github: fix workspace path

github: fix env var context
github: fix deprecated set-env
2026-05-25 22:07:34 +08:00 · 2022-02-14 11:05:24 -08:00 · 2022-02-14 09:59:20 -08:00 · 2022-02-12 10:29:00 -08:00 · 2022-02-11 12:50:01 -08:00 · 2022-02-11 12:48:05 -08:00
592 changed files with 10737 additions and 9105 deletions
@@ -60,6 +60,8 @@ pipeline {
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
                     "matek_h743-slim",
+                     "matek_gnss-m9n-f4_canbootloader",
+                     "matek_gnss-m9n-f4_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
@@ -0,0 +1,154 @@
+# build docker images on:
+# * every pull request
+# * push to master
+# * stable release published
+# * tag name is:
+#   - commit sha if pull request
+#   - 'latest' if push to master
+#   - release name if release
+
+# pushes to registry if:
+# * is not a pull request
+# * is master branch
+# * is the result of release
+
+# builds all nuttx targets and deploys metadata
+
+name: Build docker
+
+on:
+  release:
+    types: [released]
+  push:
+    branches:
+      - 'master'
+  pull_request:
+
+jobs:
+  set_docker_tag:
+    name: Set docker tag
+    runs-on: ubuntu-latest
+    env:
+      DOCKER_TAG: "px4io/px4-dev"
+    outputs:
+      docker_tag: ${{ steps.set-outputs.outputs.docker_tag }}
+
+    steps:
+      - name: Set pull request docker tag
+        if: github.event_name == 'pull_request'
+        run: echo "DOCKER_TAG=px4io/px4-dev:${{ github.sha }}" >> $GITHUB_ENV
+
+      - name: Set push docker tag
+        if: github.event_name == 'push'
+        run: echo "DOCKER_TAG=px4io/px4-dev:latest" >> $GITHUB_ENV
+
+      - name: Set release docker tag
+        if: github.event_name == 'release'
+        run: echo "DOCKER_TAG=px4io/px4-dev:${{ github.event.release.name }}" >> $GITHUB_ENV
+
+      - name: Set docker tag outputs
+        id: set-outputs
+        run: echo "::set-output name=docker_tag::$DOCKER_TAG"
+
+  build_docker:
+    name: Build Docker image
+    runs-on: ubuntu-latest
+    needs: set_docker_tag
+
+    steps:
+      - name: Checkout code
+        uses: actions/checkout@v2
+
+      - name: Login to Github Registry
+        uses: docker/login-action@v1
+        if: github.event_name == 'push'
+        with:
+          registry: ghrc.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Set up image builder
+        uses: docker/setup-buildx-action@v1
+
+      - name: Build image
+        uses: docker/build-push-action@v2
+        id: docker_build
+        with:
+          file: Tools/setup/Dockerfile
+          push: ${{ github.event_name != 'pull_request' }}
+          tags: ${{ needs.set_docker_tag.outputs.docker_tag }}
+          outputs: type=tar,dest=/tmp/px4_docker_image.tar
+
+      - name: Save container to artifacts
+        uses: actions/upload-artifact@v2
+        with:
+          name: px4_docker_image
+          path: /tmp/px4_docker_image.tar
+
+      - name: Push to Github Registry
+        uses: docker/build-push-action@v2
+        if: github.event_name == 'push'
+
+      - name: Image Digest
+        run: echo ${{ steps.docker_build.outputs.digest }}
+
+  list_targets:
+    name: Generate target list
+    runs-on: ubuntu-latest
+    needs: build_docker
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+
+    steps:
+      - name: Checkout Code
+        uses: actions/checkout@v2
+
+      - name: Setup Python
+        uses: actions/setup-python@v2
+        with:
+          python-version: 3.9
+
+      #- name: Install Python packages
+        #run: pip install -r Tools/setup/requirements.txt
+        #run: pip install kconfiglib
+
+      - id: set-matrix
+        name: Get all nuttx targets
+        run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py -a)"
+
+  build_px4:
+    name: Build targets with Docker
+    runs-on: ubuntu-latest
+    needs: [list_targets, set_docker_tag]
+    #strategy:
+      #matrix: ${{ fromJson(needs.enumerate_targets.outputs.matrix) }}
+
+    steps:
+      - name: Get container from artifacts
+        uses: actions/download-artifact@v2
+        with:
+          name: px4_docker_image
+          path: /tmp
+
+      - name: Load Docker image
+        run: |
+          docker import /tmp/px4_docker_image.tar ${{ needs.set_docker_tag.outputs.docker_tag }}
+          docker image ls -a
+
+      - name: Checkout Code
+        uses: actions/checkout@v2
+
+      - name: Build targets
+        #run: |
+          #docker run --rm -w "${GITHUB_ACTION_PATH}" \
+            #--env=LOCAL_USER_ID="$(id -u)" \
+            #--volume=/tmp:/tmp:rw \
+            #--volume=${GITHUB_ACTION_PATH}:${GITHUB_ACTION_PATH}:rw \
+            #px4io/px4-dev:${{ needs.set_docker_tag.outputs.docker_tag }} /bin/bash -c "make ${{ matrix.target }}"
+
+        run: |
+          docker run --rm -w ${{ github.workspace }} \
+            --env=LOCAL_USER_ID="$(id -u)" \
+            --volume=/tmp:/tmp:rw \
+            --volume=${{ github.workspace }}:${{ github.workspace }}:rw \
+            ${{ needs.set_docker_tag.outputs.docker_tag }} /bin/bash -c "make px4_fmu-v6x"
@@ -1,54 +0,0 @@
-name: Linux Targets
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-09-08
-    strategy:
-      matrix:
-        config: [
-          beaglebone_blue_default,
-          emlid_navio2_default,
-          px4_raspberrypi_default,
-          scumaker_pilotpi_default,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s
@@ -1,51 +0,0 @@
-name: Linux ARM64 Targets
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2021-09-08
-    strategy:
-      matrix:
-        config: [
-          scumaker_pilotpi_arm64,
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-    - name: ccache post-run
-      run: ccache -s
@@ -1,119 +0,0 @@
-name: Nuttx Targets
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2021-09-08
-    strategy:
-      fail-fast: false
-      matrix:
-        config: [
-          airmind_mindpx-v2,
-          ark_can-flow,
-          ark_can-gps,
-          ark_can-rtk-gps,
-          atl_mantis-edu,
-          av_x-v1,
-          bitcraze_crazyflie,
-          bitcraze_crazyflie21,
-          cuav_can-gps-v1,
-          cuav_nora,
-          cuav_x7pro,
-          cubepilot_cubeorange,
-          cubepilot_cubeyellow,
-          freefly_can-rtk-gps,
-          holybro_can-gps-v1,
-          holybro_durandal-v1,
-          holybro_kakutef7,
-          holybro_kakuteh7,
-          holybro_pix32v5,
-          matek_h743-slim,
-          modalai_fc-v1,
-          modalai_fc-v2,
-          mro_ctrl-zero-f7,
-          mro_ctrl-zero-f7-oem,
-          mro_ctrl-zero-h7,
-          mro_ctrl-zero-h7-oem,
-          mro_pixracerpro,
-          mro_x21,
-          mro_x21-777,
-          nxp_fmuk66-e,
-          nxp_fmuk66-v3,
-          nxp_fmurt1062-v1,
-          nxp_ucans32k146,
-          omnibus_f4sd,
-          raspberrypi_pico,
-          px4_fmu-v2,
-          px4_fmu-v3,
-          px4_fmu-v4,
-          px4_fmu-v4pro,
-          px4_fmu-v5,
-          px4_fmu-v5x,
-          px4_fmu-v6u,
-          px4_fmu-v6x,
-          spracing_h7extreme,
-          uvify_core
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 120M" >> ~/.ccache/ccache.conf
-          echo "hash_dir = false" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make all_variants_${{matrix.config}}
-      run: make all_variants_${{matrix.config}}
-      timeout-minutes: 45
-    - name: make ${{matrix.config}} bloaty_compileunits
-      run: make ${{matrix.config}} bloaty_compileunits || true
-    - name: make ${{matrix.config}} bloaty_inlines
-      run: make ${{matrix.config}} bloaty_inlines || true
-    - name: make ${{matrix.config}} bloaty_segments
-      run: make ${{matrix.config}} bloaty_segments || true
-    - name: make ${{matrix.config}} bloaty_symbols
-      run: make ${{matrix.config}} bloaty_symbols || true
-    - name: make ${{matrix.config}} bloaty_templates
-      run: make ${{matrix.config}} bloaty_templates || true
-    - name: make ${{matrix.config}} bloaty_ram
-      run: make ${{matrix.config}} bloaty_ram || true
-    - name: make ${{matrix.config}} bloaty_compare_master
-      run: make ${{matrix.config}} bloaty_compare_master || true
-    - name: ccache post-run
-      run: ccache -s
-
-    - name: Upload px4 package
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_package_${{matrix.config}}
-        path: |
-          build/**/*.px4
-          build/**/*.bin
@@ -1,11 +1,17 @@
-name: Deploy metadata for all targets
+name: Build and deploy all targets with metadata

 on:
+  release:
+    types: [published]
+  create:
+    tags:
+      - 'v*'
  push:
    branches:
    - 'master'
    - 'release/*'
    - 'pr-metadata-test'
+    - 'build_and_deploy_mix'

 jobs:
  enumerate_targets:
@@ -18,8 +24,8 @@ jobs:
      with:
        token: ${{secrets.ACCESS_TOKEN}}
    - id: set-matrix
-      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
-  build:
+      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py -a)"
+  build_all:
    runs-on: ubuntu-latest
    needs: enumerate_targets
    strategy:
@@ -34,21 +40,4 @@ jobs:
      run: make ${{matrix.target}}

    - name: parameter & events metadata
-      run: |
-        make ${{matrix.target}} ver_gen events_json actuators_json
-        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
-        cd build/${{ matrix.target }}
-        mkdir _metadata || true
-        cp parameters.* events/*.xz actuators.json* _metadata
-
-    - uses: jakejarvis/s3-sync-action@master
-      with:
-        args: --acl public-read
-      env:
-        AWS_S3_BUCKET: 'px4-travis'
-        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-        AWS_REGION: 'us-west-1'
-        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
-        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
-
+      run: make ${{matrix.target}} ver_gen events_json actuators_json
@@ -31,11 +31,6 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_test
-    px4_ros2_default:
-      short: px4_ros2
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_ros2_default
    px4_io-v2_default:
      short: px4_io-v2
      buildType: MinSizeRel
@@ -201,6 +196,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: matek_h743-slim_default
+    matek_gnss-m9n-f4_canbootloader:
+      short: matek_gnss-m9n-f4_canbootloader
+      buildType: MiniSizeRel
+      settings:
+        CONFIG: matek_m9nf4can_canbootloader
+    matek_gnss-m9n-f4_default:
+      short: matek_gnss-m9n-f4_default
+      buildType: MiniSizeRel
+      settings:
+        CONFIG: matek_gnss-m9n-f4_default
    modalai_fc-v1_default:
      short: modalai_fc-v1
      buildType: MinSizeRel
@@ -6,7 +6,7 @@
        "C_Cpp.autoAddFileAssociations": false,
        "C_Cpp.clang_format_fallbackStyle": "none",
        "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
-        "C_Cpp.default.cppStandard": "c++17",
+        "C_Cpp.default.cppStandard": "c++14",
        "C_Cpp.default.cStandard": "c11",
        "C_Cpp.formatting": "Disabled",
        "C_Cpp.intelliSenseEngine": "Default",
@@ -121,7 +121,6 @@
                "variant": "cpp",
                "vector": "cpp"
        },
-        "ros.distro": "foxy",
        "search.exclude": {
                "${workspaceFolder}/build": true
        },
@@ -137,7 +136,5 @@
        "yaml.schemas": {
                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
        },
-        "python.autoComplete.extraPaths": [
-                "/opt/ros/foxy/lib/python3.8/site-packages"
-        ]
+        "cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd"       // Added for rp2040
 }
@@ -101,8 +101,6 @@

 cmake_minimum_required(VERSION 3.2 FATAL_ERROR)

-cmake_policy(SET CMP0058 NEW)
-
 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)

@@ -126,6 +124,12 @@ define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                 BRIEF_DOCS "PX4 module libs"
                 FULL_DOCS "List of all PX4 module libraries"
                 )
+
+define_property(GLOBAL PROPERTY PX4_KERNEL_MODULE_LIBRARIES
+                 BRIEF_DOCS "PX4 kernel side module libs"
+                 FULL_DOCS "List of all PX4 kernel module libraries"
+                 )
+
 define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                 BRIEF_DOCS "PX4 module paths"
                 FULL_DOCS "List of paths to all PX4 modules"
@@ -134,40 +138,30 @@ define_property(GLOBAL PROPERTY PX4_SRC_FILES
                 BRIEF_DOCS "src files from all PX4 modules & libs"
                 FULL_DOCS "SRC files from px4_add_{module,library}"
                 )
-define_property(GLOBAL PROPERTY PX4_PUBLICATIONS
-                 BRIEF_DOCS "PX4 publication topics"
-                 FULL_DOCS "List of topics published by PX4 modules"
-                 )
-define_property(GLOBAL PROPERTY PX4_SUBSCRIPTIONS
-                 BRIEF_DOCS "PX4 subscription topics"
-                 FULL_DOCS "List of topics subscribed by PX4 modules"
-                 )
+
 #=============================================================================
 # configuration
 #

-# default to px4_ros2_default if building within a ROS2 colcon environment
-if((DEFINED ENV{COLCON_PREFIX_PATH}) AND (DEFINED ENV{ROS_VERSION}))
-	if("$ENV{ROS_VERSION}" MATCHES "2")
-		message(STATUS "ROS_VERSION: $ENV{ROS_VERSION}")
-		set(CONFIG "px4_ros2_default" CACHE STRING "desired configuration") # TODO
-	endif()
-endif()
-
-if(NOT CONFIG)
-	set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
-endif()
+set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")

 include(px4_add_module)
 set(config_module_list)
+set(config_kernel_list)

 # Find Python
-find_package(PythonInterp 3)
-# We have a custom error message to tell users how to install python3.
-if(NOT PYTHONINTERP_FOUND)
-	message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
-		"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
-		"    macOS: brew install python")
+# If using catkin, Python 2 is found since it points
+# to the Python libs installed with the ROS distro
+if (NOT CATKIN_DEVEL_PREFIX)
+	find_package(PythonInterp 3)
+	# We have a custom error message to tell users how to install python3.
+	if (NOT PYTHONINTERP_FOUND)
+		message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
+			"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
+			"    macOS: brew install python")
+	endif()
+else()
+	find_package(PythonInterp REQUIRED)
 endif()

 option(PYTHON_COVERAGE "Python code coverage" OFF)
@@ -203,6 +197,10 @@ set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
 include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake)
 list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)

+if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
+	include(init)
+endif()
+
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if(NOT CMAKE_BUILD_TYPE)
 	if(${PX4_PLATFORM} STREQUAL "nuttx")
@@ -238,7 +236,7 @@ project(px4 CXX C ASM)

 set(package-contact "px4users@googlegroups.com")

-set(CMAKE_CXX_STANDARD 17)
+set(CMAKE_CXX_STANDARD 14)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
@@ -254,10 +252,6 @@ else()
 	SET(BUILD_SHARED_LIBS OFF)
 endif()

-if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
-	include(init)
-endif()
-
 #=============================================================================

 # gold linker - use if available (posix only for now)
@@ -327,13 +321,6 @@ if(NOT PX4_CHIP)
 	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
 endif()

-#=============================================================================
-# board cmake init (optional)
-#
-if(EXISTS ${PX4_BOARD_DIR}/cmake/init.cmake)
-	include(${PX4_BOARD_DIR}/cmake/init.cmake)
-endif()
-
 #=============================================================================
 # build flags
 #
@@ -341,6 +328,13 @@ include(px4_add_common_flags)
 px4_add_common_flags()
 px4_os_add_flags()

+#=============================================================================
+# board cmake init (optional)
+#
+if(EXISTS ${PX4_BOARD_DIR}/cmake/init.cmake)
+	include(${PX4_BOARD_DIR}/cmake/init.cmake)
+endif()
+
 #=============================================================================
 # message, and airframe generation
 #
@@ -422,13 +416,8 @@ add_library(parameters_interface INTERFACE)
 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)

-add_subdirectory(platforms/${PX4_PLATFORM}/src/px4 EXCLUDE_FROM_ALL)
-
-if(${PX4_PLATFORM} MATCHES "ros2") # TODO: fix
-	add_subdirectory(platforms/common/work_queue EXCLUDE_FROM_ALL)
-else()
-	add_subdirectory(platforms EXCLUDE_FROM_ALL)
-endif()
+add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
+add_subdirectory(platforms EXCLUDE_FROM_ALL)

 if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
 	add_subdirectory(${PX4_BOARD_DIR})
@@ -450,126 +439,6 @@ target_link_libraries(parameters_interface INTERFACE parameters)
 # firmware added last to generate the builtin for included modules
 add_subdirectory(platforms/${PX4_PLATFORM})

