[DO NOT MERGE] update NuttX to pr-nuttx_sd_testing

sd_bench:Add verify and keep options
jenkins testing
2026-06-02 17:20:05 +08:00 · 2021-11-19 14:30:53 -08:00 · 2021-11-19 14:30:53 -08:00 · 2021-11-19 14:30:53 -08:00 · 2021-11-19 14:30:53 -08:00 · 2021-11-19 14:30:53 -08:00
211 changed files with 2080 additions and 3267 deletions
@@ -21,7 +21,7 @@ pipeline {
                sh 'make cubepilot_cubeorange_bootloader'
                sh 'make cubepilot_cubeorange_test'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
              }
              post {
                always {
@@ -48,9 +48,6 @@ pipeline {
                  steps {
                    // run tests
                    runTests()
-
-                    // load all airframes
-                    // sh("./Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` `cd build/cubepilot_cubeorange_test/etc/init.d/airframes/; find . -regex '.*/[0-9].*' -exec basename {} \\; | cut -d '_' -f 1` || true") // test loading all airframes\
                  }
                }
                stage("status") {
@@ -95,7 +92,7 @@ pipeline {
                sh 'make cuav_x7pro_bootloader'
                sh 'make cuav_x7pro_test'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'cuav_x7pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'cuav_x7pro_test'
              }
              post {
                always {
@@ -164,7 +161,7 @@ pipeline {
                sh 'make px4_fmu-v3_test'
                sh 'make px4_fmu-v3_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
              }
              post {
                always {
@@ -233,7 +230,7 @@ pipeline {
                sh 'make px4_fmu-v4_test'
                sh 'make px4_fmu-v4_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v4_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
              }
              post {
                always {
@@ -301,7 +298,7 @@ pipeline {
                sh 'make px4_fmu-v4pro_test'
                sh 'make px4_fmu-v4pro_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
              }
              post {
                always {
@@ -370,7 +367,7 @@ pipeline {
                sh 'make px4_fmu-v5_debug'
                sh 'make px4_fmu-v5_debug bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v5_debug'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
              }
              post {
                always {
@@ -401,15 +398,20 @@ pipeline {
                stage("tests") {
                  steps {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress" || true'
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u" || true'
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress" || true'
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'

-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
                  }
@@ -457,7 +459,7 @@ pipeline {
                sh 'make px4_fmu-v5_stackcheck'
                sh 'make px4_fmu-v5_stackcheck bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
              }
              post {
                always {
@@ -536,7 +538,7 @@ pipeline {
                sh 'make px4_fmu-v5_test'
                sh 'make px4_fmu-v5_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v5_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
              }
              post {
                always {
@@ -605,7 +607,7 @@ pipeline {
                sh 'make nxp_fmuk66-v3_test'
                //sh 'make nxp_fmuk66-v3_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
              }
              post {
                always {
@@ -712,7 +714,7 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'

  // run logger
@@ -766,21 +768,28 @@ void resetParameters() {
 }

 void runTests() {
-
-  // test loading a range of airframes
-  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'
-
  resetParameters()

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

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'

+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u" || true'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress" || true'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger status" || true'
+
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
@@ -790,17 +799,16 @@ void runTests() {

  sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
+  //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
+  //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
@@ -810,13 +818,13 @@ void runTests() {
  resetParameters()
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
 }

@@ -928,7 +936,7 @@ void resetBoard() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply

  // check SD card
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
@@ -35,11 +35,11 @@ jobs:

    - name: parameter & events metadata
      run: |
-        make ${{matrix.target}} ver_gen events_json actuators_json
+        make ${{matrix.target}} ver_gen events_json
        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
        cd build/${{ matrix.target }}
        mkdir _metadata || true
-        cp parameters.* events/*.xz actuators.json* _metadata
+        cp parameters.* events/*.xz _metadata

    - uses: jakejarvis/s3-sync-action@master
      with:
@@ -61,11 +61,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v5_default
-    px4_fmu-v5_debug:
-      short: px4_fmu-v5_debug
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v5_debug
    px4_fmu-v5x_default:
      short: px4_fmu-v5x
      buildType: MinSizeRel
@@ -423,8 +423,6 @@ endforeach()

 # add events lib after modules and libs as it needs to know all source files (PX4_SRC_FILES)
 add_subdirectory(src/lib/events EXCLUDE_FROM_ALL)
-# metadata needs PX4_MODULE_CONFIG_FILES
-add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)

 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
@@ -11,21 +11,39 @@

 param set-default SYS_CTRL_ALLOC 1

+param set-default MPC_USE_HTE 0
+
+param set-default VM_MASS 1.5
+param set-default VM_INERTIA_XX 0.03
+param set-default VM_INERTIA_YY 0.03
+param set-default VM_INERTIA_ZZ 0.05

 param set-default CA_AIRFRAME 0
+param set-default CA_METHOD 1
+param set-default CA_ACT0_MIN 0.0
+param set-default CA_ACT1_MIN 0.0
+param set-default CA_ACT2_MIN 0.0
+param set-default CA_ACT3_MIN 0.0
+param set-default CA_ACT0_MAX 1.0
+param set-default CA_ACT1_MAX 1.0
+param set-default CA_ACT2_MAX 1.0
+param set-default CA_ACT3_MAX 1.0

-param set-default CA_MC_R_COUNT 4
 param set-default CA_MC_R0_PX 0.1515
 param set-default CA_MC_R0_PY 0.245
+param set-default CA_MC_R0_CT 6.5
 param set-default CA_MC_R0_KM 0.05
 param set-default CA_MC_R1_PX -0.1515
 param set-default CA_MC_R1_PY -0.1875
+param set-default CA_MC_R1_CT 6.5
 param set-default CA_MC_R1_KM 0.05
 param set-default CA_MC_R2_PX 0.1515
 param set-default CA_MC_R2_PY -0.245
+param set-default CA_MC_R2_CT 6.5
 param set-default CA_MC_R2_KM -0.05
 param set-default CA_MC_R3_PX -0.1515
 param set-default CA_MC_R3_PY 0.1875
+param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
@@ -5,6 +5,8 @@

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

+#Set data link loss failsafe mode (0: disabled)
+
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

@@ -5,6 +5,8 @@

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

+#Set data link loss failsafe mode (0: disabled)
+
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

@@ -5,6 +5,8 @@

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

+#Set data link loss failsafe mode (0: disabled)
+
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

@@ -29,9 +29,12 @@ param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_THR_CRUISE 0.25

