new standalone drivers/system_power (split out of adc)

- system_power portion of drivers/adc split into a new standalone module (drivers/system_power) - additional availability flags added to system_power.msg so we know what boards even support (previously certain flags were faked if not available) - drivers/system_power scheduled at minimum rate by default, but now also scheduled immediately on any relevant GPIO events - now instead of running at 100 Hz with heavily reduced logging we can run at a minimal rate, log at full rate, and catch relevant changes immediately
Preflight checks: Airspeed checks update
2026-05-26 18:30:05 +08:00 · 2021-01-16 14:20:54 -05:00 · 2021-01-16 10:26:55 -05:00 · 2021-01-16 09:32:09 +01:00 · 2021-01-15 11:44:21 -08:00 · 2021-01-15 10:57:20 -05:00
229 changed files with 4108 additions and 1757 deletions
@@ -0,0 +1,59 @@
+name: NuttX UAVCAN firmware
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2020-11-18
+    strategy:
+      matrix:
+        config: [
+          cuav_can-gps-v1_default,
+          #nxp_ucans32k146_default,
+          px4_fmu-v4_cannode
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 400M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: Upload px4 package
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_cannode_${{matrix.config}}
+        path: build/${{matrix.config}}/*.uavcan.bin
@@ -66,6 +66,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cuav_can-gps-v1_default
+    cuav_can-gps-v1_canbootloader:
+      short: cuav_can-gps-v1_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cuav_can-gps-v1_canbootloader
    cuav_nora_default:
      short: cuav_nora
      buildType: MinSizeRel
@@ -16,20 +16,31 @@ then
 	param set FW_LND_ANG 8
 	param set FW_THR_LND_MAX 0

-	param set FW_L1_PERIOD 15
-
-	param set FW_P_TC 0.5
-	param set FW_PR_FF 0.40
-	param set FW_PR_I 0.05
-	param set FW_PR_P 0.05
-
-	param set FW_R_TC 0.7
-	param set FW_RR_FF 0.20
-	param set FW_RR_I 0.02
-	param set FW_RR_P 0.22
-
 	param set FW_L1_PERIOD 12

+	param set FW_MAN_P_MAX 30
+
+	param set FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PR_FF 0.2
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
+
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.3
+
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_THR_CRUISE 0.25
+
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2
+
 	param set FW_W_EN 1

 	param set MIS_LTRMIN_ALT 30
@@ -9,40 +9,46 @@

 if [ $AUTOCNF = yes ]
 then
-	param set FW_AIRSPD_MAX 25
-	param set FW_AIRSPD_MIN 14
-	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12
-
+	param set FW_MAN_P_MAX 30
+	param set FW_PR_FF 0.2
+	param set FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
 	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.01
+	param set FW_RR_P 0.3
+	param set FW_THR_CRUISE 0.25
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2

 	param set MC_ROLLRATE_P 0.3
+	param set MC_YAW_P 1.6

-	param set MIS_LTRMIN_ALT 10
 	param set MIS_TAKEOFF_ALT 10
-	param set MIS_YAW_TMT 10

 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_HOVER 0.58
-	param set MPC_TKO_SPEED 1
 	param set MPC_XY_P 0.8
 	param set MPC_XY_VEL_P_ACC 3
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_D_ACC 0.1
-	param set MPC_Z_VEL_MAX_DN 1.5

 	param set NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80

-	param set VT_F_TRANS_DUR 5
+	param set VT_FWD_THRUST_EN 4
 	param set VT_F_TRANS_THR 0.75
-	param set VT_ARSP_TRANS 16
 	param set VT_MOT_ID 1234
 	param set VT_FW_MOT_OFFID 1234
-	param set VT_TYPE 2
 	param set VT_B_TRANS_DUR 8
+	param set VT_TYPE 2

 fi

@@ -9,23 +9,31 @@

 if [ $AUTOCNF = yes ]
 then
-	param set FW_AIRSPD_MAX 25
-	param set FW_AIRSPD_MIN 14
-	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12
+	param set FW_MAN_P_MAX 30
+	param set FW_PR_I 0.2
+	param set FW_PR_P 0.3
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
+	param set FW_RR_P 0.3
+	param set FW_THR_CRUISE 0.33
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2

 	param set MC_ROLLRATE_P 0.3

-	param set MIS_YAW_TMT 10
-
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_ACC_HOR_MAX 2
-	param set MPC_THR_MIN 0.3
-	param set MPC_XY_P 0.15
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 3
+	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_D_ACC 0.1
-	param set MPC_XY_VEL_P_ACC 1
-	param set MPC_Z_VEL_MAX_DN 1.5
-	param set MPC_Z_VEL_P_ACC 16

 	param set NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80
@@ -14,9 +14,20 @@ then
 	param set FW_PR_FF 0.2
 	param set FW_PR_I 0.4
 	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 3
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
 	param set FW_RR_FF 0.1
 	param set FW_RR_P 0.3
+	param set FW_THR_CRUISE 0.38
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2

 	param set MC_YAW_P 1.6

@@ -28,10 +39,10 @@ then
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_D_ACC 0.1

-	param set NAV_LOITER_RAD 100
+	param set NAV_ACC_RAD 5
+	param set NAV_LOITER_RAD 80

 	param set VT_B_TRANS_DUR 8
-	param set VT_ELEV_MC_LOCK 0
 	param set VT_FWD_THRUST_EN 4
 	param set VT_MOT_ID 1234
 	param set VT_TILT_TRANS 0.6
@@ -9,12 +9,14 @@

 if [ $AUTOCNF = yes ]
 then
-	param set MC_PITCHRATE_P 0.1
-	param set MC_PITCHRATE_I 0.05
-	param set MC_PITCH_P 6.0
-	param set MC_ROLLRATE_P 0.15
-	param set MC_ROLLRATE_I 0.1
-	param set MC_ROLL_P 6.0
+	param set MC_PITCHRATE_P 0.1000
+	param set MC_PITCHRATE_I 0.0400
+	param set MC_PITCHRATE_D 0.0010
+	param set MC_PITCH_P 9.0
+	param set MC_ROLLRATE_P 0.1000
+	param set MC_ROLLRATE_I 0.0400
+	param set MC_ROLLRATE_D 0.0010
+	param set MC_ROLL_P 9.0
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_P_ACC 3

@@ -51,4 +51,4 @@ set MAV_TYPE 19

 set MIXER vtol_tailsitter_duo

-set PWM_OUT 1234
+set PWM_OUT 123456
@@ -54,7 +54,6 @@ then
 	param set FW_T_SINK_MAX 3
 	param set FW_T_SINK_MIN 1
 	param set FW_T_VERT_ACC 6
-	param set FW_T_HRATE_P 0.1
 	param set FW_THR_CRUISE 0.70
 	param set FW_THR_SLEW_MAX 1
 	param set FW_MAN_P_MAX 30
@@ -49,8 +49,6 @@ then
 	param set FW_T_HRATE_FF 0
 	param set FW_T_SINK_MAX	15
 	param set FW_T_SINK_MIN	3
-	param set FW_T_THRO_CONST	6
-	param set FW_T_TIME_CONST	6
 	param set FW_YR_I	0.1
 	param set FW_YR_P	0.15

@@ -0,0 +1,49 @@
+#!/bin/sh
+#
+# @name ThunderFly TF-G2
+#
+# @type Autogyro
+# @class Autogyro
+#
+# @output MAIN2 rotor_head_L
+# @output MAIN3 rotor_head_R
+# @output MAIN4 rudder
+# @output MAIN5 throttle
+#
+#
+# @url https://github.com/ThunderFly-aerospace/TF-G2/
+# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
+#
+# @board px4_fmu-v2 exclude
+# @board intel_aerofc-v1 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set BAT_CAPACITY 3300
+	param set BAT_N_CELLS 3
+
+	param set PWM_AUX_RATE 50
+	param set PWM_RATE 50
+
+	param set SENS_BOARD_ROT 4
+
+	param set FW_AIRSPD_MAX 20
+	param set FW_AIRSPD_MIN 7
+	param set FW_AIRSPD_TRIM 13
+	param set FW_THR_CRUISE 0.8
+
+	param set FW_MAN_P_MAX 25
+	param set FW_MAN_R_MAX 25
+	param set FW_PR_I 0.02
+	param set FW_R_LIM 40
+	param set FW_P_LIM_MAX 25
+	param set FW_P_LIM_MIN -5
+	param set FW_P_RMAX_NEG 20
+fi
+
+set MIXER TF-G2
+set MIXER_AUX pass
@@ -146,7 +146,9 @@ px4_add_romfs_files(

 	16001_helicopter

+	# [17000, 17999] Autogyro
 	17002_TF-AutoG2
+	17003_TF-G2

 	24001_dodeca_cox

@@ -183,8 +183,8 @@ else
 	then
 		if param compare SYS_AUTOCONFIG 1
 		then
-			# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
-			param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
+			# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
+			param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT* SYS_PARAM_VER
 		fi

 		set AUTOCNF yes
@@ -0,0 +1,39 @@
+TF-G2 autogyro mixer
+==================================================
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch) and 3 (thrust).
+
+CH1: empty - fixing cuav nano jittering of 1st output. 
+Z:
+
+
+CH2, 3: rotor-head mixer
+-------------
+Two scalers total (output, roll).
+
+M: 2
+O: 10000 10000 0 -10000 10000
+S: 0 0 -10000 -10000 0 -10000 10000
+S: 0 1  10000  10000      0 -10000  10000
+
+M: 2
+O: 10000 10000 0 -10000 10000
+S: 0 0 -10000 -10000 0 -10000 10000
+S: 0 1 -10000 -10000      0 -10000  10000
+
+
+CH4: Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+M: 1
+S: 0 2  10000  10000      0 -10000  10000
+
+
+CH5: Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
@@ -12,9 +12,8 @@ if bst start -X
 then
 fi

