[DO NOT MERGE] parameter testing

2026-05-25 17:17:38 +08:00 · 2022-01-05 11:39:22 -05:00
792 changed files with 11369 additions and 16819 deletions
@@ -743,10 +743,8 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'

  // run logger
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
@@ -780,7 +778,6 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
@@ -792,7 +789,7 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
@@ -809,14 +806,12 @@ void resetParameters() {
 void runTests() {

  // test loading a range of airframes
-  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 4018 6001 8001 10016'
+  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'

  resetParameters()

  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_CAL_EN" --value "0" || true' // disable during testing
  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_FFT_EN" --value "0" || true' // disable during testing
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_IMU_AUTOCAL" --value "0" || true' // disable during testing
-  sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SENS_MAG_AUTOCAL" --value "0" || true' // disable during testing

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
@@ -1,7 +0,0 @@
-FROM gcr.io/oss-fuzz-base/base-builder:v1
-COPY . $SRC/PX4-Autopilot
-RUN apt-get install -y libjpeg8-dev zlib1g-dev
-RUN pip3 install --upgrade pip
-RUN python3 -m pip install -r $SRC/PX4-Autopilot/Tools/setup/requirements.txt
-WORKDIR $SRC/PX4-Autopilot
-COPY ./.clusterfuzzlite/build.sh $SRC/
@@ -1,4 +0,0 @@
-#!/usr/bin/env bash -eu
-
-PX4_FUZZ=1 make px4_sitl
-cp build/px4_sitl_default/bin/px4 $OUT/px4
@@ -1 +0,0 @@
-language: c++
@@ -1,34 +0,0 @@
-name: ClusterFuzzLite batch fuzzing
-on:
-  schedule:
-    - cron: '0 6 * * *'  # UTC 6am every day.
-permissions: read-all
-jobs:
-  BatchFuzzing:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        sanitizer:
-        - address
-        - undefined
-        - memory
-    steps:
-    - name: Build Fuzzers (${{ matrix.sanitizer }})
-      id: build
-      uses: google/clusterfuzzlite/actions/build_fuzzers@v1
-      with:
-        sanitizer: ${{ matrix.sanitizer }}
-    - name: Run Fuzzers (${{ matrix.sanitizer }})
-      id: run
-      uses: google/clusterfuzzlite/actions/run_fuzzers@v1
-      with:
-        github-token: ${{ secrets.GITHUB_TOKEN }}
-        fuzz-seconds: 1800 # 30 mins
-        mode: 'batch'
-        sanitizer: ${{ matrix.sanitizer }}
-        # Optional but recommended: For storing certain artifacts from fuzzing.
-        # See later section on "Git repo for storage".
-        # storage-repo: https://${{ secrets.PERSONAL_ACCESS_TOKEN }}@github.com/OWNER/STORAGE-REPO-NAME.git
-        # storage-repo-branch: main   # Optional. Defaults to "main"
-        # storage-repo-branch-coverage: gh-pages  # Optional. Defaults to "gh-pages".
@@ -33,7 +33,6 @@ jobs:
          holybro_can-gps-v1,
          holybro_durandal-v1,
          holybro_kakutef7,
-          holybro_kakuteh7,
          holybro_pix32v5,
          matek_h743-slim,
          modalai_fc-v1,
@@ -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
@@ -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 +124,7 @@ 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_MODULE_PATHS
                 BRIEF_DOCS "PX4 module paths"
                 FULL_DOCS "List of paths to all PX4 modules"
@@ -134,40 +133,29 @@ 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)

 # 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 +191,10 @@ 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 +230,7 @@ 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 +246,6 @@ 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 +315,6 @@ 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 +322,13 @@ 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 +410,8 @@ 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 +433,6 @@ 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 +460,17 @@ 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"
@@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2022, PX4 Development Team
+Copyright (c) 2012 - 2021, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
@@ -158,11 +158,6 @@ else
 		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=UndefinedBehaviorSanitizer
 	endif

-	# Fuzz Testing
-	ifdef PX4_FUZZ
-		CMAKE_ARGS += -DCMAKE_BUILD_TYPE=FuzzTesting
-	endif
-
 endif

 # Pick up specific Python path if set
@@ -479,7 +474,7 @@ 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:
@@ -35,6 +35,6 @@ param set-default MC_YAWRATE_P 0.25
 param set-default MC_YAWRATE_I 0.25

 param set-default BAT1_V_DIV 12.27559
-param set-default BAT1_A_PER_V 15.391030303103
+param set-default BAT1_A_PER_V 15.39103

 set MIXER quad_w
@@ -15,8 +15,6 @@
 set MIXER quad_x
 set PWM_OUT 1234

-param set UAVCAN_ENABLE 0
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set SYS_HITL 2

@@ -15,8 +15,6 @@
 set MIXER AERT
 set PWM_OUT 1234

-param set UAVCAN_ENABLE 0
-
 # set SYS_HITL to 2 to start the SIH and avoid sensors startup
 param set-default SYS_HITL 2

@@ -40,4 +38,3 @@ param set SIH_IXZ 0.00046
 param set SIH_KDV 0.2

 param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
-param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
@@ -1,61 +0,0 @@
-#!/bin/sh
-#
-# @name SIH Tailsitter Duo
-#
-# @type Simulation
-# @class VTOL
-#
-# @output MAIN1 motor right
-# @output MAIN2 motor left
-# @output MAIN5 elevon right
-# @output MAIN6 elevon left
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set UAVCAN_ENABLE 0
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_MOT_COUNT 2
-param set-default VT_TYPE 0
-param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.3
-param set-default MPC_MAN_Y_MAX 60
-param set-default MC_PITCH_P 5
-
-param set-default MAV_TYPE 19
-set MAV_TYPE 19
-set MIXER vtol_tailsitter_duo_sat
-
-set PWM_OUT 1234
-
-# set SYS_HITL to 2 to start the SIH and avoid sensors startup
-param set-default SYS_HITL 2
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default BAT_N_CELLS 3
-
-param set SIH_T_MAX 2.0
-param set SIH_Q_MAX 0.0165
-param set SIH_MASS 0.2
-# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
-param set SIH_IXX 0.00354
-param set SIH_IYY 0.000625
-param set SIH_IZZ 0.00300
-param set SIH_IXZ 0.0
-param set SIH_KDV 0.2
-param set SIH_L_ROLL 0.145
-
-# sih as tailsitter
-param set SIH_VEHICLE_TYPE 2
@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# @name Holybro X500 V2
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Farhang Naderi <farhang.nba@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default IMU_GYRO_CUTOFF 30
-
-param set-default MC_ROLLRATE_P 0.14
-param set-default MC_PITCHRATE_P 0.14
-param set-default MC_ROLLRATE_I 0.3
-param set-default MC_PITCHRATE_I 0.3
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCHRATE_D 0.004
@@ -16,10 +16,8 @@

 . ${R}etc/init.d/rc.mc_defaults

-# We set the mixer and ESC manually.
-set MIXER skip
-set MIXER_AUX skip
-set MIXER_FILE ""
+set MIXER none
+set MIXER_AUX none

 # Battery settings
 param set-default BAT_CRIT_THR 0.20
@@ -35,13 +33,12 @@ param set-default CBRK_SUPPLY_CHK 894281

 param set-default COM_DISARM_LAND 0.1
 param set-default COM_DISARM_PRFLT 3
-param set-default COM_DL_LOSS_T 10
-param set-default COM_FLTMODE1  2
+param set-default COM_FLTMODE1 -1
 param set-default COM_FLTMODE2 -1
 param set-default COM_FLTMODE3 -1
-param set-default COM_FLTMODE4 -1
+param set-default COM_FLTMODE4  2
 param set-default COM_FLTMODE5 -1
-param set-default COM_FLTMODE6  1
+param set-default COM_FLTMODE6  6
 param set-default COM_RC_LOSS_T 3


@@ -71,9 +68,6 @@ param set-default EKF2_OF_GATE 2.0
 param set-default EKF2_OF_POS_X -0.035
 param set-default EKF2_OF_POS_Y 0.0
 param set-default EKF2_OF_POS_Z 0.033
-param set-default EKF2_OF_MIN_RNG 0.01
-param set-default EKF2_OF_A_HMAX 7.0
-param set-default EKF2_OF_QMIN 30

 param set-default EKF2_PCOEF_XN -0.3
 param set-default EKF2_PCOEF_XP -0.4
@@ -148,30 +142,57 @@ param set-default MPC_Z_VEL_P 0.27

 # gimbal configuration
 param set-default MNT_MODE_IN 1
-param set-default MNT_MODE_OUT 1
-param set-default MNT_MAN_PITCH 2
-param set-default MNT_RC_IN_MODE 1
-param set-default MNT_RATE_PITCH 30
+param set-default MNT_MODE_OUT 2
+param set-default MNT_MAN_PITCH 1
+