+param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2

 param set-default FW_W_EN 1

@@ -19,9 +19,12 @@ param set-default FW_RR_P 0.3
 param set-default FW_THR_CRUISE 0.25
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
+param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2

 param set-default MC_ROLLRATE_P 0.3
 param set-default MC_YAW_P 1.6
@@ -19,9 +19,12 @@ param set-default FW_RR_P 0.3
 param set-default FW_THR_CRUISE 0.38
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
+param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2

 param set-default MC_YAW_P 1.6

@@ -29,26 +29,51 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 0
 param set-default MAV_PROTO_VER 2

+param set-default MPC_USE_HTE 0
+
+param set-default VM_MASS 2.66
+param set-default VM_INERTIA_XX 0.06
+param set-default VM_INERTIA_YY 0.06
+param set-default VM_INERTIA_ZZ 0.10
+
 param set-default CA_AIRFRAME 0
-param set-default CA_MC_R_COUNT 6
+param set-default CA_METHOD 1
+param set-default CA_ACT0_MIN 0.0
+param set-default CA_ACT1_MIN 0.0
+param set-default CA_ACT2_MIN 0.0
+param set-default CA_ACT3_MIN 0.0
+param set-default CA_ACT4_MIN 0.0
+param set-default CA_ACT5_MIN 0.0
+param set-default CA_ACT0_MAX 1.0
+param set-default CA_ACT1_MAX 1.0
+param set-default CA_ACT2_MAX 1.0
+param set-default CA_ACT3_MAX 1.0
+param set-default CA_ACT4_MAX 1.0
+param set-default CA_ACT5_MAX 1.0

 param set-default CA_MC_R0_PX 0.0
 param set-default CA_MC_R0_PY 1.0
+param set-default CA_MC_R0_CT 9.5
 param set-default CA_MC_R0_KM -0.05
 param set-default CA_MC_R1_PX 0.0
 param set-default CA_MC_R1_PY -1.0
+param set-default CA_MC_R1_CT 9.5
 param set-default CA_MC_R1_KM 0.05
 param set-default CA_MC_R2_PX 0.866025
 param set-default CA_MC_R2_PY -0.5
+param set-default CA_MC_R2_CT 9.5
 param set-default CA_MC_R2_KM -0.05
 param set-default CA_MC_R3_PX -0.866025
 param set-default CA_MC_R3_PY 0.5
+param set-default CA_MC_R3_CT 9.5
 param set-default CA_MC_R3_KM 0.05
 param set-default CA_MC_R4_PX 0.866025
 param set-default CA_MC_R4_PY 0.5
+param set-default CA_MC_R4_CT 9.5
 param set-default CA_MC_R4_KM 0.05
 param set-default CA_MC_R5_PX -0.866025
 param set-default CA_MC_R5_PY -0.5
+param set-default CA_MC_R5_CT 9.5
 param set-default CA_MC_R5_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
@@ -17,20 +17,39 @@ set MIXER_AUX none

 param set-default SYS_CTRL_ALLOC 1

-param set-default CA_AIRFRAME 0
+param set-default MPC_USE_HTE 0
+
+param set-default VM_MASS 1.5
+param set-default VM_INERTIA_XX 0.03
+param set-default VM_INERTIA_YY 0.03
+param set-default VM_INERTIA_ZZ 0.05
+
+param set-default CA_AIRFRAME 0
+param set-default CA_METHOD 1
+param set-default CA_ACT0_MIN 0.0
+param set-default CA_ACT1_MIN 0.0
+param set-default CA_ACT2_MIN 0.0
+param set-default CA_ACT3_MIN 0.0
+param set-default CA_ACT0_MAX 1.0
+param set-default CA_ACT1_MAX 1.0
+param set-default CA_ACT2_MAX 1.0
+param set-default CA_ACT3_MAX 1.0

-param set-default CA_MC_R_COUNT 4
 param set-default CA_MC_R0_PX 0.177
 param set-default CA_MC_R0_PY 0.177
+param set-default CA_MC_R0_CT 6.5
 param set-default CA_MC_R0_KM 0.05
 param set-default CA_MC_R1_PX -0.177
 param set-default CA_MC_R1_PY -0.177
+param set-default CA_MC_R1_CT 6.5
 param set-default CA_MC_R1_KM 0.05
 param set-default CA_MC_R2_PX 0.177
 param set-default CA_MC_R2_PY -0.177
+param set-default CA_MC_R2_CT 6.5
 param set-default CA_MC_R2_KM -0.05
 param set-default CA_MC_R3_PX -0.177
 param set-default CA_MC_R3_PY 0.177
+param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
@@ -13,6 +13,9 @@

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

+
+#Set data link loss failsafe mode (0: disabled)
+
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

@@ -13,6 +13,9 @@

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

+
+#Set data link loss failsafe mode (0: disabled)
+
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

@@ -22,6 +22,7 @@

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

+#Set data link loss failsafe mode (0: disabled)

 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
@@ -13,32 +13,57 @@
 . ${R}etc/init.d/rc.mc_defaults

 param set-default SYS_CTRL_ALLOC 1
+param set-default MPC_USE_HTE 0
+
+param set-default VM_MASS 1.5
+param set-default VM_INERTIA_XX 0.03
+param set-default VM_INERTIA_YY 0.03
+param set-default VM_INERTIA_ZZ 0.05

 param set-default CA_AIRFRAME 0
-param set-default CA_MC_R_COUNT 6
+param set-default CA_METHOD 1
+param set-default CA_ACT0_MIN 0.0
+param set-default CA_ACT1_MIN 0.0
+param set-default CA_ACT2_MIN 0.0
+param set-default CA_ACT3_MIN 0.0
+param set-default CA_ACT4_MIN 0.0
+param set-default CA_ACT5_MIN 0.0
+
+param set-default CA_ACT0_MAX 1.0
+param set-default CA_ACT1_MAX 1.0
+param set-default CA_ACT2_MAX 1.0
+param set-default CA_ACT3_MAX 1.0
+param set-default CA_ACT4_MAX 1.0
+param set-default CA_ACT5_MAX 1.0

 param set-default CA_MC_R0_PX 0.0
 param set-default CA_MC_R0_PY 0.275
+param set-default CA_MC_R0_CT 6.5
 param set-default CA_MC_R0_KM -0.05

 param set-default CA_MC_R1_PX 0.0
 param set-default CA_MC_R1_PY -0.275
+param set-default CA_MC_R1_CT 6.5
 param set-default CA_MC_R1_KM 0.05

 param set-default CA_MC_R2_PX 0.238
 param set-default CA_MC_R2_PY -0.1375
+param set-default CA_MC_R2_CT 6.5
 param set-default CA_MC_R2_KM -0.05

 param set-default CA_MC_R3_PX -0.238
 param set-default CA_MC_R3_PY 0.1375
+param set-default CA_MC_R3_CT 6.5
 param set-default CA_MC_R3_KM 0.05

 param set-default CA_MC_R4_PX 0.238
 param set-default CA_MC_R4_PY 0.1375
+param set-default CA_MC_R4_CT 6.5
 param set-default CA_MC_R4_KM 0.05

 param set-default CA_MC_R5_PX -0.238
 param set-default CA_MC_R5_PY -0.1375
+param set-default CA_MC_R5_CT 6.5
 param set-default CA_MC_R5_KM -0.05

 param set-default PWM_MAIN_FUNC1 101
@@ -54,6 +54,14 @@ then
 	# Start Control Allocator
 	#
 	control_allocator start
+
+	#
+	# Disable hover thrust estimator and prearming
+	# These features are currently incompatible with control allocation
+	#
+	# TODO: fix
+	#
+	param set MPC_USE_HTE 0
 fi