-
-set(PX4_ORB_TOPIC_COUNT 0)
-
-if(${PX4_PLATFORM} MATCHES "ros2") # TODO: fix
-
-	configure_file(${CMAKE_SOURCE_DIR}/build/px4_fmu-v5x_default/uORBTopics.cpp ${CMAKE_BINARY_DIR}/uORBTopics.cpp COPYONLY)
-	configure_file(${CMAKE_SOURCE_DIR}/build/px4_fmu-v5x_default/uORBTopics.hpp ${CMAKE_BINARY_DIR}/uORBTopics.hpp COPYONLY)
-
-	set(PX4_ORB_TOPIC_COUNT 1)
-
-else()
-
-	get_property(publications GLOBAL PROPERTY PX4_PUBLICATIONS)
-	get_property(subscriptions GLOBAL PROPERTY PX4_SUBSCRIPTIONS)
-
-	# TODO: for now combine subsriptions and publications for complete topic list
-	list(APPEND publications ${subscriptions})
-
-	list(SORT publications)
-	list(REMOVE_DUPLICATES publications)
-
-	set(pub_all_topics)
-	set(PX4_MSG_TYPE_ID)
-	set(PX4_MSG_TOPIC_ID)
-	set(PX4_MSG_TOPIC_ID_STRING)
-	set(PX4_MSG_TOPIC_ORB_ID)
-
-	set(PX4_ORB_DECLARE_STR)
-	set(PX4_ORB_DEFINE_STR)
-	set(PX4_ORB_HEADER_INCLUDE_STR)
-
-
-	foreach(pub ${publications})
-		#message(STATUS "pub: ${pub}")
-		string(REPLACE " /" ";" pub ${pub})
-
-		list(GET pub 0 pub_type)
-		list(GET pub 1 pub_topic)
-
-		string(REPLACE "::" ";" pub_type_split ${pub_type})
-		list(GET pub_type_split 2 pub_type_simple_lower)
-
-		# Pascal case to snake case (PubType -> pub_type)
-		string(REGEX REPLACE "(.)([A-Z][a-z]+)" "\\1_\\2" pub_type_simple_lower "${pub_type_simple_lower}")
-		string(REGEX REPLACE "([a-z0-9])([A-Z])" "\\1_\\2" pub_type_simple_lower "${pub_type_simple_lower}")
-		string(TOLOWER "${pub_type_simple_lower}" pub_type_simple_lower)
-
-		#message(STATUS "pub: Type: ${pub_type}, Topic: ${pub_topic} (${pub_type_simple_lower})")
-
-
-
-
-		# pub_type to include path (eg px4::msg::VehicleStatus => px4/msg/vehicle_status.hpp)
-		#  temporary create px4/msg/vehicle_status.hpp which simply includes <uORB/topics/vehicle_status.h>
-
-
-
-
-		list(APPEND pub_all_topics ${pub_topic})
-
-		list(APPEND PX4_MSG_TYPE_ID ${pub_type})
-
-		#list(APPEND PX4_MSG_TOPIC_ID ${pub_topic})
-		set(PX4_MSG_TOPIC_ID "${PX4_MSG_TOPIC_ID}\t${pub_topic},\n")
-		#set(PX4_MSG_TOPIC_ID_STRING "${PX4_MSG_TOPIC_ID_STRING}\t"case ORB_ID::${pub_topic}: return \"${pub_topic}\";"\n")
-		set(PX4_MSG_TOPIC_ORB_ID "${PX4_MSG_TOPIC_ORB_ID}\tORB_ID(${pub_topic}),\n")
-
-		list(APPEND PX4_MSG_TOPIC_ID_STRING
-			"case ORB_ID::${pub_topic}: return \"${pub_topic}\";\n"
-		)
-
-		# PX4_MSG_TYPE_ID
-		# PX4_MSG_TOPIC_ID
-
-		# .h  ORB_DECLARE(actuator_controls_0);
-		# .c  ORB_DEFINE(actuator_controls_0, struct actuator_controls_s, 48, __orb_actuator_controls_fields, static_cast<uint8_t>(ORB_ID::actuator_controls_0));
-
-
-		set(PX4_ORB_DECLARE_STR
-			"${PX4_ORB_DECLARE_STR}ORB_DECLARE(${pub_topic});\n")
-
-		# ORB_DEFINE(actuator_armed, struct actuator_armed_s, 16, __orb_actuator_armed_fields, static_cast<uint8_t>(ORB_ID::actuator_armed));
-		set(PX4_ORB_DEFINE_STR
-			"${PX4_ORB_DEFINE_STR}ORB_DEFINE(${pub_topic}, ${pub_type}, px4_embedded::${pub_type_simple_lower}_s::SIZE_NO_PADDING, px4_embedded::${pub_type_simple_lower}_s::FIELDS, static_cast<uint8_t>(ORB_ID::${pub_topic}));\n")
-
-		set(PX4_ORB_HEADER_INCLUDE_STR
-			"${PX4_ORB_HEADER_INCLUDE_STR}#include <uORB/topics/${pub_type_simple_lower}.h>\n")
-
-		math(EXPR PX4_ORB_TOPIC_COUNT "${PX4_ORB_TOPIC_COUNT}+1")
-
-	endforeach()
-	list(REMOVE_DUPLICATES PX4_MSG_TYPE_ID)
-	#list(REMOVE_DUPLICATES PX4_MSG_TOPIC_ID)
-
-	#message(STATUS "PX4_MSG_TYPE_ID: ${PX4_MSG_TYPE_ID}")
-	#message(STATUS "PX4_MSG_TOPIC_ID: ${PX4_MSG_TOPIC_ID}")
-
-	if(PX4_ORB_TOPIC_COUNT GREATER 0)
-		configure_file(uORBTopics.cpp.in ${CMAKE_BINARY_DIR}/uORBTopics.cpp)
-		configure_file(uORBTopics.hpp.in ${CMAKE_BINARY_DIR}/uORBTopics.hpp)
-	endif()
-
-	# .hpp enum ORB_ID
-	# .cpp struct orb_metadat ORB_ID() array
-
-	foreach(f ${msg_files})
-		#message(STATUS "MSG: ${f}")
-	endforeach()
-endif()
-
-if(PX4_ORB_TOPIC_COUNT GREATER 0)
-	add_library(uorb_msgs ${uorb_headers} ${CMAKE_BINARY_DIR}/uORBTopics.cpp ${CMAKE_BINARY_DIR}/uORBTopics.hpp)
-	add_dependencies(uorb_msgs prebuild_targets uorb_headers)
-endif()
-
-if(${PX4_PLATFORM} MATCHES "ros2") # TODO: fix
-	ament_target_dependencies(uorb_msgs rclcpp std_msgs)
-	rosidl_target_interfaces(uorb_msgs ${PROJECT_NAME} "rosidl_typesupport_cpp")
-endif()
-
 #=============================================================================
 # uORB graph generation: add a custom target 'uorb_graph'
 #
@@ -597,13 +466,17 @@ include(doxygen)
 include(metadata)
 include(package)

+# print size
+add_custom_target(size
+	COMMAND size $<TARGET_FILE:px4>
+	DEPENDS px4
+	WORKING_DIRECTORY ${PX4_BINARY_DIR}
+	USES_TERMINAL
+	)
+
 # install python requirements using configured python
 add_custom_target(install_python_requirements
 	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )
-
-if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/finalize.cmake")
-	include(finalize)
-endif()
@@ -17,8 +17,6 @@ menu "Toolchain"
            bool "posix"
        config PLATFORM_QURT
            bool "qurt"
-        config PLATFORM_ROS2
-            bool "ros2"
    endchoice

    config BOARD_PLATFORM
@@ -26,7 +24,6 @@ menu "Toolchain"
        default "nuttx" if PLATFORM_NUTTX
        default "posix" if PLATFORM_POSIX
        default "qurt" if PLATFORM_QURT
-        default "ros2" if PLATFORM_ROS2

    config BOARD_LOCKSTEP
        bool "Force enable lockstep"
@@ -121,6 +118,11 @@ config BOARD_CRYPTO
    help
        Enable PX4 Crypto Support. Select the implementation under drivers

+config BOARD_PROTECTED
+    bool "Memory protection"
+    help
+        Enable memory protection via MPU/MMU
+
 menu "Serial ports"

    config BOARD_SERIAL_URT6
@@ -479,7 +479,7 @@ clang-tidy-quiet: px4_sitl_default-clang
 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: px4_sitl_default
 	@mkdir -p "$(SRC_DIR)"/build/cppcheck
-	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++17 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
+	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++14 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
 	@cppcheck-htmlreport --source-encoding=ascii --file="$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml --report-dir="$(SRC_DIR)"/build/cppcheck --source-dir="$(SRC_DIR)"/src/

 shellcheck_all:
@@ -10,7 +10,7 @@ fi

 if [ ! -f replay_params.txt ]; then
 	echo "Creating $(pwd)/replay_params.txt"
-	ulog_params -i "${replay}" -d ' ' | grep -e '^EKF2' > replay_params.txt
+	ulog_params -i "${replay}" -l ' ' | grep -e '^EKF2' > replay_params.txt
 fi

 publisher_rules_file="orb_publisher.rules"
@@ -21,6 +21,7 @@ ignore_others: false
 EOF

 param set SDLOG_DIRS_MAX 7
+param set SDLOG_PROFILE 3

 # apply all params before ekf starts, as some params cannot be changed after startup
 replay tryapplyparams
@@ -130,6 +130,13 @@ then
 	fi
 fi

+# SHT3x temperature and hygrometer sensor, external I2C
+if param compare -s SENS_EN_SHT3X 1
+then
+	sht3x start -X
+	sht3x start -X -a 0x45
+fi
+
 # TE MS4525 differential pressure sensor external I2C
 if param compare -s SENS_EN_MS4525 1
 then
@@ -1,35 +1,5 @@
 #! /bin/bash

-if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	echo "guessing PX4_DOCKER_REPO based on input";
-	if [[ $@ =~ .*px4_fmu.* ]]; then
-		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
-	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
-		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
-	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
-		# scumaker_pilotpi_arm64
-		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
-	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
-		# posix_rpi_cross, posix_bebop_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
-	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
-		# clang tools
-		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
-	elif [[ $@ =~ .*tests* ]]; then
-		# run all tests with simulation
-		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2021-12-11"
-	fi
-else
-	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
-fi
-
-# otherwise default to nuttx
-if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
-fi
-
 # docker hygiene

 #Delete all stopped containers (including data-only containers)
@@ -38,30 +8,23 @@ fi
 #Delete all 'untagged/dangling' (<none>) images
 #docker rmi $(docker images -q -f dangling=true)

-echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";
+if [[ -z "${DOCKER_TAG}" ]]; then
+  TAG_NAME=""
+else
+  TAG_NAME=":${DOCKER_TAG}"
+fi
+
+PX4_DOCKER_REPO="px4io/px4-dev$TAG_NAME"
+
+echo $PX4_DOCKER_REPO

 PWD=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 SRC_DIR=$PWD/../

-CCACHE_DIR=${HOME}/.ccache
-mkdir -p "${CCACHE_DIR}"
-
 docker run -it --rm -w "${SRC_DIR}" \
-	--env=AWS_ACCESS_KEY_ID \
-	--env=AWS_SECRET_ACCESS_KEY \
-	--env=BRANCH_NAME \
-	--env=CCACHE_DIR="${CCACHE_DIR}" \
-	--env=CI \
-	--env=CODECOV_TOKEN \
-	--env=COVERALLS_REPO_TOKEN \
-	--env=LOCAL_USER_ID="$(id -u)" \
-	--env=PX4_ASAN \
-	--env=PX4_MSAN \
-	--env=PX4_TSAN \
-	--env=PX4_UBSAN \
-	--env=TRAVIS_BRANCH \
-	--env=TRAVIS_BUILD_ID \
-	--publish 14556:14556/udp \
-	--volume=${CCACHE_DIR}:${CCACHE_DIR}:rw \
-	--volume=${SRC_DIR}:${SRC_DIR}:rw \
-	${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"
+  --env=LOCAL_USER_ID="$(id -u)" \
+  --publish 14556:14556/udp \
+  --volume=/tmp/.X11-unix:/tmp/.X11-unix \
+  --volume=/tmp:/tmp:rw \
+  --volume=${SRC_DIR}:${SRC_DIR}:rw \
+  ${PX4_DOCKER_REPO} /bin/bash -c "$1 $2 $3"
@@ -39,7 +39,7 @@ function spawn_model() {

 	echo "Spawning ${MODEL}_${N} at ${X} ${Y}"

-	gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.0
+	gz model --spawn-file=/tmp/${MODEL}_${N}.sdf --model-name=${MODEL}_${N} -x ${X} -y ${Y} -z 0.83

 	popd &>/dev/null

@@ -6,14 +6,14 @@ import os
 import sys
 import json
 import re
-from kconfiglib import Kconfig
+# from kconfiglib import Kconfig

-kconf = Kconfig()
+# kconf = Kconfig()

 # Supress warning output
-kconf.warn_assign_undef = False
-kconf.warn_assign_override = False
-kconf.warn_assign_redun = False
+# kconf.warn_assign_undef = False
+# kconf.warn_assign_override = False
+# kconf.warn_assign_redun = False

 source_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..')

@@ -23,6 +23,10 @@ parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
                    help='Verbose Output')
 parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
                    help='Pretty output instead of a single line')
+parser.add_argument('-a', '--all_variants', dest='all_variants', action='store_true',
+                    help='Prints targets into a single all_variants_* target')
+parser.add_argument('-b', '--bloaty', dest='bloaty', action='store_true',
+                    help='Includes all bloaty targets')

 args = parser.parse_args()
 verbose = args.verbose
@@ -35,48 +39,66 @@ excluded_labels = [
    'nolockstep', 'replay', 'test',
    'uavcanv1' # TODO: fix and enable
    ]
+bloaty_helpers = [
+    'bloaty_compileunits',
+    'bloaty_inlines',
+    'bloaty_segments',
+    'bloaty_symbols',
+    'bloaty_templates',
+    'bloaty_ram',
+    'bloaty_compare_master',
+    ]

-def process_target(px4board_file, target_name):
-    ret = None
-    platform = None
-    toolchain = None
+# def process_target(px4board_file, target_name):
+    # ret = None
+    # platform = None
+    # toolchain = None

-    if px4board_file.endswith("default.px4board") or \
-        px4board_file.endswith("recovery.px4board") or \
-        px4board_file.endswith("bootloader.px4board"):
-        kconf.load_config(px4board_file, replace=True)
-    else: # Merge config with default.px4board
-        default_kconfig = re.sub(r'[a-zA-Z\d_]+\.px4board', 'default.px4board', px4board_file)
-        kconf.load_config(default_kconfig, replace=True)
-        kconf.load_config(px4board_file, replace=False)
+    # if px4board_file.endswith("default.px4board") or \
+        # px4board_file.endswith("recovery.px4board") or \
+        # px4board_file.endswith("bootloader.px4board"):
+        # kconf.load_config(px4board_file, replace=True)
+    # else: # Merge config with default.px4board
+        # default_kconfig = re.sub(r'[a-zA-Z\d_]+\.px4board', 'default.px4board', px4board_file)
+        # kconf.load_config(default_kconfig, replace=True)
+        # kconf.load_config(px4board_file, replace=False)

-    if "BOARD_TOOLCHAIN" in kconf.syms:
-        toolchain = kconf.syms["BOARD_TOOLCHAIN"].str_value
+    # if "BOARD_TOOLCHAIN" in kconf.syms:
+        # toolchain = kconf.syms["BOARD_TOOLCHAIN"].str_value

-    if "BOARD_PLATFORM" in kconf.syms:
-        platform = kconf.syms["BOARD_PLATFORM"].str_value
+    # if "BOARD_PLATFORM" in kconf.syms:
+        # platform = kconf.syms["BOARD_PLATFORM"].str_value

-    assert platform, f"PLATFORM not found in {px4board_file}"
+    # assert platform, f"PLATFORM not found in {px4board_file}"

-    if platform not in excluded_platforms:
-        # get the container based on the platform and toolchain
-        container = platform
-        if platform == 'posix':
-            container = 'base-focal'
-            if toolchain:
-                if toolchain.startswith('aarch64'):
-                    container = 'aarch64'
-                elif toolchain == 'arm-linux-gnueabihf':
-                    container = 'armhf'
-                else:
-                    if verbose: print(f'possibly unmatched toolchain: {toolchain}')
-        elif platform == 'nuttx':
-            container = 'nuttx-focal'
+    # if platform not in excluded_platforms:
+        # # get the container based on the platform and toolchain
+        # container = platform
+        # if platform == 'posix':
+            # container = 'base-focal'
+            # if toolchain:
+                # if toolchain.startswith('aarch64'):
+                    # container = 'aarch64'
+                # elif toolchain == 'arm-linux-gnueabihf':
+                    # container = 'armhf'
+                # else:
+                    # if verbose: print(f'possibly unmatched toolchain: {toolchain}')
+        # elif platform == 'nuttx':
+            # container = 'nuttx-focal'

-        ret = {'target': target_name, 'container': container}
+        # ret = {'target': target_name, 'container': container}

-    return ret
+    # return ret

+def process_bloaty(target_path, target_name):
+    response = []
+    for bloat in bloaty_helpers:
+        bloaty_name = target_name + ' ' + bloat + ' || true'
+        processed_target = process_target(target_path, bloaty_name)
+        response.append(processed_target)
+    return response
+
+# Look up boards from each manufacturer
 for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
    if not manufacturer.is_dir():
        continue
@@ -85,18 +107,37 @@ for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
        continue

    for board in os.scandir(manufacturer.path):
+        # Only boards are directories don't proceed if otherwise
        if not board.is_dir():
            continue
-        for files in os.scandir(board.path):
-            if files.is_file() and files.name.endswith('.px4board'):
-                label = files.name[:-9]
-                target_name = manufacturer.name + '_' + board.name + '_' + label
-                if label in excluded_labels:
-                    if verbose: print(f'excluding label {label} ({target_name})')
-                    continue
-                target = process_target(files.path, target_name)
-                if target is not None:
-                    build_configs.append(target)
+
+        if args.all_variants:
+            # The all_variants target makes all targets for a board
+            target_name = 'all_variants_' + manufacturer.name + '_' + board.name
+            default_target_path = f'{board.path}/default.px4board'
+            # target = process_target(default_target_path, target_name)
+            target = {'target': target_name}
+            if target is not None:
+                build_configs.append(target)
+            if args.bloaty and target is not None:
+                # bloaty targets
+                bloat_target_name = manufacturer.name + '_' + board.name
+                # bloaty_targets = process_bloaty(default_target_path, bloat_target_name)
+                bloaty_targets = {'target': bloat_target_name}
+                build_configs += bloaty_targets
+        else:
+            # Each board can have multiple variant targets
+            for files in os.scandir(board.path):
+                if files.is_file() and files.name.endswith('.px4board'):
+                    label = files.name[:-9]
+                    target_name = manufacturer.name + '_' + board.name + '_' + label
+                    if label in excluded_labels:
+                        if verbose: print(f'excluding label {label} ({target_name})')
+                        continue
+                    # target = process_target(files.path, target_name)
+                    target = {'target': target_name}
+                    if target is not None:
+                        build_configs.append(target)


 github_action_config = { 'include': build_configs }
@@ -0,0 +1,55 @@
+#
+# PX4 base development environment
+#
+
+FROM ubuntu:20.04
+LABEL maintainer="Daniel Agar <daniel@agar.ca>, Ramon Roche <mrpollo@gmail.com>"
+
+ENV DEBIAN_FRONTEND noninteractive
+ENV LANG C.UTF-8
+ENV LC_ALL C.UTF-8
+
+# Installing required utilities
+RUN apt-get update && apt-get -y --quiet --no-install-recommends install \
+  ca-certificates \
+  gnupg \
+  lsb-core \
+  lsb-release \
+  sudo \
+  software-properties-common \
+  wget \
+  gosu \
+  ;
+
+# Install PX4 Requirements
+COPY Tools/setup/requirements.txt /tmp/requirements.txt
+COPY Tools/setup/ubuntu.sh /tmp/ubuntu.sh
+# We support pre-downloading the gcc arm none eabi compiler
+# to speed up build times, if the file is not present when
+# building, the ubuntu.sh script will download it from source
+COPY *gcc-arm-none-eabi-9-2020-q2-update-linux.tar.bz2 /tmp/gcc-arm-none-eabi-9-2020-q2-update-linux.tar.bz2
+# The PATH env is set within ubuntu.sh, but given how we
+# are running the image using `gosu` to avoid read-only problems
+# with the filesystem the env variable does not persist
+ENV PATH="/opt/gcc-arm-none-eabi-9-2020-q2-update/bin:$PATH"
+ENV PATH="/opt/jdk-14.0.2+12/bin:$PATH"
+RUN bash /tmp/ubuntu.sh --from-docker --with-java --with-rtps --no-sim-tools
+
+ENV DISPLAY :99
+
+ENV FASTRTPSGEN_DIR="/usr/local/bin/"
+ENV TERM=xterm
+ENV TZ=UTC
+
+# SITL UDP PORTS
+EXPOSE 14556/udp
+EXPOSE 14557/udp
+
+# create user with id 1001 (jenkins docker workflow default)
+RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user
+
+# create and start as LOCAL_USER_ID
+COPY Tools/setup/docker-entrypoint.sh /usr/local/bin/entrypoint.sh
+ENTRYPOINT ["/usr/local/bin/entrypoint.sh"]
+
+CMD ["/bin/bash"]
@@ -0,0 +1,28 @@
+#!/bin/bash
+
+# Start virtual X server in the background
+# - DISPLAY default is :99, set in dockerfile
+# - Users can override with `-e DISPLAY=` in `docker run` command to avoid
+#   running Xvfb and attach their screen
+if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
+	echo "Starting Xvfb"
+	Xvfb :99 -screen 0 1600x1200x24+32 &
+fi
+
+# Check if the ROS_DISTRO is passed and use it
+# to source the ROS environment
+if [ -n "${ROS_DISTRO}" ]; then
+	source "/opt/ros/$ROS_DISTRO/setup.bash"
+fi
+
+# Use the LOCAL_USER_ID if passed in at runtime
+if [ -n "${LOCAL_USER_ID}" ]; then
+	echo "Starting with UID : $LOCAL_USER_ID"
+	# modify existing user's id
+	usermod -u $LOCAL_USER_ID user
+
+	# run as user
+  exec gosu user "$@"
+else
+	exec "$@"
+fi
@@ -2,20 +2,22 @@

 set -e

-## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04, 16.04).
+## Bash script to setup PX4 development environment on Ubuntu LTS (20.04, 18.04).
 ## Can also be used in docker.
 ##
 ## Installs:
-## - Common dependencies and tools for nuttx, jMAVSim, Gazebo
+## - Common dependencies and tools for NuttX, jMAVSim, Gazebo
 ## - NuttX toolchain (omit with arg: --no-nuttx)
-## - jMAVSim and Gazebo9 simulator (omit with arg: --no-sim-tools)
-##
-## Not Installs:
-## - FastRTPS and FastCDR
+## - jMAVSim and Gazebo simulator (omit with arg: --no-sim-tools)
+## Optional:
+## - FastRTPS and FastCDR (with args: --with-rtps)