 # RC
 param set-default RC_CHAN_CNT       12

 param set-default RC_MAP_THROTTLE   1
-param set-default RC_MAP_YAW        2
+param set-default RC_MAP_ROLL       2
 param set-default RC_MAP_PITCH      3
-param set-default RC_MAP_ROLL       4
-param set-default RC_MAP_AUX2       5
-param set-default RC_MAP_AUX3       10
-param set-default RC_MAP_AUX4       8
-param set-default RC_MAP_FLTMODE    6
-param set-default RC1_TRIM          1000
+param set-default RC_MAP_YAW        4
+param set-default RC_MAP_FLTMODE    5
+param set-default RC_MAP_AUX1       7
+
+param set-default RC1_DZ            10
+param set-default RC1_MAX           3413
+param set-default RC1_MIN           683
+param set-default RC1_REV           1
+param set-default RC1_TRIM          683
+param set-default RC2_DZ            10
+param set-default RC2_MAX           3413
+param set-default RC2_MIN           683
+param set-default RC2_REV           -1
+param set-default RC2_TRIM          2048
+param set-default RC3_DZ            10
+param set-default RC3_MAX           3413
+param set-default RC3_MIN           683
+param set-default RC3_REV           1
+param set-default RC3_TRIM          2048
+param set-default RC4_DZ            10
+param set-default RC4_MAX           3413
+param set-default RC4_MIN           683
+param set-default RC4_REV           -1
+param set-default RC4_TRIM          2048
+param set-default RC5_DZ            10
+param set-default RC5_MAX           3414
+param set-default RC5_MIN           2048
+param set-default RC5_REV           1
+param set-default RC5_TRIM          2048
+param set-default RC7_DZ            10
+param set-default RC7_MAX           3413
+param set-default RC7_MIN           683
+param set-default RC7_REV           1
+param set-default RC7_TRIM          2048


 # optical flow
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
 param set-default SENS_FLOW_MAXHGT 5.0
-param set-default SENS_FLOW_ROT    0
+param set-default SENS_FLOW_ROT    4

-# ignore the SD card errors and use normal startup sound
-set STARTUP_TUNE "1"
+
+mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix
@@ -40,7 +40,6 @@ px4_add_romfs_files(
 	1002_standard_vtol.hil
 	1100_rc_quad_x_sih.hil
 	1101_rc_plane_sih.hil
-	1102_tailsitter_duo_sih.hil

 	# [2000, 2999] Standard planes"
 	2100_standard_plane
@@ -73,7 +72,6 @@ px4_add_romfs_files(
 	4016_holybro_px4vision
 	4017_nxp_hovergames
 	4018_s500_ctrlalloc
-	4019_x500_v2
 	4030_3dr_solo
 	4031_3dr_quad
 	4040_reaper
@@ -45,7 +45,7 @@ fi
 #
 # Set the default output mode if none was set.
 #
-if [ $OUTPUT_MODE = none -a $OUTPUT_MODE != skip ]
+if [ $OUTPUT_MODE = none ]
 then
 	if [ $USE_IO = yes ]
 	then
@@ -72,7 +72,7 @@ fi
 #
 # If OUTPUT_MODE = none then something is wrong with setup and we shouldn't try to enable output.
 #
-if [ $OUTPUT_MODE != none -a $OUTPUT_MODE != skip ]
+if [ $OUTPUT_MODE != none ]
 then

 	if [ $OUTPUT_MODE = hil -o $OUTPUT_MODE = sim ]
@@ -7,10 +7,7 @@

 set VEHICLE_TYPE mc

-if param compare IMU_GYRO_RATEMAX 400
-then
-	param set-default IMU_GYRO_RATEMAX 800
-fi
+param set-default IMU_GYRO_RATEMAX 800

 param set-default NAV_ACC_RAD 2

@@ -147,6 +147,8 @@ else

 		param dump $PARAM_FILE

+		hexdump $PARAM_FILE
+
 		if [ -d "/fs/microsd" ]
 		then
 			dmesg >> /fs/microsd/param_import_fail.txt &
@@ -291,9 +293,15 @@ else
 		# Start core UAVCAN module.
 		if uavcan start
 		then
-			if param greater UAVCAN_ENABLE 2
+			if param greater UAVCAN_ENABLE 1
 			then
-				set OUTPUT_MODE uavcan_esc
+				# Start UAVCAN firmware update server and dynamic node ID allocation server.
+				uavcan start fw
+
+				if param greater UAVCAN_ENABLE 2
+				then
+					set OUTPUT_MODE uavcan_esc
+				fi
 			fi
 		else
 			tune_control play error
@@ -409,6 +417,17 @@ else
 		commander start
 	fi

+
+	#
+	# Play the startup tune (if not disabled or there is an error)
+	#
+	param compare CBRK_BUZZER 782090
+	if [ $? != 0 -o $STARTUP_TUNE != 1 ]
+	then
+		tune_control play -t $STARTUP_TUNE
+	fi
+
+
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -427,7 +446,7 @@ else
 	set BOARD_RC_MAVLINK ${R}etc/init.d/rc.board_mavlink
 	if [ -f $BOARD_RC_MAVLINK ]
 	then
-		echo "Board mavlink: ${BOARD_RC_MAVLINK}"
+		echo "Board extras: ${BOARD_RC_MAVLINK}"
 		. $BOARD_RC_MAVLINK
 	fi
 	unset BOARD_RC_MAVLINK
@@ -466,15 +485,6 @@ else
 	#
 	. ${R}etc/init.d/rc.vehicle_setup

-	#
-	# Play the startup tune (if not disabled or there is an error)
-	#
-	param compare CBRK_BUZZER 782090
-	if [ "$?" != "0" -o "$STARTUP_TUNE" != "1" ]
-	then
-		tune_control play -t $STARTUP_TUNE
-	fi
-
 	#
 	# Start the navigator.
 	#
@@ -90,5 +90,4 @@ px4_add_romfs_files(
 	vtol_convergence.main.mix
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
-	vtol_tailsitter_duo_sat.main.mix
 )
@@ -1,39 +0,0 @@
-Tailsitter duo mixer
-============================
-
-This file defines a mixer for a generic duo tailsitter VTOL (eg TBS Caipirinha tailsitter edition). This vehicle
-has two motors in total, one attached to each wing. It also has two elevons which
-are located in the slipstream of the propellers. This mixer generates 4 PWM outputs
-on the main PWM ouput port, two at 400Hz for the motors, and two at 50Hz for the
-elevon servos. Channels 1-4 are configured to run at 400Hz, while channels 5-8 run
-at the default rate of 50Hz. Note that channels 3 and 4 are assigned but not used.
-
-Motor mixer
------------
-Channel 1 connects to the right (starboard) motor.
-Channel 2 connects to the left (port) motor.
-
-R: 2-
-
-Zero mixer (2x)
---------------
-Channels 3,4 are unused.
-
-Z:
-
-Z:
-
-Elevons mixer
--------------
-Channel 5 connects to the right (starboard) elevon.
-Channel 6 connects to the left (port) elevon.
-Here we saturate the elevons before their full range
-to avoid roll-pitch-yaw coupling during faster maneuvers
-
-M: 2
-S: 1 0   10000   10000    0 -6000  6000
-S: 1 1   10000   10000    0 -6000  6000
-
-M: 2
-S: 1 0   10000   10000    0 -6000  6000
-S: 1 1  -10000  -10000    0 -6000  6000
@@ -21,26 +21,13 @@ echo "airframes: ${ALL_AIRFRAMES}"
 for airframe in $ALL_AIRFRAMES
 do
 	echo
-	echo
-	echo
-	echo "########################################################################################################################"
+	echo "##########################################################################################"
 	echo " Airframe: $airframe"
-	echo "########################################################################################################################"
+	echo "##########################################################################################"
 	echo

 	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name SYS_AUTOSTART  --value $airframe
 	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name CBRK_BUZZER    --value 782097
-
-	# enable all mavlink instances
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_0_CONFIG 101' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_1_CONFIG 102' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_2_CONFIG 103' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set MAV_3_CONFIG 104' || true
-
-	# enable all GPS
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set GPS_1_CONFIG 201' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param set GPS_1_CONFIG 202' || true
-
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
@@ -48,16 +35,13 @@ do

 	${DIR}/reboot.py --device ${SERIAL_DEVICE}

-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/param_import_fail.bson' || true

 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'

 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'pwm info'

-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'mavlink stop-all'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'gps stop'
-
 done
@@ -10,7 +10,7 @@ extra_args=
 baudrate=921600
 device=
 ip="127.0.0.1"
-while getopts ":b:d:p:qsr:f:i:loat" opt; do
+while getopts ":b:d:p:qsr:f:i:loa" opt; do
 	case $opt in
 		b)
 			baudrate=$OPTARG
@@ -40,10 +40,7 @@ while getopts ":b:d:p:qsr:f:i:loat" opt; do
 			extra_args="$extra_args -disponly"
 			;;
 		a)
-			extra_args="$extra_args -fw" # aircraft model
-			;;
-		t)
-			extra_args="$extra_args -ts" # tailsitter model
+			extra_args="$extra_args -fw" # aircraft
 			;;
 		\?)
 			echo "Invalid option: -$OPTARG" >&2
@@ -156,6 +156,7 @@ bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y
 dmesg,CONFIG_SYSTEMCMDS_DMESG=y
 dumpfile,CONFIG_SYSTEMCMDS_DUMPFILE=y
 dyn,CONFIG_SYSTEMCMDS_DYN=y
+esc_calib,CONFIG_SYSTEMCMDS_ESC_CALIB=y
 failure,CONFIG_SYSTEMCMDS_FAILURE=y
 gpio,CONFIG_SYSTEMCMDS_GPIO=y
 hardfault_log,CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -164,6 +165,7 @@ led_control,CONFIG_SYSTEMCMDS_LED_CONTROL=y
 mft,CONFIG_SYSTEMCMDS_MFT=y
 microbench,CONFIG_SYSTEMCMDS_MICROBENCH=y
 mixer,CONFIG_SYSTEMCMDS_MIXER=y
+motor_ramp,CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 motor_test,CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 mtd,CONFIG_SYSTEMCMDS_MTD=y
 netman,CONFIG_SYSTEMCMDS_NETMAN=y
@@ -142,6 +142,7 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
        }
    if 'show_subgroups_if' in actuator_output_yaml:
        actuator_output['show-subgroups-if'] = actuator_output_yaml['show_subgroups_if']
+    add_reverse_range_param = actuator_output_yaml.get('add_reverse_range_param', False)

