */
+	stm32_usbinitialize();
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.
+ *
+ ****************************************************************************/
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	/* Need hrt running before using the ADC */
+	px4_platform_init();
+
+	/* configure SPI interfaces */
+	stm32_spiinitialize();
+
+	/* configure the DMA allocator */
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
+	}
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_off(LED_GREEN);
+	led_off(LED_BLUE);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_RED);
+	}
+
+#ifdef CONFIG_MTD_W25N
+	/* Initialize W25N01GV NAND Flash on SPI2 */
+	struct spi_dev_s *spi2 = stm32_spibus_initialize(2);
+
+	if (!spi2) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI2 for W25N\n");
+		led_on(LED_RED);
+
+	} else {
+		struct mtd_dev_s *mtd = w25n_initialize(spi2, 0);
+
+		if (!mtd) {
+			syslog(LOG_ERR, "[boot] FAILED to initialize W25N MTD driver\n");
+			led_on(LED_RED);
+
+		} else {
+			int ret = register_mtddriver("/dev/mtd0", mtd, 0755, NULL);
+
+			if (ret < 0) {
+				syslog(LOG_ERR, "[boot] FAILED to register MTD driver: %d\n", ret);
+				led_on(LED_RED);
+
+			} else {
+				syslog(LOG_INFO, "[boot] W25N MTD registered at /dev/mtd0\n");
+
+#ifdef CONFIG_FS_LITTLEFS
+				ret = nx_mount("/dev/mtd0", CONFIG_BOARD_ROOT_PATH, "littlefs", 0, NULL);
+
+				if (ret == 0) {
+					/* Verify the filesystem is usable by creating a test file */
+					int fd = open(CONFIG_BOARD_ROOT_PATH "/.mount_test", O_CREAT | O_WRONLY | O_TRUNC);
+
+					if (fd >= 0) {
+						close(fd);
+						unlink(CONFIG_BOARD_ROOT_PATH "/.mount_test");
+
+					} else {
+						syslog(LOG_WARNING, "[boot] littlefs mounted but not usable, reformatting\n");
+						nx_umount2(CONFIG_BOARD_ROOT_PATH, 0);
+						ret = -1;
+					}
+				}
+
+				if (ret < 0) {
+					ret = nx_mount("/dev/mtd0", CONFIG_BOARD_ROOT_PATH, "littlefs", 0, "forceformat");
+				}
+
+				if (ret < 0) {
+					syslog(LOG_ERR, "[boot] FAILED to mount littlefs: %d\n", ret);
+					led_on(LED_RED);
+
+				} else {
+					syslog(LOG_INFO, "[boot] LittleFS mounted at %s\n", CONFIG_BOARD_ROOT_PATH);
+				}
+
+#endif
+			}
+		}
+	}
+
+#endif
+
+#if defined(FLASH_BASED_PARAMS)
+	/* Initialize parameters in internal flash (sector 15, 128KB at 0x081E0000) */
+	static sector_descriptor_t params_sector_map[] = {
+		{15, 128 * 1024, 0x081E0000},
+		{0, 0, 0},
+	};
+
+	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+		led_on(LED_RED);
+	}
+
+#endif
+
+	/* Configure the HW based on the manifest */
+	px4_platform_configure();
+
+	return OK;
+}

boards/gearup/airbrainh743/src/led.c

@@ -0,0 +1,205 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+#ifdef CONFIG_ARCH_LEDS
+static bool nuttx_owns_leds = true;
+static const uint8_t xlatpx4[] = {1, 2, 4, 0};
+#  define xlat(p) xlatpx4[(p)]
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
+	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
+	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
+};
+
+#else
+
+#  define xlat(p) (p)
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_RED,     // LED_RED
+	GPIO_nLED_GREEN,   // LED_GREEN
+	GPIO_nLED_BLUE,    // LED_BLUE
+};
+
+#endif
+
+__EXPORT void led_init(void)
+{
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		if (g_ledmap[l] != 0) {
+			stm32_configgpio(g_ledmap[l]);
+		}
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Drive Low to switch on (active low LEDs) */
+	if (led < (int)(sizeof(g_ledmap) / sizeof(g_ledmap[0])) && g_ledmap[led] != 0) {
+		stm32_gpiowrite(g_ledmap[led], !state);
+	}
+}
+
+static bool phy_get_led(int led)
+{
+	/* If Low it is on */
+	if (led < (int)(sizeof(g_ledmap) / sizeof(g_ledmap[0])) && g_ledmap[led] != 0) {
+		return !stm32_gpioread(g_ledmap[led]);
+	}
+
+	return false;
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(xlat(led), true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(xlat(led), false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
+}
+
+#ifdef CONFIG_ARCH_LEDS
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+void board_autoled_initialize(void)
+{
+	led_init();
+}
+
+void board_autoled_on(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_HEAPALLOCATE:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_IRQSENABLED:
+		phy_set_led(BOARD_LED_BLUE, false);
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_STACKCREATED:
+		phy_set_led(BOARD_LED_GREEN, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+
+	case LED_IDLE:
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+	}
+}
+
+void board_autoled_off(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, false);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, false);
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+
+	case LED_IDLE:
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+	}
+}
+
+#endif /* CONFIG_ARCH_LEDS */

boards/gearup/airbrainh743/src/spi.cpp

@@ -0,0 +1,58 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+/*
+ * SPI bus configuration for AirBrainH743
+ *
+ * SPI1: IMU (Invensensev3/ICM42688P) - PA5 SCK, PA6 MISO, PA7 MOSI, PA3 CS
+ * SPI2: W25N Flash - PD3 SCK, PB14 MISO, PC3 MOSI, PD4 CS
+ * SPI4: External/AUX - PE12 SCK, PE5 MISO, PE6 MOSI
+ */
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin3}),
+	}),
+	initSPIBus(SPI::Bus::SPI2, {
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4}),  // W25N Flash
+	}),
+	initSPIBusExternal(SPI::Bus::SPI4, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin3}), // User 1 GPIO as chip select
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/gearup/airbrainh743/src/timer_config.cpp

@@ -0,0 +1,74 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+/*
+ * PWM output configuration for AirBrainH743
+ *
+ * M1: PE14 (TIM1_CH4)
+ * M2: PE13 (TIM1_CH3)
+ * M3: PE11 (TIM1_CH2)
+ * M4: PE9  (TIM1_CH1)
+ * M5: PB0  (TIM3_CH3)
+ * M6: PB1  (TIM3_CH4)
+ * M7: PB10 (TIM2_CH3)
+ * M8: PB11 (TIM2_CH4)
+ * M9: PA2  (TIM5_CH3) - LED strip
+ *
+ * Note: TIM2 is shared with buzzer pin PA15 (TIM2_CH1). The buzzer is disabled
+ * by default because the tone alarm driver would change the timer prescaler/ARR
+ * which affects M7/M8 PWM frequency. See board_config.h for details.
+ */
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer1, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
+	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
+	initIOTimer(Timer::Timer2, DMA{DMA::Index1, DMA::Stream6, DMA::Channel3}),
+	initIOTimer(Timer::Timer5),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),  // M1
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),  // M2
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),  // M3
+	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),   // M4
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),   // M5
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),   // M6
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortB, GPIO::Pin10}),  // M7
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),  // M8
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortA, GPIO::Pin2}),   // M9 (LED)
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);

boards/gearup/airbrainh743/src/usb.c

@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+#include "board_config.h"
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+#include <stm32_otg.h>
+#include <debug.h>
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO */
+#ifdef CONFIG_STM32H7_OTGFS
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+#endif
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *
+ ************************************************************************************/
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}

boards/holybro/kakutef7/nuttx-config/nsh/defconfig

@@ -16,36 +16,36 @@
 # CONFIG_NSH_DISABLE_CAT is not set
 # CONFIG_NSH_DISABLE_CD is not set
 # CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
-# CONFIG_NSH_DISABLE_DF is not set
+CONFIG_NSH_DISABLE_DATE=y
+CONFIG_NSH_DISABLE_DF=y
 # CONFIG_NSH_DISABLE_ECHO is not set
 # CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_GET is not set
+CONFIG_NSH_DISABLE_EXPORT=y
+CONFIG_NSH_DISABLE_FREE=y
+CONFIG_NSH_DISABLE_GET=y
 # CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
+CONFIG_NSH_DISABLE_MKDIR=y
 # CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_MOUNT is not set
 # CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
+CONFIG_NSH_DISABLE_PRINTF=y
+CONFIG_NSH_DISABLE_PS=y
+CONFIG_NSH_DISABLE_PSSTACKUSAGE=y
+CONFIG_NSH_DISABLE_PWD=y
 # CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
+CONFIG_NSH_DISABLE_RMDIR=y
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_SET is not set
 # CONFIG_NSH_DISABLE_SLEEP is not set
 # CONFIG_NSH_DISABLE_SOURCE is not set
 # CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_TIME is not set
+CONFIG_NSH_DISABLE_TIME=y
 # CONFIG_NSH_DISABLE_UMOUNT is not set
 # CONFIG_NSH_DISABLE_UNSET is not set
 # CONFIG_NSH_DISABLE_USLEEP is not set

boards/holybro/kakuteh7-wing/nuttx-config/include/board_dma_map.h

@@ -58,11 +58,13 @@
 //#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   /* 5 DMA1:71 PX4IO */
 //#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   /* 6 DMA1:72 PX4IO */
 
-// Assigned in timer_config.cpp
-
-// TODO
-// Timer 4                                          /* 7 DMA1:32 TIM4UP */
-// Timer 5                                          /* 8 DMA1:50 TIM5UP */
+// Dynamically assigned in timer_config.cpp for DShot (allocated/freed per cycle):
+// Timer 1 TIM1UP (burst) + TIM1CH1-4 (capture)
+// Timer 2 TIM2UP (burst) + TIM2CH1-4 (capture)
+// Timer 3 TIM3UP (burst) + TIM3CH1-4 (capture)
+// Timer 4 TIM4UP (burst) + TIM4CH1-3 (capture, CH4 has no DMA)
+// Timer 5 TIM5UP (burst) + TIM5CH1-4 (capture)
+// Timer 15 - no TIM15UP DMA, cannot do DShot
 
 // DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
 //                                                     V

boards/holybro/kakuteh7-wing/src/timer_config.cpp

@@ -38,18 +38,20 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
 	initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer15),
-	initIOTimer(Timer::Timer3),
-	initIOTimer(Timer::Timer2),
+	initIOTimer(Timer::Timer15), // Note: Timer15 has no TIM_UP DMA on STM32H7, cannot do DShot
+	initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer2, DMA{DMA::Index1}),
 };
 
+// Note: Timer4 Channel4 has no DMAMUX mapping on STM32H7, so BDShot telemetry capture
+// is not available on that channel. DShot output still works (uses TIM_UP DMA for burst).
 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortA, GPIO::Pin8}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
 	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
-	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}), // no BDShot telemetry readback
 	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
 	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
 	initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),

boards/holybro/kakuteh7v2/default.px4board

@@ -1,5 +1,6 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROOT_PATH="/fs/flash"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"

boards/holybro/kakuteh7v2/init/rc.board_defaults

@@ -38,5 +38,6 @@ param set-default SYS_DM_BACKEND 1
 # Ignore that there is no SD card
 param set-default COM_ARM_SDCARD 0
 
-# Disable logging
-param set-default SDLOG_BACKEND 0
+# W25N NAND flash with littlefs (128 MB): larger buffer, auto-rotate
+set LOGGER_BUF 32
+param set-default SDLOG_DIRS_MAX 3

boards/holybro/kakuteh7v2/nuttx-config/include/board.h

@@ -99,7 +99,7 @@
  *   PLL1_VCO = (8,000,000 / 1) * 120 = 960 MHz
  *
  *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
- *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
+ *   PLL1Q = PLL1_VCO/5  = 960 MHz / 5   = 192 MHz (SPI123 clock, max 200 MHz)
  *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
  */
 