 #
@@ -46,7 +46,6 @@ set EXTRA_MIXER_MODE none
 set RC_INPUT_ARGS ""
 set SDCARD_AVAILABLE no
 set SDCARD_EXT_PATH /fs/microsd/ext_autostart
-set SDCARD_FORMAT no
 set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
 set STARTUP_TUNE 1
 set USE_IO no
@@ -60,73 +59,49 @@ ver all
 #
 # Try to mount the microSD card.
 #
-if [ -b "/dev/mmcsd0" ]
+# REBOOTWORK this needs to start after the flight control loop.
+if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
-	if mount -t vfat /dev/mmcsd0 /fs/microsd
+	set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
+	date >> $PX4_INIT_TEST_FILE
+
+	if [ -f $PX4_INIT_TEST_FILE ]
 	then
-		if [ -f "/fs/microsd/.format" ]
+		cat $PX4_INIT_TEST_FILE
+		rm $PX4_INIT_TEST_FILE
+
+		if [ ! -f $PX4_INIT_TEST_FILE ]
 		then
-			echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
-			set SDCARD_FORMAT yes
-			rm /fs/microsd/.format
-			umount /fs/microsd
-
-		else
-			# very basic I/O test
-			set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
-			date >> $PX4_INIT_TEST_FILE
-
-			if [ $? -eq 0 -a -f $PX4_INIT_TEST_FILE ]
-			then
-				cat $PX4_INIT_TEST_FILE
-				rm $PX4_INIT_TEST_FILE
-
-				if [ $? -eq 0 -a ! -f $PX4_INIT_TEST_FILE ]
-				then
-					set SDCARD_AVAILABLE yes
-				fi
-			fi
-			unset PX4_INIT_TEST_FILE
-
-			if [ $SDCARD_AVAILABLE = no ]
-			then
-				echo "ERROR [init] card I/O failure, formatting"
-				set SDCARD_FORMAT yes
-				umount /fs/microsd
-			fi
+			set SDCARD_AVAILABLE yes
 		fi
 	fi
+fi

-	if [ $SDCARD_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
+if [ $SDCARD_AVAILABLE = no ]
+then
+	set STARTUP_TUNE 14 # tune 14 = SD_INIT
+	if mkfatfs -F 32 /dev/mmcsd0
 	then
-		echo "INFO [init] formatting /dev/mmcsd0"
-		set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
-
-		if mkfatfs -F 32 /dev/mmcsd0
+		if mount -t vfat /dev/mmcsd0 /fs/microsd
 		then
+			set SDCARD_AVAILABLE yes
 			echo "INFO [init] card formatted"

-			if mount -t vfat /dev/mmcsd0 /fs/microsd
-			then
-				set SDCARD_AVAILABLE yes
-				set STARTUP_TUNE 14 # tune 14 = SD_INIT
-			else
-				echo "ERROR [init] card mount failed"
-			fi
 		else
+			set STARTUP_TUNE 15 # tune 15 = SD_ERROR
 			echo "ERROR [init] format failed"
 		fi
 	fi
+fi