 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
 INSTALL_ARCH=`uname -m`
+INSTALL_RTPS="false"
+INSTALL_JAVA="false"
+INSIDE_DOCKER="false"

 # Parse arguments
 for arg in "$@"
@@ -28,19 +30,19 @@ do
 		INSTALL_SIM="false"
 	fi

-done
+	if [[ $arg == "--with-rtps" ]]; then
+		INSTALL_RTPS="true"
+	fi

-# detect if running in docker
-if [ -f /.dockerenv ]; then
-	echo "Running within docker, installing initial dependencies";
-	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
-		ca-certificates \
-		gnupg \
-		lsb-core \
-		sudo \
-		wget \
-		;
-fi
+	if [[ $arg == "--with-java" ]]; then
+		INSTALL_JAVA="true"
+	fi
+
+	if [[ $arg == "--from-docker" ]]; then
+		INSIDE_DOCKER="true"
+	fi
+
+done

 # script directory
 DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
@@ -69,88 +71,119 @@ elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
 fi

+VERBOSE_BAR="####################"
+echo
+echo $VERBOSE_BAR
+echo "#⚡️ Starting PX4 Dependency Installer for Ubuntu ${UBUNTU_RELEASE} (${INSTALL_ARCH})"
+echo "# Options:
+#
+#  - Install NuttX = ${INSTALL_NUTTX}
+#  - Install Java = ${INSTALL_JAVA}
+#  - Install Simulation = ${INSTALL_SIM}
+#  - Install RTPS = ${INSTALL_RTPS}"
+echo $VERBOSE_BAR
+echo

 echo
-echo "Installing PX4 general dependencies"
+echo $VERBOSE_BAR
+echo "🍻 Installing System Dependencies"
+echo $VERBOSE_BAR
+echo

 sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-	astyle \
 	build-essential \
-	cmake \
-	cppcheck \
-	file \
-	g++ \
-	gcc \
-	gdb \
-	git \
-	lcov \
-	libxml2-dev \
-	libxml2-utils \
-	make \
-	ninja-build \
-	python3 \
-	python3-dev \
-	python3-pip \
-	python3-setuptools \
-	python3-wheel \
-	rsync \
-	shellcheck \
-	unzip \
-	zip \
-	;
+  g++ \
+  gcc \
+  gdb \
+  astyle \
+  cmake \
+  cppcheck \
+  file \
+  git \
+  lcov \
+  libxml2-dev \
+  libxml2-utils \
+  make \
+  ninja-build \
+  python3 \
+  python3-dev \
+  python3-pip \
+  python3-setuptools \
+  python3-wheel \
+  rsync \
+  shellcheck \
+  unzip \
+  zip \
+  libssl-dev \
+  ;

-# Python3 dependencies
+# Python 3 dependencies
 echo
-echo "Installing PX4 Python3 dependencies"
+echo $VERBOSE_BAR
+echo "🍻 Installing Python dependencies"
+echo $VERBOSE_BAR
+echo
+
 if [ -n "$VIRTUAL_ENV" ]; then
 	# virtual envrionments don't allow --user option
-	python -m pip install -r ${DIR}/requirements.txt
+  python -m pip install -r ${DIR}/requirements.txt
 else
 	# older versions of Ubuntu require --user option
-	python3 -m pip install --user -r ${DIR}/requirements.txt
+  if [[ $INSIDE_DOCKER == "true" ]]; then
+    # when running inside a docker container we don't need to install
+    # under --user since the installer user is root
+    # its best to install packages globaly for any user to find
+    python3 -m pip install -r /tmp/requirements.txt
+  else
+    python3 -m pip install --user -r ${DIR}/requirements.txt
+  fi
 fi

 # NuttX toolchain (arm-none-eabi-gcc)
 if [[ $INSTALL_NUTTX == "true" ]]; then

 	echo
-	echo "Installing NuttX dependencies"
+  echo $VERBOSE_BAR
+	echo "🍻 Installing NuttX dependencies"
+  echo $VERBOSE_BAR
+	echo

 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		automake \
-		binutils-dev \
-		bison \
-		build-essential \
-		flex \
-		g++-multilib \
-		gcc-multilib \
-		gdb-multiarch \
-		genromfs \
-		gettext \
-		gperf \
-		libelf-dev \
-		libexpat-dev \
-		libgmp-dev \
-		libisl-dev \
-		libmpc-dev \
-		libmpfr-dev \
-		libncurses5 \
-		libncurses5-dev \
-		libncursesw5-dev \
-		libtool \
-		pkg-config \
-		screen \
-		texinfo \
-		u-boot-tools \
-		util-linux \
-		vim-common \
-		;
-	if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
-		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		kconfig-frontends \
-		;
-	fi
+    automake \
+    binutils-dev \
+    bison \
+    flex \
+    genromfs \
+    gettext \
+    gperf \
+    libelf-dev \
+    libexpat-dev \
+    libgmp-dev \
+    libisl-dev \
+    libmpc-dev \
+    libmpfr-dev \
+    libncurses5 \
+    libncurses5-dev \
+    libncursesw5-dev \
+    libtool \
+    pkg-config \
+    screen \
+    texinfo \
+    u-boot-tools \
+    util-linux \
+    vim-common \
+    g++-arm-linux-gnueabihf \
+    gcc-arm-linux-gnueabihf \
+    g++-aarch64-linux-gnu \
+    gcc-aarch64-linux-gnu \
+    ;
+
+  if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+    sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+    kconfig-frontends \
+    ;
+  fi


 	if [ -n "$USER" ]; then
@@ -158,97 +191,186 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		sudo usermod -a -G dialout $USER
 	fi

-	# arm-none-eabi-gcc
-	NUTTX_GCC_VERSION="9-2020-q2-update"
-	NUTTX_GCC_VERSION_SHORT="9-2020q2"
+  NUTTX_GCC_VERSION="9-2020-q2-update"
+  NUTTX_GCC_VERSION_SHORT="9-2020q2"
+  echo
+  echo $VERBOSE_BAR
+  echo "🍻 Verifying proper gcc version (${NUTTX_GCC_VERSION}), and installing if not found"
+  echo

-	source $HOME/.profile # load changed path for the case the script is reran before relogin
+  source $HOME/.profile # load changed path for the case the script is reran before relogin
 	if [ $(which arm-none-eabi-gcc) ]; then
-		GCC_VER_STR=$(arm-none-eabi-gcc --version)
-		GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
-	fi
+    GCC_VER_STR=$(arm-none-eabi-gcc --version)
+    GCC_VER_FOUND=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
+  fi

-	if [[ "$GCC_FOUND_VER" == "1" ]]; then
-		echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation"
+  if [[ $(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}") == "1" ]]; then
+    echo "📌 Skipping installation, the arm cross compiler was found"
+    echo $VERBOSE_BAR
+	  echo

-	else
-		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
-		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
-			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;
+  else
+    echo "📌 The arm cross compiler was not found";
+    echo " * Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
+    # The arm cross compiler hosting provider is known to throttle download speeds
+    # for users who reach a certain limit of downloads in a given time frame
+    # for this reason we allow for using a previously downloaded file
+    # this is specially helpful when debugging this installer script
+    # from within a container COMPILER_PATH="/tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2"
+    COMPILER_NAME="gcc-arm-none-eabi-${NUTTX_GCC_VERSION}"
+    COMPILER_PATH="/tmp/$COMPILER_NAME-linux.tar.bz2"
+    if [ ! -f "$COMPILER_PATH" ]; then
+      wget -O $COMPILER_PATH https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/${COMPILER_NAME}-${INSTALL_ARCH}-linux.tar.bz2
+    fi
+    sudo tar -jxf $COMPILER_PATH -C /opt/;

-		# add arm-none-eabi-gcc to user's PATH
-		exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"
+    # add arm-none-eabi-gcc to user's PATH
+    exportline="export PATH=\"/opt/${COMPILER_NAME}/bin:\$PATH\""
+    if [[ $INSIDE_DOCKER == "true" ]]; then
+      # when running on a docker container its best to set the environment globally
+      # since we don't know which user is going to be running commands on the container
+      touch /etc/profile.d/px4env.sh
+      echo $exportline >> /etc/profile.d/px4env.sh
+    else
+      if grep -Fxq "$exportline" $HOME/.profile; then
+        echo "${NUTTX_GCC_VERSION} path already set.";
+      else
+        echo $exportline >> $HOME/.profile;
+      fi
+    fi
+    echo " * arm-none-eabi-gcc (${NUTTX_GCC_VERSION}) Installed Succesful to /opt/${COMPILER_NAME}/bin"
+    echo $VERBOSE_BAR
+	  echo
+  fi
+fi
+
+# Install JAVA
+if [[ $INSTALL_JAVA == "true" ]]; then
+  JDK_VERSION="14.0.2_12"
+  echo
+  echo $VERBOSE_BAR
+  echo "🍻 Installing Java JDK
+
+  * Version: $JDK_VERSION
+  * Path: /opt/jdk-14.0.2+12"
+  echo $VERBOSE_BAR
+  echo
+
+  JDK_DOWNLOAD="/tmp/OpenJDK14U-jdk_x64_linux_hotspot_$JDK_VERSION.tar.gz"
+  wget -O $JDK_DOWNLOAD https://github.com/AdoptOpenJDK/openjdk14-binaries/releases/download/jdk-14.0.2%2B12/OpenJDK14U-jdk_x64_linux_hotspot_14.0.2_12.tar.gz
+  sudo tar -xzf $JDK_DOWNLOAD -C /opt/
+  export PATH="/opt/jdk-14.0.2+12/bin:$PATH"
+fi
+
+# Fast-RTPS
+if [[ $INSTALL_RTPS == "true" ]]; then
+  echo
+  echo $VERBOSE_BAR
+  echo "🍻 Installing Fast-RTPS"
+  echo $VERBOSE_BAR
+  echo
+
+  GRADLE_VERSION="6.4.1"
+  wget -O "/tmp/gradle-$GRADLE_VERSION-bin.zip" "https://services.gradle.org/distributions/gradle-$GRADLE_VERSION-bin.zip" \
+    && unzip -d /opt/gradle "/tmp/gradle-$GRADLE_VERSION-bin.zip"
+  export PATH="$PATH:/opt/gradle/gradle-$GRADLE_VERSION/bin"
+
+  # Intall foonathan_memory from source as it is required to Fast-RTPS >= 1.9
+  git clone https://github.com/eProsima/foonathan_memory_vendor.git /tmp/foonathan_memory \
+    && cd /tmp/foonathan_memory \
+    && mkdir build && cd build \
+    && cmake .. \
+    && cmake --build . --target install -- -j $(nproc)
+
+  # Fast-DDS (Fast-RTPS 2.1.1)
+  git clone --recursive https://github.com/eProsima/Fast-DDS.git -b v2.1.1 /tmp/FastRTPS-2.1.1 \
+    && cd /tmp/FastRTPS-2.1.1 \
+    && mkdir build && cd build \
+    && cmake -DTHIRDPARTY=ON -DSECURITY=ON .. \
+    && cmake --build . --target install -- -j $(nproc)
+
+  # Fast-RTPS-Gen 1.0.4
+  git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git -b v1.0.4 /tmp/Fast-RTPS-Gen-1.0.4 \
+    && cd /tmp/Fast-RTPS-Gen-1.0.4 \
+    && gradle assemble \
+    && gradle install

-		if grep -Fxq "$exportline" $HOME/.profile; then
-			echo "${NUTTX_GCC_VERSION} path already set.";
-		else
-			echo $exportline >> $HOME/.profile;
-		fi
-	fi
 fi

 # Simulation tools
 if [[ $INSTALL_SIM == "true" ]]; then

-	echo
-	echo "Installing PX4 simulation dependencies"
+  echo
+  echo $VERBOSE_BAR
+  echo "🍻 Installing PX4 Simulation Tools"
+  echo

-	# General simulation dependencies
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		bc \
-		;
+  if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+    gazebo_version=9
+  elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+    gazebo_version=11
+  fi

-	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
-		java_version=11
-		gazebo_version=9
-	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
-		java_version=13
-		gazebo_version=11
-	else
-		java_version=14
-		gazebo_version=11
-	fi
-	# Java (jmavsim or fastrtps)
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		ant \
-		openjdk-$java_version-jre \
-		openjdk-$java_version-jdk \
-		libvecmath-java \
-		;
+  echo "  * Gazebo Version $gazebo_version"
+  echo $VERBOSE_BAR

-	# Set Java 11 as default
-	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")
+  # General simulation dependencies
+  sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+    bc \
+    ant \
+    libvecmath-java \
+    ;

-	# Gazebo
-	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
-	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
-	# Update list, since new gazebo-stable.list has been added
-	sudo apt-get update -y --quiet
-	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		dmidecode \
-		gazebo$gazebo_version \
-		gstreamer1.0-plugins-bad \
-		gstreamer1.0-plugins-base \
-		gstreamer1.0-plugins-good \
-		gstreamer1.0-plugins-ugly \
-		gstreamer1.0-libav \
-		libeigen3-dev \
-		libgazebo$gazebo_version-dev \
-		libgstreamer-plugins-base1.0-dev \
-		libimage-exiftool-perl \
-		libopencv-dev \
-		libxml2-utils \
-		pkg-config \
-		protobuf-compiler \
-		;
+  # Installing Gazebo and dependencies
+  # Setup OSRF Gazebo repository
+  sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
+  wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
+  # Update list, since new gazebo-stable.list has been added
+  sudo apt-get update -y --quiet
+  sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+    dmidecode \
+    gazebo$gazebo_version \
+    gstreamer1.0-plugins-bad \
+    gstreamer1.0-plugins-base \
+    gstreamer1.0-plugins-good \
+    gstreamer1.0-plugins-ugly \
+    gstreamer1.0-libav \
+    libeigen3-dev \
+    libgazebo$gazebo_version-dev \
+    libgstreamer-plugins-base1.0-dev \
+    libimage-exiftool-perl \
+    libopencv-dev \
+    libxml2-utils \
+    pkg-config \
+    protobuf-compiler \
+    ;

-	if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then
-		# fix VMWare 3D graphics acceleration for gazebo
-		echo "export SVGA_VGPU10=0" >> ~/.profile
-	fi
+  if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then
+    # fix VMWare 3D graphics acceleration for gazebo
+    echo "export SVGA_VGPU10=0" >> ~/.profile
+  fi
 fi

-if [[ $INSTALL_NUTTX == "true" ]]; then
-	echo
-	echo "Relogin or reboot computer before attempting to build NuttX targets"
+if [[ $INSIDE_DOCKER == "true" ]]; then
+  # cleanup installation
+  rm -rf /tmp/
 fi
+
+if [[ $INSIDE_DOCKER == "false" ]] && [[ $INSTALL_NUTTX == "true" ]]; then
+  echo
+  echo $VERBOSE_BAR
+  echo "💡 We recommend you relogin/reboot before attempting to build NuttX targets"
+  echo $VERBOSE_BAR
+  echo
+fi
+
+echo
+echo
+echo $VERBOSE_BAR
+echo "#⚡️ PX4 Dependency Installer Ended Succesfully
+#
+#  For more information on PX4 Autopilot check out our docs
+#  at docs.px4.io, if you find a bug please file an issue
+#  on GitHub https://github.com/px4/px4-autopilot"
+echo $VERBOSE_BAR
+echo
@@ -56,6 +56,21 @@ def get_N_colors(N, s=0.8, v=0.9):
        hex_out.append("#"+"".join(map(lambda x: format(x, '02x'), rgb)))
    return hex_out

+def topic_filename(topic):
+    MSG_PATH = 'msg/'
+
+    file_list = os.listdir(MSG_PATH)
+    msg_files = [file.replace('.msg', '') for file in file_list if file.endswith(".msg")]
+
+    if topic in msg_files:
+        return topic
+    else:
+        for msg_file in msg_files:
+            with open(f'{MSG_PATH}/{msg_file}.msg') as f:
+                ret = re.findall(f'^# TOPICS.*{topic}.*',f.read(),re.MULTILINE)
+                if len(ret) > 0:
+                    return msg_file
+    return "no_file"

 class PubSub(object):
    """ Collects either publication or subscription information for nodes
@@ -679,8 +694,7 @@ class OutputJSON(object):
            node['type'] = 'topic'
            node['color'] = topic_colors[topic]
            # url is opened when double-clicking on the node
-            # TODO: does not work for multi-topics
-            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic+'.msg'
+            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic_filename(topic)+'.msg'
            nodes.append(node)

        data['nodes'] = nodes
@@ -61,6 +61,5 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
-			arch_io_pins
 	)
 endif()
@@ -63,6 +63,5 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
-			arch_io_pins
 	)
 endif()
@@ -63,6 +63,5 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
-			arch_io_pins
 	)
 endif()
@@ -44,6 +44,4 @@ px4_add_module(
 		syslink.c
 	DEPENDS
 		battery
-	SUBSCRIPTIONS
-		"px4::msg::BatteryStatus /battery_status"
 	)
@@ -61,6 +61,5 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
-			arch_io_pins
 	)
 endif()
@@ -149,7 +149,6 @@
 #define BOARD_HAS_STATIC_MANIFEST 1