@@ -111,12 +111,12 @@
 #define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
 #define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(120)
 #define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
-#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(4)
+#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(5)
 #define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
 
 #define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 120)
 #define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
-#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
+#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 5)
 #define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
 
 /* PLL2 */
@@ -227,9 +227,9 @@
 
 #define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
 
-/* SPI123 clock source */
+/* SPI123 clock source - PLL1Q = 192 MHz for W25N NAND flash (max 104 MHz) */
 
-#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
+#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL1
 
 /* SPI45 clock source */
 
@@ -281,17 +281,17 @@
 
 #define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 
-/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
- * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
+/* 25 MHz Max for now, 25 mHz = PLL1Q/(2*div), div = PLL1Q/(2*freq)
+ * PLL1Q = 192 MHz, div = 192 / 50 = 3.84, round up to 4 for 24 MHz
  */
 
 #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (4 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
 #  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif
 #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_SDXFR_CLKDIV    (4 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
 #  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif

boards/holybro/kakuteh7v2/nuttx-config/include/board_dma_map.h

@@ -33,6 +33,10 @@
 
 #pragma once
 
+/* SPI1 DMA for W25N NAND Flash */
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1 */
+
 #define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_1 /* DMA2 */
 #define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_1 /* DMA2 */
 

boards/holybro/kakuteh7v2/nuttx-config/nsh/defconfig

@@ -104,6 +104,10 @@ CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
+CONFIG_FS_LITTLEFS=y
+CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
+CONFIG_FS_LITTLEFS_READ_SIZE_FACTOR=1
+CONFIG_FS_LITTLEFS_CACHE_SIZE_FACTOR=1
 CONFIG_GRAN=y
 CONFIG_GRAN_INTR=y
 CONFIG_HAVE_CXX=y
@@ -126,7 +130,9 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_RAMTRON=y
+# CONFIG_MTD_RAMTRON is not set
+CONFIG_MTD_W25N=y
+CONFIG_W25N_SPIFREQUENCY=104000000
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARGCAT=y
@@ -135,7 +141,7 @@ CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_MMCSDSPIPORTNO=1
+# CONFIG_NSH_MMCSDSPIPORTNO is not set
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
@@ -148,9 +154,6 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
-CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -188,6 +191,7 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_DMAMUX1=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C_DYNTIMEO=y
@@ -202,6 +206,8 @@ 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=4096
 CONFIG_STM32H7_SPI2=y
 CONFIG_STM32H7_SPI4=y
 CONFIG_STM32H7_SPI4_DMA=y

boards/holybro/kakuteh7v2/src/board_config.h

@@ -59,6 +59,11 @@
 #  define BOARD_HAS_NBAT_V              1
 #  define BOARD_HAS_NBAT_I              1
 
+/* Enable small flash logging support (for W25N NAND flash) */
+#ifdef CONFIG_MTD_W25N
+#  define BOARD_SMALL_FLASH_LOGGING 1
+#endif
+
 /* Holybro KakuteH7 GPIOs ************************************************************************/
 
 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */

boards/holybro/kakuteh7v2/src/init.c

@@ -59,6 +59,8 @@
 #include <nuttx/spi/spi.h>
 #include <nuttx/analog/adc.h>
 #include <nuttx/mm/gran.h>
+#include <nuttx/mtd/mtd.h>
+#include <nuttx/fs/fs.h>
 #include <chip.h>
 #include <stm32_uart.h>
 #include <arch/board/board.h>
@@ -79,6 +81,10 @@
 #  include <parameters/flashparams/flashfs.h>
 #endif
 
+#ifdef CONFIG_MTD_W25N
+extern FAR struct mtd_dev_s *w25n_initialize(FAR struct spi_dev_s *dev, uint32_t spi_devid);
+#endif
+
 
 /****************************************************************************
  * Pre-Processor Definitions
@@ -231,14 +237,49 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		led_on(LED_RED);
 	}
 
-	/* Get the SPI port for the microSD slot */
-	struct spi_dev_s *spi_dev = stm32_spibus_initialize(CONFIG_NSH_MMCSDSPIPORTNO);
+#ifdef CONFIG_MTD_W25N
+	/* Initialize W25N01GV NAND Flash on SPI1 */
+	struct spi_dev_s *spi1 = stm32_spibus_initialize(1);
 
-	if (!spi_dev) {
-		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO);
-		led_on(LED_BLUE);
+	if (!spi1) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI1 for W25N\n");
+		led_on(LED_RED);
+
+	} else {
+		struct mtd_dev_s *mtd = w25n_initialize(spi1, 0);
+
+		if (!mtd) {
+			syslog(LOG_ERR, "[boot] FAILED to initialize W25N MTD driver\n");
+			led_on(LED_RED);
+
+		} else {
+			int ret = register_mtddriver("/dev/mtd0", mtd, 0755, NULL);
+
+			if (ret < 0) {
+				syslog(LOG_ERR, "[boot] FAILED to register MTD driver: %d\n", ret);
+				led_on(LED_RED);
+
+			} else {
+				syslog(LOG_INFO, "[boot] W25N MTD registered at /dev/mtd0\n");
+
+#ifdef CONFIG_FS_LITTLEFS
+				ret = nx_mount("/dev/mtd0", CONFIG_BOARD_ROOT_PATH, "littlefs", 0, "autoformat");
+
+				if (ret < 0) {
+					syslog(LOG_ERR, "[boot] FAILED to mount littlefs: %d\n", ret);
+					led_on(LED_RED);
+
+				} else {
+					syslog(LOG_INFO, "[boot] LittleFS mounted at %s\n", CONFIG_BOARD_ROOT_PATH);
+				}
+
+#endif
+			}
+		}
 	}
 
+#endif
+
 	up_udelay(20);
 
 

boards/holybro/kakuteh7v2/src/spi.cpp

@@ -37,7 +37,7 @@
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortA, GPIO::Pin4})
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortA, GPIO::Pin4})  // W25N01GV NAND Flash
 	}),
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),

docs/.vitepress/theme/style.css

@@ -160,3 +160,44 @@
  .vp-doc img {
   display: inline; /* block by default set by vitepress */
 }
+
+
+/**
+ * Custom styles for wide pages
+ * -------------------------------------------------------------------------- */
+
+.is-wide-page .content-container {
+  max-width: 100% !important;
+}
+@media (min-width: 1280px) {
+  .is-wide-page .content {
+    min-width: 940px !important;
+  }
+}
+
+/* Make page width larger  */
+@media (min-width: 1440px) {
+  .is-wide-page .VPSidebar {
+    padding-left: 32px !important;
+    width: var(--vp-sidebar-width) !important;
+  }
+  .is-wide-page .VPContent.has-sidebar {
+    padding-left: var(--vp-sidebar-width) !important;
+    padding-right: 0 !important;
+  }
+
+  .is-wide-page .VPNavBar.has-sidebar .title {
+    padding-left: 32px !important;
+  }
+
+  .is-wide-page .VPNavBar.has-sidebar .content {
+    padding-left: var(--vp-sidebar-width) !important;
+    padding-right: 32px !important;
+  }
+
+  /* Very hacky */
+  .is-wide-page .VPNavBar.has-sidebar #local-search {
+    z-index: 10;
+  }
+
+}

docs/en/SUMMARY.md

@@ -178,6 +178,7 @@
       - [CubePilot Cube Orange (CubePilot)](flight_controller/cubepilot_cube_orange.md)
       - [CubePilot Cube Yellow (CubePilot)](flight_controller/cubepilot_cube_yellow.md)
         - [Cube Wiring Quickstart](assembly/quick_start_cube.md)
+      - [Gear Up AirBrainH743](flight_controller/gearup_airbrainh743.md)
       - [Holybro Kakute H7v2](flight_controller/kakuteh7v2.md)
       - [Holybro Kakute H7mini](flight_controller/kakuteh7mini.md)
       - [Holybro Kakute H7](flight_controller/kakuteh7.md)

docs/en/config/safety.md

@@ -106,7 +106,7 @@ The settings and underlying parameters are shown below.
 
 | Setting                                                              | Parameter                                                                      | Description                                                                                                                     |
 | -------------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None, `1`: Warning, `3`: Return mode (default). |
+| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None (default), `1`: Warning, `3`: Return mode. |
 | <a id="COM_FLT_TIME_MAX"></a> Maximum flight time failsafe level     | [COM_FLT_TIME_MAX](../advanced_config/parameter_reference.md#COM_FLT_TIME_MAX) | Maximum allowed flight time before Return mode will be engaged, in seconds. `-1`: Disabled (default).                           |
 
 ## Manual Control Loss Failsafe
@@ -283,7 +283,7 @@ Acting on a detected failure during flight is deactivated by default (enable by
 During **takeoff** the failure detector [attitude trigger](#attitude-trigger) invokes the [disarm action](#act_disarm) if the vehicle flips (disarm kills the motors but, unlike flight termination, will not launch a parachute or perform other failure actions).
 Note that this check is _always enabled on takeoff_, irrespective of the `CBRK_FLIGHTTERM` parameter.
 
-The failure detector is active in all vehicle types and modes, except for those where the vehicle is _expected_ to do flips (i.e. [Acro mode (MC)](../flight_modes_mc/altitude.md), [Acro mode (FW)](../flight_modes_fw/altitude.md), and [Manual (FW)](../flight_modes_fw/manual.md)).
+The failure detector is active in all vehicle types and modes, except for those where the vehicle is _expected_ to do flips (i.e. [Acro mode (MC)](../flight_modes_mc/acro.md), [Acro mode (FW)](../flight_modes_fw/acro.md), and [Manual (FW)](../flight_modes_fw/manual.md)).
 
 ### Attitude Trigger
 

docs/en/contribute/code.md

@@ -34,7 +34,7 @@ If you update an existing file you are not required to make the whole file compl
 
 ### Line Length
 
-- Maximum line length is 120 characters.
+- Maximum line length is 140 characters.
 