-	if [ $SDCARD_AVAILABLE = yes ]
+if [ $SDCARD_AVAILABLE = yes ]
+then
+	if hardfault_log check
 	then
-		if hardfault_log check
+		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+		if hardfault_log commit
 		then
-			set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
-			if hardfault_log commit
-			then
-				hardfault_log reset
-			fi
+			hardfault_log reset
 		fi
 	fi
 fi
@@ -572,7 +547,6 @@ unset PWM_EXTRA_RATE
 unset RC_INPUT_ARGS
 unset SDCARD_AVAILABLE
 unset SDCARD_EXT_PATH
-unset SDCARD_FORMAT
 unset SDCARD_MIXERS_PATH
 unset STARTUP_TUNE
 unset USE_IO
@@ -1,88 +0,0 @@
-#! /usr/bin/env python3
-
-import serial, time
-import subprocess
-from subprocess import call, Popen
-from argparse import ArgumentParser
-import re
-import sys
-import datetime
-
-COLOR_RED    = "\x1b[31m"
-COLOR_GREEN  = "\x1b[32m"
-COLOR_YELLOW = "\x1b[33m"
-COLOR_WHITE  = "\x1b[37m"
-COLOR_RESET  = "\x1b[0m"
-
-def print_line(line):
-    if "WARNING" in line:
-        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
-    elif "WARN" in line:
-        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
-    elif "ERROR" in line:
-        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
-    elif "INFO" in line:
-        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
-
-    if "PASSED" in line:
-        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
-
-    if "FAILED" in line:
-        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
-
-    if "\n" in line:
-        current_time = datetime.datetime.now()
-        print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
-    else:
-        print('{0}'.format(line), end='')
-
-def monitor_firmware_upload(port, baudrate):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
-
-    # clear
-    ser.readlines()
-
-    ser.write("\nreboot\n".encode("ascii"))
-    ser.flush()
-
-    timeout_reboot_cmd = 30
-    timeout = 300  # 5 minutes
-    timeout_start = time.time()
-    timeout_newline = time.time()
-    time_success = 0
-
-    return_code = 0
-
-    while True:
-        if time.time() > timeout_start + timeout_reboot_cmd:
-            ser.write("reboot\n".encode("ascii"))
-
-        serial_line = ser.readline().decode("ascii", errors='ignore')
-
-        if len(serial_line) > 0:
-            if "ERROR" in serial_line:
-                return_code = -1
-
-            print_line(serial_line)
-
-        if "NuttShell (NSH)" in serial_line:
-            time_success = time.time()
-
-        # wait at least 2 seconds after seeing prompt to catch potential errors
-        if time_success > 0 and time.time() > time_success + 2:
-            sys.exit(return_code)
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout")
-            sys.exit(-1)
-
-def main():
-    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
-    args = parser.parse_args()
-
-    monitor_firmware_upload(args.device, args.baudrate)
-
-if __name__ == "__main__":
-   main()
@@ -1,41 +0,0 @@
-#! /bin/bash
-
-# exit when any command fails
-set -e
-
-DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
-
-SERIAL_DEVICE=$1
-
-if [ ! -e "${SERIAL_DEVICE}" ]
-then
-	echo "Invalid serial device ${SERIAL_DEVICE}"
-	exit -1
-fi
-
-# all airframes (from ROMFS/px4fmu_common/init.d/airframes/)
-# $(find . -regex '.*/[0-9].*' -exec basename {} \; | cut -d "_" -f 1)
-ALL_AIRFRAMES=${@:2}
-echo "airframes: ${ALL_AIRFRAMES}"
-
-for airframe in $ALL_AIRFRAMES
-do
-	echo
-	echo "##########################################################################################"
-	echo " Airframe: $airframe"
-	echo "##########################################################################################"
-	echo
-
-	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name SYS_AUTOSTART  --value $airframe
-	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name CBRK_BUZZER    --value 782097
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
-
-	${DIR}/reboot.py --device ${SERIAL_DEVICE}
-
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
-
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'pwm info'
-
-done
@@ -1,470 +0,0 @@
-#!/usr/bin/env python3
-""" Script to generate actuators.json metadata from module.yaml config file(s)
-"""
-
-import argparse
-import lzma #to create .xz file
-import json
-import os
-import sys
-
-from output_groups_from_timer_config import get_timer_groups, get_output_groups
-
-try:
-    import yaml
-except ImportError as e:
-    print("Failed to import yaml: " + str(e))
-    print("")
-    print("You may need to install it using:")
-    print("    pip3 install --user pyyaml")
-    print("")
-    sys.exit(1)
-
-parser = argparse.ArgumentParser(description='Generate actuators.json from module.yaml file(s)')
-
-parser.add_argument('--config-files', type=str, nargs='*', default=[],
-                    help='YAML module config file(s)')
-parser.add_argument('--output-file', type=str, action='store',
-                    help='JSON output file', required=True)
-parser.add_argument('--compress', action='store_true', help='Add a compressed output file')
-parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
-                    help='Verbose Output')
-parser.add_argument('--timer-config', type=str, action='store',
-                    help='board-specific timer_config.cpp file')
-parser.add_argument('--board', type=str, action='store',
-                    help='board name, e.g. ')
-parser.add_argument('--board-with-io', dest='board_with_io', action='store_true',
-                    help='Indicate that the board as an IO for extra PWM',
-                    default=False)
-
-args = parser.parse_args()
-
-compress = args.compress
-verbose = args.verbose
-output_file = args.output_file
-timer_config_file = args.timer_config
-board_with_io = args.board_with_io
-board = args.board
-
-root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
-output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")
-
-def save_compressed(filename):
-    #create lzma compressed version
-    xz_filename=filename+'.xz'
-    with lzma.open(xz_filename, 'wt', preset=9) as f:
-        with open(filename, 'r') as content_file:
-            f.write(content_file.read())
-
-def load_yaml_file(file_name):
-    with open(file_name, 'r') as stream:
-        try:
-            return yaml.safe_load(stream)
-        except yaml.YAMLError as exc:
-            print(exc)
-            raise
-
-# functions
-output_functions_yaml = load_yaml_file(output_functions_file)
-output_functions = output_functions_yaml['functions']
-functions = {}
-
-def add_function(functions, index, name, function_obj=None):
-    functions[index] = {
-        "label": name
-    }
-    if function_obj is not None:
-        if function_obj.get('exclude_from_actuator_testing', False):
-            functions[index]['exclude-from-actuator-testing'] = True
-        if 'note' in function_obj:
-            functions[index]['note'] = function_obj['note']
-
-for group_key in output_functions:
-    group = output_functions[group_key]
-    for function_name in group:
-        function_name_label = function_name.replace('_', ' ')
-        if isinstance(group[function_name], int):
-            add_function(functions, group[function_name], function_name_label)
-        elif not 'count' in group[function_name]:
-            add_function(functions, group[function_name]['start'], function_name_label, group[function_name])
-        else:
-            start = group[function_name]['start']
-            count = group[function_name]['count']
-            for i in range(count):
-                add_function(functions, start+i, function_name_label+' '+str(i+1), group[function_name])
-
-# outputs
-outputs = []
-
-def process_module_name(module_name):
-    if module_name == '${PWM_MAIN_OR_AUX}':
-        if board_with_io: return 'PWM AUX'
-        return 'PWM MAIN'
-    if '${' in module_name:
-        raise Exception('unhandled variable in {:}'.format(module_name))
-    return module_name
-
-def process_param_prefix(param_prefix):
-    if param_prefix == '${PWM_MAIN_OR_AUX}':
-        if board_with_io: return 'PWM_AUX'
-        return 'PWM_MAIN'
-    if '${' in param_prefix:
-        raise Exception('unhandled variable in {:}'.format(param_prefix))
-    return param_prefix
-
-def process_channel_label(module_name, channel_label, no_prefix):
-    if channel_label == '${PWM_MAIN_OR_AUX_CAP}':
-        return 'CAP'
-    if channel_label == '${PWM_MAIN_OR_AUX}':
-        if board_with_io: return 'AUX'
-        return 'MAIN'
-    if '${' in channel_label:
-        raise Exception('unhandled variable in {:}'.format(channel_label))
-    if no_prefix: return channel_label
-    return channel_label
-
-def get_actuator_output(yaml_config, output_functions, timer_config_file, verbose):
-    """ parse the actuator_output section from the yaml config file
-    """
-    if not 'actuator_output' in yaml_config:
-        return None
-
-
-    output_groups = yaml_config['actuator_output']['output_groups']
-    module_name = process_module_name(yaml_config['module_name'])
-    group_idx = 0
-
-    if verbose: print('processing module: {}'.format(module_name))
-
-    actuator_output = {
-            'label': module_name
-        }
-    if 'show_subgroups_if' in yaml_config['actuator_output']:
-        actuator_output['show-subgroups-if'] = yaml_config['actuator_output']['show_subgroups_if']
-
-    # config parameters
-    def get_config_params(param_list):
-        """ convert config parameter list (per group or per subgroup) """
-        parameters = []
-        for config_param in param_list:
-            if verbose:
-                print('config param: {}'.format(config_param))
-            param = {
-                    'name': config_param['param'],
-                }
-            if 'label' in config_param:
-                param['label'] = config_param['label']
-            if 'function' in config_param:
-                param['function'] = config_param['function']
-            parameters.append(param)
-        return parameters
-
-    parameters = get_config_params(yaml_config['actuator_output'].get('config_parameters', []))
-    if len(parameters) > 0:
-        actuator_output['parameters'] = parameters
-
-    subgroups = []
-
-    while group_idx < len(output_groups):
-        group = output_groups[group_idx]
-        group_idx += 1
-
-        if verbose: print("processing group: {:}".format(group))
-
-        # Check for generator and generate additional data.
-        if 'generator' in group:
-            if group['generator'] == 'pwm':
-                param_prefix = process_param_prefix(group['param_prefix'])
-                no_prefix = not group.get('channel_label_module_name_prefix', True)
-                channel_labels = [process_channel_label(module_name, label, no_prefix)
-                    for label in group['channel_labels']]
-                standard_params = group.get('standard_params', [])
-                extra_function_groups = group.get('extra_function_groups', [])
-                pwm_timer_param = group.get('pwm_timer_param', None)
-                if 'timer_config_file' in group:
-                    timer_config_file = os.path.join(root_dir, group['timer_config_file'])
-                if timer_config_file is None:
-                    raise Exception('trying to generate pwm outputs, but --timer-config not set')
-                timer_groups = get_timer_groups(timer_config_file, verbose)
-                timer_output_groups, timer_params = get_output_groups(timer_groups,
-                    param_prefix, channel_labels,
-                    standard_params, extra_function_groups, pwm_timer_param,
-                    verbose=verbose)