-if board_adc start
-then
-fi
+board_adc start
+system_power start

 if sdp3x_airspeed start -X
 then
@@ -182,7 +182,7 @@ class FirmwareImage(object):
            self._contents.seek(0, os.SEEK_END)
            self._length = self._contents.tell()
            if self._padding:
-                fill = self._length % self._padding
+                fill = self._padding - (self._length % self._padding)
                if fill:
                    self._length += fill
                self._padding = fill
@@ -45,6 +45,7 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -4,6 +4,7 @@
 #------------------------------------------------------------------------------

 board_adc start
+system_power start

 # Internal I2C bus
 hmc5883 -T -I -R 12 start
@@ -72,39 +72,24 @@
 #define ADC_RC_RSSI_CHANNEL		11
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	15

-/* Define Battery 1 Voltage Divider and A per V
- */
-
+/* 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)
-// #define GPIO_VDD_SERVO_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
-// #define GPIO_VDD_3V3_SENSORS_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
-// #define GPIO_VDD_5V_HIPOWER_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
-// #define GPIO_VDD_5V_PERIPH_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
-
 /* Tone alarm output */
 #define TONE_ALARM_TIMER	14	/* timer 14 */
 #define TONE_ALARM_CHANNEL	1	/* channel 1 */
 #define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
 #define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF9|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN7)

-/* AUX PWMs
- */
+/* AUX PWMs */
 #define DIRECT_PWM_OUTPUT_CHANNELS	8
 #define DIRECT_INPUT_TIMER_CHANNELS	8

-/* USB OTG FS
- *
- * PA9  OTG_FS_VBUS VBUS sensing
- */
+/* USB OTG FS */
 #define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)


-
 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer8 for the HRT */
 #define HRT_TIMER_CHANNEL	2	/* use capture/compare channel */
@@ -143,46 +128,24 @@
 #define SPEKTRUM_RX_AS_UART()         px4_arch_configgpio(GPIO_USART1_RX)
 #define SPEKTRUM_OUT(_one_true)       px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))

-/* 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))
-#define BOARD_ADC_BRICK_VALID   (1)
-#define BOARD_ADC_SERVO_VALID   (1)
-#define BOARD_ADC_PERIPH_5V_OC  (0)
-#define BOARD_ADC_HIPOWER_5V_OC (0)

 #define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS

 /* 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

 __BEGIN_DECLS

-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
 #ifndef __ASSEMBLY__

-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
 /****************************************************************************************************
 * Name: stm32_spiinitialize
 *
 * Description:
- *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *   Called to configure SPI chip select GPIO pins for the board.
 *
 ****************************************************************************************************/

@@ -190,10 +153,8 @@ extern void stm32_spiinitialize(void);

 extern void stm32_usbinitialize(void);

-
 #define board_peripheral_reset(ms)

-
 #include <px4_platform_common/board_common.h>

 #endif /* __ASSEMBLY__ */
@@ -49,11 +49,6 @@

 #include <stm32_gpio.h>

-/* Configuration ************************************************************************************/
-
-#define BOARD_HAS_NBAT_V              1 // Only one Vbat to ADC
-#define BOARD_HAS_NBAT_I              0 // No Ibat ADC
-
 /*
 * ADC channels
 *
@@ -88,18 +83,14 @@
 #define ADC_CHANNELS \
 	((1 << ADC_BATTERY1_VOLTAGE_CHANNEL))

-/* Define Battery 1 Voltage Divider and A per V
- */
-
+/* 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)

-/* PWM
- */
+/* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS  9
 #define DIRECT_INPUT_TIMER_CHANNELS  9

@@ -110,7 +101,6 @@
 #define HRT_TIMER_CHANNEL    1  /* use capture/compare channel 3 */

 /* RC Serial port */
-
 #define RC_SERIAL_PORT                     "/dev/ttyS4"

 /* Power switch controls ******************************************************/
@@ -118,27 +108,9 @@
 #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
-
-/* AV-X_V1 never powers off the Servo rail */
-
-#define BOARD_ADC_SERVO_VALID     (1)
-
 #define ADC_BATTERY_VOLTAGE_CHANNEL  0
 #define ADC_BATTERY_CURRENT_CHANNEL  1 // TODO: review

-#define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
-#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_HIPOWER_OC))
-
 #define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS

 /* This board provides a DMA pool and APIs */
@@ -109,13 +109,6 @@
 */
 #define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)

-/*
- * 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
- */
-#define ADC_CHANNELS 0
-
 /* Tone alarm output : These are only applicable when the buzzer deck is attached */
 #define TONE_ALARM_TIMER	5	/* timer 5 */
 #define TONE_ALARM_CHANNEL 3	/* channel 3 */
@@ -123,9 +116,7 @@
 #define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN2)
 #define GPIO_TONE_ALARM_NEG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)

-/* PWM
-*/
-
+/* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS	4

 /* This board overrides the defaults by providing
@@ -27,45 +27,25 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	ROMFSROOT cannode
 	UAVCAN_INTERFACES 1
-	SERIAL_PORTS
-		GPS1:/dev/ttyS1
 	DRIVERS
-		#adc
 		barometer/ms5611
 		bootloaders
 		gps
 		magnetometer/rm3100
-		#safety_button
-		#tone_alarm
+		safety_button
+		tone_alarm
 		uavcannode
 	MODULES
-		#ekf2
-		#load_mon
-		#sensors
-		#temperature_compensation
+		load_mon
 	SYSTEMCMDS
-		#bl_update
-		#dmesg
-		#dumpfile
-		#esc_calib
-		#hardfault_log
-		#i2cdetect
-		#led_control
-		#mft
-		#mixer
-		#motor_ramp
-		#motor_test
-		#mtd
-		#nshterm
+		i2cdetect
+		led_control
 		param
 		perf
 		reboot
-		#reflect
-		#sd_bench
-		#shutdown
 		top
 		topic_listener
-		#tune_control
+		tune_control
 		ver
 		work_queue
 )
@@ -3,7 +3,7 @@
 # board sensors init
 #------------------------------------------------------------------------------

-#board_adc start
+gps start -d /dev/ttyS1 -g 38400 -p ubx

 # Internal SPI
 ms5611 -s start
@@ -58,8 +58,8 @@
 * LSE - not installed
 */

-#define STM32_BOARD_USEHSE		1
-#define STM32_BOARD_XTAL		8000000
+#define STM32_BOARD_USEHSE      1
+#define STM32_BOARD_XTAL        16000000
 #define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL

 #define STM32_HSI_FREQUENCY     16000000ul
@@ -128,40 +128,22 @@

 /* Alternate function pin selections ************************************************/

-/*
- * UARTs.
- */
+/* UARTs */
 #define GPIO_USART1_RX	GPIO_USART1_RX_2
 #define GPIO_USART1_TX	GPIO_USART1_TX_2

 #define GPIO_USART2_RX	GPIO_USART2_RX_1
 #define GPIO_USART2_TX	GPIO_USART2_TX_1

-/*
- * CAN
- *
- * CAN1 is routed to the onboard transceiver.
- */
+/* CAN */
 #define GPIO_CAN1_RX	GPIO_CAN1_RX_2
 #define GPIO_CAN1_TX	GPIO_CAN1_TX_2

-/*
- * I2C
- *
- * The optional _GPIO configurations allow the I2C driver to manually
- * reset the bus to clear stuck slaves.  They match the pin configuration,
- * but are normally-high GPIOs.
- */
+/* I2C */
 #define GPIO_I2C3_SCL		GPIO_I2C3_SCL_2
 #define GPIO_I2C3_SDA		GPIO_I2C3_SDA_2
-#define GPIO_I2C3_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
-#define GPIO_I2C3_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)

-/*
- * SPI
- *
- * There are sensors on SPI1, and SPI2 is connected to the FRAM.
- */
+/* SPI */
 #define GPIO_SPI1_MISO  (GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI1_MOSI  (GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
 #define GPIO_SPI1_SCK   (GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
@@ -71,13 +71,15 @@ SECTIONS
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
-		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
+		. = ALIGN(8);
+      /*
+       * This section positions the app_descriptor_t used
+       * by the make_can_boot_descriptor.py tool to set
+       * the application image's descriptor so that the
+       * uavcan bootloader has the ability to validate the
+       * image crc, size etc
+      */
+    KEEP(*(.app_descriptor))
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)
@@ -32,6 +32,7 @@
 ############################################################################

 if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
+
 	add_library(drivers_board
 		boot_config.h
 		boot.c
@@ -48,16 +48,17 @@
 #include <stdint.h>

 /* BUTTON *************************************************************************** */
-#define BUTTON_BOOT0n   (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTB|GPIO_PIN3|GPIO_EXTI)
-#define IRQBUTTON       BUTTON_BOOT0_BIT
+#define BUTTON_SAFETY         /* PB3  */  (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN3|GPIO_EXTI)

+#define GPIO_RGB_S            /* PB0  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
 /* CAN Silence
 *
 * Silent mode control \ ESC Mux select
 */
 #define GPIO_CAN1_SILENT_S0  /* PB5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
-#define GPIO_CAN_CTRL  /* PB5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN5|GPIO_OUTPUT_CLEAR)

+#define GPIO_LED_SAFETY              (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_BTN_SAFETY              (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN3)

