mavlink: Iridium mode collect special handling

- disable events, forwarding, ftp - HIGH_LATENCY2 send raw GPS lat/lon/alt if global position estimate isn't available
vscode/settings.json: add .sdf and Jenkinsfile associations
2026-06-20 05:40:35 +08:00 · 2022-12-21 16:47:24 -05:00 · 2022-12-21 16:46:25 -05:00 · 2022-12-21 10:17:59 -05:00 · 2022-12-21 10:14:00 -05:00 · 2022-12-21 09:04:19 +01:00
178 changed files with 4156 additions and 2417 deletions
@@ -684,7 +684,7 @@ 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/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'

  // status commands
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
@@ -715,7 +715,7 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
@@ -767,13 +767,13 @@ void runTests() {

  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 "param dump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
  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 "param dump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
  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 "param dump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
  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 "param dump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params" || true' // expected to fail after 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"'
@@ -119,7 +119,9 @@
                "utility": "cpp",
                "valarray": "cpp",
                "variant": "cpp",
-                "vector": "cpp"
+                "vector": "cpp",
+                "Jenkinsfile*": "groovy",
+                "*.sdf": "xml"
        },
        "search.exclude": {
                "${workspaceFolder}/build": true
@@ -74,7 +74,7 @@ if [ -f $PARAM_FILE ]; then
 	then
 		echo "ERROR [init] param import failed"

-		param dump $PARAM_FILE
+		bsondump $PARAM_FILE

 		# try to make a backup copy
 		cp $PARAM_FILE param_import_fail.bson
@@ -85,7 +85,7 @@ if [ -f $PARAM_FILE ]; then
 			echo "[init] importing from parameter backup"

 			# dump current backup file contents for comparison
-			param dump $PARAM_BACKUP_FILE
+			bsondump $PARAM_BACKUP_FILE

 			param import $PARAM_BACKUP_FILE

@@ -130,7 +130,7 @@ else
 		echo "ERROR [init] param import failed"
 		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE

-		param dump $PARAM_FILE
+		bsondump $PARAM_FILE

 		if [ -d "/fs/microsd" ]
 		then
@@ -143,7 +143,7 @@ else
 				echo "[init] importing from parameter backup"

 				# dump current backup file contents for comparison
-				param dump $PARAM_BACKUP_FILE
+				bsondump $PARAM_BACKUP_FILE

 				param import $PARAM_BACKUP_FILE

@@ -43,13 +43,13 @@ do
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/mtd_params'

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

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

 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
@@ -122,13 +122,21 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
    for field in spec.parsed_fields():
        field_name_and_type.update({field.name: field.type})

+    # assert if the timestamp field exists
+    try:
+        assert 'timestamp' in field_name_and_type
+    except AssertionError:
+        print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\tNo 'timestamp' field found in " +
+              spec.short_name + " msg definition!")
+        exit(1)
+
    # assert if the timestamp field is of type uint64
-    # try:
-    #     assert field_name_and_type.get('timestamp') == 'uint64'
-    # except AssertionError:
-    #     print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
-    #           " msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
-    #     exit(1)
+    try:
+        assert field_name_and_type.get('timestamp') == 'uint64'
+    except AssertionError:
+        print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
+              " msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
+        exit(1)

    topics = get_topics(filename)

@@ -79,8 +79,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -70,6 +70,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -76,8 +76,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -63,6 +63,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
@@ -81,8 +81,9 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -27,14 +27,12 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -46,6 +44,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -54,6 +53,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=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
@@ -80,10 +79,10 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -106,4 +105,3 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
-#CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
@@ -75,6 +75,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -1,12 +1,8 @@
 CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
-CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
-CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_UAVCAN=n
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_BOARD_TESTING=y
@@ -80,8 +80,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -66,6 +66,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
@@ -28,10 +28,8 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -40,6 +38,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -48,6 +47,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=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
@@ -73,10 +72,10 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -71,6 +71,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -85,8 +85,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -82,6 +82,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -76,6 +76,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -5,3 +5,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_ORB_COMMUNICATOR=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
+CONFIG_DRIVERS_ACTUATORS_MODALAI_ESC=y
@@ -57,3 +57,8 @@
 */
 #include <system_config.h>
 #include <px4_platform_common/board_common.h>
+
+/*
+ *  Default port for the ESC
+ */
+#define MODALAI_ESC_DEFAULT_PORT 	"2"
@@ -8,3 +8,4 @@ CONFIG_ORB_COMMUNICATOR=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_DRIVERS_QSHELL_POSIX=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
@@ -19,3 +19,5 @@ fi
 muorb start

 qshell icm42688p start -s
+
+qshell modalai_esc start
@@ -79,6 +79,7 @@ CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -77,8 +77,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -77,8 +77,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -78,6 +78,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -79,6 +78,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -78,6 +78,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -79,8 +79,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -80,8 +80,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -23,14 +23,12 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -78,6 +76,7 @@ CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
@@ -24,14 +24,12 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -80,6 +78,7 @@ CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
@@ -31,6 +31,7 @@ CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -49,7 +50,7 @@ CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_GIMBAL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -141,7 +141,7 @@
 /* LPUART0   P2 UART (with flow control) connector */