-                output_groups.extend(timer_output_groups)
-            else:
-                raise Exception('unknown generator {:}'.format(group['generator']))
-            continue
-        
-        subgroup = {}
-
-        # supported actions
-        if 'supported_actions' in group:
-            actions = {}
-            for action_name in group['supported_actions']:
-                action = group['supported_actions'][action_name]
-                action_name = action_name.replace('_', '-')
-                actions[action_name] = {}
-                if 'supported_if' in action:
-                    actions[action_name]['supported-if'] = action['supported_if']
-                if 'actuator_types' in action:
-                    actions[action_name]['actuator-types'] = action['actuator_types']
-            subgroup['supported-actions'] = actions
-
-        # channels
-        num_channels = group['num_channels']
-        no_prefix = not group.get('channel_label_module_name_prefix', True)
-        channel_label = process_channel_label(module_name, group['channel_label'], no_prefix)
-        instance_start = group.get('instance_start', 1)
-        instance_start_label = group.get('instance_start_label', instance_start)
-        channels = []
-        for channel in range(num_channels):
-            channels.append({
-                'label': channel_label + ' ' +str(channel+instance_start_label),
-                'param-index': channel+instance_start
-                })
-        subgroup['channels'] = channels
-
-        if 'group_label' in group:
-            subgroup['label'] = group['group_label']
-
-
-        # per-channel-params
-        per_channel_params = []
-        param_prefix = process_param_prefix(group['param_prefix'])
-        standard_params = group.get('standard_params', {})
-        standard_params_array = [
-            ( 'function', 'Function', 'FUNC', False ),
-            ( 'disarmed', 'Disarmed', 'DIS', False ),
-            ( 'min', 'Minimum', 'MIN', False ),
-            ( 'max', 'Maximum', 'MAX', False ),
-            ( 'failsafe', 'Failsafe', 'FAIL', True ),
-            ]
-        for key, label, param_suffix, advanced in standard_params_array:
-            show_if = None
-            if key in standard_params and 'show_if' in standard_params[key]:
-                show_if = standard_params[key]['show_if']
-
-            if key in standard_params or key == 'function':
-                param = {
-                        'label': label,
-                        'name': param_prefix+'_'+param_suffix+'${i}',
-                        'function': key,
-                    }
-                if advanced: param['advanced'] = True
-                if show_if: param['show-if'] = show_if
-                per_channel_params.append(param)
-
-        # TODO: support non-standard per-channel parameters
-
-        subgroup['per-channel-parameters'] = per_channel_params
-
-        # group config params
-        parameters = get_config_params(group.get('config_parameters', []))
-        if len(parameters) > 0:
-            subgroup['parameters'] = parameters
-
-        subgroups.append(subgroup)
-
-    actuator_output['subgroups'] = subgroups
-    return actuator_output
-
-# Mixers
-mixers = None
-def get_mixers(yaml_config, output_functions, verbose):
-    if not 'mixer' in yaml_config:
-        return None
-
-    actuator_types = {}
-    for actuator_type_key in yaml_config['mixer']['actuator_types']:
-        actuator_type_conf = yaml_config['mixer']['actuator_types'][actuator_type_key]
-        actuator_type = { }
-        if actuator_type_key != 'DEFAULT':
-            actuator_type['label-index-offset'] = 1 # always 1
-        if 'functions' in actuator_type_conf:
-            function_name = actuator_type_conf['functions']
-            # we expect the function to be in 'common' (this is not a requirement, just simplicity)
-            output_function = output_functions['common'][function_name]
-            actuator_type['function-min'] = output_function['start']
-            actuator_type['function-max'] = output_function['start'] + output_function['count'] - 1
-
-        values = actuator_type_conf['actuator_testing_values']
-        actuator_type['values'] = {
-                'min': values['min'],
-                'max': values['max'],
-            }
-        if values.get('default_is_nan', False):
-            actuator_type['values']['default-is-nan'] = True
-        else:
-            actuator_type['values']['default'] = values['default']
-        if values.get('reversible', False):
-            actuator_type['values']['reversible'] = True
-
-        # per item params
-        per_item_params = []
-        for per_item_param in actuator_type_conf.get('per_item_parameters', []):
-            per_item_params.append({k.replace('_','-'): v for k, v in per_item_param.items()})
-        if len(per_item_params) > 0:
-            actuator_type['per-item-parameters'] = per_item_params
-
-        actuator_types[actuator_type_key] = actuator_type
-
-    if verbose:
-        print('Actuator types: {}'.format(actuator_types))
-
-    config = []
-    yaml_mixer_config = yaml_config['mixer']['config']
-    select_param = yaml_mixer_config['param']
-    types = yaml_mixer_config['types']
-    for type_index in types:
-        current_type = types[type_index]
-        option = select_param + '==' + str(type_index)
-        mixer_config = {
-                'option': option,
-            }
-        if 'type' in current_type:
-            mixer_config['type'] = current_type['type']
-        actuators = []
-        for actuator_conf in current_type['actuators']:
-            actuator = {
-                    'actuator-type': actuator_conf['actuator_type'],
-                    'required': True, # for now always set as required
-                }
-            # sanity check that actuator type exists
-            if actuator_conf['actuator_type'] not in actuator_types:
-                raise Exception('actuator type "{}" does not exist (valid: {})'.format(actuator_conf['actuator_type'], actuator_types.keys()))
-
-            if 'group_label' in actuator_conf:
-                actuator['group-label'] = actuator_conf['group_label']
-            else:
-                # infer from actuator type
-                if actuator_conf['actuator_type'] == 'motor':
-                    actuator['group-label'] = 'Motors'
-                elif actuator_conf['actuator_type'] == 'servo':
-                    actuator['group-label'] = 'Servos'
-                else:
-                    raise Exception('Missing group label for actuator type "{}"'.format(actuator_conf['actuator_type']))
-
-            if 'count' in actuator_conf: # possibly dynamic size
-                actuator['count'] = actuator_conf['count']
-                per_item_params = actuator_conf['per_item_parameters']
-                params = []
-                if 'standard' in per_item_params:
-                    standard_params = per_item_params['standard']
-                    if 'position' in standard_params:
-                        params.extend([
-                        {
-                            'label': 'Position X',
-                            'function': 'posx',
-                            'name': standard_params['position'][0],
-                        },
-                        {
-                            'label': 'Position Y',
-                            'function': 'posy',
-                            'name': standard_params['position'][1],
-                        },
-                        {
-                            'label': 'Position Z',
-                            'function': 'posz',
-                            'name': standard_params['position'][2],
-                            'advanced': True,
-                        },
-                        ])
-                if 'extra' in per_item_params:
-                    for extra_param in per_item_params['extra']:
-                        params.append({k.replace('_','-'): v for k, v in extra_param.items()})
-                actuator['per-item-parameters'] = params
-            else: # fixed size
-                labels = []
-                pos_x = []
-                pos_y = []
-                pos_z = []
-                for instance in actuator_conf['instances']:
-                    labels.append(instance['name'])
-                    pos_x.append(instance['position'][0])
-                    pos_y.append(instance['position'][1])
-                    pos_z.append(instance['position'][2])
-                actuator['count'] = len(labels)
-                actuator['item-label-prefix'] = labels
-                actuator['per-item-parameters'] = [
-                        {
-                            'label': 'Position X',
-                            'function': 'posx',
-                            'value': pos_x,
-                        },
-                        {
-                            'label': 'Position Y',
-                            'function': 'posy',
-                            'value': pos_y,
-                        },
-                        {
-                            'label': 'Position Z',
-                            'function': 'posz',
-                            'value': pos_z,
-                            'advanced': True,
-                        },
-                    ]
-
-            # actuator parameters
-            parameters = []
-            for param in actuator_conf.get('parameters', []):
-                parameters.append({k.replace('_','-'): v for k, v in param.items()})
-            actuator['parameters'] = parameters
-
-            actuators.append(actuator)
-
-        mixer_config['actuators'] = actuators
-        config.append(mixer_config)
-
-    if verbose:
-        print('Mixer configs: {}'.format(config))
-    
-    mixers = {
-            'actuator-types': actuator_types,
-            'config': config,
-        }
-    return mixers
-
-
-for yaml_file in args.config_files:
-    yaml_config = load_yaml_file(yaml_file)
-
-    try:
-        actuator_output = get_actuator_output(yaml_config,
-                output_functions, timer_config_file, verbose)
-        if actuator_output:
-            outputs.append(actuator_output)
-
-        parsed_mixers = get_mixers(yaml_config, output_functions, verbose)
-        if parsed_mixers is not None:
-            if mixers is not None:
-                # only expected to be configured in one module
-                raise Exception('multiple "mixer" sections in module config files')
-            mixers = parsed_mixers
-    except Exception as e:
-        print('Exception while parsing {:}:'.format(yaml_file))
-        raise e
-
-if mixers is None:
-    if len(outputs) > 0:
-        raise Exception('Missing "mixer" section in yaml configs (CONFIG_MODULES_CONTROL_ALLOCATOR not added to the build?)')
-    else:
-        # set a minimal default
-        mixers = {
-                'actuator-types': { 'DEFAULT': { 'values': { 'min': 0, 'max': 1 } } },
-            'config': [],
-            }
-
-actuators = {
-    'version': 1,
-    'show-ui-if': 'SYS_CTRL_ALLOC==1',
-    'outputs_v1': outputs,
-    'functions_v1': functions,
-    'mixer_v1': mixers,
-    }
-
-with open(output_file, 'w') as outfile:
-    indent = 2 if verbose else None
-    json.dump(actuators, outfile, indent=indent)
-
-if compress:
-    save_compressed(output_file)
@@ -1,12 +1,11 @@
 #!/usr/bin/env python3
-""" Script to generate params from module.yaml config file(s)
+""" Script to params from module.yaml config file(s)
    Note: serial params are handled in Tools/serial/generate_config.py
 """