-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};

 #define BOARD_ENABLE_CONSOLE_BUFFER

@@ -144,7 +144,6 @@
 #define BOARD_HAS_STATIC_MANIFEST 1


-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};

 #define BOARD_ENABLE_CONSOLE_BUFFER

@@ -3,3 +3,4 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT=""
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BOOTLOADERS=y
+CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
@@ -44,7 +44,6 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
 			nuttx_arch
 			nuttx_drivers
 			canbootloader
-			drivers__device
 	)
 	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)

@@ -63,6 +62,5 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
-			arch_io_pins
 	)
 endif()
@@ -68,6 +68,5 @@ else()
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
-			arch_io_pins
 	)
 endif()
@@ -181,7 +181,6 @@

 #define BOARD_NUM_IO_TIMERS 4

-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 9, 8};

 /* Power supply control and monitoring GPIOs */

@@ -430,7 +430,6 @@

 #define BOARD_NUM_IO_TIMERS 5

-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 8, 9, 10};

 __BEGIN_DECLS

@@ -0,0 +1,7 @@
+CONFIG_PLATFORM_NUTTX=y
+CONFIG_BOARD_PLATFORM="nuttx"
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT=""
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_DRIVERS_BOOTLOADERS=y
@@ -0,0 +1,23 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_BOOTLOADERS=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
+CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SERIAL_PASSTHRU=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -0,0 +1,13 @@
+{
+    "board_id": 1014,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the MatekM9nf4can cannode board",
+    "image": "",
+    "build_time": 0,
+    "summary": "MateksysGnss-m9n-f4",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 983040,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,14 @@
+#!/bin/sh
+#
+# Matek M9NF4 CAN specific board sensors init
+#------------------------------------------------------------------------------
+
+gps start -d /dev/ttyS2
+
+icm20602 -s start
+
+rm3100 -b 2 -s start
+
+dps310 -a 118 -X start
+
+sensors start
@@ -0,0 +1,23 @@
+menu "SERIAL_PASSTHRU Configuration"
+config SERIAL_PASSTHRU_UBLOX
+	bool "Detect and Auto Connect on U-Center messages"
+	default n
+	---help---
+		This option will enable the cdc_acm_check to launch
+		The passthru driver.
+
+config SERIAL_PASSTHRU_UBLOX_DEV
+	string "Device path of the GPS"
+	depends on SERIAL_PASSTHRU_UBLOX
+	default "/dev/ttyS2"
+	---help---
+		This is the path of the device used as the right side
+		of the passthru.
+
+config SERIAL_PASSTHRU_UBLOX_BAUDRATE
+	string "baudrate"
+	depends on SERIAL_PASSTHRU_UBLOX
+	default "115200"
+	---help---
+		This option sets the baudrate for the passthru.
+endmenu
@@ -0,0 +1,64 @@
+#
+# 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_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/matek/gnss-m9n-f4/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F405RG=y
+CONFIG_ARCH_INTERRUPTSTACK=4096
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BINFMT_DISABLE=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_C99_BOOL8=y
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_DISABLE_PTHREAD=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=4096
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LIB_BOARDCTL=y
+CONFIG_MM_REGIONS=2
+CONFIG_NAME_MAX=0
+CONFIG_NUNGET_CHARS=0
+CONFIG_PREALLOC_TIMERS=0
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=131072
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_DISABLE_BUFFERING=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_NOEXT_VECTORS=y
+CONFIG_STM32_TIM8=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
@@ -0,0 +1,302 @@
+/************************************************************************************
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+ *   Author: Nathan Tsoi <nathan@vertile.com>
+ *
+ * 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 __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+#include "board_dma_map.h"
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <stm32.h>
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The Mateksys GNSS M9N-F4 board features a single 8MHz crystal.
+ *
+ * This is the canonical configuration:
+ *   System Clock source           : PLL (HSE)
+ *   SYSCLK(Hz)                    : 168000000    Determined by PLL configuration
+ *   HCLK(Hz)                      : 168000000    (STM32_RCC_CFGR_HPRE)
+ *   AHB Prescaler                 : 1            (STM32_RCC_CFGR_HPRE)
+ *   APB1 Prescaler                : 4            (STM32_RCC_CFGR_PPRE1)
+ *   APB2 Prescaler                : 2            (STM32_RCC_CFGR_PPRE2)
+ *   HSE Frequency(Hz)             : 8000000      (STM32_BOARD_XTAL)
+ *   PLLM                          : 8            (STM32_PLLCFG_PLLM)
+ *   PLLN                          : 336          (STM32_PLLCFG_PLLN)
+ *   PLLP                          : 2            (STM32_PLLCFG_PLLP)
+ *   PLLQ                          : 7            (STM32_PLLCFG_PLLQ)
+ *   Main regulator output voltage : Scale1 mode  Needed for high speed SYSCLK
+ *   Flash Latency(WS)             : 5
+ *   Prefetch Buffer               : OFF
+ *   Instruction cache             : ON
+ *   Data cache                    : ON
+ *   Require 48MHz for USB OTG FS, : Enabled
+ *   SDIO and RNG clock
+ */
+
+/* HSI - 16 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - On-board crystal frequency is 8MHz
+ * LSE - 32.768 kHz
+ */
+
+#define STM32_BOARD_USEHSE      1
+#define STM32_BOARD_XTAL        8000000ul
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE
+ * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ *         = (8,000,000 / 8) * 336
+ *         = 336,000,000
+ * SYSCLK  = PLL_VCO / PLLP
+ *         = 336,000,000 / 2 = 168,000,000
+ * USB OTG FS, SDIO and RNG Clock
+ *         =  PLL_VCO / PLLQ
+ *         = 48,000,000
+ */
+
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(336)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(7)
+
+#define STM32_SYSCLK_FREQUENCY  168000000ul
+
+/* AHB clock (HCLK) is SYSCLK (168MHz) */
+
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK  /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY  /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
+
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd4     /* PCLK1 = HCLK / 4 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/4)
+
+/* 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)
+
+/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
+
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLKd2     /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* 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_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
+ * otherwise frequency is 2xAPBx.
+ * Note: TIM1,8-11 are on APB2, others on APB1
+ */
+
+#define BOARD_TIM1_FREQUENCY    STM32_APB2_TIM1_CLKIN
+#define BOARD_TIM2_FREQUENCY    STM32_APB1_TIM2_CLKIN
+#define BOARD_TIM3_FREQUENCY    STM32_APB1_TIM3_CLKIN
+#define BOARD_TIM4_FREQUENCY    STM32_APB1_TIM4_CLKIN
+#define BOARD_TIM5_FREQUENCY    STM32_APB1_TIM5_CLKIN
+#define BOARD_TIM6_FREQUENCY    STM32_APB1_TIM6_CLKIN
+#define BOARD_TIM7_FREQUENCY    STM32_APB1_TIM7_CLKIN
+#define BOARD_TIM8_FREQUENCY    STM32_APB2_TIM8_CLKIN
+#define BOARD_TIM9_FREQUENCY    STM32_APB2_TIM9_CLKIN
+#define BOARD_TIM10_FREQUENCY   STM32_APB2_TIM10_CLKIN
+#define BOARD_TIM11_FREQUENCY   STM32_APB2_TIM11_CLKIN
+#define BOARD_TIM12_FREQUENCY   STM32_APB1_TIM12_CLKIN
+#define BOARD_TIM13_FREQUENCY   STM32_APB1_TIM13_CLKIN
+#define BOARD_TIM14_FREQUENCY   STM32_APB1_TIM14_CLKIN
+
+/* LED definitions ******************************************************************/
+/* If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any
+ * way.  The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with stm32_setled() */
+
+#define BOARD_LED1        0
+#define BOARD_LED2        1
+#define BOARD_NLEDS       2
+
+#define BOARD_LED_BLUE    BOARD_LED1
+#define BOARD_LED_GREEN   BOARD_LED2
+
+/* LED bits for use with stm32_setleds() */
+
+#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+#define BOARD_LED2_BIT    (1 << BOARD_LED2)
+
+/* If CONFIG_ARCH_LEDs is defined, then NuttX will control the 2 LEDs on board
+ * The following definitions describe how NuttX controls the LEDs:
+ */
+
+#define LED_STARTED       0  /* LED1 */
+#define LED_HEAPALLOCATE  1  /* LED2 */
+#define LED_IRQSENABLED   2  /* LED1 */
+#define LED_STACKCREATED  3  /* LED1 + LED2 */
+#define LED_INIRQ         4  /* LED1 */
+#define LED_SIGNAL        5  /* LED2 */
+#define LED_ASSERTION     6  /* LED1 + LED2 */
+#define LED_PANIC         7  /* LED1 + LED2 */
+
+/* Alternate function pin selections ************************************************/
+
+/* UART1:
+ *
+ * PA10 (RX) and PA9 (TX) are broken out on J5
+ */
+
+#define GPIO_USART1_RX GPIO_USART1_RX_1
+#define GPIO_USART1_TX GPIO_USART1_TX_1
+
+/* UART2:
+ *
+ * PA10 (RX) and PA9 (TX) are broken out on J5
+ */
+
+//#define GPIO_USART2_RX GPIO_USART2_RX_1
+//#define GPIO_USART2_TX GPIO_USART2_TX_1
+
+/* USART3:
+ *
+ * PC10 (TX) and PC11 (RX) are broken out on J4
+ *
+ *
+ * The Silkscreen pin labeled SCL is TX
+ *                           MISO is RX
+ */
+#define GPIO_USART3_RX	GPIO_USART3_RX_2
+#define GPIO_USART3_TX	GPIO_USART3_TX_2
+
+/* UART4:
+ *
+ * PA0 (TX) -- Labeled RSSI on the silkscreen is only broken out on a test pad
+ *             on the pro version. It's on a 2.54mm header on other versions
+ * PA1 (RX) -- Motor 5 out
+ */
+#define GPIO_UART4_RX	GPIO_UART4_RX_1
+#define GPIO_UART4_TX	GPIO_UART4_TX_1
+
+/* UART5:
+ *
+ * PC6 (TX) and PC7 (RX) are broken out on J10
+ */
+
+//#define GPIO_UART5_RX GPIO_UART5_RX_1
+//#define GPIO_UART5_TX GPIO_UART5_TX_1
+
+/* CAN */
+#define GPIO_CAN1_RX    GPIO_CAN1_RX_2
+#define GPIO_CAN1_TX    GPIO_CAN1_TX_2
+
+/* SPI1:
+ *  CS: PA4 -- configured in board_config.h
+ *  CLK: PA5
+ *  MISO: PA6
+ *  MOSI: PA7
+ */
+
+#define GPIO_SPI1_SCK  GPIO_SPI1_SCK_1
+#define GPIO_SPI1_MISO GPIO_SPI1_MISO_1
+#define GPIO_SPI1_MOSI GPIO_SPI1_MOSI_1
+
+/* SPI2:
+ *  SD Card
+ *  CS: PB12 -- configured in board_config.h
+ *  CLK: PB13
+ *  MISO: PB14
+ *  MOSI: PB15
+ */
+
+#define GPIO_SPI2_SCK	  GPIO_SPI2_SCK_2
+#define GPIO_SPI2_MISO	GPIO_SPI2_MISO_1
+#define GPIO_SPI2_MOSI	GPIO_SPI2_MOSI_1
+
+/* SPI3: SD CARD
+ *  CS: PC14 -- configured in board_config.h
+ *  CLK: PB3
+ *  MISO: PB4
+ *  MOSI: PB5
+ */
+
+#define GPIO_SPI3_SCK  GPIO_SPI3_SCK_1
+#define GPIO_SPI3_MISO GPIO_SPI3_MISO_1
+#define GPIO_SPI3_MOSI GPIO_SPI3_MOSI_1
+
+/*
+ * I2C (external)
+ *
+ * SCL: PB10
+ * SDA: PB11
+ *
+ * TODO:
+ *   The optional _GPIO configurations allow the I2C driver to manually
+ *   reset the bus to clear stuck slaves.  They match the pin configuration,
+ *   but are normally-high GPIOs.
+ */
+#define GPIO_I2C2_SCL		GPIO_I2C2_SCL_1
+#define GPIO_I2C2_SDA		GPIO_I2C2_SDA_1
+
+#endif  /* __CONFIG_M9NF4_INCLUDE_BOARD_H */
@@ -0,0 +1,85 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 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
+
+/*
+|    DMA1    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
+|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
+| Channel 0  | SPI3_RX_1        | -                | SPI3_RX_2        | SPI2_RX          | SPI2_TX          | SPI3_TX_1        | -                | SPI3_TX_2        |
+| Channel 1  | I2C1_RX          | -                | TIM7_UP_1        |  -               | TIM7_UP_2        | I2C1_RX_1        | I2C1_TX          | I2C1_TX_1        |
+| Channel 2  | TIM4_CH1         | -                | I2C4_RX          | TIM4_CH2         | -                | I2C4_RX          | TIM4_UP          | TIM4_CH3         |
+| Channel 3  | -                | TIM2_UP_1        | I2C3_RX_1        | I2C2_EXT_RX      | I2C3_TX          | TIM2_CH1         | TIM2_CH2         | TIM2_UP_2        |
+|            |                  |   TIM2_CH3       |                  |                  |                  |                  |   TIM2_CH4_1     |   TIM2_CH4_2     |
+| Channel 4  | UART5_RX         | USART3_RX        | UART4_RX         | USART3_TX_1      | UART4_TX         | USART2_RX        | USART2_TX        | UART5_TX         |
+| Channel 5  | UART8_TX         | UART7_TX         | TIM3_CH4         | UART7_RX         | TIM3_CH1         | TIM3_CH2         | UART8_RX         | TIM3_CH3         |
+|            |                  |                  |   TIM3_UP        |                  |   TIM3_TRIG      |                  |                  |                  |
+| Channel 6  | TIM5_CH3         | TIM5_CH4_1       | TIM5_CH1         | TIM5_CH4_2       | TIM5_CH2         | -                | TIM5_UP_2        | -                |
+|            |   TIM5_UP_1      |   TIM5_TRIG_1    |                  |   TIM5_TRIG_2    |                  |                  |                  |                  |
+| Channel 7  | -                | TIM6_UP          | I2C2_RX          | I2C2_RX_1        | USART3_TX_2      | DAC1             | DAC2             | I2C2_TX          |
+|            |                  |                  |                  |                  |                  |                  |                  |                  |
+| Usage      |  SPI3_RX         | TIM2_UP_1        | UART4_RX         | SPI2_RX          | SPI2_TX          |                  |                  | SPI3_TX          |
+
+
+|    DMA2    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
+|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
+| Channel 0  | ADC1_1           | SAI1_A           | TIM8_CH1_1       | SAI1_A_1         | ADC1_2           | SAI1_B_1         | TIM1_CH1_1       | -                |
+|            |                  |                  |   TIM8_CH2_1     |                  |                  |                  |   TIM1_CH2_1     |                  |
+|            |                  |                  |   TIM8_CH3_1     |                  |                  |                  |   TIM1_CH3_1     |                  |
+| Channel 1  | -                | DCMI_1           | ADC2_1           | ADC2_2           | SAI1_B           | SPI6_TX          | SPI6_RX          | DCMI_2           |
+| Channel 2  | ADC3_1           | ADC3_2           | -                | SPI5_RX_1        | SPI5_TX_1        | CRYP_OUT         | CRYP_IN          | HASH_IN          |
+| Channel 3  | SPI1_RX_1        | -                | SPI1_RX_2        | SPI1_TX_1        | -                | SPI1_TX_2        | -                | QUADSPI          |
+| Channel 4  | SPI4_RX_1        | SPI4_TX_1        | USART1_RX_1      | SDIO             | -                | USART1_RX_2      | SDIO             | USART1_TX        |
+| Channel 5  | -                | USART6_RX_1      | USART6_RX_2      | SPI4_RX_2        | SPI4_TX_2        | -                | USART6_TX_1      | USART6_TX_2      |
+| Channel 6  | TIM1_TRIG_1      | TIM1_CH1_2       | TIM1_CH2_2       | TIM1_CH1         | TIM1_CH4         | TIM1_UP          | TIM1_CH3_2       | -                |
+|            |                  |                  |                  |                  |   TIM1_TRIG_2    |                  |                  |                  |
+|            |                  |                  |                  |                  |   TIM1_COM       |                  |                  |                  |
+| Channel 7  | -                | TIM8_UP          | TIM8_CH1_2       | TIM8_CH2_2       | TIM8_CH3_2       | SPI5_RX_2        | SPI5_TX_2        | TIM8_CH4         |
+|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_TRIG      |
+|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_COM       |
+|            |                  |                  |                  |                  |                  |                  |                  |                  |
+| Usage      | SPI1_RX_1        | USART6_RX_1      | USART1_RX_1      | SPI1_TX_1        |                  |                  |                  |                  |
+ */
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMAMAP_USART1_RX  DMAMAP_USART1_RX_1  // DMA2, Stream 2, Channel 4    (CONSOLE)
+//#define DMAMAP_UART4_RX DMAMAP_UART4_RX     // DMA1, Stream 2, Channel 4    (GPS)
+
+#define DMACHAN_SPI2_RX    DMAMAP_SPI2_RX     // DMA1, Stream 3, Channel 0    (SPI2 RX)
+#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX     // DMA1, Stream 4, Channel 0    (SPI2 TX)
+#define DMACHAN_SPI3_RX    DMAMAP_SPI3_RX_1   // DMA1, Stream 0, Channel 0    (SPI3 RX SD)
+#define DMACHAN_SPI3_TX    DMAMAP_SPI3_TX_2   // DMA1, Stream 7, Channel 0    (SPI3 TX SD)
+
+#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_1   // DMA2, Stream 0, Channel 3    (SPI1 RX)
+#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 3, Channel 3    (SPI1 TX)
@@ -0,0 +1,195 @@
+#
+# 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_OS_API is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_CMP is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_SPI_CALLBACK is not set
+# CONFIG_STM32_CCMEXCLUDE is not set
+# CONFIG_STM32_DMACAPABLE is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/matek/gnss-m9n-f4/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F405RG=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_BULKIN_REQLEN=96
+CONFIG_CDCACM_PRODUCTID=0x1004
+CONFIG_CDCACM_PRODUCTSTR="Matekgnssm9nf4"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=2000
+CONFIG_CDCACM_VENDORID=0x120A
+CONFIG_CDCACM_VENDORSTR="PX4"
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=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_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MM_REGIONS=2
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_RAMTRON=y
+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_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_MMCSDSPIPORTNO=3
+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_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=131072
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SERIAL_PASSTHRU_UBLOX=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLASH_PREFETCH=y
+CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_I2C2=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_OTGFS=y
+CONFIG_STM32_OTGHS=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_RTC=y
+CONFIG_STM32_RTC_HSECLOCK=y
+CONFIG_STM32_RTC_MAGIC=0xfacefeee
+CONFIG_STM32_RTC_MAGIC_REG=1
+CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
+CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI1_DMA=y
+CONFIG_STM32_SPI1_DMA_BUFFER=1024
+CONFIG_STM32_SPI2=y
+CONFIG_STM32_SPI2_DMA=y
+CONFIG_STM32_SPI2_DMA_BUFFER=1024
+CONFIG_STM32_SPI3=y
+CONFIG_STM32_SPI3_DMA=y
+CONFIG_STM32_SPI3_DMA_BUFFER=512
+CONFIG_STM32_SPI_DMA=y
+CONFIG_STM32_SPI_DMATHRESHOLD=1024
+CONFIG_STM32_SYSCFG_IOCOMPENSATION=y
+CONFIG_STM32_TIM5=y
+CONFIG_STM32_UART4=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART3=y
+CONFIG_STM32_USART_BREAKS=y
+CONFIG_STM32_WWDG=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_UART4_BAUD=38400
+CONFIG_UART4_RXBUFSIZE=300
+CONFIG_UART4_RXDMA=y
+CONFIG_UART4_TXBUFSIZE=300
+CONFIG_USART1_RXBUFSIZE=300
+CONFIG_USART1_RXDMA=y
+CONFIG_USART1_SERIAL_CONSOLE=y
+CONFIG_USART1_TXBUFSIZE=300
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_DUALSPEED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -0,0 +1,137 @@
+/****************************************************************************
+ * configs/gnss-m9n-f4/scripts/ld.canbootloader
+ *
+ *   Copyright (C) 2011 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 STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and
+ * 192Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of CCM SRAM beginning at address 0x1000:0000
+ *
+ * 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.
+ *
+ * The first 32 KiB of flash is reserved for the bootloader.
+ * Paramater storage will use the next 32KiB Sector.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08000000, LENGTH = 32K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * 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)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.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) }
+}
@@ -0,0 +1,147 @@
+/****************************************************************************
+ * configs/gnss-m9n-f4/scripts/ld.script
+ *
+ *   Copyright (C) 2011 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 STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and
+ * 192Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of CCM SRAM beginning at address 0x1000:0000
+ *
+ * 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.
+ *
+ * The first 32 KiB of flash is reserved for the bootloader.
+ * Paramater storage will use the next 32KiB Sector.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08010000, LENGTH = 960K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * 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(8);
+                /*
+                * This section positions the app_descriptor_t used
+                * by the make_can_boot_descriptor.py tool to set
+                * the application image's descriptor so that the
+                * uavcan bootloader has the ability to validate the
+                * image crc, size etc
+                */
+                KEEP(*(.app_descriptor))
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.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) }
+}
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2015-2021 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2018-2022 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
@@ -31,9 +31,40 @@
 #
 ############################################################################

