containers/List: fix default add (O(1)) and create new addFront() addBack() methods

2026-05-28 22:20:06 +08:00 · 2020-12-27 12:09:55 -05:00
484 changed files with 4492 additions and 14728 deletions
@@ -53,7 +53,6 @@ pipeline {
                     "intel_aerofc-v1_default",
                     "modalai_fc-v1_default",
                     "mro_ctrl-zero-f7_default",
-                     "mro_pixracerpro_default",
                     "mro_x21-777_default",
                     "mro_x21_default",
                     "nxp_fmuk66-v3_default",
@@ -7,57 +7,57 @@ pipeline {

      parallel {

-        // stage("px4_fmu-v2_test") {
-        //   stages {
-        //     stage("build px4_fmu-v2_test") {
-        //       agent {
-        //         docker {
-        //           image 'px4io/px4-dev-nuttx-focal:2020-09-14'
-        //           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-        //         }
-        //       }
-        //       steps {
-        //         sh 'export'
-        //         sh 'make distclean'
-        //         sh 'ccache -s'
-        //         sh 'git fetch --tags'
-        //         sh 'make px4_fmu-v2_test'
-        //         sh 'make sizes'
-        //         sh 'ccache -s'
-        //         stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
-        //       }
-        //       post {
-        //         always {
-        //             sh 'make distclean'
-        //         }
-        //       }
-        //     } // stage build
-        //     stage("test") {
-        //       agent {
-        //         label 'px4_fmu-v2'
-        //       }
-        //       stages {
-        //         stage("flash") {
-        //           steps {
-        //             sh 'export'
-        //             sh 'find /dev/serial'
-        //             unstash 'px4_fmu-v2_test'
-        //             // flash board and watch bootup
-        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
-        //           }
-        //         }
-        //         stage("reset") {
-        //           steps {
-        //             cleanupFTDI();
-        //           }
-        //         }
-        //       }
-        //       options {
-        //         timeout(time: 90, unit: 'MINUTES')
-        //       }
-        //     }
-        //   }
-        // }
+        stage("px4_fmu-v2_test") {
+          stages {
+            stage("build px4_fmu-v2_test") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                sh 'export'
+                sh 'make distclean'
+                sh 'ccache -s'
+                sh 'git fetch --tags'
+                sh 'make px4_fmu-v2_test'
+                sh 'make sizes'
+                sh 'ccache -s'
+                stash includes: 'build/px4_fmu-v2_test/px4_fmu-v2_test.elf', name: 'px4_fmu-v2_test'
+              }
+              post {
+                always {
+                    sh 'make distclean'
+                }
+              }
+            } // stage build
+            stage("test") {
+              agent {
+                label 'px4_fmu-v2'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'px4_fmu-v2_test'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                  }
+                }
+                stage("reset") {
+                  steps {
+                    cleanupFTDI();
+                  }
+                }
+              }
+              options {
+                timeout(time: 90, unit: 'MINUTES')
+              }
+            }
+          }
+        }

        stage("px4_fmu-v3_default") {
          stages {
@@ -102,7 +102,6 @@ pipeline {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
@@ -176,7 +175,6 @@ pipeline {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
@@ -249,7 +247,6 @@ pipeline {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
@@ -323,7 +320,6 @@ pipeline {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
@@ -475,7 +471,6 @@ pipeline {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
@@ -625,7 +620,6 @@ pipeline {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic vtol standardulticopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot" || true'                // reboot to apply
@@ -700,7 +694,6 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set DSHOT_CONFIG 600"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_USE_IO 0"'          // for dshot
@@ -777,7 +770,6 @@ pipeline {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
@@ -845,7 +837,6 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_selector_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_sensor_bias"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener estimator_status_flags"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener logger_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "listener sensor_accel_fifo"'
@@ -924,7 +915,6 @@ void statusSEGGER() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_selector_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_sensor_bias"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener estimator_status_flags"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener logger_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "listener sensor_accel_fifo"'
@@ -23,7 +23,7 @@ jobs:
        token: ${{secrets.ACCESS_TOKEN}}

    - name: setup
-      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh
+      run: ./Tools/setup/macos.sh