 /* Tone alarm output. */
 #define TONE_ALARM_TIMER             2    /* timer 2 */
@@ -65,7 +65,7 @@ __EXPORT void stm32_boardinitialize(void)
 	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
 	stm32_configgpio(GPIO_CAN1_RX);
 	stm32_configgpio(GPIO_CAN1_TX);
-	stm32_configgpio(GPIO_CAN_CTRL);
+	stm32_configgpio(GPIO_CAN1_SILENT_S0);
 	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
 	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);

@@ -155,33 +155,33 @@ size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
 #define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}

 typedef begin_packed_struct struct led_t {
-	uint16_t red    :       5;
-	uint16_t green  :       6;
-	uint16_t blue   :       5;
+	uint8_t red;
+	uint8_t green;
+	uint8_t blue;
 	uint8_t hz;
 } end_packed_struct led_t;

 static const  led_t i2l[] = {

-	led(0, off,                             0,    0,    0,     0),
-	led(1, reset,                          10,   63,   31,   255),
-	led(2, autobaud_start,                  0,   63,    0,     1),
-	led(3, autobaud_end,                    0,   63,    0,     2),
-	led(4, allocation_start,                0,    0,   31,     2),
-	led(5, allocation_end,                  0,   63,   31,     3),
-	led(6, fw_update_start,                15,   63,   31,     3),
-	led(7, fw_update_erase_fail,           15,   63,   15,     3),
-	led(8, fw_update_invalid_response,     31,    0,    0,     1),
-	led(9, fw_update_timeout,              31,    0,    0,     2),
-	led(a, fw_update_invalid_crc,          31,    0,    0,     4),
-	led(b, jump_to_app,                     0,   63,    0,    10),
+	led(0, off,                             0,     0,     0,     0),
+	led(1, reset,                          128,   128,   128,   30),
+	led(2, autobaud_start,                  0,   128,     0,     1),
+	led(3, autobaud_end,                    0,   128,     0,     2),
+	led(4, allocation_start,                0,     0,    64,     2),
+	led(5, allocation_end,                  0,   128,    64,     3),
+	led(6, fw_update_start,                32,   128,    64,     3),
+	led(7, fw_update_erase_fail,           32,   128,    32,     3),
+	led(8, fw_update_invalid_response,     64,     0,     0,     1),
+	led(9, fw_update_timeout,              64,     0,     0,     2),
+	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
+	led(b, jump_to_app,                     0,   128,     0,    10),

 };

 void board_indicate(uiindication_t indication)
 {
-	rgb_led(i2l[indication].red << 3,
-		i2l[indication].green << 2,
-		i2l[indication].blue << 3,
+	rgb_led(i2l[indication].red,
+		i2l[indication].green,
+		i2l[indication].blue,
 		i2l[indication].hz);
 }
@@ -101,7 +101,7 @@
 #define OPT_RESTART_TIMEOUT_MS          20000

 /* Reserved for the Booloader */
-#define OPT_BOOTLOADER_SIZE_IN_K        (1024*8)
+#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)

 /* Reserved for the application out of the total
 * system flash minus the BOOTLOADER_SIZE_IN_K
@@ -132,9 +132,5 @@

 /* Bootloader Option*****************************************************************
 *
- *   GPIO      Function                                     MPU        Board
- *                                                          Pin #      Name
- * -- ----- --------------------------------             ----------------------------
- *  *  PC[09] PC9/TIM3_CH4                                     40       BOOT0
 */
-#define GPIO_GETNODEINFO_JUMPER (BUTTON_BOOT0n&~(GPIO_EXTI))
+#define GPIO_GETNODEINFO_JUMPER (BUTTON_SAFETY & ~GPIO_EXTI)
@@ -90,6 +90,9 @@ stm32_boardinitialize(void)

 	stm32_configgpio(GPIO_CAN1_SILENT_S0);

+	stm32_configgpio(GPIO_LED_SAFETY);
+	stm32_configgpio(GPIO_BTN_SAFETY);
+
 	// Configure SPI all interfaces GPIO & enable power.
 	stm32_spiinitialize();
 }
@@ -39,17 +39,83 @@
 #include <arch/board/board.h>

 #include <hardware/stm32_tim.h>
+#include <dwt.h>
+#include <nvic.h>

 #include "led.h"

-#define TMR_BASE        STM32_TIM3_BASE
-#define TMR_FREQUENCY   STM32_APB1_TIM3_CLKIN
+#define TMR_BASE        STM32_TIM1_BASE
+#define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
 #define TMR_REG(o)      (TMR_BASE+(o))

+#define LED_COUNT       8 // Eight LEDs in ring
+
+typedef union {
+	uint8_t  grb[3];
+	uint32_t l;
+} led_data_t;
+
+static  uint8_t off[] =  {0, 0, 0};
+
+#define REG(_addr)       (*(volatile uint32_t *)(_addr))
+#define rDEMCR           REG(NVIC_DEMCR)
+#define rDWT_CTRL        REG(DWT_CTRL)
+#define rDWT_CNT         REG(DWT_CYCCNT)
+#define PORT_B           REG(STM32_GPIOB_ODR)
+#define D0               REG(STM32_GPIOB_ODR) &= ~1;
+#define D1               REG(STM32_GPIOB_ODR) |= 1;
+
+#define DWT_DEADLINE(t)  rDWT_CNT + (t)
+#define DWT_WAIT(v, D)   while((rDWT_CNT - (v)) < (D));
+
+#define T0H              (STM32_SYSCLK_FREQUENCY/3333333)
+#define T1H              (STM32_SYSCLK_FREQUENCY/1666666)
+#define TW               (STM32_SYSCLK_FREQUENCY/800000)
+
+static void setled(uint8_t *p, int count)
+{
+	rDEMCR    |= NVIC_DEMCR_TRCENA;
+	rDWT_CTRL |= DWT_CTRL_CYCCNTENA_MASK;
+
+	while (count--) {
+		uint8_t l = *p++;
+		uint32_t  deadline = DWT_DEADLINE(TW);
+
+		for (uint32_t mask = (1 << 7);  mask != 0;  mask >>= 1) {
+			DWT_WAIT(deadline, TW);
+			deadline = rDWT_CNT;
+			D1;
+
+			if (l & mask) {
+				DWT_WAIT(deadline, T1H);
+
+			} else {
+				DWT_WAIT(deadline, T0H);
+			}
+
+			D0;
+		}
+
+		DWT_WAIT(deadline, TW);
+	}
+}
+
+
+static led_data_t led_data = {0};
+
+static int timerInterrupt(int irq, void *context, void *arg)
+{
+	putreg16(~getreg16(TMR_REG(STM32_GTIM_SR_OFFSET)), TMR_REG(STM32_GTIM_SR_OFFSET));
+
+	static int d2 = 1;
+	setled((d2++ & 1) ? led_data.grb : off, sizeof(led_data.grb));
+	return 0;
+}
+
 void rgb_led(int r, int g, int b, int freqs)
 {
 	long fosc = TMR_FREQUENCY;
-	long prescale = 2048;
+	long prescale = 1536;
 	long p1s = fosc / prescale;
 	long p0p5s  = p1s / 2;
 	uint16_t val;
@@ -58,8 +124,15 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		/* Enabel Clock to Block */
-		modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_TIM3EN);
+		stm32_configgpio(GPIO_RGB_S);
+
+		for (int i = 0; i < LED_COUNT; i++) {
+			setled(off, sizeof(off));
+		}
+
+		/* Enable Clock to Block */
+
+		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);

 		/* Reload */
 		val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
@@ -72,28 +145,21 @@ void rgb_led(int r, int g, int b, int freqs)
 		/* Enable STM32_TIM_SETMODE*/
 		putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));

+		putreg32(p0p5s + 1, TMR_REG(STM32_BTIM_ARR_OFFSET));

-		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
-			 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
-		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
-		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
-			 ATIM_CCER_CC2E | ATIM_CCER_CC2P |
-			 ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));

-		// TODO: verify
-		stm32_configgpio(GPIO_TIM3_CH1OUT_1);
-		stm32_configgpio(GPIO_TIM3_CH2OUT_1);
-		stm32_configgpio(GPIO_TIM3_CH3OUT_1);
+		irq_attach(STM32_IRQ_TIM1CC, timerInterrupt, NULL);
+		up_enable_irq(STM32_IRQ_TIM1CC);
+		putreg16(GTIM_DIER_CC1IE, TMR_REG(STM32_GTIM_DIER_OFFSET));
 	}

-	long p  = freqs == 0 ? p1s : p1s / freqs;
-	putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
-
-	p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
-
-	putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
-	putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
-	putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
+	long p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
+	putreg32(p + 1, TMR_REG(STM32_BTIM_ARR_OFFSET));
+	putreg32(p, TMR_REG(STM32_GTIM_CCR1_OFFSET));
+	led_data.grb[0] = g;
+	led_data.grb[1] = r;
+	led_data.grb[2] = b;
+	setled(led_data.grb, sizeof(led_data.grb));

 	val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));

@@ -50,6 +50,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -3,6 +3,7 @@
 # board specific sensors init
 #------------------------------------------------------------------------------
 board_adc start
+system_power start

 # SPI1 (internal)
 rm3100 -s start
@@ -110,8 +110,6 @@
 #define DIRECT_PWM_OUTPUT_CHANNELS   8

 /* Power supply control and monitoring GPIOs */
-#define BOARD_NUMBER_BRICKS             2
-
 #define GPIO_nPOWER_IN_ADC              /* PG1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
 #define GPIO_nPOWER_IN_CAN              /* PG2  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
 #define GPIO_nPOWER_IN_C                /* PG0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN0)
@@ -53,6 +53,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -3,6 +3,7 @@
 # CUAV X7Pro specific board sensors init
 #------------------------------------------------------------------------------
 board_adc start
+system_power start