    # config parameters
    def get_config_params(param_list):
@@ -256,13 +257,14 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
                per_channel_params.append(param)


-        param = {
-                'label': 'Rev Range\n(for Servos)',
-                'name': param_prefix+'_REV',
-                'index-offset': -1,
-                'show-as': 'bitset',
-            }
-        per_channel_params.append(param)
+        if add_reverse_range_param:
+            param = {
+                    'label': 'Rev Range\n(for Servos)',
+                    'name': param_prefix+'_REV',
+                    'index-offset': -1,
+                    'show-as': 'bitset',
+                }
+            per_channel_params.append(param)

        # TODO: support non-standard per-channel parameters

@@ -178,6 +178,7 @@ def get_actuator_output_params(yaml_config, output_functions,
    all_params = {}
    group_idx = 0

+    add_reverse_range_param = yaml_config['actuator_output'].get('add_reverse_range_param', False)
    all_param_prefixes = {}

    def add_local_param(param_name, param_def):
@@ -298,9 +299,13 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
 '''
        minimum_description = \
 '''Minimum output value (when not disarmed).
+
+The output range can be reversed by setting Min > Max.
 '''
        maximum_description = \
 '''Maxmimum output value (when not disarmed).
+
+The output range can be reversed by setting Min > Max.
 '''
        failsafe_description = \
 '''This is the output value that is set when in failsafe mode.
@@ -341,29 +346,29 @@ When set to -1 (default), the value depends on the function (see {:}).
                    }
                add_local_param(param_prefix+'_'+param_suffix+'${i}', param)

-    # add reverse range param
-    for param_prefix in all_param_prefixes:
-        groups = all_param_prefixes[param_prefix]
-        # collect the bits
-        channel_bits = {}
-        for instance_start, instance_start_label, num_instances, label in groups:
-            for instance in range(instance_start, instance_start+num_instances):
-                instance_label = instance - instance_start + instance_start_label
-                channel_bits[instance-1] = label + ' ' + str(instance_label)
+    if add_reverse_range_param:
+        for param_prefix in all_param_prefixes:
+            groups = all_param_prefixes[param_prefix]
+            # collect the bits
+            channel_bits = {}
+            for instance_start, instance_start_label, num_instances, label in groups:
+                for instance in range(instance_start, instance_start+num_instances):
+                    instance_label = instance - instance_start + instance_start_label
+                    channel_bits[instance-1] = label + ' ' + str(instance_label)

-        param = {
-            'description': {
-                'short': 'Reverse Output Range for '+module_name,
-                'long':
+            param = {
+                'description': {
+                    'short': 'Reverse Output Range for '+module_name,
+                    'long':
 '''Allows to reverse the output range for each channel.
 Note: this is only useful for servos.
 '''.format(channel_label),
-                },
-            'type': 'bitmask',
-            'default': 0,
-            'bit': channel_bits
-            }
-        add_local_param(param_prefix+'_REV', param)
+                    },
+                'type': 'bitmask',
+                'default': 0,
+                'bit': channel_bits
+                }
+            add_local_param(param_prefix+'_REV', param)

    if verbose: print('adding actuator params: {:}'.format(all_params))
    return all_params
@@ -48,6 +48,7 @@ echo "Installing PX4 general dependencies"
 sudo pacman -Sy --noconfirm --needed \
 	astyle \
 	base-devel \
+	ccache \
 	clang \
 	cmake \
 	cppcheck \
@@ -77,6 +77,7 @@ sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 	astyle \
 	build-essential \
+	ccache \
 	cmake \
 	cppcheck \
 	file \
@@ -100,6 +101,12 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	zip \
 	;

+if [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
+	echo "Installing Ubuntu 16.04 PX4-compatible ccache version"
+	wget -O /tmp/ccache_3.4.1-1_amd64.deb http://launchpadlibrarian.net/356662933/ccache_3.4.1-1_amd64.deb
+	sudo dpkg -i /tmp/ccache_3.4.1-1_amd64.deb
+fi
+
 # Python3 dependencies
 echo
 echo "Installing PX4 Python3 dependencies"
@@ -79,12 +79,14 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
@@ -1,7 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default BAT1_V_DIV 10.177939394
-param set-default BAT1_A_PER_V 15.391030303
@@ -72,6 +72,12 @@
 #define ADC_RC_RSSI_CHANNEL		11
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	15

+/* Define Battery 1 Voltage Divider and A per V
+ */
+
+#define BOARD_BATTERY1_V_DIV   (10.177939394f)
+#define BOARD_BATTERY1_A_PER_V (15.391030303f)
+
 /* Power supply control and monitoring GPIOs */
 // #define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
 // #define GPIO_VDD_BRICK_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
@@ -4,7 +4,6 @@
 #------------------------------------------------------------------------------

 param set-default CBRK_IO_SAFETY 0
-param set-default CANNODE_GPS_RTCM 1

 safety_button start
 tone_alarm start
@@ -1,46 +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.
-#
-############################################################################
-
-
-set(PX4_FW_NAME ${PX4_BINARY_DIR}/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_${PX4_BOARD_LABEL}.px4)
-
-# The file needs to have that name in order to be updated automatically.
-set(UPLOAD_NAME autopilot.px4)
-
-add_custom_target(upload_wifi
-	COMMAND ${CMAKE_COMMAND} -E copy ${PX4_FW_NAME} ${UPLOAD_NAME}
-	COMMAND ${PX4_SOURCE_DIR}/boards/atl/mantis-edu/upload.sh ${UPLOAD_NAME}
-	DEPENDS ${PX4_FW_NAME}
-	COMMENT "uploading autopilot.px4 file"
-	USES_TERMINAL
-)
@@ -4,8 +4,6 @@ CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-CONFIG_DRIVERS_BAROMETER_MAIERTEK_MPC2520=y
-CONFIG_DRIVERS_TAP_ESC=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -39,6 +37,7 @@ CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
@@ -5,8 +5,6 @@

 param set-default SYS_AUTOSTART 4061

-param set-default BAT1_V_DIV 9.0
-
 param set-default COM_ARM_SDCARD 0

 param set-default SENS_EXT_I2C_PRB 0
@@ -18,7 +16,7 @@ param set-default SENS_MAG_MODE 0

 param set-default EV_TSK_STAT_DIS 1

-param set-default SYS_DM_BACKEND 1
+set LOGGER_ARGS "-m mavlink"

-# Use MAVLink log streaming
-set LOGGER_ARGS "-m mavlink -c 0.5"
+# Start esc
+tap_esc start -d /dev/ttyS4 -n 4
@@ -1,5 +0,0 @@
-#!/bin/sh
-
-tap_esc start -d /dev/ttyS4 -n 4
-sleep 1
-mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix
@@ -204,7 +204,7 @@ CONFIG_TASK_NAME_SIZE=24
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=3000
+CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_TXBUFSIZE=1500
@@ -103,7 +103,7 @@ SECTIONS
 		This signature provides the bootloader with a way to delay booting
 		*/
 		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xb4ecc2925d7d05c5)
+		FILL(0xffecc2925d7d05c5)
 		. += 8;
 		*(.main_toc)
 		*(.text .text.*)
@@ -39,7 +39,7 @@ add_library(drivers_board
 	spi.cpp
 	timer_config.cpp
 	usb.c
-	pwr.cpp
+	pwr.c
 )
 add_dependencies(drivers_board arch_board_hw_info)

@@ -59,13 +59,6 @@
 #define BOARD_ARMED_STATE_LED  LED_BLUE

 #define FLASH_BASED_PARAMS
-#define RAM_BASED_MISSIONS
-
-// Hacks for MAVLink RC button input
-#define ATL_MANTIS_RC_INPUT_HACKS
-
-// Hacks for MAVLink RC button input
-#define ATL_MANTIS_RC_INPUT_HACKS

 /*
 * ADC channels
@@ -105,6 +98,9 @@
 	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
 	 (1 << ADC1_SPARE_1_CHANNEL))

+/* Define Battery 1 Voltage Divider and A per V */
+#define BOARD_BATTERY1_V_DIV         (9.0f)     /* measured with the provided PM board */
+
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)