-add_library(crc STATIC
-	EXCLUDE_FROM_ALL
-	crc.c crc.h
-)
-add_dependencies(crc prebuild_targets)
-target_compile_options(crc PRIVATE ${MAX_CUSTOM_OPT_LEVEL})
+if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
+
+	add_library(drivers_board
+		boot_config.h
+		boot.c
+		led.c
+		usb.c
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			canbootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
+
+else()
+	add_library(drivers_board
+		can.c
+		i2c.cpp
+		led.c
+		init.c
+		spi.cpp
+		timer_config.cpp
+		usb.c
+	)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_spi
+			nuttx_arch
+			nuttx_drivers
+			px4_layer
+			arch_io_pins
+			drivers__led
+	)
+endif()
@@ -0,0 +1,146 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2014, 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * 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
+ *
+ * M9nf4 can internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+/* Configuration ************************************************************************************/
+
+/* Matek M9nf4can GPIOs ***********************************************************************************/
+/* LEDs */
+// LED1 - PA14 - blue
+// LED2 - PA13 - green
+
+#define GPIO_LED1       (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN14)
+#define GPIO_LED_BLUE   GPIO_LED1
+
+#define GPIO_LED2       (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN13)
+#define GPIO_LED_GREEN  GPIO_LED2
+
+/* Boot config */
+#define GPIO_BOOT_CONFIG      /* PB7 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7|GPIO_EXTI)
+
+#define FLASH_BASED_PARAMS
+
+#define GPIO_CAN1_SILENT_S0  /* PC13  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
+
+/* USB OTG FS
+ *
+ * PA9  OTG_FS_VBUS VBUS sensing
+ */
+#define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTC|GPIO_PIN5)
+
+#define GPIO_I2C2_SCL_RESET   /* PB10  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_I2C2_SDA_RESET   /*  PB11 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
+
+/* High-resolution timer */
+#define HRT_TIMER                    3 /* use timer 3 as HRT */
+#define HRT_TIMER_CHANNEL            4 /* use capture/compare channel 4 */
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+
+#define PX4_GPIO_INIT_LIST { \
+		GPIO_I2C2_SCL_RESET,              \
+		GPIO_I2C2_SDA_RESET,              \
+		GPIO_BOOT_CONFIG,                 \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_CAN1_SILENT_S0,              \
+		GPIO_OTGFS_VBUS                   \
+	}
+
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+
+/****************************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to configure USB IO.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_usbinitialize(void);
+
+//extern void board_peripheral_reset(int ms);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,190 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+#include <stdint.h>
+#include "boot_config.h"
+#include "board.h"
+
+#include <debug.h>
+#include <string.h>
+#include <arch/board/board.h>
+
+#include "led.h"
+#include <nuttx/board.h>
+
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
+	stm32_configgpio(GPIO_CAN1_RX);
+	stm32_configgpio(GPIO_CAN1_TX);
+	stm32_configgpio(GPIO_CAN1_SILENT_S0);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+
+	//led_init();
+
+#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
+	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
+#endif
+
+}
+
+/************************************************************************************
+ * Name: board_deinitialize
+ *
+ * Description:
+ *   This function is called by the bootloader code prior to booting
+ *   the application. Is should place the HW into an benign initialized state.
+ *
+ ************************************************************************************/
+
+void board_deinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+}
+
+/****************************************************************************
+ * Name: board_get_product_name
+ *
+ * Description:
+ *   Called to retrieve the product name. The returned value is a assumed
+ *   to be written to a pascal style string that will be length prefixed
+ *   and not null terminated
+ *
+ * Input Parameters:
+ *    product_name - A pointer to a buffer to write the name.
+ *    maxlen       - The maximum number of charter that can be written
+ *
+ * Returned Value:
+ *   The length of characters written to the buffer.
+ *
+ ****************************************************************************/
+
+uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
+{
+	DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	return UAVCAN_STRLEN(HW_UAVCAN_NAME);
+}
+
+/****************************************************************************
+ * Name: board_get_hardware_version
+ *
+ * Description:
+ *   Called to retrieve the hardware version information. The function
+ *   will first initialize the the callers struct to all zeros.
+ *
+ * Input Parameters:
+ *    hw_version - A pointer to a uavcan_hardwareversion_t.
+ *
+ * Returned Value:
+ *   Length of the unique_id
+ *
+ ****************************************************************************/
+
+size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
+{
+	memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
+
+	hw_version->major = HW_VERSION_MAJOR;
+	hw_version->minor = HW_VERSION_MINOR;
+
+	return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
+}
+
+/****************************************************************************
+ * Name: board_indicate
+ *
+ * Description:
+ *   Provides User feedback to indicate the state of the bootloader
+ *   on board specific  hardware.
+ *
+ * Input Parameters:
+ *    indication - A member of the uiindication_t
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
+
+typedef begin_packed_struct struct led_t {
+	uint8_t red;
+	uint8_t green;
+	uint8_t blue;
+	uint8_t hz;
+} end_packed_struct led_t;
+
+static const  led_t i2l[] = {
+
+	led(0, off,                             0,     0,     0,     0),
+	led(1, reset,                          128,   128,   128,   30),
+	led(2, autobaud_start,                  0,   128,     0,     1),
+	led(3, autobaud_end,                    0,   128,     0,     2),
+	led(4, allocation_start,                0,     0,    64,     2),
+	led(5, allocation_end,                  0,   128,    64,     3),
+	led(6, fw_update_start,                32,   128,    64,     3),
+	led(7, fw_update_erase_fail,           32,   128,    32,     3),
+	led(8, fw_update_invalid_response,     64,     0,     0,     1),
+	led(9, fw_update_timeout,              64,     0,     0,     2),
+	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
+	led(b, jump_to_app,                     0,   128,     0,    10),
+
+};
+
+void board_indicate(uiindication_t indication)
+{
+	rgb_led(i2l[indication].red,
+		i2l[indication].green,
+		i2l[indication].blue,
+		i2l[indication].hz);
+}
@@ -0,0 +1,129 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * 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 boot_config.h
+ *
+ * bootloader definitions that configures the behavior and options
+ * of the Boot loader
+ * This file is relies on the parent folder's boot_config.h file and defines
+ * different usages of the hardware for bootloading
+ */
+
+#pragma once
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+/* Bring in the board_config.h definitions
+ * todo:make this be pulled in from a targed's build
+ * files in nuttx*/
+
+#include "board_config.h"
+#include "uavcan.h"
+#include <nuttx/compiler.h>
+
+#include <stdint.h>
+
+#include <stm32_flash.h>
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
+
+//todo:wrap OPT_x in in ifdefs for command line definitions
+#define OPT_TBOOT_MS                    5000
+#define OPT_NODE_STATUS_RATE_MS         800
+#define OPT_NODE_INFO_RATE_MS           50
+#define OPT_BL_NUMBER_TIMERS            7
+
+/*
+ *  This Option set is set to 1 ensure a provider of firmware has an
+ *  opportunity update the node's firmware.
+ *  This Option is the default policy and can be overridden by
+ *  a jumper
+ *  When this Policy is set, the node will ignore tboot and
+ *  wait indefinitely for a GetNodeInfo request before booting.
+ *
+ *  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
+ *  the polarity of the jumper to be True Active
+ *
+ *  wait  OPT_WAIT_FOR_GETNODEINFO  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
+ *                                                 Jumper
+ *   yes           1                       0         x
+ *   yes           1                       1       Active
+ *   no            1                       1       Not Active
+ *   no            0                       0         X
+ *   yes           0                       1       Active
+ *   no            0                       1       Not Active
+ *
+ */
+#define OPT_WAIT_FOR_GETNODEINFO                    0
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        1
+#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
+#define OPT_ENABLE_WD           1
+
+#define OPT_RESTART_TIMEOUT_MS          20000
+
+/* Reserved for the Booloader */
+#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)
+
+/* Reserved for the application out of the total
+ * system flash minus the BOOTLOADER_SIZE_IN_K
+ */
+#define OPT_APPLICATION_RESERVER_IN_K    0
+
+#define OPT_APPLICATION_IMAGE_OFFSET    OPT_BOOTLOADER_SIZE_IN_K
+#define OPT_APPLICATION_IMAGE_LENGTH    (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
+
+
+#define FLASH_BASE              STM32_FLASH_BASE
+#define FLASH_SIZE              STM32_FLASH_SIZE
+
+#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
+#define APPLICATION_LAST_8BIT_ADDRRESS  ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
+#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
+#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
+
+//* If this board uses big flash that have large sectors */
+
+#define OPT_USE_YIELD
+
+/* Bootloader Option*****************************************************************
+ *
+ */
+#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI)
@@ -0,0 +1,130 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * 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 can.c
+ *
+ * Board-specific CAN functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <errno.h>
+#include <debug.h>
+
+#include <nuttx/can/can.h>
+#include <arch/board/board.h>
+
+#include "chip.h"
+#include "arm_arch.h"
+
+#include "stm32.h"
+#include "stm32_can.h"
+#include "board_config.h"
+
+#ifdef CONFIG_CAN
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+/* Configuration ********************************************************************/
+
+#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
+#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
+#  undef CONFIG_STM32_CAN2
+#endif
+
+#ifdef CONFIG_STM32_CAN1
+#  define CAN_PORT 1
+#else
+#  define CAN_PORT 2
+#endif
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+int can_devinit(void);
+
+/************************************************************************************
+ * Name: can_devinit
+ *
+ * Description:
+ *   All STM32 architectures must provide the following interface to work with
+ *   examples/can.
+ *
+ ************************************************************************************/
+
+int can_devinit(void)
+{
+	static bool initialized = false;
+	struct can_dev_s *can;
+	int ret;
+
+	/* Check if we have already initialized */
+
+	if (!initialized) {
+		/* Call stm32_caninitialize() to get an instance of the CAN interface */
+
+		can = stm32_caninitialize(CAN_PORT);
+
+		if (can == NULL) {
+			canerr("ERROR:  Failed to get CAN interface\n");
+			return -ENODEV;
+		}
+
+		/* Register the CAN driver at "/dev/can0" */
+
+		ret = can_register("/dev/can0", can);
+
+		if (ret < 0) {
+			canerr("ERROR: can_register failed: %d\n", ret);
+			return ret;
+		}
+
+		/* Now we are initialized */
+
+		initialized = true;
+	}
+
+	return OK;
+}
+
+#endif
@@ -1,7 +1,6 @@
-
 /****************************************************************************
 *
- *   Copyright (C) 2015 Mark Charlebois. All rights reserved.
+ *   Copyright (C) 2020-2021 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -32,9 +31,8 @@
 *
 ****************************************************************************/

-/**
- * @file px4_config.h
-   Configuration flags used in code.
- */
+#include <px4_arch/i2c_hw_description.h>

-#pragma once
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(2),
+};
@@ -0,0 +1,203 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2022 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
+ *
+ * Matek M9NF4 CAN -specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/i2c/i2c_master.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+
+#include <stm32.h>
+#include "board_config.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_watchdog.h>
+
+#include "led.h"
+
+#include <systemlib/px4_macros.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
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+stm32_boardinitialize(void)
+{
+	watchdog_init();
+
+
+	/* configure LEDs */
+
+	board_autoled_initialize();
+
+	/* configure pins */
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	/* configure SPI all interfaces GPIO */
+
+	/* configure USB interfaces */
+
+	stm32_usbinitialize();
+
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+static struct spi_dev_s *spi3;
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	px4_platform_init();
+
+#if defined(SERIAL_HAVE_RXDMA)
+
+	/* set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event. */
+
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
+	/* configure the DMA allocator */
+
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "DMA alloc FAILED\n");
+	}
+
+
+	stm32_spiinitialize();
+
+
+	spi3 = stm32_spibus_initialize(CONFIG_NSH_MMCSDSPIPORTNO);
+
+	if (!spi3) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 3\n");
+		rgb_led(255, 0, 0, 0);
+		return -ENODEV;
+	}
+
+	int ret = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi3);
+
+	if (ret < 0) {
+		syslog(LOG_ERR, "[boot] Failed to bind SPI port 0 to SD slot 0\n");
+		rgb_led(255, 0, 0, 0);
+		return ret;
+	}
+
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{2, 16 * 1024, 0x08008000},
+		{3, 16 * 1024, 0x0800C000},
+		{0, 0, 0},
+	};
+
+	/* Initialize the flashfs layer to use heap allocated memory */
+	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);
+		rgb_led(255, 0, 0, 0);
+		return -ENODEV;
+	}
+
+#endif // FLASH_BASED_PARAMS
+
+	rgb_led(0, 255, 0, 0);
+
+	return OK;
+}
@@ -0,0 +1,172 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * 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 led.c
+ *
+ * LED backend.
+ */
+
+#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>
+
+#include "led.h"
+
+#define TMR_BASE        STM32_TIM1_BASE
+#define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
+#define TMR_REG(o)      (TMR_BASE+(o))
+
+static uint32_t g_ledmap[] = {
+	GPIO_LED_BLUE,
+};
+
+void rgb_led(int r, int g, int b, int freqs)
+{
+
+	long fosc = TMR_FREQUENCY;
+	long prescale = 2048;
+	long p1s = fosc / prescale;
+	long p0p5s  = p1s / 2;
+	uint16_t val;
+	static bool once = 0;
+
+	if (!once) {
+		once = 1;
+
+		/* Enabel Clock to Block */
+		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
+
+		/* Reload */
+
+		val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
+		val |= ATIM_EGR_UG;
+		putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
+
+		/* Set Prescaler STM32_TIM_SETCLOCK */
+
+		putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
+
+		/* Enable STM32_TIM_SETMODE*/
+
+		putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
+			 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
+		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
+			 ATIM_CCER_CC2E | ATIM_CCER_CC2P |
+			 ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
+
+
+		stm32_configgpio(GPIO_TIM1_CH1N_1);
+		stm32_configgpio(GPIO_TIM1_CH2N_1);
+		stm32_configgpio(GPIO_TIM1_CH3N_1);
+
+		/* master output enable = on */
+		putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET)));
+	}
+
+	long p  = freqs == 0 ? p1s : p1s / freqs;
+	putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
+
+	p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
+
+	putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
+	putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
+	putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
+
+	val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+	if (freqs == 0) {
+		val &= ~ATIM_CR1_CEN;
+
+	} else {
+		val |= ATIM_CR1_CEN;
+	}
+
+	putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
+
+}
+
+__EXPORT void led_init(void)
+{
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		stm32_configgpio(g_ledmap[l]);
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	if (led == 0) {
+		stm32_gpiowrite(g_ledmap[led], !state);
+	}
+}
+/*
+__EXPORT void board_autoled_on(int led) {
+	if (led == 1) {
+		stm32_gpiowrite(GPIO_LED1, false);
+	}
+}
+
+__EXPORT void board_autoled_off(int led) {
+	if (led == 1) {
+		stm32_gpiowrite(GPIO_LED1, true);
+	}
+}*/
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(led, true);
+}
+
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(led, false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	if (led == 0) {
+		phy_set_led(led, !stm32_gpioread(g_ledmap[led]));
+	}
+}
@@ -1,6 +1,7 @@
 /****************************************************************************
 *
- *   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2015-2021 PX4 Development Team. All rights reserved.
+ *   Author: David Sidrane<david_s5@nscdg.com>
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -30,7 +31,11 @@
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ****************************************************************************/
-#pragma once
-
-#include <px4_platform/micro_hal.h>

+__BEGIN_DECLS
+void rgb_led(int r, int g, int b, int freqs);
+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
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2018-2021 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -31,26 +31,20 @@
 *
 ****************************************************************************/

-#include <uORB/uORB.h>
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>

-#include "uORBTopics.hpp"
-
-@PX4_ORB_DEFINE_STR@
-
-const constexpr struct orb_metadata *const uorb_topics_list[ORB_TOPICS_COUNT] = {
-@PX4_MSG_TOPIC_ORB_ID@
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortC, GPIO::Pin4}),
+	}),
+	initSPIBus(SPI::Bus::SPI2, {
+		initSPIDevice(DRV_MAG_DEVTYPE_RM3100, SPI::CS{GPIO::PortB, GPIO::Pin12})
+	}),
+	initSPIBus(SPI::Bus::SPI3, {
+		initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortC, GPIO::Pin14})
+	}),
 };

-const struct orb_metadata *const *orb_get_topics()
-{
-	return uorb_topics_list;
-}
-
-const struct orb_metadata *get_orb_meta(ORB_ID id)
-{
-	if (id == ORB_ID::INVALID) {
-		return nullptr;
-	}
-
-	return uorb_topics_list[static_cast<uint8_t>(id)];
-}
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (C) 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (C) 2018-2021 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -31,42 +31,19 @@
 *
 ****************************************************************************/