 # SPI1 (internal)
 #adis16470 -s start
@@ -110,8 +110,6 @@
 #define DIRECT_PWM_OUTPUT_CHANNELS   8

 /* Power supply control and monitoring GPIOs */
-#define BOARD_NUMBER_BRICKS             2
-
 #define GPIO_nPOWER_IN_ADC              /* PG1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
 #define GPIO_nPOWER_IN_CAN              /* PG2  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
 #define GPIO_nPOWER_IN_C                /* PG0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN0)
@@ -179,10 +177,7 @@

 #define GPIO_LED_SAFETY FMU_LED_AMBER

-/* 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))
 #define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
 #define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
@@ -52,6 +52,7 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -52,6 +52,7 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -3,6 +3,7 @@
 # Board specific sensors init
 #------------------------------------------------------------------------------
 board_adc start
+system_power start

 # SPI4
 ms5611 -s -b 4 start
@@ -97,7 +97,6 @@
 #define GPIO_PWM_VOLT_SEL    /* PB4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)

 /* Power supply control and monitoring GPIOs */
-#define BOARD_NUMBER_BRICKS             2
 #define GPIO_nVDD_BRICK1_VALID          /* PB5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) // VDD_BRICK_VALID
 #define GPIO_nVDD_BRICK2_VALID          /* PB7  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7) // VDD_BACKUP_VALID
 #define GPIO_nVDD_USB_VALID             /* PC0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0) // VBUS_VALID
@@ -124,10 +123,7 @@
 #define HRT_TIMER               8  /* use timer8 for the HRT */
 #define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */

-/* 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))
 #define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
 #define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
@@ -51,6 +51,7 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -51,6 +51,7 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -3,6 +3,7 @@
 # Board specific sensors init
 #------------------------------------------------------------------------------
 board_adc start
+system_power start

 # SPI4
 ms5611 -s -b 4 start
@@ -97,7 +97,6 @@
 #define GPIO_PWM_VOLT_SEL    /* PB4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)

 /* Power supply control and monitoring GPIOs */
-#define BOARD_NUMBER_BRICKS             2
 #define GPIO_nVDD_BRICK1_VALID          /* PB5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) // VDD_BRICK_VALID
 #define GPIO_nVDD_BRICK2_VALID          /* PB7  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7) // VDD_BACKUP_VALID
 #define GPIO_nVDD_USB_VALID             /* PC0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0) // VBUS_VALID
@@ -124,10 +123,7 @@
 #define HRT_TIMER               8  /* use timer8 for the HRT */
 #define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */

-/* 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))
 #define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
 #define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
@@ -30,6 +30,7 @@ px4_add_board(
 		magnetometer/lsm9ds1_mag
 		pwm_out_sim
 		rc_input
+		system_power
 		#telemetry # all available telemetry drivers
 	MODULES
 		airspeed_selector
@@ -47,11 +47,9 @@

 #define BOARD_MAX_LEDS 1 // Number of external LED's this board has

-
 // I2C
 #define PX4_NUMBER_I2C_BUSES    1

-
 // ADC channels:
 // A0 - board voltage (shows 5V)
 // A1 - servo rail voltage
@@ -51,6 +51,7 @@ px4_add_board(
 		pwm_out
 		px4io
 		roboclaw
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -3,6 +3,7 @@
 # Holybro Durandal V1 specific board sensors init
 #------------------------------------------------------------------------------
 board_adc start
+system_power start

 # Internal SPI bus ICM-20689
 icm20689 -R 2 -s start
@@ -70,11 +70,6 @@

 /* Configuration ************************************************************************************/

-#  define BOARD_HAS_LTC44XX_VALIDS      2 // No LTC or N Bricks
-#  define BOARD_HAS_USB_VALID           1 // LTC Has No USB valid
-#  define BOARD_HAS_NBAT_V              2 // Only one Vbat to ADC
-#  define BOARD_HAS_NBAT_I              2 // No Ibat ADC
-
 /* Holybro Durandal V1 GPIOs ************************************************************************/

 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
@@ -95,11 +90,9 @@
 */

 /* 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  \
 	/* PA0 */  GPIO_ADC1_INP16,   \
 	/* PA1 */  GPIO_ADC1_INP17,   \
@@ -213,7 +206,6 @@

 #define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
 #define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_B /* Brick 2 Is Chosen  */
-#define BOARD_NUMBER_BRICKS             2
 #define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C /* USB     Is Chosen */

 #define GPIO_nVDD_5V_PERIPH_EN          /* PG4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
@@ -314,17 +306,10 @@
 #  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))
 #define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))

-/* Board never powers off the Servo rail */
-
-#define BOARD_ADC_SERVO_VALID     (1)
-
 #define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
 #define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))

@@ -49,12 +49,6 @@

 #include <stm32_gpio.h>

-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-
-/* GPIOs ***********************************************************************************/
-
 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */

 #define GPIO_nLED_BLUE       /* PA2 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN2)
@@ -64,7 +58,6 @@

 #define  FLASH_BASED_PARAMS

-
 /*
 * ADC channels
 *
@@ -92,13 +85,11 @@
 	 (1 << ADC_BATTERY_CURRENT_CHANNEL)       | \
 	 (1 << ADC_RSSI_IN_CHANNEL))

-/* Define Battery 1 Voltage Divider and A per V
- */
+/* 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
- */
+/* PWM */
 #define DIRECT_PWM_OUTPUT_CHANNELS  6
 #define DIRECT_INPUT_TIMER_CHANNELS  6

@@ -106,10 +97,7 @@
 #define GPIO_TONE_ALARM_IDLE    /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)
 #define GPIO_TONE_ALARM_GPIO    /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN15)

-/* USB OTG FS
- *
- * PA8  OTG_FS_VBUS VBUS sensing
- */
+/* USB OTG FS PA8  OTG_FS_VBUS VBUS sensing */
 #define GPIO_OTGFS_VBUS         /* PA8 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN8)

 /* High-resolution timer */
@@ -117,8 +105,7 @@
 #define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 1 */

 /* RC Serial port */
-
-#define RC_SERIAL_PORT                     "/dev/ttyS4"
+#define RC_SERIAL_PORT               "/dev/ttyS4"

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

@@ -142,20 +129,8 @@

 __BEGIN_DECLS

-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
 #ifndef __ASSEMBLY__

-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
 /****************************************************************************************************
 * Name: stm32_spiinitialize
 *
@@ -55,6 +55,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		safety_button
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -4,6 +4,7 @@
 #------------------------------------------------------------------------------

 board_adc start
+system_power start

 # Internal SPI bus ICM-20602
 icm20602 -s -R 2 start
@@ -68,26 +68,8 @@
 #define PX4IO_SERIAL_CLOCK             STM32_PCLK1_FREQUENCY
 #define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */

-/* Configuration ************************************************************************************/
-
-#define BOARD_HAS_LTC4417
-
-#if defined(BOARD_HAS_LTC4417)
-#  define BOARD_HAS_LTC44XX_VALIDS      2 // No LTC or N Bricks
-#  define BOARD_HAS_USB_VALID           1 // LTC Has No USB valid
-#  define BOARD_HAS_NBAT_V              2 // Only one Vbat to ADC
-#  define BOARD_HAS_NBAT_I              2 // No Ibat ADC
-#else
-#  define BOARD_HAS_LTC44XX_VALIDS      0 // No LTC or N Bricks
-#  define BOARD_HAS_USB_VALID           0 // LTC Has No USB valid
-#  define BOARD_HAS_NBAT_V              1 // Only one Vbat to ADC
-#  define BOARD_HAS_NBAT_I              0 // No Ibat ADC
-#endif
-
-/* PX4FMU GPIOs ***********************************************************************************/

 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
-
 #define GPIO_nLED_RED        /* PB1 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
 #define GPIO_nLED_GREEN      /* PC6 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
 #define GPIO_nLED_BLUE       /* PC7 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
@@ -137,7 +119,6 @@
 #define ADC_HW_REV_SENSE_CHANNEL            /* PC3 */  ADC1_CH(13)
 #define ADC1_SPARE_1_CHANNEL                /* PC4 */  ADC1_CH(14)

-#if BOARD_HAS_NBAT_V == 2 && BOARD_HAS_NBAT_I == 2
 #define ADC_CHANNELS \
 	((1 << ADC_BATTERY1_VOLTAGE_CHANNEL)       | \
 	 (1 << ADC_BATTERY1_CURRENT_CHANNEL)       | \
@@ -150,41 +131,15 @@
 	 (1 << ADC_HW_VER_SENSE_CHANNEL)           | \
 	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
 	 (1 << ADC1_SPARE_1_CHANNEL))
-#elif BOARD_HAS_NBAT_V == 1 && BOARD_HAS_NBAT_I == 1
-#define ADC_CHANNELS \
-	((1 << ADC_BATTERY1_VOLTAGE_CHANNEL)       | \
-	 (1 << ADC_BATTERY1_CURRENT_CHANNEL)       | \
-	 (1 << ADC1_SPARE_2_CHANNEL)               | \
-	 (1 << ADC_RSSI_IN_CHANNEL)                | \
-	 (1 << ADC_SCALED_V5_CHANNEL)              | \
-	 (1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
-	 (1 << ADC_HW_VER_SENSE_CHANNEL)           | \
-	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
-	 (1 << ADC1_SPARE_1_CHANNEL))
-#elif BOARD_HAS_NBAT_V == 1 && BOARD_HAS_NBAT_I == 0
-#define ADC_CHANNELS \
-	((1 << ADC_BATTERY1_VOLTAGE_CHANNEL)       | \
-	 (1 << ADC1_SPARE_2_CHANNEL)               | \
-	 (1 << ADC_RSSI_IN_CHANNEL)                | \
-	 (1 << ADC_SCALED_V5_CHANNEL)              | \
-	 (1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
-	 (1 << ADC_HW_VER_SENSE_CHANNEL)           | \
-	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
-	 (1 << ADC1_SPARE_1_CHANNEL))
-#endif
-
-/* Define Battery 1 Voltage Divider and A per V
- */