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -32,7 +32,6 @@ jobs:
          intel_aerofc-v1_default,
          modalai_fc-v1_default,
          mro_ctrl-zero-f7_default,
-          mro_pixracerpro_default,
          mro_x21-777_default,
          mro_x21_default,
          nxp_fmuk66-v3_default,
@@ -19,7 +19,6 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -17,7 +17,6 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -19,7 +19,6 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -19,7 +19,6 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -7,10 +7,6 @@
 #
 # @maintainer Roman Bapst <roman@auterion.com>
 #
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#

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

@@ -16,7 +16,6 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -17,10 +17,6 @@
 # @output AUX4 Rudder
 # @output AUX5 Throttle
 #
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#

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

@@ -12,10 +12,6 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#

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

@@ -7,10 +7,6 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#

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

@@ -29,4 +25,4 @@ set MAV_TYPE 20

 set MIXER quad_x_vtol

-set PWM_OUT 1234
+set PWM_OUT 1234
@@ -17,7 +17,6 @@
 # @output AUX4 Rudder
 # @output AUX5 Throttle
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -15,7 +15,6 @@
 # @output AUX2 Left elevon
 # @output AUX3 Motor
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -7,7 +7,6 @@
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -7,7 +7,6 @@
 #
 # @maintainer Sander Smeets <sander@droneslab.com>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -7,7 +7,6 @@
 #
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -16,7 +16,6 @@
 # @output MAIN7 Elevon right
 # @output MAIN8 Elevon left
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -16,10 +16,6 @@
 # @output MAIN7 Pusher motor
 # @output MAIN8 Pusher reverse channel
 #
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#

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

@@ -12,7 +12,6 @@
 #
 # @maintainer Roman Bapst <roman@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -17,7 +17,6 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -15,7 +15,6 @@
 #
 # @maintainer Julian Oes <julian@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -17,7 +17,6 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -14,7 +14,6 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -17,7 +17,6 @@
 #
 # @maintainer Simon Wilks <simon@uaventure.com>
 #
-# @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -7,7 +7,6 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
 #

@@ -7,7 +7,6 @@
 #
 # @maintainer Lorenz Meier <lorenz@px4.io>
 #
-# @board px4_fmu-v2 exclude
 # @board intel_aerofc-v1 exclude
 # @board bitcraze_crazyflie exclude
 #
@@ -98,6 +98,7 @@ then
 	param set BAT_V_DIV 10.14
 	param set BAT_A_PER_V 18.18
 	#param set CBRK_IO_SAFETY 22027
+	param set COM_ARM_EKF_AB 0.005
 	param set COM_DISARM_LAND 2

 	# Filter settings
@@ -77,6 +77,7 @@ then

 	param set BAT_SOURCE 0
 	param set CBRK_IO_SAFETY 22027
+	#param set COM_ARM_EKF_AB 0.005
 	#param set COM_DISARM_LAND 3

 	# Filter settings
@@ -107,6 +107,7 @@ then
 	param set BAT_V_DIV 10.14
 	param set BAT_A_PER_V 18.18
 	#param set CBRK_IO_SAFETY 22027
+	param set COM_ARM_EKF_AB 0.005
 	param set COM_DISARM_LAND 2

 	# Filter settings
@@ -49,6 +49,7 @@ then
 	# sensor calibration
 	param set CAL_MAG_SIDES 63
 	param set SENS_BOARD_ROT 0
+	param set COM_ARM_EKF_AB 0.0032

 	# circuit breakers
 	param set CBRK_IO_SAFETY 22027
@@ -5,6 +5,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+#
 # @output MAIN2 steering
 # @output MAIN4 throttle
 #
@@ -62,7 +62,6 @@ mc_att_control start
 # Start Multicopter Position Controller.
 #
 mc_hover_thrust_estimator start
-flight_mode_manager start
 mc_pos_control start

 #
@@ -21,7 +21,6 @@ vtol_att_control start

 mc_rate_control start vtol
 mc_att_control start vtol
-flight_mode_manager start vtol
 mc_pos_control start vtol
 mc_hover_thrust_estimator start