@@ -151,8 +147,9 @@
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE

+#define BOARD_HAS_POWER_CONTROL	1
 /* power on/off */
-#define MS_PWR_BUTTON_DOWN 750
+#define MS_PWR_BUTTON_DOWN 1500
 #define KEY_AD_GPIO    (GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTC|GPIO_PIN4)
 #define POWER_ON_GPIO  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
 #define POWER_OFF_GPIO (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN5)
@@ -114,8 +114,6 @@ static void cam_pwr_on_pulse(void)
 	static bool pwr_on_flag = false;

 	if (pwr_on_flag == false) {
-		// This is now done in the bootloader.
-		// However, for transition we can leave it in.
 		up_mdelay(700);
 		stm32_configgpio(GPIO_CAM_PWR_ON_H);
 		up_mdelay(20);
@@ -53,7 +53,8 @@
 #include <nuttx/arch.h>

 #include <uORB/uORB.h>
-#include <uORB/Publication.hpp>
+#include <uORB/topics/led_control.h>
+#include <uORB/topics/tune_control.h>

 #include <arm_arch.h>
 #include "board_config.h"
@@ -1,11 +0,0 @@
-#!/usr/bin/env bash
-
-set -e
-
-PX4_BINARY_FILE="$1"
-
-echo "uploading: $PX4_BINARY_FILE"
-
-PX4_BINARY_FILE_SIZE=$(stat -c%s "$PX4_BINARY_FILE")
-curl -v -F "image=@$PX4_BINARY_FILE" -H "Expect:" -H "File-Size:$PX4_BINARY_FILE_SIZE" http://192.168.42.1/cgi-bin/upload
-
@@ -77,11 +77,13 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_NETMAN=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
@@ -5,5 +5,3 @@

 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281
-
-param set-default BAT1_V_DIV 10.13
@@ -88,6 +88,12 @@
 #define ADC_CHANNELS \
 	((1 << ADC_BATTERY1_VOLTAGE_CHANNEL))

+/* Define Battery 1 Voltage Divider and A per V
+ */
+
+#define BOARD_BATTERY1_V_DIV         (10.133333333f)
+#define BOARD_BATTERY1_A_PER_V       (36.367515152f)
+
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */

 #define BOARD_ADC_OPEN_CIRCUIT_V               (5.6f)
@@ -59,8 +59,10 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DYN=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
@@ -1,6 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default BAT1_V_DIV 11.0
@@ -42,6 +42,8 @@
 #define BOARD_OVERRIDE_UUID "BBBLUEID00000000" // must be of length 16
 #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_BBBLUE

+#define BOARD_BATTERY1_V_DIV   (11.0f)
+
 #define BOARD_MAX_LEDS 4 // Number external of LED's this board has


@@ -44,6 +44,4 @@ px4_add_module(
 		syslink.c
 	DEPENDS
 		battery
-	SUBSCRIPTIONS
-		"px4::msg::BatteryStatus /battery_status"
 	)
@@ -82,6 +82,7 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -83,6 +83,7 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -17,6 +17,7 @@
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
@@ -78,12 +78,14 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
@@ -17,6 +17,7 @@
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HEXDUMP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
@@ -80,12 +80,14 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
@@ -61,8 +61,10 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_DYN=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
@@ -1,8 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default BAT1_V_DIV 10.177939394
-param set-default BAT1_A_PER_V 15.391030303
-
@@ -42,6 +42,9 @@
 #define BOARD_OVERRIDE_UUID "RPIID00000000000" // must be of length 16
 #define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_RPI

+#define BOARD_BATTERY1_V_DIV   (10.177939394f)
+#define BOARD_BATTERY1_A_PER_V (15.391030303f)
+
 #define BOARD_MAX_LEDS 1 // Number of external LED's this board has


@@ -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
@@ -1,6 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default CANNODE_GPS_RTCM 1
@@ -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)

@@ -75,12 +75,14 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
@@ -1,13 +1,7 @@
 #!/bin/sh
 #
-# board specific defaults
+# Holybro Durandal V1 specific board defaults
 #------------------------------------------------------------------------------

-param set-default BAT1_V_DIV 18.1
-param set-default BAT2_V_DIV 18.1
-
-param set-default BAT1_A_PER_V 36.367515152
-param set-default BAT2_A_PER_V 36.367515152
-
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1
@@ -140,6 +140,12 @@
 	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
 	 (1 << ADC1_3V3_IN_CHANNEL))

+/* Define Battery 1 Voltage Divider and A per V
+ */
+
+#define BOARD_BATTERY1_V_DIV         (18.1f)     /* measured with the provided PM board */
+#define BOARD_BATTERY1_A_PER_V       (36.367515152f)
+
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */

 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
@@ -3,9 +3,6 @@
 # board specific defaults
 #------------------------------------------------------------------------------

-param set-default BAT1_V_DIV 10.9
-param set-default BAT1_A_PER_V 17
-
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281

@@ -92,6 +92,11 @@
 	 (1 << ADC_BATTERY_CURRENT_CHANNEL)       | \
 	 (1 << ADC_RSSI_IN_CHANNEL))