 ### File Extensions
 

docs/en/flight_controller/autopilot_manufacturer_supported.md

@@ -25,6 +25,7 @@ The boards in this category are:
 - [CubePilot Cube Orange+](../flight_controller/cubepilot_cube_orangeplus.md)
 - [CubePilot Cube Orange](../flight_controller/cubepilot_cube_orange.md)
 - [CubePilot Cube Yellow](../flight_controller/cubepilot_cube_yellow.md)
+- [Gear Up AirBrainH743](../flight_controller/gearup_airbrainh743.md)
 - [Holybro Kakute H7v2](../flight_controller/kakuteh7v2.md)
 - [Holybro Kakute H7mini](../flight_controller/kakuteh7mini.md)
 - [Holybro Kakute H7](../flight_controller/kakuteh7.md)

docs/en/flight_controller/gearup_airbrainh743.md

@@ -0,0 +1,96 @@
+# Gear Up AirBrainH743
+
+:::warning
+PX4 does not manufacture this (or any) autopilot.
+Contact the [manufacturer](https://takeyourgear.com/) for hardware support.
+:::
+
+::: info
+This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
+:::
+
+Purchase from [takeyourgear.com](https://takeyourgear.com/pages/products/airbrain).
+
+For more information and pinout, check the [GitHub documentation](https://github.com/GearUp-Company/AirBrainH743).
+
+## Key Features
+
+- MCU: STM32H743 32-bit processor running at 480 MHz
+- IMU: ICM42688P
+- Barometer: DPS310
+- Magnetometer: LIS2MDL (internal)
+- 128MB NAND Flash for logging (W25N)
+- 7x UARTs
+- I2C, SPI
+- 9x PWM Outputs (8 Motor outputs, 1 LED strip)
+- Battery input voltage: 3S-10S
+- Battery voltage/current monitoring
+- 5V@2A and 10V@2.5A BEC outputs
+- USB Type-C (IP68)
+- EMC and ESD protection
+
+## Connectors and Pins
+
+:::warning
+The pin order is different from the Pixhawk standard (compatible to the Betaflight standard).
+:::
+
+### UARTs
+
+Current UART configuration:
+
+| UART   | Device     | Function                     |
+| ------ | ---------- | ---------------------------- |
+| USART1 | /dev/ttyS0 | Console/Debug                |
+| USART2 | /dev/ttyS1 | RC Input                     |
+| USART3 | /dev/ttyS2 | TEL4 (DJI/MSP)               |
+| UART4  | /dev/ttyS3 | TEL1                         |
+| UART5  | /dev/ttyS4 | TEL2                         |
+| UART7  | /dev/ttyS5 | TEL3 (ESC Telemetry)         |
+| UART8  | /dev/ttyS6 | GPS1                         |
+
+### Motor/Servo Outputs
+
+| Connector | Pin | Function     |
+| ----------| ------------------ |
+| ESC       | M1  | Motor 1      |
+| ESC       | M2  | Motor 2      |
+| ESC       | M3  | Motor 3      |
+| ESC       | M4  | Motor 4      |
+| PWM       | M5  | Motor 5      |
+| PWM       | M6  | Motor 6      |
+| PWM       | M7  | Motor 7      |
+| PWM       | M8  | Motor 8      |
+| AUX       | M9  | LED/PWM/etc. |
+
+<a id="bootloader"></a>
+
+## PX4 Bootloader Update
+
+Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
+Download the [gearup_airbrainh743_bootloader.bin](https://github.com/PX4/PX4-Autopilot/blob/main/boards/gearup/airbrainh743/extras/gearup_airbrainh743_bootloader.bin) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
+
+## Building Firmware
+
+To [build PX4](../dev_setup/building_px4.md) for this target:
+
+```
+make gearup_airbrainh743_default
+```
+
+## Installing PX4 Firmware
+
+Firmware can be installed in any of the normal ways:
+
+- Build and upload the source:
+
+  ```
+  make gearup_airbrainh743_default upload
+  ```
+
+- [Load the firmware](../config/firmware.md) using _QGroundControl_.
+  You can use either pre-built firmware or your own custom firmware.
+
+### System Console
+
+UART1 (ttyS0) is configured for use as the [System Console](../debug/system_console.md).

docs/en/middleware/uxrce_dds.md

@@ -324,7 +324,7 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi
   - [UXRCE_DDS_NS_IDX](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) <Badge type="tip" text="PX4 v1.17" />: Index-based namespace definition.
     Setting this parameter to any value other than `-1` creates a namespace with the prefix `uav_` and the specified value, e.g. `uav_0`, `uav_1`, etc.
     See [namespace](#customizing-the-namespace) for methods to define richer or arbitrary namespaces.
-  - [`UXRCE_DDS_FLCTRL`](../advanced_config/parameter_reference.md#UXRCE_DDS_FLCTRL) <Badge type="tip" text="PX4 main" />: Serial port hardware flow control enable.
+  - [`UXRCE_DDS_FLCTRL`](../advanced_config/parameter_reference.md#UXRCE_DDS_FLCTRL) <Badge type="tip" text="main (planned for: PX4 v1.18)" />: Serial port hardware flow control enable.
     To use hardware flow control, a custom MicroXRCE Agent needs to be adopted. Please refer to [this PR](https://github.com/eProsima/Micro-XRCE-DDS-Agent/pull/407) for the required changes, cherry-pick them on top of the [agent version](#build-run-within-ros-2-workspace) you need to use and then run the agent with the additional `--flow-control` option.
 
 ::: info

docs/en/neural_networks/mc_neural_network_control.md

@@ -22,7 +22,11 @@ If not, there are other possible NN frameworks, such as [Eigen](https://eigen.tu
 This document explains how you can include the module in your PX4 build, and provides a broad overview of how it works.
 The other documents in the section provide more information about the integration, allowing you to replace the NN with a version trained on different data, or even to replace the TLFM library altogether.
 
-If you are looking for more resources to learn about the module, a website has been created with links to a youtube video and a workshop paper. A full master's thesis will be added later. [A Neural Network Mode for PX4 on Embedded Flight Controllers](https://ntnu-arl.github.io/px4-nns/).
+::: tip
+For more information, see the Masters thesis from which this module was created: [Deep Reinforcement Learning for Embedded Control Policies for Aerial Vehicles](https://nva.sikt.no/registration/019b26689144-efeebae8-84d6-4413-ad7f-9aceb4ff7374).
+
+In addition, the (Norwegian) website [A Neural Network Mode for PX4 on Embedded Flight Controllers](https://ntnu-arl.github.io/px4-nns/) has a youtube video and a workshop paper .
+:::
 
 ## Neural Network PX4 Firmware
 

docs/en/ros2/px4_ros2_control_interface.md

@@ -13,7 +13,7 @@ At the time of writing, parts of the PX4 ROS 2 Control Interface are experimenta
 
 :::
 
-The [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) is a C++ library that simplifies controlling PX4 from ROS 2.
+The [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) is a C++ library (with Python bindings) that simplifies controlling PX4 from ROS 2.
 
 Developers use the library to create and dynamically register modes written using ROS 2.
 These modes are dynamically registered with PX4, and appear to be part of PX4 to a ground station or other external system.
@@ -25,6 +25,12 @@ These classes abstract the internal setpoints used by PX4, and that can therefor
 PX4 ROS 2 modes are easier to implement and maintain than PX4 internal modes, and provide more resources for developers in terms of processing power and pre-existing libraries.
 Unless the mode is safety-critical, requires strict timing or very high update rates, or your vehicle doesn't have a companion computer, you should [consider using PX4 ROS 2 modes in preference to PX4 internal modes](../concept/flight_modes.md#internal-vs-external-modes).
 
+::: tip
+If you want to use Python, check out the [examples in the repository](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/python).
+Not all classes have Python bindings yet — the [supported bindings are here](https://auterion.github.io/px4-ros2-interface-lib/python/index.html).
+You are welcome to add and contribute missing classes.
+:::
+
 ## Overview
 
 This diagram provides a conceptual overview of how the control interface modes and mode executors interact with PX4.

docs/en/ros2/px4_ros2_interface_lib.md

@@ -6,7 +6,7 @@
 At the time of writing, parts of the PX4 ROS 2 Interface Library are experimental, and hence subject to change.
 :::
 
-The [PX4 ROS 2 Interface Library](https://github.com/Auterion/px4-ros2-interface-lib) is a C++ library that simplifies controlling and interacting with PX4 from ROS 2.
+The [PX4 ROS 2 Interface Library](https://github.com/Auterion/px4-ros2-interface-lib) is a C++ library (with Python bindings) that simplifies controlling and interacting with PX4 from ROS 2.
 
 The library provides three high-level interfaces for developers:
 

docs/en/sensor/sfxx_lidar.md

@@ -15,6 +15,8 @@ The following models are supported by PX4, and can be connected to either the I2
 | [LW20/C](https://lightware.co.za/products/lw20-c-100-m) | 100       | I2C bus           | Waterproofed (IP67) with servo for sense-and-avoid applications                            |
 | [SF30/D](https://lightwarelidar.com/shop/sf30-d-200-m/) | 200       | I2C bus           | Waterproofed (IP67)                                                                        |
 | [SF45/B](../sensor/sf45_rotating_lidar.md)              | 50        | Serial            | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) |
+| [GRF250](https://lightwarelidar.com/shop/grf-250/) | 250 | I2C | Gimbal Range Finder
+| [GRF500](https://lightwarelidar.com/shop/grf-500/) | 500 | I2C | Gimbal Range Finder
 
 ::: details Discontinued
 

docs/ko/config/safety.md

@@ -106,7 +106,7 @@ There are several other "battery related" failsafe mechanisms that may be config
 
 | 설정                                                                   | 매개변수                                                                                                                                          | 설명                                                                                                                                                                                                                                 |
 | -------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None, `1`: Warning, `3`: Return mode (default). |
+| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None (default), `1`: Warning, `3`: Return mode. |
 | <a id="COM_FLT_TIME_MAX"></a> Maximum flight time failsafe level     | [COM_FLT_TIME_MAX](../advanced_config/parameter_reference.md#COM_FLT_TIME_MAX) | Maximum allowed flight time before Return mode will be engaged, in seconds. `-1`: Disabled (default).                                                           |
 
 ## Manual Control Loss Failsafe

docs/uk/SUMMARY.md

@@ -93,6 +93,7 @@
     - [Настройка Зворотнього Переходу](config_vtol/vtol_back_transition_tuning.md)
     - [ВЗІП Датчик польоту](config_vtol/vtol_without_airspeed_sensor.md)
     - [VTOL Weather Vane](config_vtol/vtol_weathervane.md)
+    - [VTOL Ice Shedding](config_vtol/vtol_ice_shedding.md)
   - [Режим польоту](flight_modes_vtol/index.md)
     - [Mission Mode (VTOL)](flight_modes_vtol/mission.md)
     - [Return Mode (VTOL)](flight_modes_vtol/return.md)
@@ -361,6 +362,8 @@
 
     - [Супутниковий зв'язок (Iridium/RockBlock)](advanced_features/satcom_roadblock.md)
 
+    - [Analog Video Transmitters](vtx/index.md)
+
   - [Енергетичні системи](power_systems/index.md)
     - [Налаштування оцінки батареї](config/battery.md)
     - [Battery Chemistry Overview](power_systems/battery_chemistry.md)

docs/uk/config/safety.md

@@ -104,7 +104,7 @@ There are several other "battery related" failsafe mechanisms that may be config
 
 | Налаштування                                                         | Параметр                                                                                                                                      | Опис                                                                                                                                                                                                                               |
 | -------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None, `1`: Warning, `3`: Return mode (default). |
+| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None (default), `1`: Warning, `3`: Return mode. |
 | <a id="COM_FLT_TIME_MAX"></a> Maximum flight time failsafe level     | [COM_FLT_TIME_MAX](../advanced_config/parameter_reference.md#COM_FLT_TIME_MAX) | Maximum allowed flight time before Return mode will be engaged, in seconds. `-1`: Disabled (default).                                                           |
 
 ## Manual Control Loss Failsafe

docs/uk/config_vtol/index.md

@@ -9,3 +9,4 @@ As part of this you should calibrate the [Airspeed sensor](../config/airspeed.md
 - [Back-transition Tuning](../config_vtol/vtol_back_transition_tuning.md)
 - [VTOL w/o Airspeed Sensor](../config_vtol/vtol_without_airspeed_sensor.md)
 - [VTOL Weather Vane](../config_vtol/vtol_weathervane.md)
+- [Ice Shedding](../config_vtol/vtol_ice_shedding.md)

docs/uk/config_vtol/vtol_ice_shedding.md

@@ -0,0 +1,22 @@
+# VTOL Ice Shedding feature
+
+## Загальний огляд
+
+Ice shedding is a feature that periodically spins unused motors in fixed-wing
+flight, to break off any ice that is starting to build up in the motors while it
+is still feasible to do so.
+
+It is configured by the paramter `CA_ICE_PERIOD`. When it is 0, the feature is
+disabled, when it is above 0, it sets the duration of the ice shedding cycle in
+seconds. In each cycle, the rotors are spun for two seconds at a motor output of
+0.01.
+
+:::warning
+When enabling the feature on a new airframe, there is the risk of producing
+torques that disturb the fixed-wing rate controller. To mitigate this risk:
+
+- Set your `PWM_MIN` values correctly, so that the motor output 0.01 actually
+  produces 1% thrust
+- Be prepared to take control and switch back to multicopter
+
+:::

docs/uk/contribute/code.md

@@ -34,7 +34,7 @@ Not all PX4 source code matches the style guide, but any _new code_ that you wri
 
 ### Довжина рядка
 
-- Максимальна довжина рядка становить 120 символів.
+- Maximum line length is 140 characters.
 