@@ -271,6 +271,57 @@ else
 		param set SYS_AUTOCONFIG 0
 	fi

+	#
+	# Check if PX4IO present and update firmware if needed.
+	# Assumption IOFW set to firmware file and IO_PRESENT = no
+	#
+
+	if [ -f $IOFW ]
+	then
+		# Check for the mini using build with px4io fw file
+		# but not a px4IO
+		if ver hwtypecmp V540 V560
+		then
+			param set SYS_USE_IO 0
+		else
+			if px4io checkcrc ${IOFW}
+			then
+				set IO_PRESENT yes
+			else
+				# tune Program PX4IO
+				tune_control play -t 16 # tune 16 = PROG_PX4IO
+
+				if px4io start
+				then
+					# Try to safety px4 io so motor outputs don't go crazy.
+					if ! px4io safety_on
+					then
+						# px4io did not respond to the safety command.
+						px4io stop
+					fi
+				fi
+
+				if px4io forceupdate 14662 ${IOFW}
+				then
+					usleep 10000
+					tune_control stop
+					if px4io checkcrc ${IOFW}
+					then
+						echo "PX4IO CRC OK after updating"
+						tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
+						set IO_PRESENT yes
+					fi
+				fi
+
+				if [ $IO_PRESENT = no ]
+				then
+					echo "PX4IO update failed"
+					tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
+				fi
+			fi
+		fi
+	fi
+
 	#
 	# Set USE_IO flag.
 	#
@@ -279,54 +330,10 @@ else
 		set USE_IO yes
 	fi

-	#
-	# Check if PX4IO present and update firmware if needed.
-	# Assumption IOFW set to firmware file and IO_PRESENT = no
-	#
-
-	if [ -f $IOFW -a $USE_IO = yes ]
+	if [ $USE_IO = yes -a $IO_PRESENT = no ]
 	then
-		if px4io checkcrc ${IOFW}
-		then
-			set IO_PRESENT yes
-		else
-			# tune Program PX4IO
-			tune_control play -t 16 # tune 16 = PROG_PX4IO
-
-			if px4io start
-			then
-				# Try to safety px4 io so motor outputs don't go crazy.
-				if ! px4io safety_on
-				then
-					# px4io did not respond to the safety command.
-					px4io stop
-				fi
-			fi
-
-			if px4io forceupdate 14662 ${IOFW}
-			then
-				usleep 10000
-				tune_control stop
-				if px4io checkcrc ${IOFW}
-				then
-					echo "PX4IO CRC OK after updating"
-					tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
-					set IO_PRESENT yes
-				fi
-			fi
-
-			if [ $IO_PRESENT = no ]
-			then
-				echo "PX4IO update failed"
-				tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
-			fi
-		fi
-
-		if [ $USE_IO = yes -a $IO_PRESENT = no ]
-		then
-			echo "PX4IO not found"
-			tune_control play error
-		fi
+		echo "PX4IO not found"
+		tune_control play error
 	fi

 	#
@@ -31,7 +31,7 @@ function spawn_model() {
 	pushd "$working_dir" &>/dev/null
 	echo "starting instance $N in $(pwd)"
 	../bin/px4 -i $N -d "$build_path/etc" -w sitl_${MODEL}_${N} -s etc/init.d-posix/rcS >out.log 2>err.log &
-	python3 ${src_path}/Tools/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --mavlink_id $((1+${N})) --gst_udp_port $((5600+${N})) --video_uri $((5600+${N})) --mavlink_cam_udp_port $((14530+${N})) --output-file /tmp/${MODEL}_${N}.sdf
+	python3 ${src_path}/Tools/sitl_gazebo/scripts/jinja_gen.py ${src_path}/Tools/sitl_gazebo/models/${MODEL}/${MODEL}.sdf.jinja ${src_path}/Tools/sitl_gazebo --mavlink_tcp_port $((4560+${N})) --mavlink_udp_port $((14560+${N})) --output-file /tmp/${MODEL}_${N}.sdf

 	echo "Spawning ${MODEL}_${N}"