 #define PIN_LPUART0_CTS   PIN_LPUART0_CTS_1  /* PTA0 */
-#define PIN_LPUART0_RTS   PIN_LPUART0_RTS_1  /* PTA1 */
+#define PIN_LPUART0_RTS   (PIN_PTA1 | GPIO_OUTPUT) /* PIN_LPUART0_RTS_1 PTA1 */
 #define PIN_LPUART0_RX    (PIN_LPUART0_RX_1 | PIN_INPUT_PULLUP)   /* PTA2 */
 #define PIN_LPUART0_TX    PIN_LPUART0_TX_1   /* PTA3 */

@@ -118,7 +118,20 @@ CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_LPI2C0_DMA=y
 CONFIG_LPI2C1_DMA=y
+CONFIG_LPUART0_IFLOWCONTROL=y
+CONFIG_LPUART0_OFLOWCONTROL=y
+CONFIG_LPUART0_RXBUFSIZE=640
+CONFIG_LPUART0_RXDMA=y
+CONFIG_LPUART0_TXDMA=y
+CONFIG_LPUART13_RXDMA=y
+CONFIG_LPUART13_TXDMA=y
+CONFIG_LPUART14_RXDMA=y
+CONFIG_LPUART14_TXDMA=y
+CONFIG_LPUART1_RXDMA=y
+CONFIG_LPUART1_TXDMA=y
+CONFIG_LPUART2_RXDMA=y
 CONFIG_LPUART2_SERIAL_CONSOLE=y
+CONFIG_LPUART2_TXDMA=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
@@ -241,6 +254,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1768
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -6,12 +6,14 @@ config BOARD_HAS_PROBES
 	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
 	default y
 	---help---
-		This board provides GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers.
+		This board provides GPIO 6-wr-SPI_INT_N, 6-wr-SPI_CS_N, 6-wr-SPI_RDY_N as
+		PROBE_1-3 to provide timing signals from selected drivers.

 config BOARD_USE_PROBES
-	bool "Enable the use the board provided GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers"
+	bool "Enable the use of the board provided GPIO Probes"
 	default n
 	depends on BOARD_HAS_PROBES

 	---help---
-		Select to use GPIO FMU-CH1-6 to provide timing signals from selected drivers.
+		Select to use GPIO GPIO 6-wr-SPI_INT_N, 6-wr-SPI_CS_N, 6-wr-SPI_RDY_N as PROBE_1-3
+		to provide timing signals from selected drivers.
@@ -136,7 +136,7 @@
 */

 #define PIN_LPUART0_CTS   PIN_LPUART0_CTS_2 /* PTC8 */
-#define PIN_LPUART0_RTS   PIN_LPUART0_RTS_2 /* PTC9 */
+#define PIN_LPUART0_RTS   (GPIO_OUTPUT | PIN_PORTC | PIN9 ) // PIN_LPUART0_RTS_2 /* PTC9 */
 #define PIN_LPUART0_RX    PIN_LPUART0_RX_1  /* PTB0 */
 #define PIN_LPUART0_TX    PIN_LPUART0_TX_1  /* PTB1 */

@@ -167,4 +167,29 @@
 #define PIN_CAN1_ERRN    (GPIO_PULLDOWN  | PIN_PORTE | PIN6 )
 #define PIN_CAN1_EN      (GPIO_OUTPUT  | PIN_PORTE | PIN2 )