 import argparse
 import os
 import sys
-from copy import deepcopy

 from output_groups_from_timer_config import get_timer_groups, get_output_groups

@@ -50,15 +49,10 @@ board = args.board
 root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
 output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")

-def process_module_name(module_name):
-    if module_name == '${PWM_MAIN_OR_AUX}':
-        if board_with_io: return 'PWM AUX'
-        return 'PWM MAIN'
-    if '${' in module_name:
-        raise Exception('unhandled variable in {:}'.format(module_name))
-    return module_name
-
 def process_param_prefix(param_prefix):
+    if param_prefix == '${PWM_MAIN_OR_HIL}':
+        if board == 'px4_sitl': return 'PWM_MAIN'
+        return 'HIL_ACT'
    if param_prefix == '${PWM_MAIN_OR_AUX}':
        if board_with_io: return 'PWM_AUX'
        return 'PWM_MAIN'
@@ -66,16 +60,16 @@ def process_param_prefix(param_prefix):
        raise Exception('unhandled variable in {:}'.format(param_prefix))
    return param_prefix

-def process_channel_label(module_name, channel_label, no_prefix):
-    if channel_label == '${PWM_MAIN_OR_AUX_CAP}':
-        return 'PWM Capture'
+def process_channel_label(channel_label):
+    if channel_label == '${PWM_MAIN_OR_HIL}':
+        if board == 'px4_sitl': return 'PWM Sim'
+        return 'HIL actuator'
    if channel_label == '${PWM_MAIN_OR_AUX}':
        if board_with_io: return 'PWM Aux'
        return 'PWM Main'
    if '${' in channel_label:
        raise Exception('unhandled variable in {:}'.format(channel_label))
-    if no_prefix: return channel_label
-    return module_name + ' ' + channel_label
+    return channel_label


 def parse_yaml_parameters_config(yaml_config, ethernet_supported):
@@ -150,7 +144,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
 */
 PARAM_DEFINE_{param_type}({name}, {default_value});
 '''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
-           long_descr=param['description'].get('long', "").replace("\n", "\n * "),
+           long_descr=param['description']['long'].replace("\n", "\n * "),
           tags=tags,
           param_type=param_type,
           name=param_name.replace('${i}', str(i+instance_start)),
@@ -167,7 +161,6 @@ def get_actuator_output_params(yaml_config, output_functions,
    if not 'actuator_output' in yaml_config:
        return {}
    output_groups = yaml_config['actuator_output']['output_groups']
-    module_name = process_module_name(yaml_config['module_name'])
    all_params = {}
    group_idx = 0