+/* 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)

 /* HW Version and Revision drive signals Default to 1 to detect */
-
 #define BOARD_HAS_HW_VERSIONING

 #define GPIO_HW_REV_DRIVE    /* PH14  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN14)
@@ -256,7 +211,6 @@

 #define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
 #define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_B /* Brick 2 Is Chosen  */
-#define BOARD_NUMBER_BRICKS             2
 #define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C /* USB     Is Chosen */

 #define GPIO_nVDD_5V_PERIPH_EN          /* PG4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
@@ -380,43 +334,11 @@
 #  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))
-
-#if BOARD_HAS_USB_VALID == 1
-#  define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
-#else
-#  define BOARD_ADC_USB_VALID     BOARD_ADC_USB_CONNECTED
-#endif
-
-/* FMUv5 never powers odd the Servo rail */
-
-#define BOARD_ADC_SERVO_VALID     (1)
-
-#if !defined(BOARD_HAS_LTC44XX_VALIDS) || BOARD_HAS_LTC44XX_VALIDS == 0
-#  define BOARD_ADC_BRICK1_VALID  (1)
-#  define BOARD_ADC_BRICK2_VALID  (0)
-#elif BOARD_HAS_LTC44XX_VALIDS == 1
-#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
-#  define BOARD_ADC_BRICK2_VALID  (0)
-#elif BOARD_HAS_LTC44XX_VALIDS == 2
-#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
-#  define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
-#elif BOARD_HAS_LTC44XX_VALIDS == 3
-#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
-#  define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
-#  define BOARD_ADC_BRICK3_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
-#elif BOARD_HAS_LTC44XX_VALIDS == 4
-#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
-#  define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
-#  define BOARD_ADC_BRICK3_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
-#  define BOARD_ADC_BRICK4_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK4_VALID))
-#else
-#  error Unsupported BOARD_HAS_LTC44XX_VALIDS value
-#endif
+#define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
+#define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
+#define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))

 #define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
 #define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_HIPOWER_OC))
@@ -123,7 +123,7 @@ void AEROFC_ADC::RunImpl()
 		adc_report.raw_data[i] = (buffer[i * 2] | (buffer[i * 2 + 1] << 8));
 	}

-	for (; i < PX4_MAX_ADC_CHANNELS; ++i) {	// set unused channel id to -1
+	for (; i < adc_report_s::MAX_ADC_CHANNELS; ++i) {	// set unused channel id to -1
 		adc_report.channel_id[i] = -1;
 	}

@@ -42,20 +42,10 @@

 #pragma once

-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
 #include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>

-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-/* Configuration ************************************************************************************/
-
-/* PX4FMU GPIOs ***********************************************************************************/
 /* LEDs */
 #define GPIO_LED0		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN9)
 #define GPIO_LED1		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN10)
@@ -89,34 +79,23 @@
 #define ADC_BATTERY_VOLTAGE_CHANNEL    1
 #define ADC_BATTERY_CURRENT_CHANNEL    ((uint8_t)(-1))

-/*
- * Define Battery 1 Voltage Divider, using default for A/V
- */
+/* Define Battery 1 Voltage Divider, using default for A/V */
 #define BOARD_BATTERY1_V_DIV (9.0f)

 #define DIRECT_PWM_OUTPUT_CHANNELS	1
 #define BOARD_HAS_PWM			0

-/*
- * USB OTG FS
- */
-
-/*
- * RC Serial port
- */
+/* RC Serial port */
 #define RC_SERIAL_PORT		"/dev/ttyS2" /* No HW invert support */
-/*
- * High-resolution timer
- */
+
+/* High-resolution timer */
 #define HRT_TIMER		3	/* use timer3 for the HRT */
 #define HRT_TIMER_CHANNEL	4	/* use capture/compare channel */

 #define  FLASH_BASED_PARAMS
 #define  FLASH_BASED_DATAMAN

-/*
- * ESCs do not respond
- */
+/* ESCs do not respond */
 #define BOARD_TAP_ESC_MODE 1

 #define MEMORY_CONSTRAINED_SYSTEM
@@ -125,42 +104,12 @@

 __BEGIN_DECLS

-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
 #ifndef __ASSEMBLY__

-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Name: stm32_spiinitialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
- *
- ****************************************************************************************************/
-
 extern void stm32_spiinitialize(void);

 #define board_peripheral_reset(ms)

-/************************************************************************************
- * Name: board_sdio_initialize
- *
- * Description:
- *   Called to configure SDIO.
- *
- ************************************************************************************/
-
-extern int board_sdio_initialize(void);
-
 #include <px4_platform_common/board_common.h>

 #endif /* __ASSEMBLY__ */
@@ -45,6 +45,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -4,6 +4,7 @@
 #------------------------------------------------------------------------------

 board_adc start
+system_power start

 # Start Digital power monitors
 voxlpm -X -b 3 -k -T VBATT start
@@ -223,18 +223,6 @@
 #  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))
-
-/* ModalAI FC-v1 never powers off the Servo rail */
-
-#define BOARD_ADC_SERVO_VALID     (1)
-#define BOARD_ADC_BRICK_VALID     (1)
-
-
 #define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS

 /* This board provides a DMA pool and APIs */
@@ -49,6 +49,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -4,6 +4,7 @@
 #------------------------------------------------------------------------------

 board_adc start
+system_power start

 # Internal ICM-20602
 icm20602 -s -b 1 -R 8 start
@@ -113,7 +113,6 @@
 #define GPIO_nPOWER_IN_A                /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)

 #define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
-#define BOARD_NUMBER_BRICKS             1

 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PE4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)

@@ -168,13 +167,8 @@
 #define SDIO_SLOTNO                    0  /* Only one slot */
 #define SDIO_MINOR                     0

-/* 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))
-#define BOARD_ADC_USB_VALID            BOARD_ADC_USB_CONNECTED
-#define BOARD_ADC_SERVO_VALID          (1)	/* never powers off the Servo rail */
 #define BOARD_ADC_BRICK_VALID          (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))

 #define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
@@ -49,6 +49,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		rpm
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -3,6 +3,7 @@
 # Board specific sensors init
 #------------------------------------------------------------------------------
 board_adc start
+system_power start

 # Internal ICM-20602
 icm20602 -s -b 1 -R 8 start
@@ -90,7 +90,6 @@
 #define GPIO_nPOWER_IN_A                /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)

 #define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
-#define BOARD_NUMBER_BRICKS             1

 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PE4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)

@@ -142,8 +141,6 @@
 * provides the true logic GPIO BOARD_ADC_xxxx macros.
 */
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
-#define BOARD_ADC_USB_VALID     BOARD_ADC_USB_CONNECTED
-#define BOARD_ADC_SERVO_VALID   (1) /* never powers off the Servo rail */
 #define BOARD_ADC_BRICK_VALID   (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))

 #define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
@@ -49,6 +49,7 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -3,6 +3,7 @@
 # Board specific sensors init
 #------------------------------------------------------------------------------
 board_adc start
+system_power start

 # SPI1
 ms5611 -s -b 1 start
@@ -108,15 +108,10 @@
 #define PWMIN_TIMER_CHANNEL	2
 #define GPIO_PWM_IN		GPIO_TIM4_CH2IN_2

-/* By Providing BOARD_ADC_USB_CONNECTED 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))
 #define BOARD_ADC_BRICK_VALID   (!px4_arch_gpioread(GPIO_VDD_BRICK_VALID))
-#define BOARD_ADC_SERVO_VALID   (1)
 #define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_OC))
-#define BOARD_ADC_HIPOWER_5V_OC (0)

 #define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS

@@ -46,6 +46,7 @@ px4_add_board(
 		pwm_out
 		px4io
 		roboclaw
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -4,6 +4,7 @@
 #------------------------------------------------------------------------------

 board_adc start
+system_power start

 # Internal SPI bus ICM-20608-G
 icm20608g -s -R 8 start
@@ -119,15 +119,10 @@
 #define PWMIN_TIMER_CHANNEL	2
 #define GPIO_PWM_IN		GPIO_TIM4_CH2IN_2

-/* By Providing BOARD_ADC_USB_CONNECTED 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))
 #define BOARD_ADC_BRICK_VALID   (!px4_arch_gpioread(GPIO_VDD_BRICK_VALID))
-#define BOARD_ADC_SERVO_VALID   (1)
 #define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_OC))
-#define BOARD_ADC_HIPOWER_5V_OC (0)

 #define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS

@@ -46,6 +46,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		#test_ppm # NOT Portable YET
@@ -4,6 +4,7 @@
 #------------------------------------------------------------------------------

 board_adc start
+system_power start

 # Internal Mag I2C bus roll 180, yaw 90
 bmm150 -I -R 10 start
@@ -45,6 +45,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		#test_ppm # NOT Portable YET
@@ -275,11 +275,6 @@ __END_DECLS
 #define GPIO_ULTRASOUND_TRIGGER  /* PTD0 */  (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN0)
 #define GPIO_ULTRASOUND_ECHO     /* PTA10 */ (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTA | PIN10)

-/* Power supply control and monitoring GPIOs */
-// None
-
-#define GPIO_PERIPH_3V3_EN  0
-