+#include <px4_arch/io_timer_hw_description.h>

-#pragma once
-
-#include <stddef.h>
-
-#include <uORB/uORB.h>
-
-
-@PX4_ORB_HEADER_INCLUDE_STR@
-
-static constexpr size_t ORB_TOPICS_COUNT{@PX4_ORB_TOPIC_COUNT@};
-static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }
-
-@PX4_ORB_DECLARE_STR@
-
-/*
- * Returns array of topics metadata
- */
-extern const struct orb_metadata *const *orb_get_topics() __EXPORT;
-
-enum class ORB_ID : uint8_t {
-@PX4_MSG_TOPIC_ID@
-
-	INVALID
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
+	initIOTimer(Timer::Timer2, DMA{DMA::Index1, DMA::Stream1, DMA::Channel3}),
 };

-const struct orb_metadata *get_orb_meta(ORB_ID id);
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortA, GPIO::Pin3}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortA, GPIO::Pin2}),
+};

-
-static constexpr const char *get_topic_string(ORB_ID orb_id)
-{
-	switch (orb_id) {
-@PX4_MSG_TOPIC_ID_STRING@
-	default:
-		return nullptr;
-	}
-
-	return nullptr;
-}
+//constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+//	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -0,0 +1,107 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2018-2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * 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.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <arm_arch.h>
+#include <stm32.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the omnibusf4sd board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32_OTGFS
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+	/* XXX We only support device mode
+	stm32_configgpio(GPIO_OTGFS_PWRON);
+	stm32_configgpio(GPIO_OTGFS_OVER);
+	*/
+#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.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}
@@ -0,0 +1,17 @@
+# UAVCAN boot loadable Module ID
+set(uavcanblid_sw_version_major 0)
+set(uavcanblid_sw_version_minor 1)
+add_definitions(
+	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
+	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
+)
+
+set(uavcanblid_hw_version_major 3)
+set(uavcanblid_hw_version_minor 246)
+set(uavcanblid_name "\"org.matek.gnss-m9n-f4\"")
+
+add_definitions(
+	-DHW_UAVCAN_NAME=${uavcanblid_name}
+	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
+	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
+)
@@ -262,7 +262,6 @@

 #define BOARD_NUM_IO_TIMERS 5

-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};

 __BEGIN_DECLS

@@ -199,7 +199,6 @@
 */
 #define DIRECT_PWM_OUTPUT_CHANNELS   8

-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};

 /* Power supply control and monitoring GPIOs */
 #define GPIO_nVDD_USB_VALID             /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13) /* Low for USB power, High for DC power */
@@ -157,7 +157,6 @@

 #define BOARD_NUM_IO_TIMERS 3

-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};

 #define BOARD_ENABLE_CONSOLE_BUFFER

@@ -157,7 +157,6 @@

 #define BOARD_NUM_IO_TIMERS 3

-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};

 #define BOARD_ENABLE_CONSOLE_BUFFER

@@ -146,7 +146,6 @@
 #define BOARD_ADC_BRICK_VALID   (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))

 #define BOARD_NUM_IO_TIMERS 3
-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7};
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120 /* This board provides a DMA pool and APIs */
 #define BOARD_HAS_ON_RESET 1 /* This board provides the board_on_reset interface */
 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -46,7 +46,6 @@ px4_add_library(drivers_board
 	imxrt_flexspi_nor_boot.c
 	imxrt_flexspi_nor_flash.c
 )
-add_dependencies(drivers_board arch_board_hw_info)

 target_link_libraries(drivers_board
 	PRIVATE
@@ -45,7 +45,6 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
 			nuttx_arch
 			nuttx_drivers
 			canbootloader
-			arch_io_pins
 			arch_led_pwm
 	)
 	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
@@ -73,6 +72,6 @@ else()
 			nuttx_drivers # sdio
 			drivers__led # drv_led_start
 			px4_layer
-			arch_io_pins
+			px4_platform # I2CBusIterator
 		)
 endif()
@@ -147,7 +147,6 @@
 #define BOARD_ENABLE_CONSOLE_BUFFER
 #define BOARD_CONSOLE_BUFFER_SIZE (1024*3)

-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {0, 1, 3, 2};

 __BEGIN_DECLS

@@ -158,7 +158,6 @@

 #define BOARD_HAS_ON_RESET 1

-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};

 __BEGIN_DECLS

@@ -158,7 +158,6 @@

 #define BOARD_HAS_ON_RESET 1

-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};

 /* Internal IMU Heater
 *
@@ -48,5 +48,4 @@ target_link_libraries(drivers_board
 		nuttx_arch # sdio
 		nuttx_drivers # sdio
 		px4_layer
-		arch_io_pins
 )
@@ -179,7 +179,6 @@

 #define BOARD_HAS_ON_RESET 1

-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};

 __BEGIN_DECLS

@@ -12,6 +12,7 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
@@ -81,8 +82,8 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -0,0 +1,146 @@
+/****************************************************************************
+ * kernel-space.ld
+ *
+ *   Copyright (C) 2015 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.
+ *
+ ****************************************************************************/
+
+/* NOTE:  This depends on the memory.ld script having been included prior to
+ * this script.
+ */
+
+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)
+/*
+ * TODO: Fill in the signature location into TOC from user-space elf
+EXTERN(_main_toc)
+*/
+
+SECTIONS
+{
+    .text : {
+        _stext = ABSOLUTE(.);
+        *(.vectors)
+	. = ALIGN(32);
+	/*
+	This signature provides the bootloader with a way to delay booting
+	*/
+	_bootdelay_signature = ABSOLUTE(.);
+	FILL(0xffecc2925d7d05c5)
+	. += 8;
+        /*
+        *(.main_toc)
+        */
+        *(.text .text.*)
+        *(.fixup)
+        *(.gnu.warning)
+        *(.rodata .rodata.*)
+        *(.gnu.linkonce.t.*)
+        *(.glue_7)
+        *(.glue_7t)
+        *(.got)
+        *(.gcc_except_table)
+        *(.gnu.linkonce.r.*)
+        _etext = ABSOLUTE(.);
+    } > kflash
+
+    /*
+     * Init functions (static constructors and the like)
+     */
+    .init_section : {
+        _sinit = ABSOLUTE(.);
+	KEEP(*(.init_array .init_array.*))
+        _einit = ABSOLUTE(.);
+    } > kflash
+
+
+    .ARM.extab : {
+        *(.ARM.extab*)
+    } > kflash
+
+    __exidx_start = ABSOLUTE(.);
+    .ARM.exidx : {
+        *(.ARM.exidx*)
+    } > kflash
+
+    __exidx_end = ABSOLUTE(.);
+
+    _eronly = ABSOLUTE(.);
+
+    .data : {
+        _sdata = ABSOLUTE(.);
+        *(.data .data.*)
+        *(.gnu.linkonce.d.*)
+        CONSTRUCTORS
+        _edata = ABSOLUTE(.);
+    } > ksram AT > kflash
+
+    .bss : {
+        _sbss = ABSOLUTE(.);
+        *(.bss .bss.*)
+        *(.gnu.linkonce.b.*)
+        *(COMMON)
+        . = ALIGN(4);
+        _ebss = ABSOLUTE(.);
+    } > ksram
+
+    /* 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) }
+
+    .ramfunc : {
+        _sramfuncs = .;
+	*(.ramfunc  .ramfunc.*)
+	. = ALIGN(4);
+	_eramfuncs = .;
+    } > ksram AT > kflash
+
+    _framfuncs = LOADADDR(.ramfunc);
+}
@@ -0,0 +1,98 @@
+/****************************************************************************
+ * scripts/memory.ld
+ *
+ *   Copyright (C) 2016 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 STM32F765IIT6 has 2048 KiB of main FLASH memory.  This FLASH memory
+ * can be accessed from either the AXIM interface at address 0x0800:0000 or
+ * from the ITCM interface at address 0x0020:0000.
+ *
+ * Additional information, including the option bytes, is available at at
+ * FLASH at address 0x1ff0:0000 (AXIM) or 0x0010:0000 (ITCM).
+ *
+ * In the STM32F765IIT6, 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 on ITCM at 0x0020:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x0010:0000
+ *
+ * NuttX does not modify these option byes.  On the unmodified NUCLEO-144
+ * board, the BOOT0 pin is at ground so by default, the STM32F765IIT6 will
+ * boot from address 0x0020:0000 in ITCM FLASH.
+ *
+ * The STM32F765IIT6 also has 512 KiB of data SRAM (in addition to ITCM SRAM).
+ * SRAM is split up into three blocks:
+ *
+ *   1) 128 KiB of DTCM SRM beginning at address 0x2000:0000
+ *   2) 368 KiB of SRAM1 beginning at address 0x2002:0000
+ *   3)  16 KiB of SRAM2 beginning at address 0x2007:c000
+ *
+ * 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.
+ *
+ * Bootloader reserves the first 32K bank (2 Mbytes Flash memory single bank)
+ * organization (256 bits read width)
+ */
+
+MEMORY
+{
+  /* ITCM boot address */
+
+  itcm  (rwx) : ORIGIN = 0x00208000, LENGTH = 2048K-32K
+
+  /* 2048KB FLASH, bootloader reserves the first 32kb */
+
+  kflash (rx) : ORIGIN = 0x08008000, LENGTH = 1024K-32K
+  uflash (rx) : ORIGIN = 0x08100000, LENGTH = 1024K
+
+  /* ITCM RAM */
+
+  itcm_ram  (rwx) : ORIGIN = 0x00000000, LENGTH = 16K
+
+  /* DTCM SRAM */
+
+  dtcm_ram  (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
+
+  /* 368KB of contiguous SRAM1 */
+
+  ksram (rwx) : ORIGIN = 0x20020000, LENGTH = 128K
+  usram (rwx) : ORIGIN = 0x20040000, LENGTH = 368K-128K
+
+  /* 16KB of SRAM2 */
+
+  sram2 (rwx) : ORIGIN = 0x2007c000, LENGTH = 16K
+}
@@ -0,0 +1,124 @@
+/****************************************************************************
+ * user-space.ld
+ *
+ *   Copyright (C) 2015 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.
+ *
+ ****************************************************************************/
+
+/* NOTE:  This depends on the memory.ld script having been included prior to
+ * this script.
+ */
+EXTERN(userspace)
+OUTPUT_ARCH(arm)
+SECTIONS
+{
+    .userspace : {
+        *(.userspace)
+    } > uflash
+
+    .text : {
+        _stext = ABSOLUTE(.);
+        *(.text .text.*)
+        *(.fixup)
+        *(.gnu.warning)
+        *(.rodata .rodata.*)
+        *(.gnu.linkonce.t.*)
+        *(.glue_7)
+        *(.glue_7t)
+        *(.got)
+        *(.gcc_except_table)
+        *(.gnu.linkonce.r.*)
+        _etext = ABSOLUTE(.);
+    } > uflash
+
+    /*
+     * Init functions (static constructors and the like)
+     */
+    .init_section : {
+        _sinit = ABSOLUTE(.);
+        KEEP(*(.init_array .init_array.*))
+        _einit = ABSOLUTE(.);
+    } > uflash
+
+
+    .ARM.extab : {
+        *(.ARM.extab*)
+    } > uflash
+
+    __exidx_start = ABSOLUTE(.);
+    .ARM.exidx : {
+        *(.ARM.exidx*)
+    } > uflash
+
+    __exidx_end = ABSOLUTE(.);
+
+    _eronly = ABSOLUTE(.);
+
+    .data : {
+        _sdata = ABSOLUTE(.);
+        *(.data .data.*)
+        *(.gnu.linkonce.d.*)
+        CONSTRUCTORS
+        _edata = ABSOLUTE(.);
+    } > usram AT > uflash
+
+    .bss : {
+        _sbss = ABSOLUTE(.);
+        *(.bss .bss.*)
+        *(.gnu.linkonce.b.*)
+        *(COMMON)
+        /* Kernel heap start at _ebss, make _ebss MPU-friendly aligned */
+        . = ALIGN(0x1000);
+        _ebss = ABSOLUTE(.);
+    } > usram
+
+    /* 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) }
+
+    /* Start of the image signature. This
+     *  has to be in the end of the image
+     */
+     .signature : {
+         _boot_signature = ALIGN(4);
+     } > uflash
+}
@@ -433,7 +433,6 @@

 #define BOARD_NUM_IO_TIMERS 5

-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 8, 9, 10};

 __BEGIN_DECLS

@@ -1,4 +1,5 @@
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
+CONFIG_COMMON_HYGROMETERS=n
 CONFIG_DRIVERS_BATT_SMBUS=n
 CONFIG_DRIVERS_CAMERA_CAPTURE=n
 CONFIG_DRIVERS_CAMERA_TRIGGER=n
@@ -43,7 +43,8 @@ add_library(drivers_board
 	timer_config.cpp
 	usb.c
 )
-add_dependencies(drivers_board arch_board_hw_info platform_gpio_mcp23009)
+
+add_dependencies(drivers_board platform_gpio_mcp23009)

 target_link_libraries(drivers_board
 	PRIVATE
@@ -218,7 +218,6 @@
 */
 #define DIRECT_PWM_OUTPUT_CHANNELS  9

-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 8};

 /* Power supply control and monitoring GPIOs */

@@ -196,7 +196,6 @@
 */
 #define DIRECT_PWM_OUTPUT_CHANNELS   9

-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 8};

 /* Power supply control and monitoring GPIOs */

@@ -236,7 +236,6 @@
 */
 #define DIRECT_PWM_OUTPUT_CHANNELS   9

-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5, 6, 7, 8};

 /* Power supply control and monitoring GPIOs */

@@ -1 +0,0 @@
-CONFIG_PLATFORM_ROS2=y
@@ -1,36 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2021 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# 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.
-#
-############################################################################
-
-add_library(drivers_board
-	init.cpp
-)
@@ -48,5 +48,4 @@ target_link_libraries(drivers_board
 		nuttx_arch # sdio
 		nuttx_drivers # sdio
 		px4_layer
-		arch_io_pins
 )
@@ -133,7 +133,6 @@

 #define BOARD_NUM_IO_TIMERS 3

-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {1, 2, 3, 0, 4, 5, 6, 7};

 __BEGIN_DECLS

@@ -48,5 +48,4 @@ target_link_libraries(drivers_board
 		nuttx_arch # sdio
 		nuttx_drivers # sdio
 		px4_layer
-		arch_io_pins
 )
@@ -178,7 +178,6 @@

 #define BOARD_HAS_ON_RESET 1

-#define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};

 #define BOARD_ENABLE_CONSOLE_BUFFER
 #define BOARD_CONSOLE_BUFFER_SIZE (1024*3)
@@ -26,6 +26,8 @@ set(COMMON_KCONFIG_ENV_SETTINGS
 	ROMFSROOT=${config_romfs_root}
 )

+set(config_user_list)
+
 if(EXISTS ${BOARD_DEFCONFIG})

    # Depend on BOARD_DEFCONFIG so that we reconfigure on config change
@@ -79,6 +81,17 @@ if(EXISTS ${BOARD_DEFCONFIG})
            endif()
        endif()

+        # Find variable name
+        string(REGEX MATCH "^CONFIG_USER[^=]+" Userspace ${NameAndValue})
+
+        if(Userspace)
+            # Find the value
+            string(REPLACE "${Name}=" "" Value ${NameAndValue})
+            string(REPLACE "CONFIG_USER_" "" module ${Name})
+            string(TOLOWER ${module} module)
+            list(APPEND config_user_list ${module})
+        endif()
+
        # Find variable name
        string(REGEX MATCH "^CONFIG_DRIVERS[^=]+" Drivers ${NameAndValue})

@@ -171,6 +184,16 @@ if(EXISTS ${BOARD_DEFCONFIG})

    endforeach()

+    # Put every module not in userspace also to kernel list
+    foreach(modpath ${config_module_list})
+        get_filename_component(module ${modpath} NAME)
+        list(FIND config_user_list ${module} _index)
+
+        if (${_index} EQUAL -1)
+            list(APPEND config_kernel_list ${modpath})
+        endif()
+    endforeach()
+
    if(PLATFORM)
        # set OS, and append specific platform module path
        set(PX4_PLATFORM ${PLATFORM} CACHE STRING "PX4 board OS" FORCE)
@@ -336,6 +359,7 @@ if(EXISTS ${BOARD_DEFCONFIG})
 	list(APPEND config_module_list ${board_support_src_rel}/src)

 	set(config_module_list ${config_module_list})
+	set(config_kernel_list ${config_kernel_list})

 endif()

@@ -57,7 +57,4 @@ else()
 endif()

 include(CPack)
-
-if(${PX4_PLATFORM} MATCHES "nuttx")
-	include(bloaty)
-endif()
+include(bloaty)
@@ -71,11 +71,11 @@ function(px4_add_common_flags)
 		-Werror

 		-Warray-bounds
-		#-Wcast-align # TODO
+		-Wcast-align
 		-Wdisabled-optimization
 		-Wdouble-promotion
 		-Wfatal-errors
-		#-Wfloat-equal
+		-Wfloat-equal
 		-Wformat-security
 		-Winit-self
 		-Wlogical-op
@@ -156,6 +156,9 @@ function(px4_add_common_flags)
 	# CXX only flags
 	set(cxx_flags)
 	list(APPEND cxx_flags
+		-fno-exceptions
+		-fno-threadsafe-statics
+
 		-Wreorder

 		# disabled warnings
@@ -172,19 +175,16 @@ function(px4_add_common_flags)
 		add_compile_options($<$<COMPILE_LANGUAGE:CXX>:${flag}>)
 	endforeach()

-	if(NOT (${PX4_PLATFORM} MATCHES "ros2")) # TODO: fix
-		include_directories(
-			${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/${PX4_CHIP_MANUFACTURER}/${PX4_CHIP}/include
-			${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/common/include
-			${PX4_SOURCE_DIR}/platforms/common
-			${PX4_SOURCE_DIR}/platforms/common/include
-		)
-	endif()

 	include_directories(
 		${PX4_BINARY_DIR}
 		${PX4_BINARY_DIR}/src/lib

+		${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/${PX4_CHIP_MANUFACTURER}/${PX4_CHIP}/include
+		${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/common/include
+		${PX4_SOURCE_DIR}/platforms/common
+		${PX4_SOURCE_DIR}/platforms/common/include
+
 		${PX4_SOURCE_DIR}/src
 		${PX4_SOURCE_DIR}/src/include
 		${PX4_SOURCE_DIR}/src/lib
@@ -39,16 +39,13 @@ include(px4_list_make_absolute)
 #	Like add_library but with PX4 platform dependencies
 #
 function(px4_add_library target)
-	add_library(${target} STATIC
-		EXCLUDE_FROM_ALL
-		${ARGN}
-	)
+	add_library(${target} EXCLUDE_FROM_ALL ${ARGN})

 	target_compile_definitions(${target} PRIVATE MODULE_NAME="${target}")