+/* Board provides GPIO or other Hardware for signaling to timing analyzer */
+
+#if defined(CONFIG_BOARD_USE_PROBES)
+# include "s32k1xx_pin.h"
+# include "hardware/s32k1xx_pinmux.h"
+# define PROBE_N(n) (1<<((n)-1))
+# define PROBE_1    (PIN_PTE0  | GPIO_OUTPUT)  /* 6-wr-SPI_RDY_N */
+# define PROBE_2    (PIN_PTE9  | GPIO_OUTPUT)  /* 6-wr-SPI_INT_N */
+# define PROBE_3    (PIN_PTB5  | GPIO_OUTPUT)  /* 6-wr-SPI_CS_N */
+
+# define PROBE_INIT(mask) \
+	do { \
+		if ((mask)& PROBE_N(1)) { s32k1xx_pinconfig(PROBE_1); } \
+		if ((mask)& PROBE_N(2)) { s32k1xx_pinconfig(PROBE_2); } \
+		if ((mask)& PROBE_N(3)) { s32k1xx_pinconfig(PROBE_3); } \
+	} while(0)
+
+# define PROBE(n,s)  do {s32k1xx_gpiowrite(PROBE_##n,(s));}while(0)
+# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
+#else
+# define PROBE_INIT(mask)
+# define PROBE(n,s)
+# define PROBE_MARK(n)
+#endif
+
 #endif  /* __BOARDS_ARM_RDDRONE_UAVCAN146_INCLUDE_BOARD_H */
@@ -46,18 +46,22 @@ CONFIG_I2CTOOL_MAXADDR=0x7f
 CONFIG_I2CTOOL_MAXBUS=0
 CONFIG_I2CTOOL_MINADDR=0x00
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2276
+CONFIG_INIT_STACKSIZE=3500
 CONFIG_INTELHEX_BINARY=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LPI2C0_DMA=y
 CONFIG_LPUART0_BAUD=38400
+CONFIG_LPUART0_IFLOWCONTROL=y
+CONFIG_LPUART0_OFLOWCONTROL=y
 CONFIG_LPUART0_RXBUFSIZE=600
 CONFIG_LPUART0_RXDMA=y
 CONFIG_LPUART0_TXBUFSIZE=1100
 CONFIG_LPUART0_TXDMA=y
 CONFIG_LPUART1_RXBUFSIZE=128
+CONFIG_LPUART1_RXDMA=y
 CONFIG_LPUART1_SERIAL_CONSOLE=y
 CONFIG_LPUART1_TXBUFSIZE=128
+CONFIG_LPUART1_TXDMA=y
 CONFIG_MOTOROLA_SREC=y
 CONFIG_MTD=y
 CONFIG_MTD_PARTITION=y
@@ -96,12 +100,20 @@ CONFIG_S32K1XX_EDMA_NTCD=64
 CONFIG_S32K1XX_EEEPROM=y
 CONFIG_S32K1XX_FLEXCAN0=y
 CONFIG_S32K1XX_FLEXCAN1=y
+CONFIG_S32K1XX_GPIOIRQ=y
 CONFIG_S32K1XX_LPI2C0=y
 CONFIG_S32K1XX_LPI2C_DMA=y
 CONFIG_S32K1XX_LPI2C_DYNTIMEO=y
 CONFIG_S32K1XX_LPSPI0=y
+CONFIG_S32K1XX_LPSPI0_DMA=y
+CONFIG_S32K1XX_LPSPI_DMA=y
 CONFIG_S32K1XX_LPUART0=y
 CONFIG_S32K1XX_LPUART1=y
+CONFIG_S32K1XX_PORTAINTS=y
+CONFIG_S32K1XX_PORTBINTS=y
+CONFIG_S32K1XX_PORTCINTS=y
+CONFIG_S32K1XX_PORTDINTS=y
+CONFIG_S32K1XX_PORTEINTS=y
 CONFIG_S32K1XX_RTC=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
@@ -113,6 +125,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SPITOOL_MAXBUS=2
@@ -63,7 +63,7 @@
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBusExternal(SPI::Bus::SPI0, {
 		// Going to assume PTB5 means PortB, Pin5
-		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin5})
+		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin5}, SPI::DRDY{GPIO::PortE, GPIO::Pin0}),
 	}),
 };

@@ -83,6 +83,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -25,7 +25,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -84,6 +83,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -25,15 +25,12 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -43,6 +40,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -51,6 +49,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -66,7 +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
@@ -79,10 +77,10 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -11,28 +11,25 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI055=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
 CONFIG_DRIVERS_IRLOCK=n
-CONFIG_DRIVERS_OSD=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_POWER_MONITOR_INA226=n
 CONFIG_DRIVERS_PWM_INPUT=n
 CONFIG_DRIVERS_ROBOCLAW=n
-CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_CAMERA_FEEDBACK=n
 CONFIG_MODULES_ESC_BATTERY=n
+CONFIG_MODULES_GIMBAL=n
 CONFIG_MODULES_GYRO_CALIBRATION=n
 CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
-CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
-CONFIG_MODULES_GIMBAL=n
 CONFIG_SYSTEMCMDS_SERIAL_TEST=n
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_TESTING=y
@@ -59,7 +59,7 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -86,6 +86,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -3,7 +3,6 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
-CONFIG_DRIVERS_RPM=n
 CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_GYRO_FFT=n
@@ -59,6 +59,7 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -84,6 +85,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -68,6 +68,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -78,6 +78,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -74,6 +74,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -62,6 +62,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
@@ -49,6 +49,7 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_FAILURE=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
@@ -59,6 +59,7 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
@@ -83,6 +83,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -78,6 +78,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -78,6 +78,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -33,10 +33,12 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -52,7 +54,6 @@ 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
@@ -62,9 +63,9 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -74,6 +74,7 @@ set(msg_files
 	EstimatorAidSource2d.msg
 	EstimatorAidSource3d.msg
 	EstimatorBias.msg
+	EstimatorBias3d.msg
 	EstimatorEventFlags.msg
 	EstimatorGpsStatus.msg
 	EstimatorInnovations.msg
@@ -134,7 +135,6 @@ set(msg_files
 	OrbTest.msg
 	OrbTestLarge.msg
 	OrbTestMedium.msg
-	Parameter.msg
 	ParameterUpdate.msg
 	Ping.msg
 	PositionControllerLandingStatus.msg
@@ -9,4 +9,4 @@ float32 innov			# innovation of the last measurement fusion (m)
 float32 innov_var		# innovation variance of the last measurement fusion (m^2)
 float32 innov_test_ratio	# normalized innovation squared test ratio