@@ -189,9 +182,7 @@ def get_actuator_output_params(yaml_config, output_functions,
        if 'generator' in group:
            if group['generator'] == 'pwm':
                param_prefix = process_param_prefix(group['param_prefix'])
-                no_prefix = not group.get('channel_label_module_name_prefix', True)
-                channel_labels = [process_channel_label(module_name, label, no_prefix)
-                    for label in group['channel_labels']]
+                channel_labels = [process_channel_label(label) for label in group['channel_labels']]
                standard_params = group.get('standard_params', [])
                extra_function_groups = group.get('extra_function_groups', [])
                pwm_timer_param = group.get('pwm_timer_param', None)
@@ -206,29 +197,13 @@ def get_actuator_output_params(yaml_config, output_functions,
                    verbose=verbose)
                all_params.update(timer_params)
                output_groups.extend(timer_output_groups)
-
-                # In case of a board w/o IO and >8 PWM channels, pwm_out splits
-                # into 2 instances (if SYS_CTRL_ALLOC==0) and we need to add the
-                # PWM_AUX min/max/disarmed params as well.
-                num_channels = len(timer_groups['types'])
-                if not board_with_io and num_channels > 8:
-                    output_groups.append(
-                        {
-                            'param_prefix': 'PWM_AUX',
-                            'channel_label': 'PWM AUX',
-                            'instance_start': 1,
-                            'num_channels': num_channels - 8,
-                            'standard_params': deepcopy(timer_output_groups[0]['standard_params'])
-                        })
-
            else:
                raise Exception('unknown generator {:}'.format(group['generator']))
            continue

        num_channels = group['num_channels']
        param_prefix = process_param_prefix(group['param_prefix'])
-        no_prefix = not group.get('channel_label_module_name_prefix', True)
-        channel_label = process_channel_label(module_name, group['channel_label'], no_prefix)
+        channel_label = process_channel_label(group['channel_label'])
        standard_params = group.get('standard_params', {})
        instance_start = group.get('instance_start', 1)
        instance_start_label = group.get('instance_start_label', instance_start)
@@ -244,8 +219,6 @@ def get_actuator_output_params(yaml_config, output_functions,
                function_name_label = function_name.replace('_', ' ')
                if isinstance(group[function_name], int):
                    output_function_values[group[function_name]] = function_name_label
-                elif not 'count' in group[function_name]:
-                    output_function_values[group[function_name]['start']] = function_name_label
                else:
                    start = group[function_name]['start']
                    count = group[function_name]['count']
@@ -151,9 +151,6 @@ def get_output_groups(timer_groups, param_prefix="PWM_MAIN",

        channel_label = channel_labels[channel_type_idx]
        channel_type_instance = instance_start_label[channel_type_idx]
-        group_label = channel_label + ' ' + str(channel_type_instance)
-        if group_count > 1:
-            group_label += '-' + str(channel_type_instance+group_count-1)
        group = {
            'param_prefix': param_prefix,
            'channel_label': channel_label,
@@ -162,39 +159,16 @@ def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
            'extra_function_groups': deepcopy(extra_function_groups),
            'num_channels': group_count,
            'standard_params': deepcopy(standard_params),
-            'group_label': group_label,
-            'channel_label_module_name_prefix': False,
        }
+        output_groups.append(group)

        if pwm_timer_param is not None:
+            timer_channels_label = channel_label + ' ' + str(channel_type_instance)
+            if group_count > 1:
+                timer_channels_label += '-' + str(channel_type_instance+group_count-1)
            pwm_timer_param_cp = deepcopy(pwm_timer_param)
-            timer_param_name = param_prefix+'_TIM'+str(timer_index)

-            group['config_parameters'] = [
-                    {
-                        'param': timer_param_name,
-                        'function': 'primary',
-                    }
-                ]
-
-            if dshot_support:
-                # don't show pwm limit params when dshot enabled
-
-                for standard_param in group['standard_params']:
-                    group['standard_params'][standard_param]['show_if'] = timer_param_name + '>=-1'
-
-                # indicate support for changing motor spin direction
-                group['supported_actions'] = {
-                        'set_spin_direction1': {
-                            'supported_if': timer_param_name + '<-1',
-                            'actuator_types': ['motor']
-                        },
-                        'set_spin_direction2': {
-                            'supported_if': timer_param_name + '<-1',
-                            'actuator_types': ['motor']
-                        },
-                    }
-            else:
+            if not dshot_support:
                # remove dshot entries if no dshot support
                values = pwm_timer_param_cp['values']
                for key in list(values.keys()):
@@ -204,9 +178,8 @@ def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
            for descr_type in ['short', 'long']:
                descr = pwm_timer_param_cp['description'][descr_type]
                pwm_timer_param_cp['description'][descr_type] = \
-                    descr.replace('${label}', group_label)
-            timer_params[timer_param_name] = pwm_timer_param_cp
-        output_groups.append(group)
+                    descr.replace('${label}', timer_channels_label)
+            timer_params[param_prefix+'_TIM'+str(timer_index)] = pwm_timer_param_cp
        instance_start += group_count
        instance_start_label[channel_type_idx] += group_count
    return (output_groups, timer_params)
@@ -74,7 +74,6 @@ class RCOutput():
        result += "\n"
        result += "if [ ${AIRFRAME} != none ]\n"
        result += "then\n"
-        result += "\techo \"Loading airframe: /etc/init.d/airframes/${AIRFRAME}\"\n"
        result += "\t. /etc/init.d/airframes/${AIRFRAME}\n"
        if not post_start:
            result += "else\n"
@@ -136,6 +136,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		genromfs \
 		gettext \
 		gperf \
+		kconfig-frontends \
 		libelf-dev \
 		libexpat-dev \
 		libgmp-dev \
@@ -153,12 +154,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		util-linux \
 		vim-common \
 		;
-	if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
-		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		kconfig-frontends \
-		;
-	fi
-

 	if [ -n "$USER" ]; then
 		# add user to dialout group (serial port access)
@@ -5,7 +5,6 @@ https://json-schema.org/"""
 import argparse
 import sys
 import json
-import os

 try:
    from jsonschema import validate
@@ -22,8 +21,6 @@ parser = argparse.ArgumentParser(description='Validate JSON file(s) against a sc
 parser.add_argument('json_file', nargs='+', help='JSON config file(s)')
 parser.add_argument('--schema-file', type=str, action='store',
                    help='JSON schema file', required=True)
-parser.add_argument('--skip-if-no-schema', dest='skip_if_no_schema', action='store_true',
-                    help='Skip test if schema file does not exist')
 parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
                    help='Verbose Output')