+/* Define Battery 1 Voltage Divider and A per V
+ */
+#define BOARD_BATTERY1_V_DIV         (10.9f)
+#define BOARD_BATTERY1_A_PER_V       (17.f)
+
 /* PWM
 */
 #define DIRECT_PWM_OUTPUT_CHANNELS  6
@@ -1,3 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROMFSROOT=""
@@ -1,92 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_COMMON_BAROMETERS=y
-CONFIG_DRIVERS_BATT_SMBUS=y
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
-CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
-CONFIG_DRIVERS_OSD=y
-CONFIG_COMMON_LIGHT=y
-CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_POWER_MONITOR_INA226=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_PWM_OUT_SIM=y
-CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
-CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
-CONFIG_COMMON_TELEMETRY=y
-CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
-CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_BATTERY_STATUS=y
-CONFIG_MODULES_CAMERA_FEEDBACK=y
-CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
-CONFIG_MODULES_ESC_BATTERY=y
-CONFIG_MODULES_EVENTS=y
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
-CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_MAVLINK=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_NAVIGATOR=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIH=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_VMOUNT=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_TEST=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_PWM=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_USB_CONNECTED=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -1,13 +0,0 @@
-{
-    "board_id": 1048,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the KakuteH7 board",
-    "image": "",
-    "build_time": 0,
-    "summary": "KAKUTEH7",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 1835008,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,27 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default BAT1_V_DIV 11.2
-param set-default BAT1_A_PER_V 59.5
-
-# system_power unavailable
-param set-default CBRK_SUPPLY_CHK 894281
-
-# Select the Generic 250 Racer by default
-param set-default SYS_AUTOSTART 4050
-
-# use the Q attitude estimator, it works w/o mag or GPS.
-param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_ACC_COMP 0
-param set-default ATT_W_ACC 0.4000
-param set-default ATT_W_GYRO_BIAS 0.0000
-
-param set-default SYS_HAS_MAG 0
-
-# the startup tune is not great on a binary output buzzer, so disable it
-param set-default CBRK_BUZZER 782090
-
-param set-default IMU_GYRO_RATEMAX 2000
-
@@ -1,13 +0,0 @@
-#!/bin/sh
-#
-# KakuteH7 specific board extras init
-#------------------------------------------------------------------------------
-
-if ! param compare OSD_ATXXXX_CFG 0
-then
-	atxxxx start -s
-fi
-
-# DShot telemetry is always on UART7
-dshot telemetry /dev/ttyS5
-
@@ -1,13 +0,0 @@
-#!/bin/sh
-#
-# Holybro KakuteH7 specific board sensors init
-#------------------------------------------------------------------------------
-board_adc start
-
-# The default IMU is an ICM20689, but there might also be an MPU6000
-if ! mpu6000 -R 6 -s start
-then
-	icm20689 -R 6 -s start
-fi
-
-bmp280 -X start
@@ -1,93 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DEV_CONSOLE is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_SPI_EXCHANGE is not set
-# CONFIG_STM32H7_SYSCFG is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/kakuteh7/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743VI=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_INITTHREAD_PRIORITY=254
-CONFIG_BOARD_LATE_INITIALIZE=y
-CONFIG_BOARD_LOOPSPERMSEC=22114
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x004b
-CONFIG_CDCACM_PRODUCTSTR="PX4 BL Holybro KakuteH7"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x3162
-CONFIG_CDCACM_VENDORSTR="Holybro"
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=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=750
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_LIB_BOARDCTL=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SPI=y
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_USART3=y
-CONFIG_SYSTEMTICK_HOOK=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGINT_CHAR=0x03
-CONFIG_TTY_SIGTSTP=y
-CONFIG_USART3_RXBUFSIZE=600
-CONFIG_USART3_TXBUFSIZE=300
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="bootloader_main"
@@ -1,419 +0,0 @@
-/************************************************************************************
- *
- *   Copyright (C) 2016-2019 Gregory Nutt. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************************************/
-#pragma once
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include "board_dma_map.h"
-
-#include <nuttx/config.h>
-
-#ifndef __ASSEMBLY__
-# include <stdint.h>
-#endif
-
-#include "stm32_rcc.h"
-#include "stm32_sdmmc.h"
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-
-/* Clocking *************************************************************************/
-/* The holybro KakuteH7  board provides the following clock sources:
- *
- *   X1: 8 MHz crystal for HSE
- *
- * So we have these clock source available within the STM32
- *
- *   HSI: 16 MHz RC factory-trimmed
- *   HSE:  8 MHz crystal for HSE
- */
-
-#define STM32_BOARD_XTAL        8000000ul
-
-#define STM32_HSI_FREQUENCY     16000000ul
-#define STM32_LSI_FREQUENCY     32000
-#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-#define STM32_LSE_FREQUENCY     32768
-
-/* Main PLL Configuration.
- *
- * PLL source is HSE = 8,000,000
- *
- * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
- * Subject to:
- *
- *     1 <= PLLM <= 63
- *     4 <= PLLN <= 512
- *   150 MHz <= PLL_VCOL <= 420MHz
- *   192 MHz <= PLL_VCOH <= 836MHz
- *
- * SYSCLK  = PLL_VCO / PLLP
- * CPUCLK  = SYSCLK / D1CPRE
- * Subject to
- *
- *   PLLP1   = {2, 4, 6, 8, ..., 128}
- *   PLLP2,3 = {2, 3, 4, ..., 128}
- *   CPUCLK <= 480 MHz
- */
-
-#define STM32_BOARD_USEHSE
-
-#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
-
-/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
- *
- *   PLL1_VCO = (8,000,000 / 1) * 120 = 960 MHz
- *
- *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
- *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
- *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
- */
-
-#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
-				 RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
-				 RCC_PLLCFGR_DIVP1EN | \
-				 RCC_PLLCFGR_DIVQ1EN | \
-				 RCC_PLLCFGR_DIVR1EN)
-#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
-#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(120)
-#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
-#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(4)
-#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
-
-#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 120)
-#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
-#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
-#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
-
-/* PLL2 */
-
-#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
-				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
-				  RCC_PLLCFGR_DIVP2EN | \
-				  RCC_PLLCFGR_DIVQ2EN | \
-				  RCC_PLLCFGR_DIVR2EN)
-#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(2)
-#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(48)
-#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
-#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
-#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
-
-#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 2) * 48)
-#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-
-/* PLL3 */
-
-#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
-				 RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
-				 RCC_PLLCFGR_DIVQ3EN)
-#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(2)
-#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(48)
-#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
-#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
-#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
-
-#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 2) * 48)
-#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
-#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
-#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
-
-/* SYSCLK = PLL1P = 480MHz
- * CPUCLK = SYSCLK / 1 = 480 MHz
- */
-
-#define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
-#define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
-#define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
-
-/* Configure Clock Assignments */
-
-/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
- * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
- */
-
-#define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
-#define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
-#define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
-#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */
-
-/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
-#define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
-#define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
-#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */
-
-#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
-#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* Timer clock frequencies */
-
-/* Timers driven from APB1 will be twice PCLK1 */
-
-#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-
-/* Timers driven from APB2 will be twice PCLK2 */
-
-#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-
-/* Kernel Clock Configuration
- *
- * Note: look at Table 54 in ST Manual
- */
-
-/* I2C123 clock source */
-
-#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
-
-/* I2C4 clock source */
-
-#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
-
-/* SPI123 clock source */
-
-#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
-
-/* SPI45 clock source */
-
-#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2
-
-/* SPI6 clock source */
-
-#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2
-
-/* USB 1 and 2 clock source */
-
-#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3
-
-/* ADC 1 2 3 clock source */
-
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
-
-/* FDCAN 1 2 clock source */
-
-#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
-
-#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
-
-/* FLASH wait states
- *
- *  ------------ ---------- -----------
- *  Vcore        MAX ACLK   WAIT STATES
- *  ------------ ---------- -----------
- *  1.15-1.26 V     70 MHz    0
- *  (VOS1 level)   140 MHz    1
- *                 210 MHz    2
- *  1.05-1.15 V     55 MHz    0
- *  (VOS2 level)   110 MHz    1
- *                 165 MHz    2
- *                 220 MHz    3
- *  0.95-1.05 V     45 MHz    0
- *  (VOS3 level)    90 MHz    1
- *                 135 MHz    2
- *                 180 MHz    3
- *                 225 MHz    4
- *  ------------ ---------- -----------
- */
-
-#define BOARD_FLASH_WAITSTATES 2
-
-/* SDMMC definitions ********************************************************/
-
-/* Init 400kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
-
-#define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-
-/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
- * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
- */
-
-#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#else
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#endif
-#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#else
-#  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#endif
-
-#define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
-
-/* LED definitions ******************************************************************/
-/* The holybro KakuteH7 board has three, LED_GREEN a Green LED, LED_BLUE
- * a Blue LED and LED_RED a Red LED, that can be controlled by software.
- *
- * 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 board_userled() */
-
-#define BOARD_LED1        0
-#define BOARD_NLEDS       1
-
-#define BOARD_LED_RED     BOARD_LED1
-
-/* LED bits for use with board_userled_all() */
-
-#define BOARD_LED1_BIT    (1 << BOARD_LED1)
-
-/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
- * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
- * events as follows:
- *
- *
- *   SYMBOL                     Meaning                      LED state
- *                                                        Red   Green Blue
- *   ----------------------  --------------------------  ------ ------ ----*/
-
-#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
-#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
-#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
-#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
-#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
-#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
-#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
-#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
-#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
-
-/* Thus if the Green LED is statically on, NuttX has successfully booted and
- * is, apparently, running normally.  If the Red LED is flashing at
- * approximately 2Hz, then a fatal error has been detected and the system
- * has halted.
- */
-
-/* Alternate function pin selections ************************************************/
-
-
-#define GPIO_USART1_RX   GPIO_USART1_RX_2    /* PA10 */
-#define GPIO_USART1_TX   GPIO_USART1_TX_2    /* PA9 */
-
-#define GPIO_USART2_RX   GPIO_USART2_RX_2   /* PD6 */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5 */
-
-#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9  */
-#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8  */
-
-#define GPIO_UART4_RX    GPIO_UART4_RX_5    /* PD0 */
-#define GPIO_UART4_TX    GPIO_UART4_TX_5    /* PD1 */
-
-#define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7  */
-#define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6 */
-
-#define GPIO_UART7_RX    GPIO_UART7_RX_3    /* PE7 */
-#define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8 */
-
-/* SPI
- * SPI1 SD Card
- * SPI2 is OSD AT7456E
- * SPI4 is IMU
- */
-
-#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6 */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1   /* PA7 */
-#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_1    /* PA5 */
-
-#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1   /* PB14 */
-#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_1   /* PB15 */
-#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_4    /* PB13 */
-
-#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_2   /* PE5 */
-#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2   /* PE6 */
-#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_2    /* PE2 */
-
-/* I2C
- */
-
-#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1       /* PB6  */
-#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1       /* PB7  */
-
-#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
-#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
-
-/* SDMMC1
- *
- *      VDD 3.3
- *      GND
- *      SDMMC1_CK                           PC12
- *      SDMMC1_CMD                          PD2
- *      SDMMC1_D0                           PC8
- *      SDMMC1_D1                           PC9
- *      SDMMC1_D2                           PC10
- *      SDMMC1_D3                           PC11
- *      GPIO_SDMMC1_NCD                     PG0
- */
-
-/* USB
- *
- *      OTG_FS_DM                           PA11
- *      OTG_FS_DP                           PA12
- *      VBUS                                PA9
- */
-
-
-/* Board provides GPIO or other Hardware for signaling to timing analyzer */
-
-# define PROBE_INIT(mask)
-# define PROBE(n,s)
-# define PROBE_MARK(n)
-
@@ -1,40 +0,0 @@
-/****************************************************************************
- *
- *   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
-
-#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_1 /* DMA2 */
-#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_1 /* DMA2 */
-
-#define DMAMAP_USART2_RX   DMAMAP_DMA12_USART2RX_1 /* DMA2 */
-
@@ -1,224 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_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_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/kakuteh7/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743II=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DTCM=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=95150