 /* Tone alarm output PTA11 - TMP 2_CH1 is On +P12-4, -P12-5
 * It is driving a NPN
@@ -318,17 +313,7 @@ __END_DECLS
 #define SPEKTRUM_POWER(on_true) VDD_3V3_SPEKTRUM_POWER_EN((on_true))


-/*
- * 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_USB_VBUS_VALID))
-#define BOARD_ADC_BRICK_VALID   (1)
-#define BOARD_ADC_SERVO_VALID   (1)
-#define BOARD_ADC_PERIPH_5V_OC  (0)
-#define BOARD_ADC_HIPOWER_5V_OC (0)

 #define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS

@@ -46,6 +46,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		#test_ppm # NOT Portable YET
@@ -11,4 +11,3 @@ fi

 rgbled_pwm start
 safety_button start
-
@@ -4,6 +4,7 @@
 #------------------------------------------------------------------------------

 board_adc start
+system_power start

 # Internal Mag I2C bus roll 180, yaw 90
 bmm150 -I -R 10 start
@@ -45,6 +45,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		#test_ppm # NOT Portable YET
@@ -45,6 +45,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		#test_ppm # NOT Portable YET
@@ -39,9 +39,6 @@

 #pragma once

-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
 #include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
@@ -55,7 +52,6 @@ __BEGIN_DECLS

 __END_DECLS

-/* FMUK66 GPIOs ***********************************************************************************/
 /* LEDs */
 /* An RGB LED is connected through GPIO as shown below:
 * TBD (no makring on schematic)
@@ -96,9 +92,7 @@ __END_DECLS
 #define HRT_TIMER              1  /* TPM1 timer for the HRT */
 #define HRT_TIMER_CHANNEL      0  /* Use capture/compare channel 0 */

-/* PPM IN
- */
-
+/* PPM IN */
 #define HRT_PPM_CHANNEL        1  /* Use TPM1 capture/compare channel 1 */
 #define GPIO_PPM_IN            PIN_TPM1_CH1_1    /* PTC3 USART1 RX and PTA9 and PIN_TPM1_CH1 AKA FrSky_IN_RC_IN */

@@ -123,7 +117,6 @@ __END_DECLS
 * as an input Therefore we drive are UARTx_RX (normaly an input) as an
 * output
 */
-
 #define GPIO_PPM_IN_AS_OUT          (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTC | PIN3)

 #define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
@@ -131,7 +124,6 @@ __END_DECLS
 #define SPEKTRUM_OUT(_one_true)      px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))

 /* RC input */
-
 #define RC_SERIAL_PORT          "/dev/ttyS2"      /* UART1 */
 #define GPIO_RSSI_IN            PIN_ADC1_SE13

@@ -140,7 +132,6 @@ __END_DECLS
 * Uninitialized to Reset Disabled and Inhibited
 * All pins driven low to not back feed when power is off
 */
-
 #define nGPIO_ETHERNET_P_EN     (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE  | PIN_PORTB | PIN3)
 #define GPIO_ENET_RST           (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTA | PIN28)
 #define GPIO_ENET_EN            (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTA | PIN29)
@@ -200,7 +191,6 @@ __END_DECLS
 #define GPIO_A_RST                          (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE   | PIN_PORTA | PIN25)

 /* Sensor interrupts */
-
 #define GPIO_EXTI_GYRO_INT1                 (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTE | PIN7)
 #define GPIO_EXTI_GYRO_INT2                 (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTE | PIN6)
 #define GPIO_EXTI_ACCEL_MAG_INT1            (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTE | PIN9)
@@ -218,12 +208,10 @@ __END_DECLS
 * Only ADC1 is used
 *         Bits 31:0 are ADC1 channels 31:0
 */
-
 #define ADC1_CH(c)    (((c) & 0x1f))	/* Define ADC number Channel number */
 #define ADC1_GPIO(n)  PIN_ADC1_SE##n

 /* ADC defines to be used in sensors.cpp to read from a particular channel */
-
 #define ADC_USB_VBUS_VALID          ADC1_CH(0)      /* USB_VBUS_VALID   29    -    ADC1_DP0  */
 #define ADC_BATTERY_VOLTAGE_CHANNEL ADC1_CH(10)     /* BAT_VSENS        85   PTB4  ADC1_SE10 */
 #define ADC_BATTERY_CURRENT_CHANNEL ADC1_CH(11)     /* BAT_ISENS        86   PTB5  ADC1_SE11 */
@@ -234,7 +222,6 @@ __END_DECLS
 #define ADC_AD3                     ADC1_CH(23)     /* AD3              39    -    ADC1_SE23 */

 /* Mask use to initialize the ADC driver */
-
 #define ADC_CHANNELS ((1 << ADC_USB_VBUS_VALID) | \
 		      (1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
 		      (1 << ADC_BATTERY_CURRENT_CHANNEL) | \
@@ -253,15 +240,9 @@ __END_DECLS
 	/* PTB6  ADC1_SE12 */  ADC1_GPIO(12),  \
 	/* PTB7  ADC1_SE13 */  ADC1_GPIO(13)

-
-
-#define BOARD_BATTERY1_V_DIV   (10.177939394f)
-#define BOARD_BATTERY1_A_PER_V (15.391030303f)
-
-
-/* User GPIOs
- *
- */
+/* Define Battery 1 Voltage Divider and A per V. */
+#define BOARD_BATTERY1_V_DIV         (10.177939394f)
+#define BOARD_BATTERY1_A_PER_V       (15.391030303f)

 /* Timer I/O PWM and capture
 *
@@ -279,11 +260,6 @@ __END_DECLS
 #define GPIO_ULTRASOUND_TRIGGER  /* PTD0 */  (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN0)
 #define GPIO_ULTRASOUND_ECHO     /* PTA10 */ (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTA | PIN10)

-/* Power supply control and monitoring GPIOs */
-// None
-
-#define GPIO_PERIPH_3V3_EN  0
-

 /* Tone alarm output PTA11 - TMP 2_CH1 is On +P12-4, -P12-5
 * It is driving a NPN
@@ -322,17 +298,7 @@ __END_DECLS
 #define SPEKTRUM_POWER(on_true) VDD_3V3_SPEKTRUM_POWER_EN((on_true))


-/*
- * 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_USB_VBUS_VALID))
-#define BOARD_ADC_BRICK_VALID   (1)
-#define BOARD_ADC_SERVO_VALID   (1)
-#define BOARD_ADC_PERIPH_5V_OC  (0)
-#define BOARD_ADC_HIPOWER_5V_OC (0)

 #define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS

@@ -421,18 +387,10 @@ __END_DECLS

 #define BOARD_NUM_IO_TIMERS 3

-/************************************************************************************
- * Public data
- ************************************************************************************/
-
 __BEGIN_DECLS

 #ifndef __ASSEMBLY__

-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
 /************************************************************************************
 * Name: fmuk66_spidev_initialize
 *
@@ -45,6 +45,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
+		#system_power # REVIEW
 		tap_esc
 		telemetry # all available telemetry drivers
 		tone_alarm
@@ -16,6 +16,7 @@
 #------------------------------------------------------------------------------

 board_adc start
+system_power start

 # Internal SPI bus ICM-20602
 icm20602 -R 2 -s start
@@ -265,7 +265,6 @@

 #define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
 #define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_B /* Brick 2 Is Chosen  */
-#define BOARD_NUMBER_BRICKS             2
 #define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C /* USB     Is Chosen */

 #define OC_INPUT_IOMUX  (IOMUX_CMOS_INPUT |  IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ)
@@ -372,18 +371,10 @@
 #  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_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
 #define BOARD_ADC_USB_CONNECTED (board_read_VBUS_state() == 0)

-/* FMUv5 never powers odd the Servo rail */
-
-#define BOARD_ADC_SERVO_VALID     (1)
-
 #define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
 #define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))

@@ -47,12 +47,6 @@
 #include <nuttx/compiler.h>
 #include <stdint.h>

-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-/* Configuration ************************************************************************************/
-
-/* omnibusf4sd GPIOs ***********************************************************************************/
 /* LEDs */
 // power - green
 // LED1 - PB5 - blue
@@ -63,9 +57,8 @@

 #define  FLASH_BASED_PARAMS

-/*
- * ADC channels
- *
+/**
+ * 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
 */
 #define ADC_CHANNELS (1 << 0) | (1 << 11) | (1 << 12)
@@ -74,8 +67,7 @@
 #define ADC_BATTERY_CURRENT_CHANNEL  11
 #define ADC_RC_RSSI_CHANNEL          0

-/* Define Battery 1 Voltage Divider and A per V
- */
+/* Define Battery 1 Voltage Divider and A per V */
 #define BOARD_BATTERY1_V_DIV         (11.12f)
 #define BOARD_BATTERY1_A_PER_V       (31.f)

@@ -108,16 +100,10 @@
 //#define GPIO_GPIO4_OUTPUT            _MK_GPIO_OUTPUT(GPIO_TIM5_CH2OUT)
 //#define GPIO_GPIO5_OUTPUT            _MK_GPIO_OUTPUT(GPIO_TIM1_CH1OUT)

-/* USB OTG FS
- *
- * PA9  OTG_FS_VBUS VBUS sensing
- */
+/* USB OTG FS PA9 OTG_FS_VBUS VBUS sensing */
 #define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTC|GPIO_PIN5)

-/* PWM
- *
- * Alternatively CH3/CH4 could be assigned to UART6_TX/RX
- */
+/* PWM Alternatively CH3/CH4 could be assigned to UART6_TX/RX */
 #define DIRECT_PWM_OUTPUT_CHANNELS      4
 #define DIRECT_INPUT_TIMER_CHANNELS  4