 ### Розширення файлів
 

docs/uk/modules/hello_sky.md

@@ -89,15 +89,19 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too
      ```
 
      :::tip
+
      The main function must be named `<module_name>_main` and exported from the module as shown.
 
+
 :::
 
      :::tip
+
      `PX4_INFO` is the equivalent of `printf` for the PX4 shell (included from **px4_platform_common/log.h**).
      There are different log levels: `PX4_INFO`, `PX4_WARN`, `PX4_ERR`, `PX4_DEBUG`.
      Warnings and errors are additionally added to the [ULog](../dev_log/ulog_file_format.md) and shown on [Flight Review](https://logs.px4.io/).
 
+
 :::
 
 3. Create and open a new _cmake_ definition file named **CMakeLists.txt**.
@@ -166,7 +170,7 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too
 4. Create and open a new _Kconfig_ definition file named **Kconfig** and define your symbol for naming (see [Kconfig naming convention](../hardware/porting_guide_config.md#px4-kconfig-symbol-naming-convention)).
    Скопіюйте текст нижче:
 
-   ```
+   ```text
    menuconfig EXAMPLES_PX4_SIMPLE_APP
    	bool "px4_simple_app"
    	default n

docs/uk/neural_networks/mc_neural_network_control.md

@@ -22,7 +22,11 @@ If not, there are other possible NN frameworks, such as [Eigen](https://eigen.tu
 This document explains how you can include the module in your PX4 build, and provides a broad overview of how it works.
 The other documents in the section provide more information about the integration, allowing you to replace the NN with a version trained on different data, or even to replace the TLFM library altogether.
 
-If you are looking for more resources to learn about the module, a website has been created with links to a youtube video and a workshop paper. A full master's thesis will be added later. [A Neural Network Mode for PX4 on Embedded Flight Controllers](https://ntnu-arl.github.io/px4-nns/).
+:::tip
+For more information, see the Masters thesis from which this module was created: [Deep Reinforcement Learning for Embedded Control Policies for Aerial Vehicles](https://nva.sikt.no/registration/019b26689144-efeebae8-84d6-4413-ad7f-9aceb4ff7374).
+
+In addition, the (Norwegian) website [A Neural Network Mode for PX4 on Embedded Flight Controllers](https://ntnu-arl.github.io/px4-nns/) has a youtube video and a workshop paper .
+:::
 
 ## Neural Network PX4 Firmware
 

docs/uk/neural_networks/raptor.md

@@ -35,7 +35,7 @@ The method we developed for training the RAPTOR policy is called Meta-Imitation
 
 You can torture test the RAPTOR policy in your browser at [https://raptor.rl.tools](https://raptor.rl.tools) or in the embedded app here:
 
-<iframe src="https://rl-tools.github.io/raptor.rl.tools?raptor=false" width="100%" height="1000" style="border: none;"></iframe>
+<iframe src="https://raptor.rl.tools?raptor=false" width="100%" height="1000" style="border: none;"></iframe>
 
 For more information please refer to the paper at [https://arxiv.org/abs/2509.11481](https://arxiv.org/abs/2509.11481).
 

docs/uk/peripherals/adsb_flarm.md

@@ -11,7 +11,7 @@ PX4 traffic avoidance works with ADS-B or FLARM products that supply transponder
 Було протестовано з наступними пристроями:
 
 - [PingRX ADS-B Receiver](https://uavionix.com/product/pingrx-pro/) (uAvionix)
-- [FLARM](https://flarm.com/products/uav/atom-uav-flarm-for-drones/) <!-- I think originally https://flarm.com/products/powerflarm/uav/ -->
+- [FLARM](https://www.flarm.com/en/drones/)
 
 ## Налаштування програмного забезпечення
 

docs/uk/ros2/px4_ros2_control_interface.md

@@ -14,7 +14,7 @@ At the time of writing, parts of the PX4 ROS 2 Control Interface are experimenta
 
 :::
 
-[PX4 ROS 2 Interface бібліотека](../ros2/px4_ros2_interface_lib.md) - це бібліотека C++++, яка спрощує контроль PX4 з ROS 2.
+The [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) is a C++ library (with Python bindings) that simplifies controlling PX4 from ROS 2.
 
 Розробники використовують бібліотеку для створення і динамічної реєстрації режимів, написаних за допомогою ROS 2.
 Ці режими динамічно реєструються в PX4 і здаються частиною PX4 для наземної станції або іншої зовнішньої системи.
@@ -26,6 +26,12 @@ At the time of writing, parts of the PX4 ROS 2 Control Interface are experimenta
 PX4 ROS 2 modes are easier to implement and maintain than PX4 internal modes, and provide more resources for developers in terms of processing power and pre-existing libraries.
 Unless the mode is safety-critical, requires strict timing or very high update rates, or your vehicle doesn't have a companion computer, you should [consider using PX4 ROS 2 modes in preference to PX4 internal modes](../concept/flight_modes.md#internal-vs-external-modes).
 
+:::tip
+If you want to use Python, check out the [examples in the repository](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/python).
+Not all classes have Python bindings yet — the [supported bindings are here](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/px4_ros2_py/src/px4_ros2).
+You are welcome to add and contribute missing classes.
+:::
+
 ## Загальний огляд
 
 Ця діаграма надає концептуального уявлення про те, як режими інтерфейсу і режими керування будуть взаємодіяти з PX4.

docs/uk/ros2/px4_ros2_interface_lib.md

@@ -7,7 +7,7 @@
 На момент написання цієї статті, деякі частини бібліотеки інтерфейсу PX4 ROS 2 є експериментальними і, отже, можуть бути змінені.
 :::
 
-[PX4 ROS 2 Інтерфейс бібліотеки](https://github.com/Auterion/px4-ros2-interface-lib) є бібліотекою C+++, яка спрощує контроль і взаємодіє з PX4 з ROS 2.
+The [PX4 ROS 2 Interface Library](https://github.com/Auterion/px4-ros2-interface-lib) is a C++ library (with Python bindings) that simplifies controlling and interacting with PX4 from ROS 2.
 
 The library provides three high-level interfaces for developers:
 