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x004b
-CONFIG_CDCACM_PRODUCTSTR="PX4 KakuteH7"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x3162
-CONFIG_CDCACM_VENDORSTR="Holybro"
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_MEMFAULT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_EXPERIMENTAL=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MM_REGIONS=4
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_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=1
-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=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_READLINE_CMD_HISTORY=y
-CONFIG_READLINE_TABCOMPLETION=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=256
-CONFIG_STM32H7_ADC1=y
-CONFIG_STM32H7_ADC3=y
-CONFIG_STM32H7_BBSRAM=y
-CONFIG_STM32H7_BBSRAM_FILES=5
-CONFIG_STM32H7_BDMA=y
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
-CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32H7_I2C1=y
-CONFIG_STM32H7_I2C_DYNTIMEO=y
-CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_RTC=y
-CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
-CONFIG_STM32H7_RTC_MAGIC_REG=1
-CONFIG_STM32H7_SAVE_CRASHDUMP=y
-CONFIG_STM32H7_SDMMC1=y
-CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_SPI1=y
-CONFIG_STM32H7_SPI2=y
-CONFIG_STM32H7_SPI4=y
-CONFIG_STM32H7_SPI4_DMA=y
-CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI_DMA=y
-CONFIG_STM32H7_UART4=y
-CONFIG_STM32H7_UART7=y
-CONFIG_STM32H7_USART1=y
-CONFIG_STM32H7_USART2=y
-CONFIG_STM32H7_USART3=y
-CONFIG_STM32H7_USART6=y
-CONFIG_STM32H7_USART_BREAKS=y
-CONFIG_STM32H7_USART_INVERT=y
-CONFIG_STM32H7_USART_SINGLEWIRE=y
-CONFIG_STM32H7_USART_SWAP=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGTSTP=y
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_TXBUFSIZE=1500
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_RXDMA=y
-CONFIG_USART2_TXBUFSIZE=2500
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_RXBUFSIZE=600
-CONFIG_USART3_SERIAL_CONSOLE=y
-CONFIG_USART3_TXBUFSIZE=1500
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
-CONFIG_WATCHDOG=y
@@ -1,213 +0,0 @@
-/****************************************************************************
- * scripts/script.ld
- *
- *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The KakuteH7 uses an STM32H743VI has 2048Kb of main FLASH memory.
- * The flash memory is partitioned into a User Flash memory and a System
- * Flash memory. Each of these memories has two banks:
- *
- *   1) User Flash memory:
- *
- *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
- *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
- *
- *   2) System Flash memory:
- *
- *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
- *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
- *
- *   3) User option bytes for user configuration, only in Bank 1.
- *
- * In the STM32H743VI, two different boot spaces can be selected through
- * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
- * BOOT_ADD1 option bytes:
- *
- *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
- *      ST programmed value: Flash memory at 0x0800:0000
- *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
- *      ST programmed value: System bootloader at 0x1FF0:0000
- *
- * The KakuteH7 has a Swtich on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
- * drepresed, then the boot will be from 0x1FF0:0000
- *
- * The STM32H743VI also has 1024Kb of data SRAM.
- * SRAM is split up into several blocks and into three power domains:
- *
- *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
- *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
- *
- *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
- *
- *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
- *           DTCM ports. The DTCM-RAM could be used for critical real-time
- *           data, such as interrupt service routines or stack / heap memory.
- *           Both DTCM-RAMs can be used in parallel (for load/store operations)
- *           thanks to the Cortex-M7 dual issue capability.
- *
- *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
- *
- *           This RAM is connected to ITCM 64-bit interface designed for
- *           execution of critical real-times routines by the CPU.
- *
- *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
- *      through D1 domain AXI bus matrix
- *
- *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
- *
- *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
- *      through D2 domain AHB bus matrix
- *
- *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
- *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
- *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
- *
- *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
- *
- *   4) AHB SRAM (D3 domain) accessible by most of system masters
- *      through D3 domain AHB bus matrix
- *
- *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
- *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- */
-
-MEMORY
-{
-	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	flash (rx)  : ORIGIN = 0x08000000, LENGTH = 2048K
-	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
-	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
-	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
-	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
-	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
-	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-ENTRY(_stext)
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.glue_7)
-		*(.glue_7t)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > flash
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-	.init_section : {
-		_sinit = ABSOLUTE(.);
-		KEEP(*(.init_array .init_array.*))
-		_einit = ABSOLUTE(.);
-	} > flash
-
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > flash
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > flash
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > sram AT > flash
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > sram
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-}
@@ -1,222 +0,0 @@
-/****************************************************************************
- * scripts/script.ld
- *
- *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The KakuteH7 uses an STM32H743VI has 2048Kb of main FLASH memory.
- * The flash memory is partitioned into a User Flash memory and a System
- * Flash memory. Each of these memories has two banks:
- *
- *   1) User Flash memory:
- *
- *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
- *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
- *
- *   2) System Flash memory:
- *
- *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
- *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
- *
- *   3) User option bytes for user configuration, only in Bank 1.
- *
- * In the STM32H743VI, two different boot spaces can be selected through
- * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
- * BOOT_ADD1 option bytes:
- *
- *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
- *      ST programmed value: Flash memory at 0x0800:0000
- *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
- *      ST programmed value: System bootloader at 0x1FF0:0000
- *
- * The KakuteH7 has a Swtich on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
- * drepresed, then the boot will be from 0x1FF0:0000
- *
- * The STM32H743VI also has 1024Kb of data SRAM.
- * SRAM is split up into several blocks and into three power domains:
- *
- *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
- *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
- *
- *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
- *
- *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
- *           DTCM ports. The DTCM-RAM could be used for critical real-time
- *           data, such as interrupt service routines or stack / heap memory.
- *           Both DTCM-RAMs can be used in parallel (for load/store operations)
- *           thanks to the Cortex-M7 dual issue capability.
- *
- *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
- *
- *           This RAM is connected to ITCM 64-bit interface designed for
- *           execution of critical real-times routines by the CPU.
- *
- *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
- *      through D1 domain AXI bus matrix
- *
- *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
- *
- *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
- *      through D2 domain AHB bus matrix
- *
- *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
- *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
- *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
- *
- *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
- *
- *   4) AHB SRAM (D3 domain) accessible by most of system masters
- *      through D3 domain AHB bus matrix
- *
- *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
- *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- */
-
-MEMORY
-{
-	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	flash (rx)  : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
-	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
-	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
-	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
-	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
-	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
-	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-ENTRY(_stext)
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.glue_7)
-		*(.glue_7t)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > flash
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-	.init_section : {
-		_sinit = ABSOLUTE(.);
-		KEEP(*(.init_array .init_array.*))
-		_einit = ABSOLUTE(.);
-	} > flash
-
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > flash
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > flash
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > sram AT > flash
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > sram
-
-	/* Emit the the D3 power domain section for locating BDMA data */
-
-	.sram4_reserve (NOLOAD) :
-	{
-		*(.sram4)
-		. = ALIGN(4);
-		_sram4_heap_start = ABSOLUTE(.);
-	} > sram4
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-}
@@ -1,66 +0,0 @@
-############################################################################
-#
-#   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
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
-	add_library(drivers_board
-		bootloader_main.c
-		usb.c
-	)
-	target_link_libraries(drivers_board
-		PRIVATE
-			nuttx_arch # sdio
-			nuttx_drivers # sdio
-			bootloader
-	)
-	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
-
-else()
-	add_library(drivers_board
-		i2c.cpp
-		init.c
-		led.c
-		spi.cpp
-		timer_config.cpp
-		usb.c
-	)
-	add_dependencies(drivers_board arch_board_hw_info)
-
-	target_link_libraries(drivers_board
-		PRIVATE
-			arch_spi
-			arch_board_hw_info
-			drivers__led # drv_led_start
-			nuttx_arch # sdio
-			nuttx_drivers # sdio
-			px4_layer
-	)
-endif()
@@ -1,211 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2019 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
- *
- * holybro KakuteH7 internal definitions
- */
-
-#pragma once
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-#include <stm32_gpio.h>
-
-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-
-/* Configuration ************************************************************************************/
-
-#  define BOARD_HAS_USB_VALID           1
-#  define BOARD_HAS_NBAT_V              1
-#  define BOARD_HAS_NBAT_I              1
-
-/* Holybro KakuteH7 GPIOs ************************************************************************/
-
-/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
-
-#define GPIO_nLED_RED        /* PC2 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
-
-#define BOARD_HAS_CONTROL_STATUS_LEDS      1
-#define BOARD_OVERLOAD_LED     LED_RED
-
-/*
- * ADC channels
- *
- * These are the channel numbers of the ADCs of the microcontroller that
- * can be used by the Px4 Firmware in the adc driver
- */
-
-/* ADC defines to be used in sensors.cpp to read from a particular channel */
-
-#define ADC1_CH(n)                  (n)
-
-/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
-
-#define PX4_ADC_GPIO  \
-	/* PC0 */  GPIO_ADC123_INP10, \
-	/* PC1 */  GPIO_ADC123_INP11, \
-	/* PC5 */  GPIO_ADC12_INP8
-
-/* Define Channel numbers must match above GPIO pin IN(n)*/
-
-#define ADC_BATTERY_VOLTAGE_CHANNEL        /* PC0 */  ADC1_CH(10)
-#define ADC_BATTERY_CURRENT_CHANNEL        /* PC1 */  ADC1_CH(11)
-#define ADC_RSSI_IN_CHANNEL                /* PC5 */  ADC1_CH(8)
-
-#define ADC_CHANNELS \
-	((1 << ADC_BATTERY_VOLTAGE_CHANNEL)       | \
-	 (1 << ADC_BATTERY_CURRENT_CHANNEL)       | \
-	 (1 << ADC_RSSI_IN_CHANNEL))
-
-#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
-
-
-
-/* PWM
- */
-#define DIRECT_PWM_OUTPUT_CHANNELS  8
-
-#define BOARD_NUM_IO_TIMERS 4
-
-
-/* Tone alarm output */
-
-#define GPIO_TONE_ALARM_IDLE    /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
-#define GPIO_TONE_ALARM_GPIO    /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
-
-/* USB OTG FS
- *
- * PA9  OTG_FS_VBUS VBUS sensing
- */
-#define GPIO_OTGFS_VBUS         /* PA8 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN8)
-
-/* High-resolution timer */
-#define HRT_TIMER               4  /* use timer3 for the HRT */
-#define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 1 */
-
-/* RC Serial port */
-
-/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
-
-#define PWMIN_TIMER                       5
-#define PWMIN_TIMER_CHANNEL    /* T5C1 */ 1
-#define GPIO_PWM_IN            /* PA0  */ GPIO_TIM5_CH1IN
-
-#define GPIO_RSSI_IN                       /* PC5  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN5)
-
-/* Power switch controls ******************************************************/
-
-#define SDIO_SLOTNO                    0  /* Only one slot */
-#define SDIO_MINOR                     0
-
-/* SD card bringup does not work if performed on the IDLE thread because it
- * will cause waiting.  Use either:
- *
- *  CONFIG_LIB_BOARDCTL=y, OR
- *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
- */
-
-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
-   !defined(CONFIG_BOARD_INITTHREAD)
-#  warning SDIO initialization cannot be perfomed on the IDLE thread
-#endif
-
-/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
- * this board support the ADC system_power interface, and therefore
- * provides the true logic GPIO BOARD_ADC_xxxx macros.
- */
-#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
-
-/* Board never powers off the Servo rail */
-
-#define BOARD_ADC_SERVO_VALID     (1)
-
-#define BOARD_ADC_BRICK1_VALID  (1)
-
-
-
-/* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-/* This board provides the board_on_reset interface */
-
-#define BOARD_HAS_ON_RESET 1
-
-#define PX4_GPIO_INIT_LIST { \
-		PX4_ADC_GPIO,                     \
-		GPIO_TONE_ALARM_IDLE,             \
-		GPIO_RSSI_IN,                     \
-	}
-
-#define BOARD_ENABLE_CONSOLE_BUFFER
-
-// not working on h7 yet, due to ECC
-//#define FLASH_BASED_PARAMS
-
-__BEGIN_DECLS
-
-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
-extern void stm32_spiinitialize(void);
-
-extern void stm32_usbinitialize(void);
-
-extern void board_peripheral_reset(int ms);
-
-#include <px4_platform_common/board_common.h>
-
-#endif /* __ASSEMBLY__ */
-
-__END_DECLS
@@ -1,75 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2019, 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 bootloader_main.c
- *
- * FMU-specific early startup code for bootloader
-*/
-
-#include "board_config.h"
-#include "bl.h"
-
-#include <nuttx/config.h>
-#include <nuttx/board.h>
-#include <chip.h>
-#include <stm32_uart.h>
-#include <arch/board/board.h>
-#include "arm_internal.h"
-#include <px4_platform_common/init.h>
-
-extern int sercon_main(int c, char **argv);
-
-__EXPORT void board_on_reset(int status) {}
-
-__EXPORT void stm32_boardinitialize(void)
-{
-	/* configure USB interfaces */
-	stm32_usbinitialize();
-}
-
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-	return 0;
-}
-
-void board_late_initialize(void)
-{
-	sercon_main(0, NULL);
-}
-
-extern void sys_tick_handler(void);
-void board_timerhook(void)