@@ -160,20 +146,8 @@

 __BEGIN_DECLS

-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
 #ifndef __ASSEMBLY__

-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
 /****************************************************************************************************
 * Name: stm32_spiinitialize
 *
@@ -184,15 +158,6 @@ __BEGIN_DECLS

 extern void stm32_spiinitialize(void);

-
-/****************************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called to configure USB IO.
- *
- ****************************************************************************************************/
-
 extern void stm32_usbinitialize(void);

 extern void board_peripheral_reset(int ms);
@@ -61,6 +61,7 @@ px4_add_board(
 		pwm_out
 		px4io
 		#roboclaw
+		system_power
 		#tap_esc
 		#telemetry # all available telemetry drivers
 		#test_ppm
@@ -7,6 +7,7 @@ rgbled start -I
 rgbled_ncp5623c start -I

 board_adc start
+system_power start

 # Internal I2C bus
 hmc5883 -T -I -R 4 start
@@ -108,9 +108,7 @@
 #define ADC_5V_RAIL_SENSE		4
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	15

-/* Define Battery 1 Voltage Divider and A per V
- */
-
+/* Define Battery 1 Voltage Divider and A per V */
 #define BOARD_BATTERY1_V_DIV   (10.177939394f)
 #define BOARD_BATTERY1_A_PER_V (15.391030303f)

@@ -148,10 +146,7 @@
 #define PWMIN_TIMER_CHANNEL	2
 #define GPIO_PWM_IN		GPIO_TIM4_CH2IN_2

-/* 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))
 #define BOARD_ADC_BRICK_VALID   (!px4_arch_gpioread(GPIO_VDD_BRICK_VALID))
 #define BOARD_ADC_SERVO_VALID   (!px4_arch_gpioread(GPIO_VDD_SERVO_VALID))
@@ -56,6 +56,7 @@ px4_add_board(
 		pwm_out
 		px4io
 		#roboclaw
+		system_power
 		#tap_esc
 		#telemetry # all available telemetry drivers
 		#test_ppm
@@ -57,6 +57,7 @@ px4_add_board(
 		pwm_out
 		px4io
 		roboclaw
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -7,6 +7,7 @@ rgbled start -I
 rgbled_ncp5623c start -I

 board_adc start
+system_power start

 # Internal I2C bus
 hmc5883 -T -I -R 4 start
@@ -55,6 +55,7 @@ px4_add_board(
 		pwm_out
 		px4io
 		roboclaw
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -108,9 +108,7 @@
 #define ADC_5V_RAIL_SENSE		4
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	15

-/* Define Battery 1 Voltage Divider and A per V
- */
-
+/* Define Battery 1 Voltage Divider and A per V */
 #define BOARD_BATTERY1_V_DIV   (10.177939394f)
 #define BOARD_BATTERY1_A_PER_V (15.391030303f)

@@ -148,10 +146,7 @@
 #define PWMIN_TIMER_CHANNEL	2
 #define GPIO_PWM_IN		GPIO_TIM4_CH2IN_2

-/* 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))
 #define BOARD_ADC_BRICK_VALID   (!px4_arch_gpioread(GPIO_VDD_BRICK_VALID))
 #define BOARD_ADC_SERVO_VALID   (!px4_arch_gpioread(GPIO_VDD_SERVO_VALID))
@@ -51,6 +51,7 @@ px4_add_board(
 		pwm_out
 		px4io
 		roboclaw
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -53,6 +53,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -4,6 +4,7 @@
 #------------------------------------------------------------------------------

 board_adc start
+system_power start

 # We know there are sketchy boards out there
 # as chinese companies produce Pixracers without
@@ -49,6 +49,7 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -39,20 +39,10 @@

 #pragma once

-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
 #include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>

-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-/* Configuration ************************************************************************************/
-
-/* PX4FMU GPIOs ***********************************************************************************/
 /* LEDs */
 #define GPIO_LED1                    (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
 #define GPIO_LED2                    (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
@@ -98,18 +88,11 @@
 #define GPIO_TONE_ALARM_IDLE         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
 #define GPIO_TONE_ALARM              (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)

-/**
- * PWM:
- *
- * Six PWM outputs are configured.
- */
+/* PWM: Six PWM outputs are configured */
 #define DIRECT_PWM_OUTPUT_CHANNELS   6
 #define DIRECT_INPUT_TIMER_CHANNELS  6

-/**
- * USB OTG FS:
- * PA9  OTG_FS_VBUS VBUS sensing.
- */
+/* USB OTG FS: PA9 OTG_FS_VBUS VBUS sensing. */
 #define GPIO_OTGFS_VBUS              (GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)

 /* High-resolution timer */
@@ -120,7 +103,6 @@
 #define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)

 /* RC Serial port */
-
 #define RC_SERIAL_PORT               "/dev/ttyS4"

 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2. */
@@ -149,7 +131,6 @@
 #define GPIO_HEATER_OUTPUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)

 /* Power switch controls */
-
 #define SPEKTRUM_POWER(_on_true)     px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (!_on_true))

 /**
@@ -166,17 +147,9 @@
 #define SPEKTRUM_RX_AS_UART()       /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)      px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))

-/**
- * 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))
 #define BOARD_ADC_BRICK_VALID        (px4_arch_gpioread(GPIO_VDD_BRICK_VALID))
 #define BOARD_ADC_USB_VALID          (px4_arch_gpioread(GPIO_VDD_USB_VALID))
-#define BOARD_ADC_SERVO_VALID        (1)
-#define BOARD_ADC_PERIPH_5V_OC       (0)
-#define BOARD_ADC_HIPOWER_5V_OC      (0)

 #define BOARD_HAS_PWM    DIRECT_PWM_OUTPUT_CHANNELS

@@ -189,25 +162,13 @@

 __BEGIN_DECLS

-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
 #ifndef __ASSEMBLY__

-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
 /****************************************************************************************************
 * Name: stm32_spiinitialize
 *
 * Description:
- *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *   Called to configure SPI chip select GPIO pins for the board.
 *
 ****************************************************************************************************/