docs/uk/vtx/index.md

@@ -0,0 +1,287 @@
+# Analog Video Transmitters
+
+Analog Video Transmitters (VTX) can be controlled by PX4 via a half-duplex UART connection implementing the SmartAudio v1, v2, and v2.1 and Tramp protocols.
+
+The protocols allow writing and reading:
+
+- device status.
+- transmission frequency in MHz or via band and channel index.
+- transmission power in dBm or mW.
+- operation modes.
+
+VTX settings are controlled by parameters and optionally via RC AUX channels or CRSF MSP commands.
+The driver stores frequency and power tables that map band/channel indices to actual transmission values.
+Configuration is device-specific and set up using the command line interface.
+
+## Початок роботи
+
+Connect the SmartAudio or Tramp pin of the VTX to the TX pin of a free serial port on the flight controller.
+Then set the following parameters:
+
+- `VTX_SER_CFG`: Select the serial port used for VTX communication.
+- `VTX_DEVICE`: Selects the VTX device (generic SmartAudio/Tramp or a specific device).
+
+Note that since the VTX communication is half-duplex, you can, for example, use the single-pin Radio Controller port for the VTX and use a full duplex TELEM port for CRSF communication.
+
+You should now be able to see the VTX device in the driver status:
+
+```
+nsh> vtx status
+INFO  [vtx] UART device: /dev/ttyS4
+INFO  [vtx] VTX table "UNINITIALIZED":
+INFO  [vtx] Power levels:
+INFO  [vtx] RC mapping: Disabled
+INFO  [vtx] Parameters:
+INFO  [vtx]   band: 1
+INFO  [vtx]   channel: 1
+INFO  [vtx]   frequency: 0 MHz
+INFO  [vtx]   power level: 1
+INFO  [vtx]   power: 0 = 0 mW
+INFO  [vtx]   pit mode: off
+INFO  [vtx] SmartAudio v2:
+INFO  [vtx]   band: 1
+INFO  [vtx]   channel: 1
+INFO  [vtx]   frequency: 6110 MHz
+INFO  [vtx]   power level: 1
+INFO  [vtx]   power: 0 mW
+INFO  [vtx]   pit mode: on
+INFO  [vtx]   lock: unlocked
+```
+
+:::warning
+Without a configured power table, power mappings are unknown and default to 0 mW.
+Some VTX devices enter pit mode when power is set to 0, regardless of the `VTX_PIT_MODE` parameter.
+:::
+
+## VTX Table Configuration
+
+The VTX table stores frequency and power mappings for your specific device.
+
+The manufacturer usually provides this information in the form of a JSON file that can be translated into a [Betaflight CLI command set](https://www.betaflight.com/docs/development/VTX#vtx-table) that this driver implements for compatibility.
+
+### Power Level Configuration
+
+```
+# Set table name ≤16 characters
+vtxtable name "Peak THOR T67"
+
+# Set the power values that are sent to the VTX for each power level index
+# Note: SmartAudio v1 and v2 use index values!
+vtxtable powervalues 0 1 2 3 4
+# Note: SmartAudio v2.1 uses dBm values instead!
+#       vtxtable powervalues 14 23 27 30 35
+# Note: Tramp uses mW values instead!
+#       vtxtable powervalues 25 200 500 1000 3000
+
+# Set the corresponding power labels for each power level index ≤4 characters.
+# These are used for status reporting.
+vtxtable powerlabels 25 200 500 1W 3W
+
+# Set number of power levels
+vtxtable powerlevels 5
+
+# Save configuration
+vtxtable save
+```
+
+This will create a VTX table with 5 power levels.
+
+```nsh> vtxtable status
+INFO  [vtxtable] VTX table "Peak THOR T67":
+INFO  [vtxtable] Power levels:
+INFO  [vtxtable]   1:  0 = 25
+INFO  [vtxtable]   2:  1 = 200
+INFO  [vtxtable]   3:  2 = 500
+INFO  [vtxtable]   4:  3 = 1W
+INFO  [vtxtable]   5:  4 = 3W
+```
+
+### Frequency Table Configuration
+
+```
+# Set the name of each band and the frequencies of each channel
+vtxtable band 1 BAND_A A FACTORY 6110 6130 6150 6170 6190 6210 6230 6250
+vtxtable band 2 BAND_B B FACTORY 6270 6290 6310 6330 6350 6370 6390 6410
+vtxtable band 3 BAND_E E FACTORY 6430 6450 6470 6490 6510 6530 6550 6570
+vtxtable band 4 BAND_F F FACTORY 6590 6610 6630 6650 6670 6690 6710 6730
+vtxtable band 5 BAND_R R FACTORY 6750 6770 6790 6810 6830 6850 6870 6890
+vtxtable band 6 BAND_P P FACTORY 6910 6930 6950 6970 6990 7010 7030 7050
+vtxtable band 7 BAND_H H FACTORY 7070 7090 7110 7130 7150 7170 7190 7210
+vtxtable band 8 BAND_U U FACTORY 6115 6265 6425 6585 6745 6905 7065 7185
+
+# Set number of bands and channels
+vtxtable bands 8
+vtxtable channels 8
+
+# Save configuration
+vtxtable save
+```
+
+This will create a VTX table with 8 bands and 8 channels.
+Note that FACTORY sends the band and channel indexes to the VTX device and they use their internal frequency mapping. In this mode the frequency is just for indication purposes.
+In contrast, CUSTOM would send the actual frequency values to the VTX device, but not all devices support this mode.
+Setting a frequency to zero will skip setting it.
+
+```
+nsh> vtxtable status
+INFO  [vtxtable] VTX table 8x8: Peak THOR T67
+INFO  [vtxtable]  A: BAND_A          = 6110 6130 6150 6170 6190 6210 6230 6250
+INFO  [vtxtable]  B: BAND_B          = 6270 6290 6310 6330 6350 6370 6390 6410
+INFO  [vtxtable]  E: BAND_E          = 6430 6450 6470 6490 6510 6530 6550 6570
+INFO  [vtxtable]  F: BAND_F          = 6590 6610 6630 6650 6670 6690 6710 6730
+INFO  [vtxtable]  R: BAND_R          = 6750 6770 6790 6810 6830 6850 6870 6890
+INFO  [vtxtable]  P: BAND_P          = 6910 6930 6950 6970 6990 7010 7030 7050
+INFO  [vtxtable]  H: BAND_H          = 7070 7090 7110 7130 7150 7170 7190 7210
+INFO  [vtxtable]  U: BAND_U          = 6115 6265 6425 6585 6745 6905 7065 7185
+```
+
+### Table Constraints
+
+Maximum table dimensions:
+
+- ≤24 bands each with ≤16 channels and ≤32GHz frequency values.
+- ≤16 power levels.
+- ≤16 characters table name.
+- ≤12 characters band name and 1 character band letter.
+- ≤4 characters power label length (to support "2.5W").
+
+## AUX Channel Mapping
+
+The AUX mapping feature allows you to control VTX settings using RC AUX channels.
+Each mapping entry defines an AUX channel range that triggers a specific VTX configuration.
+
+To enable AUX mapping, set `VTX_MAP_CONFIG` to one of the following values:
+
+- `0`: Disabled
+- `1`: Disabled (reserved for CRSF MSP integration)
+- `2`: Map AUX channels to power level control only
+- `3`: Map AUX channels to band and channel control only
+- `4`: Map AUX channels to all settings (power, band, and channel)
+
+### Configuring AUX Map Entries
+
+Use the following command format to add mapping entries:
+
+```
+vtxtable <index> <aux_channel> <band> <channel> <power> <start_pwm> <end_pwm>
+```
+
+Параметри:
+
+- `index`: Map entry index (0-159)
+- `aux_channel`: AUX channel number (3-19, where AUX1=3)
+- `band`: Target band (1-24, or 0 to leave unchanged)
+- `channel`: Target channel (1-16, or 0 to leave unchanged)
+- `power`: Power level (1-16, 0 to leave unchanged, or -1 for pit mode)
+- `start_pwm`: Start of PWM range in microseconds (typically 900-2100)
+- `end_pwm`: End of PWM range in microseconds (typically 900-2100)
+
+:::info
+AUX channel numbering starts from 3 (AUX1=channel 3) to account for the first four RC channels 0-3 used for flight control.
+:::
+
+Example configuration for a 6-position dial controlling band/channel on AUX4 (channel 7):
+
+```
+vtx  0 7 7 1 0  900 1025
+vtx  1 7 7 2 0 1025 1100
+vtx  2 7 7 4 0 1100 1175
+vtx  3 7 7 6 0 1175 1225
+vtx  4 7 7 8 0 1225 1300
+vtx  5 7 3 8 0 1300 2100
+```
+
+Example configuration for power control on AUX3 (channel 6):
+
+```
+vtxtable 16 6 0 0 -1  900 1250
+vtxtable 17 6 0 0  1 1250 1525
+vtxtable 18 6 0 0  2 1525 1650
+vtxtable 19 6 0 0  3 1650 1875
+vtxtable 20 6 0 0  4 1875 2010
+```
+
+Save the configuration with:
+
+```
+vtxtable save
+```
+
+The map status can be verified with `vtxtable status`.
+
+## CRSF MSP Integration
+
+When using a CRSF receiver with MSP support, you can control VTX settings directly from your transmitter using MSP commands sent over the CRSF link.
+This feature must be enabled at compile time with the `VTX_CRSF_MSP_SUPPORT` Kconfig option.
+
+To enable CRSF MSP control, set `VTX_MAP_CONFIG` to one of:
+
+- `1`: MSP controls both frequency (band/channel) and power
+- `2`: MSP controls frequency (band/channel) only, AUX controls power
+- `3`: MSP controls power only, AUX controls band/channel
+
+When MSP integration is active, the driver responds to `MSP_SET_VTX_CONFIG` (0x59) commands.
+The transmitter can send band, channel, frequency, power level, and pit mode settings via MSP, which are automatically mapped to the corresponding PX4 parameters.
+
+:::tip
+The MSP integration allows seamless VTX control from transmitters that support VTX configuration via Lua scripts or built-in VTX menus without requiring additional hardware switches.
+:::
+
+## Build Configuration
+
+Both the VTX driver and VTX table support are configured via Kconfig options.
+
+Key configuration options:
+
+- `VTX_CRSF_MSP_SUPPORT`: Enables CRSF MSP command support (default: disabled)
+- `VTXTABLE_CONFIG_FILE`: File path for persistent configuration (default: `/fs/microsd/vtx_config`)
+- `VTXTABLE_AUX_MAP`: Enables AUX channel mapping (default: disabled)
+
+## Parameter Reference
+
+### VTX Settings Parameters
+
+- `VTX_BAND` (0-23): Frequency band selection (Band 1-24 in UI)
+- `VTX_CHANNEL` (0-15): Channel within band (Channel 1-16 in UI)
+- `VTX_FREQUENCY` (0-32000): Direct frequency in MHz (overrides band/channel when non-zero)
+- `VTX_POWER` (0-15): Power level (Level 1-16 in UI, as configured in table)
+- `VTX_PIT_MODE` (boolean): Pit mode for reduced power (default: disabled)
+
+### Налаштування параметрів
+
+- `VTX_SER_CFG`: Serial port assignment for VTX communication
+- `VTX_MAP_CONFIG`: Controls how VTX settings are mapped:
+  - Without `VTX_CRSF_MSP_SUPPORT`:
+    - `0`: Disabled
+    - `1`: Disabled
+    - `2`: AUX controls power only
+    - `3`: AUX controls band/channel only
+    - `4`: AUX controls both power and band/channel
+  - With `VTX_CRSF_MSP_SUPPORT`:
+    - `0`: Disabled
+    - `1`: MSP controls both frequency and power
+    - `2`: MSP controls frequency, AUX controls power
+    - `3`: MSP controls power, AUX controls band/channel
+    - `4`: Not used with MSP support
+- `VTX_DEVICE`: Device-specific configuration (see below)
+
+## Device-Specific Configuration
+
+The `VTX_DEVICE` parameter allows device-specific workarounds.
+It encodes both the protocol type and device variant:
+
+- Low byte (bits 0-7): Protocol selection
+  - `0`: SmartAudio (default)
+  - `1`: Tramp
+- High byte (bits 8-15): Device-specific variant
+  - `0`: Generic device
+  - `20`: Peak THOR T67
+  - `40`: Rush Max Solo
+
+### Known Device Workarounds
+
+**Peak THOR T67** (`VTX_DEVICE` = 5120):
+This device incorrectly reports pit mode status but otherwise functions normally.
+The driver applies a workaround to override the reported status with the actual configured state.
+
+For generic devices, use `VTX_DEVICE` = 0 (SmartAudio) or `VTX_DEVICE` = 1 (Tramp).

docs/zh/SUMMARY.md

@@ -93,6 +93,7 @@
     - [VTOL后转换调参](config_vtol/vtol_back_transition_tuning.md)
     - [没有空速传感器的VTOL  ](config_vtol/vtol_without_airspeed_sensor.md)
     - [垂直起降风向仪](config_vtol/vtol_weathervane.md)
+    - [VTOL Ice Shedding](config_vtol/vtol_ice_shedding.md)
   - [飞行模式](flight_modes_vtol/index.md)
     - [Mission Mode (VTOL)](flight_modes_vtol/mission.md)
     - [Return Mode (VTOL)](flight_modes_vtol/return.md)
@@ -361,6 +362,8 @@
 
     - [Satellite Comms (Iridium/RockBlock)](advanced_features/satcom_roadblock.md)
 
+    - [Analog Video Transmitters](vtx/index.md)
+
   - [Power Systems](power_systems/index.md)
     - [Battery Estimation Tuning](config/battery.md)
     - [Battery Chemistry Overview](power_systems/battery_chemistry.md)

docs/zh/config/safety.md

@@ -106,7 +106,7 @@ The settings and underlying parameters are shown below.
 
 | 设置                                                                   | 参数                                                                                                                                            | 描述                                                                                                                                                                                                                                 |
 | -------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None, `1`: Warning, `3`: Return mode (default). |
+| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None (default), `1`: Warning, `3`: Return mode. |
 | <a id="COM_FLT_TIME_MAX"></a> Maximum flight time failsafe level     | [COM_FLT_TIME_MAX](../advanced_config/parameter_reference.md#COM_FLT_TIME_MAX) | Maximum allowed flight time before Return mode will be engaged, in seconds. `-1`: Disabled (default).                                                           |
 
 ## Manual Control Loss Failsafe

docs/zh/config_vtol/index.md

@@ -9,3 +9,4 @@ Then perform VTOL-specific configuration and tuning:
 - [Back-transition Tuning](../config_vtol/vtol_back_transition_tuning.md)
 - [VTOL w/o Airspeed Sensor](../config_vtol/vtol_without_airspeed_sensor.md)
 - [VTOL Weather Vane](../config_vtol/vtol_weathervane.md)
+- [Ice Shedding](../config_vtol/vtol_ice_shedding.md)

docs/zh/config_vtol/vtol_ice_shedding.md

@@ -0,0 +1,22 @@
+# VTOL Ice Shedding feature
+
+## 综述
+
+Ice shedding is a feature that periodically spins unused motors in fixed-wing
+flight, to break off any ice that is starting to build up in the motors while it
+is still feasible to do so.
+
+It is configured by the paramter `CA_ICE_PERIOD`. When it is 0, the feature is
+disabled, when it is above 0, it sets the duration of the ice shedding cycle in
+seconds. In each cycle, the rotors are spun for two seconds at a motor output of
+0.01.
+
+:::warning
+When enabling the feature on a new airframe, there is the risk of producing
+torques that disturb the fixed-wing rate controller. To mitigate this risk:
+
+- Set your `PWM_MIN` values correctly, so that the motor output 0.01 actually
+  produces 1% thrust
+- Be prepared to take control and switch back to multicopter
+
+:::

docs/zh/contribute/code.md

@@ -34,7 +34,7 @@ If you update an existing file you are not required to make the whole file compl
 
 ### Line Length
 
-- Maximum line length is 120 characters.
+- Maximum line length is 140 characters.
 
 ### File Extensions
 

docs/zh/modules/hello_sky.md

@@ -89,15 +89,19 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too
      ```
 
      :::tip
+
      The main function must be named `<module_name>_main` and exported from the module as shown.
 