@@ -344,9 +344,8 @@ class uploader(object):
        try:
            self.__getSync(False)
        except:
-            # if it fails we are on a real serial port - only leave this enabled on Windows
-            if _platform.system() == 'Windows':
-                self.ackWindowedMode = True
+            # if it fails we are on a real Serial Port
+            self.ackWindowedMode = True

        self.port.baudrate = self.baudrate_bootloader

@@ -130,14 +130,6 @@ serial_ports = {
        "default_baudrate": 0,
        },

-    # WIFI Port (PixRacer)
-    "WIFI": {
-        "label": "Wifi Port",
-        "index": 301,
-        "default_baudrate": 1, # set default to an unusable value to detect that this serial port has not been configured
-        },
-
-
    }

 parser = argparse.ArgumentParser(description='Generate Serial params & startup script')
@@ -238,7 +238,7 @@ class Graph(object):
        special_cases_pub = [
    ('replay', r'Replay\.cpp$', None, r'^sub\.orb_meta$'),

-    ('uavcan', r'sensors/.*\.cpp$', None, r'^_orb_topic$'),
+    ('uavcan', r'sensors/.*\.cpp$', r'\bUavcanCDevSensorBridgeBase\([^{]*DEVICE_PATH,([^,)]+)', r'^_orb_topic$'),
    ]
        special_cases_pub = [(a, re.compile(b), re.compile(c) if c is not None else None, re.compile(d))
                                   for a,b,c,d in special_cases_pub]
@@ -45,7 +45,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -59,7 +59,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -32,7 +32,6 @@ CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -64,7 +64,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -56,7 +56,6 @@ px4_add_board(
 		attitude_estimator_q
 		commander
 		ekf2
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -63,7 +63,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -56,7 +56,6 @@ px4_add_board(
 		attitude_estimator_q
 		commander
 		ekf2
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -59,7 +59,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -8,9 +8,7 @@ param set CBRK_SUPPLY_CHK 894281

 if [ $AUTOCNF = yes ]
 then
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
+
 fi

 set LOGGER_BUF 64
@@ -52,7 +52,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -40,7 +40,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -21,7 +21,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		land_detector
 		landing_target_estimator
 		load_mon
@@ -31,7 +31,6 @@ CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F405RG=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -28,7 +28,6 @@ CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F412CE=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -64,7 +64,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -31,12 +31,6 @@ then
 	param set BAT1_A_PER_V 24
 	param set BAT2_A_PER_V 24

-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 3
-	param set SENS_MAG_MODE 0
-
 	# Enable IMU thermal control
 	param set SENS_EN_THERMAL 1
 fi
@@ -20,7 +20,6 @@ CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -67,7 +67,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -31,12 +31,6 @@ then
 	param set BAT1_A_PER_V 24
 	param set BAT2_A_PER_V 24

-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 3
-	param set SENS_MAG_MODE 0
-
 	# Enable IMU thermal control
 	param set SENS_EN_THERMAL 1
 fi
@@ -20,7 +20,6 @@ CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -67,7 +67,6 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -67,7 +67,6 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -31,12 +31,6 @@ then
 	param set BAT1_A_PER_V 17
 	param set BAT2_A_PER_V 17

-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 3
-	param set SENS_MAG_MODE 0
-
 	# Disable IMU thermal control
 	param set SENS_EN_THERMAL 0
 fi
@@ -20,7 +20,6 @@ CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -36,7 +36,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -66,7 +66,6 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -66,7 +66,6 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -14,10 +14,6 @@ then
 	param set BAT1_A_PER_V 17
 	param set BAT2_A_PER_V 17

-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-
 	# Disable IMU thermal control
 	param set SENS_EN_THERMAL 0
 fi
@@ -36,7 +36,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -37,7 +37,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -40,7 +40,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -65,7 +65,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -24,12 +24,6 @@ unset BL_FILE

 if [ $AUTOCNF = yes ]
 then
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 3
-	param set SENS_MAG_MODE 0
-
 	# Enable IMU thermal control
 	param set SENS_EN_THERMAL 1
 fi
@@ -20,7 +20,6 @@ CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_STACKCHECK=y
 CONFIG_ARMV7M_USEBASEPRI=y
@@ -37,7 +37,6 @@ px4_add_board(
 		dataman
 		#ekf2
 		events
-		flight_mode_manager
 		land_detector
 		load_mon
 		#local_position_estimator
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -70,7 +70,6 @@ px4_add_board(
 		ekf2
 		esc_battery
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -6,11 +6,7 @@