@@ -49,6 +49,7 @@ px4_add_board(
 		rc_input
 		#roboclaw
 		safety_button
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -50,6 +50,7 @@ px4_add_board(
 		pwm_out
 		px4io
 		roboclaw
+		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	3fff512ec0	new standalone drivers/system_power (split out of adc) - system_power portion of drivers/adc split into a new standalone module (drivers/system_power) - additional availability flags added to system_power.msg so we know what boards even support (previously certain flags were faked if not available) - drivers/system_power scheduled at minimum rate by default, but now also scheduled immediately on any relevant GPIO events - now instead of running at 100 Hz with heavily reduced logging we can run at a minimal rate, log at full rate, and catch relevant changes immediately	2021-01-16 14:20:54 -05:00
Silvan Fuhrer	cee4016665	Preflight checks: Airspeed checks update -check for valid airspeed_validated (declared valid plus updated less than 1s ago) -added param (COM_ARM_ARSP_EN) to enable/disable check for max airspeed for arming set max airspeed limit to half of stall airspeed Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-16 10:26:55 -05:00
Can Berk Durmus	ba9611621d	Retune Typhoon H480 PID	2021-01-16 09:32:09 +01:00
David Sidrane	1c0ed74d6a	platforms/nuttx/NuttX/nuttx net backports	2021-01-15 11:44:21 -08:00
Beat Küng	ade3871bee	adc: add support for multiple sensor voltage channels	2021-01-15 10:57:20 -05:00
Beat Küng	e2337a34eb	system_power: add comp_5v_valid and can1_gps1_5v_valid And fill it in from the v5x GPIO expander.	2021-01-15 10:57:20 -05:00
Beat Küng	704a82aaa6	gpio: extend support for /dev/gp* GPIO's Note that there's a small CLI interface change.	2021-01-15 10:57:20 -05:00
Beat Küng	88fe047556	px4/v5x: enable mcp23009 GPIO driver	2021-01-15 10:57:20 -05:00
Beat Küng	3e4b8763a5	nuttx: add mcp23009 gpio driver	2021-01-15 10:57:20 -05:00
Beat Küng	e1983381e7	rcS: add SYS_PARAM_VER to param reset_all exception list Avoids an extra reboot when resetting the airframe	2021-01-15 10:57:20 -05:00
Matej Frančeškin	ba6a8080ea	mavlink: don't respond to MAV_CMD_REQUEST_MESSAGE if component doesn't match PX4 is responding with NACK to MAV_CMD_REQUEST_MESSAGE from a GCS to payload-manager which confuses a GCS. PX4 shouldn't respond to commands that are not broadcasted or specificaly addressed to it.	2021-01-15 10:57:20 -05:00
Beat Küng	26e8c231b0	v5x,v6x: move mtd_caldata after mtd_id partition to avoid losing factory calibration params on existing setups	2021-01-15 10:57:20 -05:00
Lorenz Meier	a282f3df8d	CLI test: Disable by default on NuttX First target is to enable this for POSIX tests and then later to roll them out to NuttX.	2021-01-15 10:57:20 -05:00
Lorenz Meier	03e9e10847	Add CLI tests for basic soak testing This is in no way a complete test suite but is intended as a starting point to get minimal test coverage for CLI handling tests in. This is necessary to QA the CLI handling (e.g. removal of commands) and to ensure that we are exercising these code paths in stack check and alike tests.	2021-01-15 10:57:20 -05:00
Julian Oes	5ae5c03c66	mavlink: handle param4/5 from mission_item_int It turns out that we did not properly handle param4 and param5 if they are transferred using mission_item_int if the frame is MAV_FRAME_MISSION.	2021-01-15 10:57:20 -05:00
Beat Küng	12ebbd995d	bmp388: wait a bit longer to schedule first cycle after reset	2021-01-15 10:57:20 -05:00
Beat Küng	529c3112ac	bmp388: quiet if startup fails (no sensor on bus)	2021-01-15 10:57:20 -05:00
David Sidrane	1e7dfe227a	stm32_common:board_hw_rev_ver Use Analog resistor detection When the VER_DRIVE and REV_DRIVE are the same GPIO we need to use Analog detection.	2021-01-15 10:57:20 -05:00
Jakub Kákona	b87dd317d4	airframes: add new airframe for ThunderFly TF-G2 autogyro (#16551 ) Co-authored-by: Roman Dvorak <romandvorak@mlab.cz>	2021-01-15 13:54:17 +01:00
Thomas	df41c99b61	make failsafe handling consistent over all VTOL types	2021-01-15 09:19:07 +03:00
Thomas	38e46ff341	Rename VtolAttitudeControl::abort_front_transition(const char reason) to VtolAttitudeControl::quadchute(const char reason)	2021-01-15 09:19:07 +03:00
Thomas Stauber	40fbfdc054	Undo make format change Co-authored-by: Matthias Grob <maetugr@gmail.com>	2021-01-15 09:19:07 +03:00
Thomas	83ddb77a5f	delete excess empty lines	2021-01-15 09:19:07 +03:00
Thomas	b90fafd5cd	Fix quadchute logic so that it also works during back transition	2021-01-15 09:19:07 +03:00
Daniel Agar	420ceb76fc	cmake: NuttX generated vscode launch.json requires DEBUG_DEVICE found	2021-01-14 10:32:26 -05:00
SalimTerryLi	1ee98417f8	scumaker pilotpi updates * replace default mag with qmc5883l * fix rotation and quiet startup * fixedwing script & Multi-EKF cfg * set default params only when initial startup	2021-01-14 09:16:13 -05:00
Daniel Agar	52b07a932a	github actions build and store cannode uavcan firmware	2021-01-14 08:52:38 -05:00
RomanBapst	96dfa7fc71	ROMFS: set cruise throttle correctly for all gazebo vtol configs Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-01-14 09:58:37 +03:00
Silvan Fuhrer	0633c3956f	ROMFS: improve tuning of tailsitter VTOL SITL Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-14 09:58:37 +03:00
Silvan Fuhrer	6104fe8932	ROMFS: improve tuning of tiltrotor VTOL SITL Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-14 09:58:37 +03:00
Silvan Fuhrer	2ce310925c	ROMFS: improve tuning of standard VTOL SITL Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-14 09:58:37 +03:00
Daniel Agar	e96571b45d	uavcannode: GPS working on cuav_can-gps-v1 - use sensor_gps directly from sensor rather than vehicle_gps_position (aggregated value)	2021-01-13 22:06:46 -05:00
Daniel Agar	d8e8e23947	vscode: add cuav_can-gps-v1_canbootloader variant	2021-01-13 22:06:46 -05:00
Daniel Agar	58909b208d	boards: cuav can-gps-v1 add safety button and LED	2021-01-13 22:06:46 -05:00
Daniel Agar	a894ca30e8	cmake: add STM32F412CE debug helper	2021-01-13 22:06:46 -05:00
David Sidrane	529841ba7c	make_can_boot_descriptor:Get padding math correct	2021-01-13 22:06:46 -05:00
David Sidrane	1ac70cc72f	can-gps-v1:Correct Memory size used by app and bootloader size	2021-01-13 22:06:46 -05:00
David Sidrane	d04216aa48	Nuttx with stmf412 fixes	2021-01-13 22:06:46 -05:00
David Sidrane	618bd5978a	can-gps-v1:canbootloader SAFETY is GETNODEINFO_JUMPER	2021-01-13 22:06:46 -05:00
David Sidrane	2deef30d12	canbootloader:Add 48Mhz CAN Clock Settings	2021-01-13 22:06:46 -05:00
David Sidrane	177109a1af	can-gps-v1:LED Trimming	2021-01-13 22:06:46 -05:00
David Sidrane	54abd997de	canbootloader:Update to use NuttX	2021-01-13 22:06:46 -05:00
David Sidrane	271f87f8d2	canbootloader:Fixed Warning	2021-01-13 22:06:46 -05:00
David Sidrane	238c28d458	SK6812 Led driver	2021-01-13 22:06:46 -05:00
David Sidrane	85bd04f0c7	can-gps-v1:canbootloader Fixed	2021-01-13 22:06:46 -05:00
David Sidrane	3e08fd6682	can-gps-v1: Removed GPIO_CAN_CTRL	2021-01-13 22:06:46 -05:00
David Sidrane	c2c92cb2c8	can-gps-v1: Added LED pin	2021-01-13 22:06:46 -05:00
David Sidrane	cdae8bf168	can-gps-v1:Fixed Clock	2021-01-13 22:06:46 -05:00
Daniel Agar	a0d8d5ac74	sensors/vehicle_gps_position: untangle and remove unnecessary state	2021-01-13 20:17:49 -05:00
Daniel Agar	bc8ec5d1f5	uavcannode: support optical_flow	2021-01-13 19:35:28 -05:00
RomanBapst	47364ce8d6	updated tuning for gazebo plane airframe config Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-01-13 21:21:07 +03:00
RomanBapst	f05599caff	tecs: use speed derivative provided by local position Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-01-13 21:21:07 +03:00
Silvan Fuhrer	b230bbfe88	ROMFS: remove outdated TECS parameter from configs Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-13 21:21:07 +03:00
RomanBapst	e546584555	tecs: moved trivial getter methods to header file Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-01-13 21:21:07 +03:00
Roman Bapst	701c105ab6	Update src/lib/tecs/TECS.cpp Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>	2021-01-13 21:21:07 +03:00
RomanBapst	fa559aef43	TECS: stop learing integrator if airspeed is not available, but don't zero it Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-01-13 21:21:07 +03:00
RomanBapst	d4d1c0fe01	TECS: some cosmetics Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-01-13 21:21:07 +03:00
RomanBapst	97cc1e25dd	TECS: hande pitch and throttle integrator saturation consistently - don't decay integrator during saturation but prevent it from being learned into the direction which causes more actuator saturation Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-01-13 21:21:07 +03:00
RomanBapst	77627a08ca	TECS: don't allow speed height weights to be larger than one Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-01-13 21:21:07 +03:00
Silvan Fuhrer	dca89763b3	TECS: apply FW_LND_THRTC_SC to altitude error time constant Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-13 21:21:07 +03:00
Silvan Fuhrer	3d3ff75495	TECS: update some params to latest results from flight testing Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-13 21:21:07 +03:00
Silvan Fuhrer	3102b9f071	TECS: remove throttle integral limits Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-13 21:21:07 +03:00
RomanBapst	987c320825	TECS: removed unused parameter Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-01-13 21:21:07 +03:00
RomanBapst	5c4c2c240c	tecs: dot not clip throttle integrator during saturation but only allow it to propagate into a direction which does not saturate Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-01-13 21:21:07 +03:00
Silvan Fuhrer	2ca4269464	TECS: separate integral gains for throttle and pitch loops Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-13 21:21:07 +03:00
Silvan Fuhrer	72dfb2078a	TECS: adapt params to new control structure Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-13 21:21:07 +03:00
RomanBapst	01f891618b	TECS: move to new control loop architecture Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-01-13 21:21:07 +03:00
RomanBapst	447e14906c	TECS: log more TECS states to enable better analysis Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-01-13 21:21:07 +03:00
RomanBapst	8823f5e1ec	TECS: added method to get SKE weighting Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-01-13 21:21:07 +03:00
RomanBapst	d0e8b882a2	TECS: added alpha filter classes to energy rate and tas derivative Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-01-13 21:21:07 +03:00
xdwgood	cabb50a67b	13001_caipirinha_vtol:Ensure that the max/min pwm changes take effect	2021-01-13 11:32:01 +01:00
Julian Kent	be0f5a7fe4	Fix implicit float->double conversions in tests	2021-01-13 10:26:10 +01:00
Julian Kent	2d6758a39d	Cleanup of dataman mocks and check interval definition	2021-01-13 10:26:10 +01:00
Julian Kent	a97a4d8bb8	Fix enum and param update	2021-01-13 10:26:10 +01:00
Julian Kent	c745c8bb45	Small navigator refactor/cleanup	2021-01-13 10:26:10 +01:00
Julian Kent	04d859e36e	Fix test failure from parameter autosave starting WQ	2021-01-13 10:26:10 +01:00
RomanBapst	f97dcde4e2	GeofenceBreachAvoidanceTest: added tests for max dist to home Signed-off-by: Julian Kent <julian@auterion.com>	2021-01-13 10:26:10 +01:00
RomanBapst	3fa15cec91	GeofenceBreachAvoidance: improve behavior when using max dist to home option - ensure that the vehicle is loitering with sufficient clearance to the boundary Signed-off-by: Julian Kent <julian@auterion.com>	2021-01-13 10:26:10 +01:00
Julian Kent	a5dfa0c803	Add helper function for decel distances Co-authored-by: RomanBapst <bapstroman@gmail.com>	2021-01-13 10:26:10 +01:00
RomanBapst	0ac597fba8	Use new GeofenceBreachAvoidance from Navigator Signed-off-by: Julian Kent <julian@auterion.com>	2021-01-13 10:26:10 +01:00
RomanBapst	e536868104	Add GeofenceBreachAvoidance class Signed-off-by: Julian Kent <julian@auterion.com>	2021-01-13 10:26:10 +01:00
Julian Kent	8622c21496	Move VelocitySmoothing to new motion_planning library Co-authored-by: RomanBapst <bapstroman@gmail.com>	2021-01-13 10:26:10 +01:00