+
 :::
 
      :::tip
+
      `PX4_INFO` is the equivalent of `printf` for the PX4 shell (included from **px4_platform_common/log.h**).
      There are different log levels: `PX4_INFO`, `PX4_WARN`, `PX4_ERR`, `PX4_DEBUG`.
      Warnings and errors are additionally added to the [ULog](../dev_log/ulog_file_format.md) and shown on [Flight Review](https://logs.px4.io/).
 
+
 :::
 
 3. Create and open a new _cmake_ definition file named **CMakeLists.txt**.
@@ -166,7 +170,7 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too
 4. Create and open a new _Kconfig_ definition file named **Kconfig** and define your symbol for naming (see [Kconfig naming convention](../hardware/porting_guide_config.md#px4-kconfig-symbol-naming-convention)).
    复制下面的文本：
 
-   ```
+   ```text
    menuconfig EXAMPLES_PX4_SIMPLE_APP
    	bool "px4_simple_app"
    	default n

docs/zh/modules/modules_communication.md

@@ -35,7 +35,7 @@ Source: [modules/mavlink](https://github.com/PX4/PX4-Autopilot/tree/main/src/mod
 This module implements the MAVLink protocol, which can be used on a Serial link or UDP network connection. It communicates with the system via uORB: some messages are directly handled in the module (eg. mission protocol), others are published via uORB (eg. vehicle_command).
 
 流（Stream）被用来以特定速率发送周期性的消息，例如飞机姿态信息。
-Streams are used to send periodic messages with a specific rate, such as the vehicle attitude. When starting the mavlink instance, a mode can be specified, which defines the set of enabled streams with their rates. For a running instance, streams can be configured via <code>mavlink stream</code> command.
+When starting the mavlink instance, a mode can be specified, which defines the set of enabled streams with their rates.
 For a running instance, streams can be configured via `mavlink stream` command.
 
 可以存在多个该模块的实例，每个实例连接到一个串口设备或者网络端口。

docs/zh/neural_networks/mc_neural_network_control.md

@@ -22,7 +22,11 @@ If not, there are other possible NN frameworks, such as [Eigen](https://eigen.tu
 This document explains how you can include the module in your PX4 build, and provides a broad overview of how it works.
 The other documents in the section provide more information about the integration, allowing you to replace the NN with a version trained on different data, or even to replace the TLFM library altogether.
 
-If you are looking for more resources to learn about the module, a website has been created with links to a youtube video and a workshop paper. A full master's thesis will be added later. [A Neural Network Mode for PX4 on Embedded Flight Controllers](https://ntnu-arl.github.io/px4-nns/).
+:::tip
+For more information, see the Masters thesis from which this module was created: [Deep Reinforcement Learning for Embedded Control Policies for Aerial Vehicles](https://nva.sikt.no/registration/019b26689144-efeebae8-84d6-4413-ad7f-9aceb4ff7374).
+
+In addition, the (Norwegian) website [A Neural Network Mode for PX4 on Embedded Flight Controllers](https://ntnu-arl.github.io/px4-nns/) has a youtube video and a workshop paper .
+:::
 
 ## Neural Network PX4 Firmware
 

docs/zh/neural_networks/raptor.md

@@ -35,7 +35,7 @@ The method we developed for training the RAPTOR policy is called Meta-Imitation
 
 You can torture test the RAPTOR policy in your browser at [https://raptor.rl.tools](https://raptor.rl.tools) or in the embedded app here:
 
-<iframe src="https://rl-tools.github.io/raptor.rl.tools?raptor=false" width="100%" height="1000" style="border: none;"></iframe>
+<iframe src="https://raptor.rl.tools?raptor=false" width="100%" height="1000" style="border: none;"></iframe>
 
 For more information please refer to the paper at [https://arxiv.org/abs/2509.11481](https://arxiv.org/abs/2509.11481).
 

docs/zh/peripherals/adsb_flarm.md

@@ -11,7 +11,7 @@ PX4 traffic avoidance works with ADS-B or FLARM products that supply transponder
 It has been tested with the following devices:
 
 - [PingRX ADS-B Receiver](https://uavionix.com/product/pingrx-pro/) (uAvionix)
-- [FLARM](https://flarm.com/products/uav/atom-uav-flarm-for-drones/) <!-- I think originally https://flarm.com/products/powerflarm/uav/ -->
+- [FLARM](https://www.flarm.com/en/drones/)
 
 ## 硬件安装
 

docs/zh/ros2/px4_ros2_control_interface.md

@@ -14,7 +14,7 @@ Experimental
 
 :::
 
-这[PX4 ROS 2接口库](../ros2/px4_ros2_interface_lib.md)是一个 C++ 库，可简化从 ROS 2 控制 PX4 的操作。
+The [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) is a C++ library (with Python bindings) that simplifies controlling PX4 from ROS 2.
 
 开发者可使用该库创建并动态注册以 ROS 2 编写的模式。
 这些模式会动态注册到 PX4 中，并且对于地面站或其他外部系统而言，它们看起来就像是 PX4 的一部分。
@@ -26,6 +26,12 @@ Experimental
 PX4 ROS 2 模式相较于 PX4 内部模式，更易于实现和维护，并且在处理能力与既有代码库资源方面，能为开发者提供更丰富的支持。
 除非该模式属于安全关键型、对时序有严格要求或需要极高的更新速率，或者你的飞行器没有搭载伴随计算机，否则你应优先[考虑使用 PX4 ROS 2 模式，而非 PX4 内部模式](../concept/flight_modes.md#internal-vs-external-modes)。
 
+:::tip
+If you want to use Python, check out the [examples in the repository](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/python).
+Not all classes have Python bindings yet — the [supported bindings are here](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/px4_ros2_py/src/px4_ros2).
+You are welcome to add and contribute missing classes.
+:::
+
 ## 综述
 
 该图从概念层面概述了控制接口模式与模式执行器如何与 PX4 进行交互。

docs/zh/ros2/px4_ros2_interface_lib.md

@@ -7,7 +7,7 @@ Experimental
 在撰写本文时，PX4 ROS 2 接口库的部分内容仍处于试验阶段，因此可能会发生变动。
 :::
 
-[PX4 ROS 2 接口库 ]（https://github.com/Auterion/px4-ros2-interface-lib）是一个 C++ 库，可简化从 ROS 2 对 PX4 进行控制和交互的操作。
+The [PX4 ROS 2 Interface Library](https://github.com/Auterion/px4-ros2-interface-lib) is a C++ library (with Python bindings) that simplifies controlling and interacting with PX4 from ROS 2.
 