-{
-	sys_tick_handler();
-}
@@ -1,124 +0,0 @@
-/*
- * hw_config.h
- *
- *  Created on: May 17, 2015
- *      Author: david_s5
- */
-
-#ifndef HW_CONFIG_H_
-#define HW_CONFIG_H_
-
-/****************************************************************************
- * 10-8--2016:
- *  To simplify the ripple effect on the tools, we will be using
- *  /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
- *  moving forward all Bootloaders must contain the prefix "PX4 BL "
- *  in the USBDEVICESTRING
- *  This Change will be made in an upcoming BL release
- ****************************************************************************/
-/*
- * Define usage to configure a bootloader
- *
- *
- * Constant                example          Usage
- * APP_LOAD_ADDRESS     0x08004000            - The address in Linker Script, where the app fw is org-ed
- * BOOTLOADER_DELAY     5000                  - Ms to wait while under USB pwr or bootloader request
- * BOARD_FMUV2
- * INTERFACE_USB        1                     - (Optional) Scan and use the USB interface for bootloading
- * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
- * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
- * USBPRODUCTID         0x0011                - PID Should match defconfig
- * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
- *                                               delay provided by an APP FW
- * BOARD_TYPE           9                     - Must match .prototype boad_id
- * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
- * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
- * BOARD_FLASH_SECTORS   11                   - Hard coded zero based last sector
- * BOARD_FLASH_SIZE     (_FLASH_KBYTES*1024)-   Total Flash size of device, determined at run time.
- *                         (1024 * 1024)      - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
- *                                              programmatically
- *
- * BOARD_FIRST_FLASH_SECTOR_TO_ERASE  2        - Optional sectors index in the flash_sectors table  (F4 only), to begin erasing.
- *                                               This is to allow sectors to be reserved for app fw usage. That will NOT be erased
- *                                               during a FW upgrade.
- *                                               The default is 0, and selects the first sector to be erased, as the 0th entry in the
- *                                               flash_sectors table. Which is the second physical sector of FLASH in the device.
- *                                               The first physical sector of FLASH is used by the bootloader, and is not defined
- *                                               in the table.
- *
- * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
- *                                                                        BOOTLOADER_RESERVATION_SIZE  will be deducted from
- *                                                                        BOARD_FLASH_SIZE to determine the size of the App FW
- *                                                                        and hence the address space of FLASH to erase and program.
- * USBMFGSTRING            "PX4 AP"            - Optional USB MFG string (default is '3D Robotics' if not defined.)
- * SERIAL_BREAK_DETECT_DISABLED                -  Optional prevent break selection on Serial port from entering or staying in BL
- *
- * * Other defines are somewhat self explanatory.
- */
-
-/* Boot device selection list*/
-#define USB0_DEV       0x01
-#define SERIAL0_DEV    0x02
-#define SERIAL1_DEV    0x04
-
-#define APP_LOAD_ADDRESS               0x08020000
-#define BOOTLOADER_DELAY               3000
-#define INTERFACE_USB                  1
-#define INTERFACE_USB_CONFIG           "/dev/ttyACM0"
-#define BOARD_VBUS                     MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
-
-//#define USE_VBUS_PULL_DOWN
-#define BOOT_DELAY_ADDRESS             0x000001a0
-#define BOARD_TYPE                     1048
-#define BOARD_FLASH_SECTORS            (14)
-#define BOARD_FLASH_SIZE               ((16-2) * 128 * 1024)
-
-#define OSC_FREQ                       8
-
-#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_RED
-#define BOARD_LED_ON                   0
-#define BOARD_LED_OFF                  1
-
-#define SERIAL_BREAK_DETECT_DISABLED   1
-
-/*
- * Uncommenting this allows to force the bootloader through
- * a PWM output pin. As this can accidentally initialize
- * an ESC prematurely, it is not recommended. This feature
- * has not been used and hence defaults now to off.
- *
- * # define BOARD_FORCE_BL_PIN_OUT         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14)
- * # define BOARD_FORCE_BL_PIN_IN          (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
- *
- * # define BOARD_POWER_PIN_OUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
- * # define BOARD_POWER_ON                 1
- * # define BOARD_POWER_OFF                0
- * # undef  BOARD_POWER_PIN_RELEASE        // Leave pin enabling Power - un comment to release (disable power)
- *
-*/
-
-#if !defined(ARCH_SN_MAX_LENGTH)
-# define ARCH_SN_MAX_LENGTH 12
-#endif
-
-#if !defined(APP_RESERVATION_SIZE)
-#  define APP_RESERVATION_SIZE 0
-#endif
-
-#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
-#  define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
-#endif
-
-#if !defined(USB_DATA_ALIGN)
-# define USB_DATA_ALIGN
-#endif
-
-#ifndef BOOT_DEVICES_SELECTION
-#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
-#endif
-
-#ifndef BOOT_DEVICES_FILTER_ONUSB
-#  define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
-#endif
-
-#endif /* HW_CONFIG_H_ */
@@ -1,38 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-#include <px4_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusExternal(1),
-};
@@ -1,268 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2019 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
- *
- * PX4FMU-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 initialisation.
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include "board_config.h"
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <string.h>
-#include <debug.h>
-#include <errno.h>
-#include <syslog.h>
-
-#include <nuttx/config.h>
-#include <nuttx/board.h>
-#include <nuttx/spi/spi.h>
-#include <nuttx/sdio.h>
-#include <nuttx/mmcsd.h>
-#include <nuttx/analog/adc.h>
-#include <nuttx/mm/gran.h>
-#include <chip.h>
-#include <stm32_uart.h>
-#include <arch/board/board.h>
-#include "arm_internal.h"
-
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_board_led.h>
-#include <systemlib/px4_macros.h>
-#include <px4_arch/io_timer.h>
-#include <px4_platform_common/init.h>
-#include <px4_platform/gpio.h>
-#include <px4_platform/board_determine_hw_info.h>
-#include <px4_platform/board_dma_alloc.h>
-
-#include <mpu.h>
-
-# if defined(FLASH_BASED_PARAMS)
-#  include <parameters/flashparams/flashfs.h>
-#endif
-
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-/* Configuration ************************************************************/
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-__END_DECLS
-
-
-/************************************************************************************
- * Name: board_peripheral_reset
- *
- * Description:
- *
- ************************************************************************************/
-__EXPORT void board_peripheral_reset(int ms)
-{
-}
-
-/************************************************************************************
- * Name: board_on_reset
- *
- * Description:
- * Optionally provided function called on entry to board_system_reset
- * It should perform any house keeping prior to the rest.
- *
- * status - 1 if resetting to boot loader
- *          0 if just resetting
- *
- ************************************************************************************/
-__EXPORT void board_on_reset(int status)
-{
-	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
-	}
-
-	if (status >= 0) {
-		up_mdelay(6);
-	}
-}
-
-/************************************************************************************
- * 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)
-{
-	board_on_reset(-1); /* Reset PWM first thing */
-
-	/* configure LEDs */
-
-	board_autoled_initialize();
-
-	/* configure pins */
-
-	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
-	px4_gpio_init(gpio, arraySize(gpio));
-
-	board_control_spi_sensors_power_configgpio();
-
-	/* 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.
- *
- ****************************************************************************/
-
-
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-	/* Power on Interfaces */
-	board_control_spi_sensors_power(true, 0xffff);
-
-	/* Need hrt running before using the ADC */
-
-	px4_platform_init();
-
-	/* configure SPI interfaces */
-
-	stm32_spiinitialize();
-
-	/* configure the DMA allocator */
-
-	if (board_dma_alloc_init() < 0) {
-		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
-	}
-
-#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
-
-	/* initial LED state */
-	drv_led_start();
-	led_off(LED_RED);
-
-	if (board_hardfault_init(2, true) != 0) {
-		led_on(LED_RED);
-	}
-
-	/* Get the SPI port for the microSD slot */
-	struct spi_dev_s *spi_dev = stm32_spibus_initialize(CONFIG_NSH_MMCSDSPIPORTNO);
-
-	if (!spi_dev) {
-		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO);
-		led_on(LED_BLUE);
-	}
-
-	/* Now bind the SPI interface to the MMCSD driver */
-	int result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi_dev);
-
-	if (result != OK) {
-		led_on(LED_BLUE);
-		syslog(LOG_ERR, "[boot] FAILED to bind SPI port 1 to the MMCSD driver\n");
-	}
-
-	up_udelay(20);
-
-
-#if defined(FLASH_BASED_PARAMS)
-	static sector_descriptor_t params_sector_map[] = {
-		{15, 128 * 1024, 0x081E0000},
-		{0, 0, 0},
-	};
-
-	/* Initialize the flashfs layer to use heap allocated memory */
-	result = parameter_flashfs_init(params_sector_map, NULL, 0);
-
-	if (result != OK) {
-		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
-		led_on(LED_AMBER);
-	}
-
-#endif
-
-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
-	return OK;
-}
@@ -1,223 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-
-#include <stdbool.h>
-
-#include "chip.h"
-#include "stm32_gpio.h"
-#include "board_config.h"
-
-#include <nuttx/board.h>
-#include <arch/board/board.h>
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-extern void led_toggle(int led);
-__END_DECLS
-
-#ifdef CONFIG_ARCH_LEDS
-static bool nuttx_owns_leds = true;
-//                                B  R  S  G
-//                                0  1  2  3
-static const uint8_t xlatpx4[] = {1, 2, 4, 0};
-#  define xlat(p) xlatpx4[(p)]
-static uint32_t g_ledmap[] = {
-	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
-};
-
-#else
-
-#  define xlat(p) (p)
-static uint32_t g_ledmap[] = {
-	GPIO_nLED_RED,                      // Indexed by LED_RED, LED_AMBER
-};
-
-#endif
-
-__EXPORT void led_init(void)
-{
-	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
-		if (g_ledmap[l] != 0) {
-			stm32_configgpio(g_ledmap[l]);
-		}
-	}
-}
-
-static void phy_set_led(int led, bool state)
-{
-	/* Drive Low to switch on */
-
-	if (g_ledmap[led] != 0) {
-		stm32_gpiowrite(g_ledmap[led], !state);
-	}
-}
-
-static bool phy_get_led(int led)
-{
-	/* If Low it is on */
-	if (g_ledmap[led] != 0) {
-		return !stm32_gpioread(g_ledmap[led]);
-	}
-
-	return false;
-}
-
-__EXPORT void led_on(int led)
-{
-	phy_set_led(xlat(led), true);
-}
-
-__EXPORT void led_off(int led)
-{
-	phy_set_led(xlat(led), false);
-}
-
-__EXPORT void led_toggle(int led)
-{
-	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
-}
-
-#ifdef CONFIG_ARCH_LEDS
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: board_autoled_initialize
- ****************************************************************************/
-
-void board_autoled_initialize(void)
-{
-	led_init();
-}
-
-/****************************************************************************
- * Name: board_autoled_on
- ****************************************************************************/
-
-void board_autoled_on(int led)
-{
-	if (!nuttx_owns_leds) {
-		return;
-	}
-
-	switch (led) {
-	default:
-		break;
-
-	case LED_HEAPALLOCATE:
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_IRQSENABLED:
-		phy_set_led(BOARD_LED_BLUE, false);
-		phy_set_led(BOARD_LED_GREEN, true);
-		break;
-
-	case LED_STACKCREATED:
-		phy_set_led(BOARD_LED_GREEN, true);
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_INIRQ:
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_SIGNAL:
-		phy_set_led(BOARD_LED_GREEN, true);
-		break;
-
-	case LED_ASSERTION:
-		phy_set_led(BOARD_LED_RED, true);
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_PANIC:
-		phy_set_led(BOARD_LED_RED, true);
-		break;
-
-	case LED_IDLE : /* IDLE */
-		phy_set_led(BOARD_LED_RED, true);
-		break;
-	}
-}
-
-/****************************************************************************
- * Name: board_autoled_off
- ****************************************************************************/
-
-void board_autoled_off(int led)
-{
-	if (!nuttx_owns_leds) {
-		return;
-	}
-
-	switch (led) {
-	default:
-		break;
-
-	case LED_SIGNAL:
-		phy_set_led(BOARD_LED_GREEN, false);
-		break;
-
-	case LED_INIRQ:
-		phy_set_led(BOARD_LED_BLUE, false);
-		break;
-
-	case LED_ASSERTION:
-		phy_set_led(BOARD_LED_RED, false);
-		phy_set_led(BOARD_LED_BLUE, false);
-		break;
-
-	case LED_PANIC:
-		phy_set_led(BOARD_LED_RED, false);
-		break;
-
-	case LED_IDLE : /* IDLE */
-		phy_set_led(BOARD_LED_RED, false);
-		break;
-	}
-}
-
-#endif /* CONFIG_ARCH_LEDS */
@@ -1,51 +0,0 @@
-/****************************************************************************
- *
- *   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
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-#include <nuttx/spi/spi.h>
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortA, GPIO::Pin4})
-	}),
-	initSPIBus(SPI::Bus::SPI2, {
-		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),
-	}),
-	initSPIBus(SPI::Bus::SPI4, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
-		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
-	}),
-};
-
-static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -1,55 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/io_timer_hw_description.h>
-
-constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer2, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer8, DMA{DMA::Index1}),
-};
-
-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::Channel2}, {GPIO::PortB, GPIO::Pin3}),
-	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortB, GPIO::Pin10}),
-	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
-	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortA, GPIO::Pin2}),
-	initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel3}, {GPIO::PortC, GPIO::Pin8}),
-	initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel4}, {GPIO::PortC, GPIO::Pin9}),
-};
-
-constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
-	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -1,105 +0,0 @@
-/****************************************************************************
- *
- *   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
- * 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 px4fmu_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 <chip.h>
-#include <stm32_gpio.h>
-#include <stm32_otg.h>
-#include "board_config.h"
-
-/************************************************************************************
- * Definitions
- ************************************************************************************/
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called to setup USB-related GPIO pins for the PX4FMU 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_STM32H7_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-#endif
-}
-
-/************************************************************************************
- * Name:  stm32_usbsuspend
- *
- * Description:
- *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
- *   used.  This function is called whenever the USB enters or leaves suspend mode.
- *   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);
-}
@@ -85,12 +85,14 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
@@ -3,11 +3,5 @@
 # board specific defaults
 #------------------------------------------------------------------------------