 	# all PX4 libraries have access to parameters and uORB
-	add_dependencies(${target} uorb_headers)
-	target_link_libraries(${target} PRIVATE prebuild_targets parameters_interface px4_platform)
+	add_dependencies(${target} uorb_headers parameters)
+	target_link_libraries(${target} PRIVATE prebuild_targets)

 	set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})
 	px4_list_make_absolute(ABS_SRCS ${CMAKE_CURRENT_SOURCE_DIR} ${ARGN})
@@ -48,7 +48,6 @@ include(px4_list_make_absolute)
 #			[ DEPENDS <string> ]
 #			[ SRCS <list> ]
 #			[ MODULE_CONFIG <list> ]
-#			[ PUBLICATIONS <list> ]
 #			[ EXTERNAL ]
 #			[ DYNAMIC ]
 #			)
@@ -65,8 +64,6 @@ include(px4_list_make_absolute)
 #		MODULE_CONFIG		: yaml config file(s)
 #		INCLUDES		: include directories
 #		DEPENDS			: targets which this module depends on
-#		PUBLICATIONS		: List of publications from this module
-#               SUBSCRIPTIONS		: List of subsriptions used by this module
 #		EXTERNAL		: flag to indicate that this module is out-of-tree
 #		DYNAMIC			: don't compile into the px4 binary, but build a separate dynamically loadable module (posix)
 #		UNITY_BUILD		: merge all source files and build this module as a single compilation unit
@@ -89,7 +86,7 @@ function(px4_add_module)
 	px4_parse_function_args(
 		NAME px4_add_module
 		ONE_VALUE MODULE MAIN STACK_MAIN STACK_MAX PRIORITY
-		MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS MODULE_CONFIG PUBLICATIONS SUBSCRIPTIONS
+		MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS MODULE_CONFIG
 		OPTIONS EXTERNAL DYNAMIC UNITY_BUILD
 		REQUIRED MODULE MAIN
 		ARGN ${ARGN})
@@ -157,9 +154,29 @@ function(px4_add_module)
 	# all modules can potentially use parameters and uORB
 	add_dependencies(${MODULE} uorb_headers)

+	# Check if the modules source dir exists in config_kernel_list
+	# in this case, treat is as a kernel side component for
+	# protected build
+	get_target_property(MODULE_SOURCE_DIR ${MODULE} SOURCE_DIR)
+	file(RELATIVE_PATH module ${PROJECT_SOURCE_DIR}/src ${MODULE_SOURCE_DIR})
+
+	list (FIND config_kernel_list ${module} _index)
+	if (${_index} GREATER -1)
+		set (KERNEL TRUE)
+	endif()
+
 	if(NOT DYNAMIC)
-		target_link_libraries(${MODULE} PRIVATE prebuild_targets parameters_interface px4_layer px4_platform systemlib)
-		set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES ${MODULE})
+		target_link_libraries(${MODULE} PRIVATE prebuild_targets parameters_interface px4_platform systemlib perf)
+		if (${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT AND KERNEL)
+			target_link_libraries(${MODULE} PRIVATE px4_kernel_layer uORB_kernel)
+			set_property(GLOBAL APPEND PROPERTY PX4_KERNEL_MODULE_LIBRARIES ${MODULE})
+		else()
+			target_link_libraries(${MODULE} PRIVATE px4_layer uORB)
+			set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES ${MODULE})
+		endif()
+		set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})
+		px4_list_make_absolute(ABS_SRCS ${CMAKE_CURRENT_SOURCE_DIR} ${SRCS})
+		set_property(GLOBAL APPEND PROPERTY PX4_SRC_FILES ${ABS_SRCS})
 	endif()

 	set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})
@@ -168,7 +185,7 @@ function(px4_add_module)

 	# set defaults if not set
 	set(MAIN_DEFAULT MAIN-NOTFOUND)
-	set(STACK_MAIN_DEFAULT 4096)
+	set(STACK_MAIN_DEFAULT 2048)
 	set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)

 	foreach(property MAIN STACK_MAIN PRIORITY)
@@ -200,6 +217,10 @@ function(px4_add_module)
 		target_compile_options(${MODULE} PRIVATE ${COMPILE_FLAGS})
 	endif()

+	if (KERNEL)
+		target_compile_options(${MODULE} PRIVATE -D__KERNEL__)
+	endif()
+
 	if(INCLUDES)
 		target_include_directories(${MODULE} PRIVATE ${INCLUDES})
 	endif()
@@ -217,21 +238,7 @@ function(px4_add_module)
 		endforeach()
 	endif()

-	if(PUBLICATIONS)
-		foreach(publication ${PUBLICATIONS})
-			#message(STATUS "${MODULE} PUBLICATION: ${publication}")
-			set_property(GLOBAL APPEND PROPERTY PX4_PUBLICATIONS ${publication})
-		endforeach()
-	endif()
-
-	if(SUBSCRIPTIONS)
-		foreach(subscription ${SUBSCRIPTIONS})
-			#message(STATUS "${MODULE} SUBSCRIPTION: ${subscription}")
-			set_property(GLOBAL APPEND PROPERTY PX4_SUBSCRIPTIONS ${subscription})
-		endforeach()
-	endif()
-
-	foreach(prop LINK_FLAGS STACK_MAIN MAIN PRIORITY)
+	foreach (prop LINK_FLAGS STACK_MAIN MAIN PRIORITY)
 		if (${prop})
 			set_target_properties(${MODULE} PROPERTIES ${prop} ${${prop}})
 		endif()
@@ -63,9 +63,9 @@ if(NOT PX4_CONFIG_FILE)
 			)
 				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
 				set(PX4_BOARD_DIR "${PX4_SOURCE_DIR}/boards/${vendor}/${model}" CACHE STRING "PX4 board directory" FORCE)
-				set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
-				set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
-				set(LABEL "${label}" CACHE STRING "PX4 board vendor" FORCE)
+                set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
+                set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
+                set(LABEL "${label}" CACHE STRING "PX4 board vendor" FORCE)
 				break()
 			endif()

@@ -76,9 +76,9 @@ if(NOT PX4_CONFIG_FILE)
 			)
 				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
 				set(PX4_BOARD_DIR "${PX4_SOURCE_DIR}/boards/${vendor}/${model}" CACHE STRING "PX4 board directory" FORCE)
-				set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
-				set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
-				set(LABEL "${label}" CACHE STRING "PX4 board vendor" FORCE)
+                set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
+                set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
+                set(LABEL "${label}" CACHE STRING "PX4 board vendor" FORCE)
 				break()
 			endif()
 		endif()
@@ -0,0 +1,114 @@
+<?xml version="1.0"?>
+<launch>
+    <!-- MAVROS posix SITL environment launch script -->
+    <!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
+    <!-- vehicle model and world -->
+    <arg name="est" default="ekf2"/>
+    <arg name="vehicle" default="iris"/>
+    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
+    <!-- gazebo configs -->
+    <arg name="gui" default="true"/>
+    <arg name="debug" default="false"/>
+    <arg name="verbose" default="false"/>
+    <arg name="paused" default="false"/>
+    <!-- Gazebo sim -->
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="world_name" value="$(arg world)"/>
+        <arg name="debug" value="$(arg debug)"/>
+        <arg name="verbose" value="$(arg verbose)"/>
+        <arg name="paused" value="$(arg paused)"/>
+    </include>
+    <!-- UAV0 -->
+    <group ns="uav0">
+        <!-- MAVROS and vehicle configs -->
+        <arg name="ID" value="0"/>
+        <arg name="fcu_url" default="udp://:14540@localhost:14580"/>
+        <!-- PX4 SITL and vehicle spawn -->
+        <include file="$(find px4)/launch/single_vehicle_spawn.launch">
+            <arg name="x" value="0"/>
+            <arg name="y" value="0"/>
+            <arg name="z" value="0"/>
+            <arg name="R" value="0"/>
+            <arg name="P" value="0"/>
+            <arg name="Y" value="0"/>
+            <arg name="vehicle" value="$(arg vehicle)"/>
+            <arg name="mavlink_udp_port" value="14560"/>
+            <arg name="mavlink_tcp_port" value="4560"/>
+            <arg name="ID" value="$(arg ID)"/>
+            <arg name="gst_udp_port" value="$(eval 5600 + arg('ID'))"/>
+            <arg name="video_uri" value="$(eval 5600 + arg('ID'))"/>
+            <arg name="mavlink_cam_udp_port" value="$(eval 14530 + arg('ID'))"/>
+        </include>
+        <!-- MAVROS -->
+        <include file="$(find mavros)/launch/px4.launch">
+            <arg name="fcu_url" value="$(arg fcu_url)"/>
+            <arg name="gcs_url" value=""/>
+            <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
+            <arg name="tgt_component" value="1"/>
+        </include>
+    </group>
+    <!-- UAV1 -->
+    <group ns="uav1">
+        <!-- MAVROS and vehicle configs -->
+        <arg name="ID" value="1"/>
+        <arg name="fcu_url" default="udp://:14541@localhost:14581"/>
+        <!-- PX4 SITL and vehicle spawn -->
+        <include file="$(find px4)/launch/single_vehicle_spawn.launch">
+            <arg name="x" value="1"/>
+            <arg name="y" value="0"/>
+            <arg name="z" value="0"/>
+            <arg name="R" value="0"/>
+            <arg name="P" value="0"/>
+            <arg name="Y" value="0"/>
+            <arg name="vehicle" value="$(arg vehicle)"/>
+            <arg name="mavlink_udp_port" value="14561"/>
+            <arg name="mavlink_tcp_port" value="4561"/>
+            <arg name="ID" value="$(arg ID)"/>
+            <arg name="gst_udp_port" value="$(eval 5600 + arg('ID'))"/>
+            <arg name="video_uri" value="$(eval 5600 + arg('ID'))"/>
+            <arg name="mavlink_cam_udp_port" value="$(eval 14530 + arg('ID'))"/>
+        </include>
+        <!-- MAVROS -->
+        <include file="$(find mavros)/launch/px4.launch">
+            <arg name="fcu_url" value="$(arg fcu_url)"/>
+            <arg name="gcs_url" value=""/>
+            <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
+            <arg name="tgt_component" value="1"/>
+        </include>
+    </group>
+    <!-- UAV2 -->
+    <group ns="uav2">
+        <!-- MAVROS and vehicle configs -->
+        <arg name="ID" value="2"/>
+        <arg name="fcu_url" default="udp://:14542@localhost:14582"/>
+        <!-- PX4 SITL and vehicle spawn -->
+        <include file="$(find px4)/launch/single_vehicle_spawn.launch">
+            <arg name="x" value="0"/>
+            <arg name="y" value="1"/>
+            <arg name="z" value="0"/>
+            <arg name="R" value="0"/>
+            <arg name="P" value="0"/>
+            <arg name="Y" value="0"/>
+            <arg name="vehicle" value="$(arg vehicle)"/>
+            <arg name="mavlink_udp_port" value="14562"/>
+            <arg name="mavlink_tcp_port" value="4562"/>
+            <arg name="ID" value="$(arg ID)"/>
+            <arg name="gst_udp_port" value="$(eval 5600 + arg('ID'))"/>
+            <arg name="video_uri" value="$(eval 5600 + arg('ID'))"/>
+            <arg name="mavlink_cam_udp_port" value="$(eval 14530 + arg('ID'))"/>
+        </include>
+        <!-- MAVROS -->
+        <include file="$(find mavros)/launch/px4.launch">
+            <arg name="fcu_url" value="$(arg fcu_url)"/>
+            <arg name="gcs_url" value=""/>
+            <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
+            <arg name="tgt_component" value="1"/>
+        </include>
+    </group>
+</launch>
+<!-- to add more UAVs (up to 10):
+Increase the id
+Change the name space
+Set the FCU to default="udp://:14540+id@localhost:14550+id"
+Set the malink_udp_port to 14560+id) -->
@@ -0,0 +1,105 @@
+<?xml version="1.0"?>
+<launch>
+    <!-- MAVROS posix SITL environment launch script -->
+    <!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
+    <!-- vehicle model and world -->
+    <arg name="est" default="ekf2"/>
+    <arg name="vehicle" default="plane"/>
+    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
+    <!-- gazebo configs -->
+    <arg name="gui" default="true"/>
+    <arg name="debug" default="false"/>
+    <arg name="verbose" default="false"/>
+    <arg name="paused" default="false"/>
+    <!-- Gazebo sim -->
+    <include file="$(find gazebo_ros)/launch/empty_world.launch">
+        <arg name="gui" value="$(arg gui)"/>
+        <arg name="world_name" value="$(arg world)"/>
+        <arg name="debug" value="$(arg debug)"/>
+        <arg name="verbose" value="$(arg verbose)"/>
+        <arg name="paused" value="$(arg paused)"/>
+    </include>
+    <!-- UAV0 -->
+    <group ns="uav0">
+        <!-- MAVROS and vehicle configs -->
+        <arg name="ID" value="0"/>
+        <arg name="fcu_url" default="udp://:14540@localhost:14580"/>
+        <!-- PX4 SITL and vehicle spawn -->
+        <include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
+            <arg name="x" value="0"/>
+            <arg name="y" value="0"/>
+            <arg name="z" value="0"/>
+            <arg name="R" value="0"/>
+            <arg name="P" value="0"/>
+            <arg name="Y" value="0"/>
+            <arg name="vehicle" value="$(arg vehicle)"/>
+            <arg name="mavlink_udp_port" value="14560"/>
+            <arg name="mavlink_tcp_port" value="4560"/>
+            <arg name="ID" value="$(arg ID)"/>
+        </include>
+        <!-- MAVROS -->
+        <include file="$(find mavros)/launch/px4.launch">
+            <arg name="fcu_url" value="$(arg fcu_url)"/>
+            <arg name="gcs_url" value=""/>
+            <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
+            <arg name="tgt_component" value="1"/>
+        </include>
+    </group>
+    <!-- UAV1 -->
+    <group ns="uav1">
+        <!-- MAVROS and vehicle configs -->
+        <arg name="ID" value="1"/>
+        <arg name="fcu_url" default="udp://:14541@localhost:14581"/>
+        <!-- PX4 SITL and vehicle spawn -->
+        <include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
+            <arg name="x" value="1"/>
+            <arg name="y" value="0"/>
+            <arg name="z" value="0"/>
+            <arg name="R" value="0"/>
+            <arg name="P" value="0"/>
+            <arg name="Y" value="0"/>
+            <arg name="vehicle" value="$(arg vehicle)"/>
+            <arg name="mavlink_udp_port" value="14561"/>
+            <arg name="mavlink_tcp_port" value="4561"/>
+            <arg name="ID" value="$(arg ID)"/>
+        </include>
+        <!-- MAVROS -->
+        <include file="$(find mavros)/launch/px4.launch">
+            <arg name="fcu_url" value="$(arg fcu_url)"/>
+            <arg name="gcs_url" value=""/>
+            <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
+            <arg name="tgt_component" value="1"/>
+        </include>
+    </group>
+    <!-- UAV2 -->
+    <group ns="uav2">
+        <!-- MAVROS and vehicle configs -->
+        <arg name="ID" value="2"/>
+        <arg name="fcu_url" default="udp://:14542@localhost:14582"/>
+        <!-- PX4 SITL and vehicle spawn -->
+        <include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
+            <arg name="x" value="0"/>
+            <arg name="y" value="1"/>
+            <arg name="z" value="0"/>
+            <arg name="R" value="0"/>
+            <arg name="P" value="0"/>
+            <arg name="Y" value="0"/>
+            <arg name="vehicle" value="$(arg vehicle)"/>
+            <arg name="mavlink_udp_port" value="14562"/>
+            <arg name="mavlink_tcp_port" value="4562"/>
+            <arg name="ID" value="$(arg ID)"/>
+        </include>
+        <!-- MAVROS -->
+        <include file="$(find mavros)/launch/px4.launch">
+            <arg name="fcu_url" value="$(arg fcu_url)"/>
+            <arg name="gcs_url" value=""/>
+            <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
+            <arg name="tgt_component" value="1"/>
+        </include>
+    </group>
+</launch>
+<!-- to add more UAVs (up to 10):
+Increase the id
+Change the name space
+Set the FCU to default="udp://:14540+id@localhost:14550+id"
+Set the malink_udp_port to 14560+id) -->
@@ -0,0 +1,13 @@
+<launch>
+    <!-- Test mavros posix sitl publishes pose at 30 Hz -->
+    <include file="$(find px4)/launch/mavros_posix_sitl.launch">
+        <arg name="gui" value="false"/>
+        <arg name="interactive" value="false"/>
+        <arg name="verbose" value="true"/>
+    </include>
+    <param name="pub_test/topic" value="/mavros/local_position/pose"/>
+    <param name="pub_test/hz" value="30.0"/>
+    <param name="pub_test/hzerror" value="1.0"/>
+    <param name="pub_test/test_duration" value="10.0"/>
+    <test test-name="pub_test" pkg="rostest" type="hztest" name="pub_test"/>
+</launch>
@@ -0,0 +1,18 @@
+<?xml version="1.0"?>
+<launch>
+    <!-- Posix SITL PX4 launch script -->
+    <!-- Launches Only PX4 SITL. This can be used by external projects -->
+
+    <!-- PX4 config arguments -->
+    <arg name="est" default="ekf2"/>
+    <arg name="vehicle" default="iris"/>
+    <arg name="ID" default="0"/>
+    <arg name="interactive" default="true"/>
+
+    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
+    <env name="PX4_ESTIMATOR" value="$(arg est)" />
+    <arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
+    <arg     if="$(arg interactive)" name="px4_command_arg1" value=""/>
+    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
+    </node>
+</launch>
@@ -0,0 +1,36 @@
+<?xml version="1.0"?>
+<launch>
+    <!-- Posix SITL environment launch script -->
+    <!-- launchs PX4 SITL and spawns vehicle -->
+    <!-- vehicle pose -->
+    <arg name="x" default="0"/>
+    <arg name="y" default="0"/>
+    <arg name="z" default="0"/>
+    <arg name="R" default="0"/>
+    <arg name="P" default="0"/>
+    <arg name="Y" default="0"/>
+    <!-- vehicle model and config -->
+    <arg name="est" default="ekf2"/>
+    <arg name="vehicle" default="iris"/>
+    <arg name="ID" default="1"/>
+    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
+    <env name="PX4_ESTIMATOR" value="$(arg est)" />
+    <arg name="mavlink_udp_port" default="14560"/>
+    <arg name="mavlink_tcp_port" default="4560"/>
+    <arg name="gst_udp_port" default="5600"/>
+    <arg name="video_uri" default="5600"/>
+    <arg name="mavlink_cam_udp_port" default="14530"/>
+    <arg name="mavlink_id" value="$(eval 1 + arg('ID'))" />
+    <!-- PX4 configs -->
+    <arg name="interactive" default="true"/>
+    <!-- generate sdf vehicle model -->
+    <arg name="cmd" default="$(find mavlink_sitl_gazebo)/scripts/jinja_gen.py --stdout --mavlink_id=$(arg mavlink_id) --mavlink_udp_port=$(arg mavlink_udp_port) --mavlink_tcp_port=$(arg mavlink_tcp_port) --gst_udp_port=$(arg gst_udp_port) --video_uri=$(arg video_uri) --mavlink_cam_udp_port=$(arg mavlink_cam_udp_port) $(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf.jinja $(find mavlink_sitl_gazebo)"/>
+    <param command="$(arg cmd)" name="sdf_$(arg vehicle)$(arg ID)"/>
+    <!-- PX4 SITL -->
+    <arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
+    <arg     if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
+    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
+    </node>
+    <!-- spawn vehicle -->
+    <node name="$(anon vehicle_spawn)" pkg="gazebo_ros" type="spawn_model" output="screen" args="-sdf -param sdf_$(arg vehicle)$(arg ID) -model $(arg vehicle)$(arg ID) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
+</launch>
@@ -0,0 +1,32 @@
+<?xml version="1.0"?>
+<launch>
+    <!-- Posix SITL environment launch script -->
+    <!-- launchs PX4 SITL and spawns vehicle -->
+    <!-- vehicle pose -->
+    <arg name="x" default="0"/>
+    <arg name="y" default="0"/>
+    <arg name="z" default="0"/>
+    <arg name="R" default="0"/>
+    <arg name="P" default="0"/>
+    <arg name="Y" default="0"/>
+    <!-- vehcile model and config -->
+    <arg name="est" default="ekf2"/>
+    <arg name="vehicle" default="plane"/>
+    <arg name="ID" default="1"/>
+    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
+    <env name="PX4_ESTIMATOR" value="$(arg est)" />
+    <arg name="mavlink_udp_port" default="14560"/>
+    <arg name="mavlink_tcp_port" default="4560"/>
+    <!-- PX4 configs -->
+    <arg name="interactive" default="true"/>
+    <!-- generate sdf vehicle model -->
+    <arg name="cmd" default="xmlstarlet ed -d '//plugin[@name=&quot;mavlink_interface&quot;]/mavlink_tcp_port' -s '//plugin[@name=&quot;mavlink_interface&quot;]' -t elem -n mavlink_tcp_port -v $(arg mavlink_tcp_port) $(find px4)/Tools/sitl_gazebo/models/$(arg vehicle)/$(arg vehicle).sdf"/>
+    <param command="$(arg cmd)" name="model_description"/>
+    <!-- PX4 SITL -->
+    <arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
+    <arg     if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
+    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
+    </node>
+    <!-- spawn vehicle -->
+    <node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-sdf -param model_description -model $(arg vehicle)_$(arg ID) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
+</launch>
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2016-2022 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -37,178 +37,213 @@ cmake_policy(SET CMP0057 NEW)
 include(px4_list_make_absolute)