 该库为开发者提供了两个高级接口。
 

docs/zh/vtx/index.md

@@ -0,0 +1,287 @@
+# Analog Video Transmitters
+
+Analog Video Transmitters (VTX) can be controlled by PX4 via a half-duplex UART connection implementing the SmartAudio v1, v2, and v2.1 and Tramp protocols.
+
+The protocols allow writing and reading:
+
+- device status.
+- transmission frequency in MHz or via band and channel index.
+- transmission power in dBm or mW.
+- operation modes.
+
+VTX settings are controlled by parameters and optionally via RC AUX channels or CRSF MSP commands.
+The driver stores frequency and power tables that map band/channel indices to actual transmission values.
+Configuration is device-specific and set up using the command line interface.
+
+## 入门指南
+
+Connect the SmartAudio or Tramp pin of the VTX to the TX pin of a free serial port on the flight controller.
+Then set the following parameters:
+
+- `VTX_SER_CFG`: Select the serial port used for VTX communication.
+- `VTX_DEVICE`: Selects the VTX device (generic SmartAudio/Tramp or a specific device).
+
+Note that since the VTX communication is half-duplex, you can, for example, use the single-pin Radio Controller port for the VTX and use a full duplex TELEM port for CRSF communication.
+
+You should now be able to see the VTX device in the driver status:
+
+```
+nsh> vtx status
+INFO  [vtx] UART device: /dev/ttyS4
+INFO  [vtx] VTX table "UNINITIALIZED":
+INFO  [vtx] Power levels:
+INFO  [vtx] RC mapping: Disabled
+INFO  [vtx] Parameters:
+INFO  [vtx]   band: 1
+INFO  [vtx]   channel: 1
+INFO  [vtx]   frequency: 0 MHz
+INFO  [vtx]   power level: 1
+INFO  [vtx]   power: 0 = 0 mW
+INFO  [vtx]   pit mode: off
+INFO  [vtx] SmartAudio v2:
+INFO  [vtx]   band: 1
+INFO  [vtx]   channel: 1
+INFO  [vtx]   frequency: 6110 MHz
+INFO  [vtx]   power level: 1
+INFO  [vtx]   power: 0 mW
+INFO  [vtx]   pit mode: on
+INFO  [vtx]   lock: unlocked
+```
+
+:::warning
+Without a configured power table, power mappings are unknown and default to 0 mW.
+Some VTX devices enter pit mode when power is set to 0, regardless of the `VTX_PIT_MODE` parameter.
+:::
+
+## VTX Table Configuration
+
+The VTX table stores frequency and power mappings for your specific device.
+
+The manufacturer usually provides this information in the form of a JSON file that can be translated into a [Betaflight CLI command set](https://www.betaflight.com/docs/development/VTX#vtx-table) that this driver implements for compatibility.
+
+### Power Level Configuration
+
+```
+# Set table name ≤16 characters
+vtxtable name "Peak THOR T67"
+
+# Set the power values that are sent to the VTX for each power level index
+# Note: SmartAudio v1 and v2 use index values!
+vtxtable powervalues 0 1 2 3 4
+# Note: SmartAudio v2.1 uses dBm values instead!
+#       vtxtable powervalues 14 23 27 30 35
+# Note: Tramp uses mW values instead!
+#       vtxtable powervalues 25 200 500 1000 3000
+
+# Set the corresponding power labels for each power level index ≤4 characters.
+# These are used for status reporting.
+vtxtable powerlabels 25 200 500 1W 3W
+
+# Set number of power levels
+vtxtable powerlevels 5
+
+# Save configuration
+vtxtable save
+```
+
+This will create a VTX table with 5 power levels.
+
+```nsh> vtxtable status
+INFO  [vtxtable] VTX table "Peak THOR T67":
+INFO  [vtxtable] Power levels:
+INFO  [vtxtable]   1:  0 = 25
+INFO  [vtxtable]   2:  1 = 200
+INFO  [vtxtable]   3:  2 = 500
+INFO  [vtxtable]   4:  3 = 1W
+INFO  [vtxtable]   5:  4 = 3W
+```
+
+### Frequency Table Configuration
+
+```
+# Set the name of each band and the frequencies of each channel
+vtxtable band 1 BAND_A A FACTORY 6110 6130 6150 6170 6190 6210 6230 6250
+vtxtable band 2 BAND_B B FACTORY 6270 6290 6310 6330 6350 6370 6390 6410
+vtxtable band 3 BAND_E E FACTORY 6430 6450 6470 6490 6510 6530 6550 6570
+vtxtable band 4 BAND_F F FACTORY 6590 6610 6630 6650 6670 6690 6710 6730
+vtxtable band 5 BAND_R R FACTORY 6750 6770 6790 6810 6830 6850 6870 6890
+vtxtable band 6 BAND_P P FACTORY 6910 6930 6950 6970 6990 7010 7030 7050
+vtxtable band 7 BAND_H H FACTORY 7070 7090 7110 7130 7150 7170 7190 7210
+vtxtable band 8 BAND_U U FACTORY 6115 6265 6425 6585 6745 6905 7065 7185
+
+# Set number of bands and channels
+vtxtable bands 8
+vtxtable channels 8
+
+# Save configuration
+vtxtable save
+```
+
+This will create a VTX table with 8 bands and 8 channels.
+Note that FACTORY sends the band and channel indexes to the VTX device and they use their internal frequency mapping. In this mode the frequency is just for indication purposes.
+In contrast, CUSTOM would send the actual frequency values to the VTX device, but not all devices support this mode.
+Setting a frequency to zero will skip setting it.
+
+```
+nsh> vtxtable status
+INFO  [vtxtable] VTX table 8x8: Peak THOR T67
+INFO  [vtxtable]  A: BAND_A          = 6110 6130 6150 6170 6190 6210 6230 6250
+INFO  [vtxtable]  B: BAND_B          = 6270 6290 6310 6330 6350 6370 6390 6410
+INFO  [vtxtable]  E: BAND_E          = 6430 6450 6470 6490 6510 6530 6550 6570
+INFO  [vtxtable]  F: BAND_F          = 6590 6610 6630 6650 6670 6690 6710 6730
+INFO  [vtxtable]  R: BAND_R          = 6750 6770 6790 6810 6830 6850 6870 6890
+INFO  [vtxtable]  P: BAND_P          = 6910 6930 6950 6970 6990 7010 7030 7050
+INFO  [vtxtable]  H: BAND_H          = 7070 7090 7110 7130 7150 7170 7190 7210
+INFO  [vtxtable]  U: BAND_U          = 6115 6265 6425 6585 6745 6905 7065 7185
+```
+
+### Table Constraints
+
+Maximum table dimensions:
+
+- ≤24 bands each with ≤16 channels and ≤32GHz frequency values.
+- ≤16 power levels.
+- ≤16 characters table name.
+- ≤12 characters band name and 1 character band letter.
+- ≤4 characters power label length (to support "2.5W").
+
+## AUX Channel Mapping
+
+The AUX mapping feature allows you to control VTX settings using RC AUX channels.
+Each mapping entry defines an AUX channel range that triggers a specific VTX configuration.
+
+To enable AUX mapping, set `VTX_MAP_CONFIG` to one of the following values:
+
+- `0`: Disabled
+- `1`: Disabled (reserved for CRSF MSP integration)
+- `2`: Map AUX channels to power level control only
+- `3`: Map AUX channels to band and channel control only
+- `4`: Map AUX channels to all settings (power, band, and channel)
+
+### Configuring AUX Map Entries
+
+Use the following command format to add mapping entries:
+
+```
+vtxtable <index> <aux_channel> <band> <channel> <power> <start_pwm> <end_pwm>
+```
+
+Parameters:
+
+- `index`: Map entry index (0-159)
+- `aux_channel`: AUX channel number (3-19, where AUX1=3)
+- `band`: Target band (1-24, or 0 to leave unchanged)
+- `channel`: Target channel (1-16, or 0 to leave unchanged)
+- `power`: Power level (1-16, 0 to leave unchanged, or -1 for pit mode)
+- `start_pwm`: Start of PWM range in microseconds (typically 900-2100)
+- `end_pwm`: End of PWM range in microseconds (typically 900-2100)
+
+:::info
+AUX channel numbering starts from 3 (AUX1=channel 3) to account for the first four RC channels 0-3 used for flight control.
+:::
+
+Example configuration for a 6-position dial controlling band/channel on AUX4 (channel 7):
+
+```
+vtx  0 7 7 1 0  900 1025
+vtx  1 7 7 2 0 1025 1100
+vtx  2 7 7 4 0 1100 1175
+vtx  3 7 7 6 0 1175 1225
+vtx  4 7 7 8 0 1225 1300
+vtx  5 7 3 8 0 1300 2100
+```
+
+Example configuration for power control on AUX3 (channel 6):
+
+```
+vtxtable 16 6 0 0 -1  900 1250
+vtxtable 17 6 0 0  1 1250 1525
+vtxtable 18 6 0 0  2 1525 1650
+vtxtable 19 6 0 0  3 1650 1875
+vtxtable 20 6 0 0  4 1875 2010
+```
+
+Save the configuration with:
+
+```
+vtxtable save
+```
+
+The map status can be verified with `vtxtable status`.
+
+## CRSF MSP Integration
+
+When using a CRSF receiver with MSP support, you can control VTX settings directly from your transmitter using MSP commands sent over the CRSF link.
+This feature must be enabled at compile time with the `VTX_CRSF_MSP_SUPPORT` Kconfig option.
+
+To enable CRSF MSP control, set `VTX_MAP_CONFIG` to one of:
+
+- `1`: MSP controls both frequency (band/channel) and power
+- `2`: MSP controls frequency (band/channel) only, AUX controls power
+- `3`: MSP controls power only, AUX controls band/channel
+
+When MSP integration is active, the driver responds to `MSP_SET_VTX_CONFIG` (0x59) commands.
+The transmitter can send band, channel, frequency, power level, and pit mode settings via MSP, which are automatically mapped to the corresponding PX4 parameters.
+
+:::tip
+The MSP integration allows seamless VTX control from transmitters that support VTX configuration via Lua scripts or built-in VTX menus without requiring additional hardware switches.
+:::
+
+## Build Configuration
+
+Both the VTX driver and VTX table support are configured via Kconfig options.
+
+Key configuration options:
+
+- `VTX_CRSF_MSP_SUPPORT`: Enables CRSF MSP command support (default: disabled)
+- `VTXTABLE_CONFIG_FILE`: File path for persistent configuration (default: `/fs/microsd/vtx_config`)
+- `VTXTABLE_AUX_MAP`: Enables AUX channel mapping (default: disabled)
+
+## Parameter Reference
+
+### VTX Settings Parameters
+
+- `VTX_BAND` (0-23): Frequency band selection (Band 1-24 in UI)
+- `VTX_CHANNEL` (0-15): Channel within band (Channel 1-16 in UI)
+- `VTX_FREQUENCY` (0-32000): Direct frequency in MHz (overrides band/channel when non-zero)
+- `VTX_POWER` (0-15): Power level (Level 1-16 in UI, as configured in table)
+- `VTX_PIT_MODE` (boolean): Pit mode for reduced power (default: disabled)
+
+### Configuration Parameters
+
+- `VTX_SER_CFG`: Serial port assignment for VTX communication
+- `VTX_MAP_CONFIG`: Controls how VTX settings are mapped:
+  - Without `VTX_CRSF_MSP_SUPPORT`:
+    - `0`: Disabled
+    - `1`: Disabled
+    - `2`: AUX controls power only
+    - `3`: AUX controls band/channel only
+    - `4`: AUX controls both power and band/channel
+  - With `VTX_CRSF_MSP_SUPPORT`:
+    - `0`: Disabled
+    - `1`: MSP controls both frequency and power
+    - `2`: MSP controls frequency, AUX controls power
+    - `3`: MSP controls power, AUX controls band/channel
+    - `4`: Not used with MSP support
+- `VTX_DEVICE`: Device-specific configuration (see below)
+
+## Device-Specific Configuration
+
+The `VTX_DEVICE` parameter allows device-specific workarounds.
+It encodes both the protocol type and device variant:
+
+- Low byte (bits 0-7): Protocol selection
+  - `0`: SmartAudio (default)
+  - `1`: Tramp
+- High byte (bits 8-15): Device-specific variant
+  - `0`: Generic device
+  - `20`: Peak THOR T67
+  - `40`: Rush Max Solo
+
+### Known Device Workarounds
+
+**Peak THOR T67** (`VTX_DEVICE` = 5120):
+This device incorrectly reports pit mode status but otherwise functions normally.
+The driver applies a workaround to override the reported status with the actual configured state.
+
+For generic devices, use `VTX_DEVICE` = 0 (SmartAudio) or `VTX_DEVICE` = 1 (Tramp).

msg/CMakeLists.txt

@@ -69,6 +69,8 @@ set(msg_files
 	DistanceSensorModeChangeRequest.msg
 	DronecanNodeStatus.msg
 	Ekf2Timestamps.msg
+	EscEepromRead.msg
+	EscEepromWrite.msg
 	EscReport.msg
 	EscStatus.msg
 	EstimatorAidSource1d.msg

msg/EscEepromRead.msg

@@ -0,0 +1,7 @@
+uint64 timestamp # [us] Time since system start
+uint8 firmware # ESC firmware type (see ESC_FIRMWARE enum in MAVLink)
+uint8 index # [-] Index of the ESC (0 = ESC1, 1 = ESC2, etc.)
+uint16 length # [-] Length of valid data
+uint8[192] data # [-] Raw ESC EEPROM data
+
+uint8 ORB_QUEUE_LENGTH = 8 # To support 8 queued up responses

msg/EscEepromWrite.msg

@@ -0,0 +1,8 @@
+uint64 timestamp # [us] Time since system start
+uint8 firmware # [-] ESC firmware type (see ESC_FIRMWARE enum in MAVLink)
+uint8 index # [-]Index of the ESC (0 = ESC1, 1 = ESC2, etc, 255 = All)
+uint16 length # [-]Length of valid data
+uint8[64] data # [-]Raw ESC EEPROM data
+uint32[2] write_mask # [-] Bitmask indicating which bytes in the data array should be written (max 64 values)
+
+uint8 ORB_QUEUE_LENGTH = 8 # To support 8 queued up requests

msg/EscReport.msg

@@ -1,15 +1,16 @@
-uint64 timestamp					# time since system start (microseconds)
-uint32 esc_errorcount					# Number of reported errors by ESC - if supported
-int32 esc_rpm						# Motor RPM, negative for reverse rotation [RPM] - if supported
-float32 esc_voltage					# Voltage measured from current ESC [V] - if supported
-float32 esc_current					# Current measured from current ESC [A] - if supported
-float32 esc_temperature					# Temperature measured from current ESC [degC] - if supported
-uint8 esc_address					# Address of current ESC (in most cases 1-8 / must be set by driver)
-uint8 esc_cmdcount					# Counter of number of commands
+uint64 timestamp # [us] Time since system start
 
-uint8 esc_state					# State of ESC - depend on Vendor
+uint32 esc_errorcount # [-] Number of reported errors by ESC - if supported
+int32 esc_rpm # [rpm] Motor RPM, negative for reverse rotation - if supported
+float32 esc_voltage # [V] Voltage measured from current ESC - if supported
+float32 esc_current # [A] Current measured from current ESC - if supported
+float32 esc_temperature # [degC] Temperature measured from current ESC - if supported
+uint8 esc_address # [-] Address of current ESC (in most cases 1-8 / must be set by driver)
+uint8 esc_cmdcount # [-] Counter of number of commands
 
-uint8 actuator_function				# actuator output function (one of Motor1...MotorN)
+uint8 esc_state # [-] State of ESC - depend on Vendor
+
+uint8 actuator_function # [-] Actuator output function (one of Motor1...MotorN)
 
 uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
 uint8 ACTUATOR_FUNCTION_MOTOR2 = 102
@@ -24,17 +25,17 @@ uint8 ACTUATOR_FUNCTION_MOTOR10 = 110
 uint8 ACTUATOR_FUNCTION_MOTOR11 = 111
 uint8 ACTUATOR_FUNCTION_MOTOR12 = 112
 
-uint16 failures					# Bitmask to indicate the internal ESC faults
-int8 esc_power					# Applied power 0-100 in % (negative values reserved)
+uint16 failures # [@enum FAILURE] Bitmask to indicate the internal ESC faults
+int8 esc_power # [%] [@range 0,100] Applied power (negative values reserved)
 