-param set-default BAT1_V_DIV 18.1
-param set-default BAT2_V_DIV 18.1
-
-param set-default BAT1_A_PER_V 36.367515152
-param set-default BAT2_A_PER_V 36.367515152
-
 rgbled_pwm start
 safety_button start
@@ -173,6 +173,12 @@
 	 (1 << ADC1_SPARE_1_CHANNEL))
 #endif

+/* Define Battery 1 Voltage Divider and A per V
+ */
+
+#define BOARD_BATTERY1_V_DIV         (18.1f)     /* measured with the provided PM board */
+#define BOARD_BATTERY1_A_PER_V       (36.367515152f)
+
 /* HW has to large of R termination on ADC todo:change when HW value is chosen */

 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
@@ -57,6 +57,7 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -1,10 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default BAT1_V_DIV 11
-param set-default BAT1_A_PER_V 40
-
-param set-default BAT2_V_DIV 11
-param set-default BAT2_A_PER_V 40
@@ -101,6 +101,15 @@
 	 (1 << ADC_AIRSPEED_IN_CHANNEL) | \
 	 (1 << ADC_RSSI_IN_CHANNEL))

+
+/* Define Battery 1 Voltage Divider and A per V
+ */
+
+#define BOARD_BATTERY1_V_DIV         (11.0f)     /* measured with the provided PM board */
+#define BOARD_BATTERY1_A_PER_V       (40.0f)
+#define BOARD_BATTERY2_V_DIV         (11.0f)     /* measured with the provided PM board */
+
+
 /* CAN Silence
 *
 * Silent mode control \ ESC Mux select
--- a/Show More
+++ b/Show More