 if [ $AUTOCNF = yes ]
 then
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 2
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 2
-	param set SENS_MAG_MODE 0
+
 fi

 set LOGGER_BUF 64
@@ -36,7 +36,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -40,7 +40,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		#fw_att_control
 		#fw_pos_control_l1
 		land_detector
@@ -29,7 +29,6 @@ CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F429V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -39,7 +39,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		#fw_att_control
 		#fw_pos_control_l1
 		land_detector
@@ -57,9 +57,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -26,10 +26,6 @@ then
 	#  V110 - J1011 pin 5
 	#
 	param set CBRK_IO_SAFETY 22027
-
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
 fi

 #
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -63,7 +63,6 @@ px4_add_board(
 		dataman
 		ekf2
 		events
-		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
 		land_detector
@@ -6,9 +6,7 @@

 if [ $AUTOCNF = yes ]
 then
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
+
 fi

 set LOGGER_BUF 64
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -96,8 +96,8 @@
 	 (1 << ADC_RSSI_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)
+#define BOARD_BATTERY_V_DIV         (18.1f)     /* measured with the provided PM board */
+#define BOARD_BATTERY_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)
@@ -1,9 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR mro
-	MODEL pixracerpro
-	LABEL bootloader
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m7
-)
@@ -1,128 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR mro
-	MODEL pixracerpro
-	LABEL default
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m7
-	ROMFSROOT px4fmu_common
-	BUILD_BOOTLOADER
-	TESTING
-	UAVCAN_INTERFACES 2
-	SERIAL_PORTS
-		TEL1:/dev/ttyS0
-		TEL2:/dev/ttyS1
-		GPS1:/dev/ttyS2
-		#RC:/dev/ttyS3
-		#CONSOLE:/dev/ttyS4
-		#FRSKY:/dev/ttyS5
-	DRIVERS
-		adc/board_adc
-		#barometer # all available barometer drivers
-		barometer/dps310
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		#imu # all available imu drivers
-		imu/bosch/bmi088
-		imu/invensense/icm20602
-		imu/invensense/icm20948
-		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
-		magnetometer # all available magnetometer drivers
-		mkblctrl
-		optical_flow # all available optical flow drivers
-		#osd
-		pca9685
-		power_monitor/ina226
-		#protocol_splitter
-		#pwm_input
-		pwm_out_sim
-		pwm_out
-		rc_input
-		roboclaw
-		rpm
-		tap_esc
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		dmesg
-		dumpfile
-		esc_calib
-		gpio
-		hardfault_log
-		i2cdetect
-		led_control
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_magnetometer
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		hello
-		hwtest # Hardware test
-		#matlab_csv_serial
-		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		rover_steering_control # Rover example app
-		uuv_example_app
-		work_item
-	)
@@ -1,13 +0,0 @@
-{
-    "board_id": 1017,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the mRo Pixracer Pro board",
-    "image": "",
-    "build_time": 0,
-    "summary": "PixracerPro",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 1966080,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,41 +0,0 @@
-#!/bin/sh
-#
-# Board specific defaults
-#------------------------------------------------------------------------------
-
-#
-# Bootloader upgrade
-#
-set BL_FILE /etc/extras/mro_pixracerpro_bootloader.bin
-if [ -f $BL_FILE ]
-then
-	if param compare SYS_BL_UPDATE 1
-	then
-		param set SYS_BL_UPDATE 0
-		param save
-		echo "BL update..." >> $LOG_FILE
-		bl_update $BL_FILE
-		echo "BL update done" >> $LOG_FILE
-		reboot
-	fi
-fi
-unset BL_FILE
-
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_V_DIV 10.1
-	param set BAT1_V_DIV 10.1
-
-	param set BAT_A_PER_V 17
-	param set BAT1_A_PER_V 17
-
-	# Multi-EKF
-	param set EKF2_MULTI_IMU 3
-	param set SENS_IMU_MODE 0
-	param set EKF2_MULTI_MAG 3
-	param set SENS_MAG_MODE 0
-
-fi
-
-set LOGGER_BUF 64
-set MIXER_AUX none
--- a/Show More
+++ b/Show More