@@ -32,9 +29,6 @@ schema_file = args.schema_file
 json_files = args.json_file
 verbose = args.verbose

-if args.skip_if_no_schema and not os.path.isfile(schema_file):
-    sys.exit(0)
-
 # load the schema
 with open(schema_file, 'r') as stream:
    schema = json.load(stream)
@@ -65,7 +65,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -77,7 +76,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -24,14 +24,12 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -87,7 +87,6 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -62,7 +62,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -74,7 +73,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -94,7 +94,6 @@ CONFIG_LIBC_STRERROR=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -46,7 +46,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -27,7 +27,6 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -27,7 +27,6 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -69,7 +69,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -79,7 +78,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -87,7 +87,6 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -70,7 +70,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -80,7 +79,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -87,7 +87,6 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -65,7 +65,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -75,7 +74,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -88,7 +88,6 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -87,7 +87,6 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -65,7 +65,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -77,7 +76,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -88,7 +88,6 @@ CONFIG_LIBC_STRERROR=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -47,7 +47,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -61,7 +61,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -71,7 +70,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -88,7 +88,6 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -9,7 +9,7 @@ CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=n
+CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
@@ -33,12 +33,13 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=n
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PWM=y
+CONFIG_SYSTEMCMDS_REBOOT=y
@@ -90,7 +90,6 @@ CONFIG_LIBC_STRERROR=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
@@ -70,7 +70,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -82,7 +81,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -87,7 +87,6 @@ CONFIG_LIBC_STRERROR=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -47,14 +47,12 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -86,7 +86,6 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -65,7 +65,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -77,7 +76,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -86,7 +86,6 @@ CONFIG_LIBC_STRERROR=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -63,7 +63,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -73,7 +72,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -89,7 +89,6 @@ CONFIG_LIBC_STRERROR=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -63,7 +63,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -75,7 +74,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -86,7 +86,6 @@ CONFIG_LIBC_STRERROR=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -63,7 +63,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -75,7 +74,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -86,7 +86,6 @@ CONFIG_LIBC_STRERROR=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -62,7 +62,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -74,7 +73,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -89,7 +89,6 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -63,7 +63,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -75,7 +74,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -89,7 +89,6 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -61,7 +61,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -73,7 +72,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -87,7 +87,6 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -64,7 +64,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -76,7 +75,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -86,7 +86,6 @@ CONFIG_LIBC_STRERROR=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -65,7 +65,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -77,7 +76,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -65,7 +65,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -69,7 +69,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -43,7 +43,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -8,7 +8,6 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_UAVCANNODE_GPS_DEMO=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
@@ -1,7 +1,6 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
@@ -11,6 +10,7 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+CONFIG_DRIVERS_LIGHTS_RGBLED=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -19,14 +19,15 @@ CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
@@ -36,18 +37,26 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_TEST=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_REFLECT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -19,20 +19,23 @@ CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -44,4 +47,5 @@ CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
@@ -3,14 +3,14 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_POS_CONTROL_L1=n
 CONFIG_SYSTEMCMDS_BL_UPDATE=n
-CONFIG_DRIVERS_CAMERA_CAPTURE=n
-CONFIG_DRIVERS_CAMERA_TRIGGER=n
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_CM8JL65=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LEDDAR_ONE=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_TFMINI=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
@@ -161,7 +161,7 @@ __EXPORT void board_on_reset(int status)
 		up_mdelay(400);

 		/* on reboot (status >= 0) reset sensors and peripherals */
-		board_control_spi_sensors_power(false, 0xffff);
+		board_spi_reset(10, 0xffff);
 	}
 }

@@ -1,5 +1,4 @@
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525=n
-CONFIG_DRIVERS_GPS=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_EKF2=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
@@ -68,7 +68,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -80,7 +79,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -161,7 +161,7 @@ __EXPORT void board_on_reset(int status)
 		up_mdelay(400);

 		/* on reboot (status >= 0) reset sensors and peripherals */
-		board_control_spi_sensors_power(false, 0xffff);
+		board_spi_reset(10, 0xffff);
 	}
 }

@@ -69,7 +69,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -81,7 +80,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -66,7 +66,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -78,7 +77,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -82,7 +82,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -89,7 +89,6 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -64,12 +64,16 @@ CONFIG_DEBUG_DMA_WARN=y
 CONFIG_DEBUG_ERROR=y
 CONFIG_DEBUG_FEATURES=y
 CONFIG_DEBUG_FS=y
+CONFIG_DEBUG_FS_ERROR=y
 CONFIG_DEBUG_FS_WARN=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_GPIO=y
 CONFIG_DEBUG_GPIO_ERROR=y
 CONFIG_DEBUG_GPIO_WARN=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_I2C=y
+CONFIG_DEBUG_I2C_ERROR=y
+CONFIG_DEBUG_I2C_WARN=y
 CONFIG_DEBUG_IRQ=y
 CONFIG_DEBUG_IRQ_ERROR=y
 CONFIG_DEBUG_IRQ_WARN=y
@@ -136,7 +140,6 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -87,7 +87,6 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -88,7 +88,6 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -89,7 +89,6 @@ CONFIG_LIBC_STRERROR=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -73,7 +73,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -83,7 +82,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -73,7 +73,6 @@ CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -91,9 +90,9 @@ CONFIG_IPCFG_PATH="/fs/mtd_net"
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -93,7 +93,6 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -65,7 +65,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -75,7 +74,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
@@ -89,7 +89,6 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -61,7 +61,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -71,7 +70,6 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -94,7 +94,6 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -46,7 +46,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -45,7 +45,6 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_FAILURE=y
@@ -29,7 +29,6 @@ CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	63448faf2d	[DO NOT MERGE] update NuttX to pr-nuttx_sd_testing	2021-11-19 14:30:53 -08:00
David Sidrane	0f5f522631	sd_bench:Add verify and keep options	2021-11-19 14:30:53 -08:00
Daniel Agar	7e3256161d	jenkins testing	2021-11-19 14:30:53 -08:00
Daniel Agar	e8e464c986	Jenkins testing	2021-11-19 14:30:53 -08:00
Daniel Agar	0cf54cbe1f	Revert "Tools/HIL/run_tests.py - temporarily disable flaky dataman test until it can be reviewed" This reverts commit `00b15798da`.	2021-11-19 14:30:53 -08:00