-uint8 FAILURE_OVER_CURRENT = 0 			# (1 << 0)
-uint8 FAILURE_OVER_VOLTAGE = 1 			# (1 << 1)
-uint8 FAILURE_MOTOR_OVER_TEMPERATURE = 2 	# (1 << 2)
-uint8 FAILURE_OVER_RPM = 3			# (1 << 3)
-uint8 FAILURE_INCONSISTENT_CMD = 4 		# (1 << 4)  Set if ESC received an inconsistent command (i.e out of boundaries)
-uint8 FAILURE_MOTOR_STUCK = 5			# (1 << 5)
-uint8 FAILURE_GENERIC = 6			# (1 << 6)
-uint8 FAILURE_MOTOR_WARN_TEMPERATURE = 7	# (1 << 7)
-uint8 FAILURE_WARN_ESC_TEMPERATURE = 8		# (1 << 8)
-uint8 FAILURE_OVER_ESC_TEMPERATURE = 9		# (1 << 9)
-uint8 ESC_FAILURE_COUNT = 10 			# Counter - keep it as last element!
+uint8 FAILURE_OVER_CURRENT = 0 # (1 << 0)
+uint8 FAILURE_OVER_VOLTAGE = 1 # (1 << 1)
+uint8 FAILURE_MOTOR_OVER_TEMPERATURE = 2 # (1 << 2)
+uint8 FAILURE_OVER_RPM = 3 # (1 << 3)
+uint8 FAILURE_INCONSISTENT_CMD = 4 # (1 << 4) Set if ESC received an inconsistent command (i.e out of boundaries)
+uint8 FAILURE_MOTOR_STUCK = 5 # (1 << 5)
+uint8 FAILURE_GENERIC = 6 # (1 << 6)
+uint8 FAILURE_MOTOR_WARN_TEMPERATURE = 7 # (1 << 7)
+uint8 FAILURE_WARN_ESC_TEMPERATURE = 8 # (1 << 8)
+uint8 FAILURE_OVER_ESC_TEMPERATURE = 9 # (1 << 9)
+uint8 ESC_FAILURE_COUNT = 10 # Counter - keep it as last element!

msg/EscStatus.msg

@@ -1,28 +1,32 @@
-uint64 timestamp					# time since system start (microseconds)
-uint8 CONNECTED_ESC_MAX = 8				# The number of ESCs supported. Current (Q2/2013) we support 8 ESCs
+uint64 timestamp # [us] Time since system start
+uint8 CONNECTED_ESC_MAX = 12 # The number of ESCs supported (Motor1-Motor12)
 
-uint8 ESC_CONNECTION_TYPE_PPM = 0			# Traditional PPM ESC
-uint8 ESC_CONNECTION_TYPE_SERIAL = 1			# Serial Bus connected ESC
-uint8 ESC_CONNECTION_TYPE_ONESHOT = 2			# One Shot PPM
-uint8 ESC_CONNECTION_TYPE_I2C = 3			# I2C
-uint8 ESC_CONNECTION_TYPE_CAN = 4			# CAN-Bus
-uint8 ESC_CONNECTION_TYPE_DSHOT = 5			# DShot
+uint8 ESC_CONNECTION_TYPE_PPM = 0 # Traditional PPM ESC
+uint8 ESC_CONNECTION_TYPE_SERIAL = 1 # Serial Bus connected ESC
+uint8 ESC_CONNECTION_TYPE_ONESHOT = 2 # One Shot PPM
+uint8 ESC_CONNECTION_TYPE_I2C = 3 # I2C
+uint8 ESC_CONNECTION_TYPE_CAN = 4 # CAN-Bus
+uint8 ESC_CONNECTION_TYPE_DSHOT = 5 # DShot
 
-uint16 counter  					# incremented by the writing thread everytime new data is stored
+uint16 counter # [-] Incremented by the writing thread everytime new data is stored
 
-uint8 esc_count						# number of connected ESCs
-uint8 esc_connectiontype				# how ESCs connected to the system
+uint8 esc_count # [-] Number of connected ESCs
+uint8 esc_connectiontype # [@enum ESC_CONNECTION_TYPE] How ESCs connected to the system
 
-uint8 esc_online_flags					# Bitmask indicating which ESC is online/offline
-# esc_online_flags bit 0 : Set to 1 if ESC0 is online
-# esc_online_flags bit 1 : Set to 1 if ESC1 is online
-# esc_online_flags bit 2 : Set to 1 if ESC2 is online
-# esc_online_flags bit 3 : Set to 1 if ESC3 is online
-# esc_online_flags bit 4 : Set to 1 if ESC4 is online
-# esc_online_flags bit 5 : Set to 1 if ESC5 is online
-# esc_online_flags bit 6 : Set to 1 if ESC6 is online
-# esc_online_flags bit 7 : Set to 1 if ESC7 is online
+uint16 esc_online_flags               # Bitmask indicating which ESC is online/offline (in motor order)
+# esc_online_flags bit 0 : Set to 1 if Motor1 is online
+# esc_online_flags bit 1 : Set to 1 if Motor2 is online
+# esc_online_flags bit 2 : Set to 1 if Motor3 is online
+# esc_online_flags bit 3 : Set to 1 if Motor4 is online
+# esc_online_flags bit 4 : Set to 1 if Motor5 is online
+# esc_online_flags bit 5 : Set to 1 if Motor6 is online
+# esc_online_flags bit 6 : Set to 1 if Motor7 is online
+# esc_online_flags bit 7 : Set to 1 if Motor8 is online
+# esc_online_flags bit 8 : Set to 1 if Motor9 is online
+# esc_online_flags bit 9 : Set to 1 if Motor10 is online
+# esc_online_flags bit 10: Set to 1 if Motor11 is online
+# esc_online_flags bit 11: Set to 1 if Motor12 is online
 
-uint8 esc_armed_flags					# Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set.
+uint16 esc_armed_flags # [-] Bitmask indicating which ESC is armed (in motor order)
 
-EscReport[8] esc
+EscReport[12] esc

msg/MavlinkTunnel.msg

@@ -20,4 +20,4 @@ uint8 payload_length     # Length of the data transported in payload
 uint8[128] payload       # Data itself
 
 # Topic aliases for known payload types
-# TOPICS mavlink_tunnel esc_serial_passthru
+# TOPICS mavlink_tunnel esc_serial_passthru io_serial_passthru

msg/versioned/ActuatorMotors.msg

@@ -10,7 +10,8 @@ uint64 timestamp_sample  # [us] Sampling timestamp of the data this control resp
 
 uint16 reversible_flags  # [-] Bitset indicating which motors are configured to be reversible
 
-uint8 ACTUATOR_FUNCTION_MOTOR1 = 101 #
+uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
+uint8 ACTUATOR_FUNCTION_MOTOR12 = 112
 
 uint8 NUM_CONTROLS = 12  #
 float32[12] control      # [@range -1, 1] Normalized thrust. where 1 means maximum positive thrust, -1 maximum negative (if not supported by the output, <0 maps to NaN). NaN maps to disarmed (stop the motors)

msg/versioned/VehicleCommand.msg

@@ -80,6 +80,7 @@ uint16 VEHICLE_CMD_GIMBAL_DEVICE_INFORMATION = 283 # Command to ask information
 uint16 VEHICLE_CMD_MISSION_START = 300 # Start running a mission. |first_item: the first mission item to run|last_item: the last mission item to run (after this item is run, the mission ends)|
 uint16 VEHICLE_CMD_ACTUATOR_TEST = 310 # Actuator testing command. |[@range -1,1] value|[s] timeout|Unused|Unused|output function|
 uint16 VEHICLE_CMD_CONFIGURE_ACTUATOR = 311 # Actuator configuration command. |configuration|Unused|Unused|Unused|output function|
+uint16 VEHICLE_CMD_ESC_REQUEST_EEPROM = 312 # Request EEPROM data from an ESC. |ESC index|Firmware type (ESC_FIRMWARE enum)|Unused|Unused||Unused|Unused|
 uint16 VEHICLE_CMD_COMPONENT_ARM_DISARM = 400 # Arms / Disarms a component. |1 to arm, 0 to disarm.
 uint16 VEHICLE_CMD_RUN_PREARM_CHECKS = 401 # Instructs a target system to run pre-arm checks.
 uint16 VEHICLE_CMD_INJECT_FAILURE = 420 # Inject artificial failure for testing purposes.
@@ -129,6 +130,13 @@ uint8 VEHICLE_ROI_LOCATION = 3 # Point toward fixed location.
 uint8 VEHICLE_ROI_TARGET = 4 # Point toward target.
 uint8 VEHICLE_ROI_ENUM_END = 5
 
+uint8 ACTUATOR_CONFIGURATION_NONE = 0 # Do nothing.
+uint8 ACTUATOR_CONFIGURATION_BEEP = 1 # Command the actuator to beep now.
+uint8 ACTUATOR_CONFIGURATION_3D_MODE_ON = 2 # Permanently set the actuator (ESC) to 3D mode (reversible thrust).
+uint8 ACTUATOR_CONFIGURATION_3D_MODE_OFF = 3 # Permanently set the actuator (ESC) to non 3D mode (non-reversible thrust).
+uint8 ACTUATOR_CONFIGURATION_SPIN_DIRECTION1 = 4 # Permanently set the actuator (ESC) to spin direction 1 (which can be clockwise or counter-clockwise).
+uint8 ACTUATOR_CONFIGURATION_SPIN_DIRECTION2 = 5 # Permanently set the actuator (ESC) to spin direction 2 (opposite of direction 1).
+
 uint8 PARACHUTE_ACTION_DISABLE = 0
 uint8 PARACHUTE_ACTION_ENABLE = 1
 uint8 PARACHUTE_ACTION_RELEASE = 2

platforms/common/apps.cpp.in

@@ -2,6 +2,7 @@
 #include <px4_platform_common/time.h>
 #include <px4_platform_common/posix.h>
 #include <px4_platform_common/log.h>
+#include <uORB/uORB.h>
 
 #include "apps.h"
 
@@ -43,6 +44,7 @@ void list_builtins(apps_map_type &apps)
 int shutdown_main(int argc, char *argv[])
 {
 	printf("Exiting NOW.\n");
+	uorb_shutdown();
 	system_exit(0);
 }
 

platforms/common/shutdown.cpp

@@ -49,6 +49,7 @@
 
 #include <px4_platform_common/external_reset_lockout.h>
 #include <px4_platform_common/log.h>
+#include <uORB/uORB.h>
 
 #include <stdint.h>
 #include <errno.h>
@@ -173,6 +174,8 @@ static void shutdown_worker(void *arg)
 	const bool delay_elapsed = (now > shutdown_time_us);
 
 	if (delay_elapsed && ((done && shutdown_lock_counter == 0) || (now > (shutdown_time_us + shutdown_timeout_us)))) {
+		uorb_shutdown();
+
 		if (shutdown_args & SHUTDOWN_ARG_REBOOT) {
 #if defined(CONFIG_BOARDCTL_RESET)
 			PX4_INFO_RAW("Reboot NOW.");

platforms/common/uORB/uORB.cpp

@@ -51,6 +51,7 @@
 #include <sys/boardctl.h>
 #endif
 
+
 static uORB::DeviceMaster *g_dev = nullptr;
 
 int uorb_start(void)
@@ -113,6 +114,18 @@ int uorb_top(char **topic_filter, int num_filters)
 	return OK;
 }
 
+void uorb_shutdown(void)
+{
+#ifdef CONFIG_ORB_COMMUNICATOR
+	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
+
+	if (ch) {
+		ch->shutdown();
+	}
+
+#endif /* CONFIG_ORB_COMMUNICATOR */
+}
+
 orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data)
 {
 	return uORB::Manager::get_instance()->orb_advertise(meta, data);

platforms/common/uORB/uORB.h

@@ -121,6 +121,7 @@ __BEGIN_DECLS
 int uorb_start(void);
 int uorb_status(void);
 int uorb_top(char **topic_filter, int num_filters);
+void uorb_shutdown(void);
 
 /**
  * ORB topic advertiser handle.