 set(msg_files
-	ActionRequest.msg
-	ActuatorArmed.msg
-	ActuatorControls.msg
-	ActuatorControlsStatus.msg
-	ActuatorMotors.msg
-	ActuatorOutputs.msg
-	ActuatorServos.msg
-	ActuatorServosTrim.msg
-	ActuatorTest.msg
-	AdcReport.msg
-	Airspeed.msg
-	AirspeedValidated.msg
-	AirspeedWind.msg
-	AutotuneAttitudeControlStatus.msg
-	BatteryStatus.msg
-	CameraCapture.msg
-	CameraStatus.msg
-	CameraTrigger.msg
-	CellularStatus.msg
-	CollisionConstraints.msg
-	CollisionReport.msg
-	CommanderState.msg
-	ControlAllocatorStatus.msg
-	Cpuload.msg
-	DebugArray.msg
-	DebugKeyValue.msg
-	DebugValue.msg
-	DebugVect.msg
-	DifferentialPressure.msg
-	DistanceSensor.msg
-	Ekf2Timestamps.msg
-	EkfGpsDrift.msg
-	EscReport.msg
-	EscStatus.msg
-	EstimatorBaroBias.msg
-	EstimatorEventFlags.msg
-	EstimatorInnovations.msg
-	EstimatorOpticalFlowVel.msg
-	EstimatorSelectorStatus.msg
-	EstimatorSensorBias.msg
-	EstimatorStates.msg
-	EstimatorStatus.msg
-	EstimatorStatusFlags.msg
-	Event.msg
-	FailureDetectorStatus.msg
-	FollowTarget.msg
-	GeneratorStatus.msg
-	GeofenceResult.msg
-	GimbalDeviceAttitudeStatus.msg
-	GimbalDeviceInformation.msg
-	GimbalDeviceSetAttitude.msg
-	GimbalManagerInformation.msg
-	GimbalManagerSetAttitude.msg
-	GimbalManagerSetManualControl.msg
-	GimbalManagerStatus.msg
-	GpsDump.msg
-	GpsInjectData.msg
-	HeaterStatus.msg
-	HomePosition.msg
-	HoverThrustEstimate.msg
-	InputRc.msg
-	InternalCombustionEngineStatus.msg
-	IridiumsbdStatus.msg
-	IrlockReport.msg
-	LandingGear.msg
-	LandingTargetInnovations.msg
-	LandingTargetPose.msg
-	LedControl.msg
-	LoggerStatus.msg
-	LogMessage.msg
-	MagnetometerBiasEstimate.msg
-	MagWorkerData.msg
-	ManualControlSetpoint.msg
-	ManualControlSwitches.msg
-	MavlinkLog.msg
-	Mission.msg
-	MissionResult.msg
-	MountOrientation.msg
-	NavigatorMissionItem.msg
-	NpfgStatus.msg
-	ObstacleDistance.msg
-	OffboardControlMode.msg
-	OnboardComputerStatus.msg
-	OpticalFlow.msg
-	OrbitStatus.msg
-	OrbTest.msg
-	OrbTestLarge.msg
-	OrbTestMedium.msg
-	ParameterUpdate.msg
-	Ping.msg
-	PpsCapture.msg
-	PositionControllerLandingStatus.msg
-	PositionControllerStatus.msg
-	PositionSetpoint.msg
-	PositionSetpointTriplet.msg
-	PowerButtonState.msg
-	PowerMonitor.msg
-	PwmInput.msg
-	Px4ioStatus.msg
-	RadioStatus.msg
-	RateCtrlStatus.msg
-	RcChannels.msg
-	RcParameterMap.msg
-	Rpm.msg
-	RtlTimeEstimate.msg
-	Safety.msg
-	SatelliteInfo.msg
-	SensorAccel.msg
-	SensorAccelFifo.msg
-	SensorBaro.msg
-	SensorCombined.msg
-	SensorCorrection.msg
-	SensorGps.msg
-	SensorGyro.msg
-	SensorGyroFft.msg
-	SensorGyroFifo.msg
-	SensorHygrometer.msg
-	SensorMag.msg
-	SensorPreflightMag.msg
-	SensorSelection.msg
-	SensorsStatusImu.msg
-	SystemPower.msg
-	TakeoffStatus.msg
-	TaskStackInfo.msg
-	TecsStatus.msg
-	TelemetryStatus.msg
-	TestMotor.msg
-	Timesync.msg
-	TimesyncStatus.msg
-	TrajectoryBezier.msg
-	TrajectoryWaypoint.msg
-	TransponderReport.msg
-	TuneControl.msg
-	UavcanParameterRequest.msg
-	UavcanParameterValue.msg
-	UlogStream.msg
-	UlogStreamAck.msg
-	VehicleAcceleration.msg
-	VehicleAirData.msg
-	VehicleAngularAcceleration.msg
-	VehicleAngularAccelerationSetpoint.msg
-	VehicleAngularVelocity.msg
-	VehicleAttitude.msg
-	VehicleAttitudeSetpoint.msg
-	VehicleCommand.msg
-	VehicleCommandAck.msg
-	VehicleConstraints.msg
-	VehicleControlMode.msg
-	VehicleGlobalPosition.msg
-	VehicleGpsPosition.msg
-	VehicleImu.msg
-	VehicleImuStatus.msg
-	VehicleLandDetected.msg
-	VehicleLocalPosition.msg
-	VehicleLocalPositionSetpoint.msg
-	VehicleMagnetometer.msg
-	VehicleOdometry.msg
-	VehicleRatesSetpoint.msg
-	VehicleRoi.msg
-	VehicleStatus.msg
-	VehicleStatusFlags.msg
-	VehicleThrustSetpoint.msg
-	VehicleTorqueSetpoint.msg
-	VehicleTrajectoryBezier.msg
-	VehicleTrajectoryWaypoint.msg
-	VtolVehicleStatus.msg
-	WheelEncoders.msg
-	Wind.msg
-	YawEstimatorStatus.msg
+	action_request.msg
+	actuator_armed.msg
+	actuator_controls.msg
+	actuator_controls_status.msg
+	actuator_motors.msg
+	actuator_outputs.msg
+	actuator_servos.msg
+	actuator_servos_trim.msg
+	actuator_test.msg
+	adc_report.msg
+	airspeed.msg
+	airspeed_validated.msg
+	airspeed_wind.msg
+	autotune_attitude_control_status.msg
+	battery_status.msg
+	camera_capture.msg
+	camera_status.msg
+	camera_trigger.msg
+	cellular_status.msg
+	collision_constraints.msg
+	collision_report.msg
+	commander_state.msg
+	control_allocator_status.msg
+	cpuload.msg
+	differential_pressure.msg
+	distance_sensor.msg
+	ekf2_timestamps.msg
+	ekf_gps_drift.msg
+	esc_report.msg
+	esc_status.msg
+	estimator_baro_bias.msg
+	estimator_event_flags.msg
+	estimator_innovations.msg
+	estimator_optical_flow_vel.msg
+	estimator_selector_status.msg
+	estimator_sensor_bias.msg
+	estimator_states.msg
+	estimator_status.msg
+	estimator_status_flags.msg
+	event.msg
+	follow_target.msg
+	failure_detector_status.msg
+	generator_status.msg
+	geofence_result.msg
+	gimbal_device_attitude_status.msg
+	gimbal_device_information.msg
+	gimbal_device_set_attitude.msg
+	gimbal_manager_information.msg
+	gimbal_manager_set_attitude.msg
+	gimbal_manager_set_manual_control.msg
+	gimbal_manager_status.msg
+	gps_dump.msg
+	gps_inject_data.msg
+	heater_status.msg
+	home_position.msg
+	hover_thrust_estimate.msg
+	internal_combustion_engine_status.msg
+	input_rc.msg
+	iridiumsbd_status.msg
+	irlock_report.msg
+	landing_gear.msg
+	landing_target_innovations.msg
+	landing_target_pose.msg
+	led_control.msg
+	log_message.msg
+	logger_status.msg
+	mag_worker_data.msg
+	magnetometer_bias_estimate.msg
+	manual_control_setpoint.msg
+	manual_control_switches.msg
+	mavlink_log.msg
+	mavlink_tunnel.msg
+	mission.msg
+	mission_result.msg
+	mount_orientation.msg
+	navigator_mission_item.msg
+	npfg_status.msg
+	obstacle_distance.msg
+	offboard_control_mode.msg
+	onboard_computer_status.msg
+	optical_flow.msg
+	orbit_status.msg
+	parameter_update.msg
+	ping.msg
+	pps_capture.msg
+	position_controller_landing_status.msg
+	position_controller_status.msg
+	position_setpoint.msg
+	position_setpoint_triplet.msg
+	power_button_state.msg
+	power_monitor.msg
+	pwm_input.msg
+	px4io_status.msg
+	radio_status.msg
+	rate_ctrl_status.msg
+	rc_channels.msg
+	rc_parameter_map.msg
+	rpm.msg
+	rtl_time_estimate.msg
+	safety.msg
+	satellite_info.msg
+	sensor_accel.msg
+	sensor_accel_fifo.msg
+	sensor_baro.msg
+	sensor_combined.msg
+	sensor_correction.msg
+	sensor_gps.msg
+	sensor_gyro.msg
+	sensor_gyro_fft.msg
+	sensor_gyro_fifo.msg
+	sensor_hygrometer.msg
+	sensor_mag.msg
+	sensor_preflight_mag.msg
+	sensor_selection.msg
+	sensors_status_imu.msg
+	system_power.msg
+	takeoff_status.msg
+	task_stack_info.msg
+	tecs_status.msg
+	telemetry_status.msg
+	test_motor.msg
+	timesync.msg
+	timesync_status.msg
+	trajectory_bezier.msg
+	trajectory_waypoint.msg
+	transponder_report.msg
+	tune_control.msg
+	uavcan_parameter_request.msg
+	uavcan_parameter_value.msg
+	ulog_stream.msg
+	ulog_stream_ack.msg
+	vehicle_acceleration.msg
+	vehicle_air_data.msg
+	vehicle_angular_acceleration.msg
+	vehicle_angular_acceleration_setpoint.msg
+	vehicle_angular_velocity.msg
+	vehicle_attitude.msg
+	vehicle_attitude_setpoint.msg
+	vehicle_command.msg
+	vehicle_command_ack.msg
+	vehicle_constraints.msg
+	vehicle_control_mode.msg
+	vehicle_global_position.msg
+	vehicle_gps_position.msg
+	vehicle_imu.msg
+	vehicle_imu_status.msg
+	vehicle_land_detected.msg
+	vehicle_local_position.msg
+	vehicle_local_position_setpoint.msg
+	vehicle_magnetometer.msg
+	vehicle_odometry.msg
+	vehicle_rates_setpoint.msg
+	vehicle_roi.msg
+	vehicle_status.msg
+	vehicle_status_flags.msg
+	vehicle_thrust_setpoint.msg
+	vehicle_torque_setpoint.msg
+	vehicle_trajectory_bezier.msg
+	vehicle_trajectory_waypoint.msg
+	vtol_vehicle_status.msg
+	wheel_encoders.msg
+	wind.msg
+	yaw_estimator_status.msg
 )
+
+if(NOT px4_constrained_flash_build)
+	list(APPEND msg_files
+		debug_array.msg
+		debug_key_value.msg
+		debug_value.msg
+		debug_vect.msg
+	)
+endif()
+
+if(PX4_TESTING)
+	list(APPEND msg_files
+		orb_test.msg
+		orb_test_large.msg
+		orb_test_medium.msg
+	)
+endif()
+
 list(SORT msg_files)

+set(deprecated_msgs
+	ekf2_innovations.msg	# 2019-11-22, Updated estimator interface and logging; replaced by 'estimator_innovations'.
+	)
+
+foreach(msg IN LISTS deprecated_msgs)
+	if(msg IN_LIST msg_files)
+		get_filename_component(msg_we ${msg} NAME_WE)
+		list(APPEND invalid_msgs ${msg_we})
+	endif()
+endforeach()
+if(invalid_msgs)
+	list(LENGTH invalid_msgs invalid_msgs_size)
+	if(${invalid_msgs_size} GREATER 1)
+		foreach(msg IN LISTS invalid_msgs)
+			string(CONCAT invalid_msgs_cs ${invalid_msgs_cs} "'${msg}', ")
+		endforeach()
+		STRING(REGEX REPLACE ", +$" "" invalid_msgs_cs ${invalid_msgs_cs})
+		message(FATAL_ERROR "${invalid_msgs_cs} are listed as deprecated. Please use different names for the messages.")
+	else()
+		message(FATAL_ERROR "'${invalid_msgs}' is listed as deprecated. Please use a different name for the message.")
+	endif()
+endif()
+
 px4_list_make_absolute(msg_files ${CMAKE_CURRENT_SOURCE_DIR} ${msg_files})

 if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
@@ -223,40 +258,40 @@ if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	endif()
 endif()

-# set parent scope msg_files for other modules to consume (eg topic_listener)
-set(msg_files ${msg_files} PARENT_SCOPE)
-
 # headers
 set(msg_out_path ${PX4_BINARY_DIR}/uORB/topics)
 set(msg_source_out_path	${CMAKE_CURRENT_BINARY_DIR}/topics_sources)

-set(uorb_headers)
+set(uorb_headers ${msg_out_path}/uORBTopics.hpp)
+set(uorb_sources ${msg_source_out_path}/uORBTopics.cpp)
 foreach(msg_file ${msg_files})
 	get_filename_component(msg ${msg_file} NAME_WE)
-
-	# Pascal case to snake case (MsgFile -> msg_file)
-	string(REGEX REPLACE "(.)([A-Z][a-z]+)" "\\1_\\2" msg "${msg}")
-	string(REGEX REPLACE "([a-z0-9])([A-Z])" "\\1_\\2" msg "${msg}")
-	string(TOLOWER "${msg}" msg)
-
 	list(APPEND uorb_headers ${msg_out_path}/${msg}.h)
+	list(APPEND uorb_sources ${msg_source_out_path}/${msg}.cpp)
 endforeach()

-if(px4_constrained_flash_build)
+if (px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()

+# set parent scope msg_files for other modules to consume (eg topic_listener)
+set(msg_files ${msg_files} PARENT_SCOPE)
+
 # Generate uORB headers
 add_custom_command(OUTPUT ${uorb_headers}
 	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${msg_out_path}
 		-e templates/uorb
+		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers
+		-q
 		${added_arguments}
 	DEPENDS
 		${msg_files}
 		templates/uorb/msg.h.em
+		templates/uorb/uORBTopics.hpp.em
 		tools/px_generate_uorb_topic_files.py
 		tools/px_generate_uorb_topic_helper.py
 	COMMENT "Generating uORB topic headers"
@@ -264,3 +299,28 @@ add_custom_command(OUTPUT ${uorb_headers}
 	VERBATIM
 	)
 add_custom_target(uorb_headers DEPENDS ${uorb_headers})
+
+# Generate uORB sources
+add_custom_command(OUTPUT ${uorb_sources}
+	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
+		--sources
+		-f ${msg_files}
+		-i ${CMAKE_CURRENT_SOURCE_DIR}
+		-o ${msg_source_out_path}
+		-e templates/uorb
+		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources
+		-q
+		${added_arguments}
+	DEPENDS
+		${msg_files}
+		templates/uorb/msg.cpp.em
+		templates/uorb/uORBTopics.cpp.em
+		tools/px_generate_uorb_topic_files.py
+		tools/px_generate_uorb_topic_helper.py
+	COMMENT "Generating uORB topic sources"
+	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
+	VERBATIM
+	)
+
+add_library(uorb_msgs ${uorb_sources})
+add_dependencies(uorb_msgs prebuild_targets uorb_headers)
@@ -1,12 +0,0 @@
-uint64 timestamp			    # time since system start (microseconds)
-uint8 GF_ACTION_NONE = 0                    # no action on geofence violation
-uint8 GF_ACTION_WARN = 1                    # critical mavlink message
-uint8 GF_ACTION_LOITER = 2                  # switch to AUTO|LOITER
-uint8 GF_ACTION_RTL = 3                     # switch to AUTO|RTL
-uint8 GF_ACTION_TERMINATE = 4               # flight termination
-uint8 GF_ACTION_LAND = 5		    # switch to AUTO|LAND
-
-bool geofence_violated		# true if the geofence is violated
-uint8 geofence_action       	# action to take when geofence is violated
-
-bool home_required		# true if the geofence requires a valid home position
@@ -1,3 +0,0 @@
-uint64 timestamp		# time since system start (microseconds)
-
-int32 val
--- a/Show More
+++ b/Show More