-# TOPICS estimator_baro_bias estimator_gnss_hgt_bias estimator_rng_hgt_bias estimator_ev_hgt_bias
+# TOPICS estimator_baro_bias estimator_gnss_hgt_bias estimator_rng_hgt_bias
@@ -0,0 +1,14 @@
+uint64 timestamp                # time since system start (microseconds)
+uint64 timestamp_sample         # the timestamp of the raw data (microseconds)
+
+uint32 device_id                # unique device ID for the sensor that does not change between power cycles
+
+float32[3] bias                 # estimated barometric altitude bias (m)
+float32[3] bias_var             # estimated barometric altitude bias variance (m^2)
+
+float32[3] innov                # innovation of the last measurement fusion (m)
+float32[3] innov_var            # innovation variance of the last measurement fusion (m^2)
+float32[3] innov_test_ratio     # normalized innovation squared test ratio
+
+# TOPICS estimator_bias3d
+# TOPICS estimator_ev_pos_bias
@@ -1,12 +0,0 @@
-char[17] name                   # parameter name
-int16 index		# -1 if the param_id field should be used as identifier
-int16 index_used		# -1 if the param_id field should be used as identifier
-
-uint8 TYPE_INVALID = 0
-uint8 TYPE_BOOL    = 1
-uint8 TYPE_INT32   = 2
-uint8 TYPE_FLOAT32 = 3
-uint8 type                # parameter type
-
-int32 int32_value               # current value if param_type is int-like
-float32 float32_value           # current value if param_type is float-like
@@ -4,8 +4,11 @@ uint64 timestamp		# time since system start (microseconds)

 uint32 instance		# Instance count - constantly incrementing

-uint16 count
+uint32 get_count
+uint32 set_count
+uint32 find_count
+uint32 export_count

-Parameter changed_param
-
-uint8 ORB_QUEUE_LENGTH = 8
+uint16 active
+uint16 changed
+uint16 custom_default
@@ -18,21 +18,11 @@ float32 true_airspeed_filtered
 float32 true_airspeed_derivative_sp
 float32 true_airspeed_derivative
 float32 true_airspeed_derivative_raw
-float32 true_airspeed_innovation

-float32 total_energy_error
-float32 energy_distribution_error
-float32 total_energy_rate_error
-float32 energy_distribution_rate_error
-
-float32 total_energy
 float32 total_energy_rate
-float32 total_energy_balance
 float32 total_energy_balance_rate

-float32 total_energy_sp
 float32 total_energy_rate_sp
-float32 total_energy_balance_sp
 float32 total_energy_balance_rate_sp

 float32 throttle_integ
@@ -28,4 +28,4 @@ uint8 reset_counter
 int8 quality

 # TOPICS vehicle_odometry vehicle_mocap_odometry vehicle_visual_odometry
-# TOPICS estimator_odometry estimator_visual_odometry_aligned
+# TOPICS estimator_odometry
@@ -42,8 +42,6 @@
 #include <containers/List.hpp>

 #include "param.h"
-#include <uORB/Subscription.hpp>
-#include <uORB/topics/parameter_update.h>

 class ModuleParams : public ListNode<ModuleParams *>
 {
@@ -70,8 +68,6 @@ public:
 	virtual ~ModuleParams()
 	{
 		if (_parent) { _parent->_children.remove(this); }
-
-		_parameter_update_sub.unsubscribe();
 	}

 	// Disallow copy construction and move assignment.
@@ -86,76 +82,21 @@ protected:
 	 *        It will automatically call updateParams() for all children, which then call updateParamsImpl().
 	 */
 	virtual void updateParams()
-	{
-		bool update_all = true;
-		int parameter_updates = 0;
-
-		while (_parameter_update_sub.updated() && (parameter_updates < parameter_update_s::ORB_QUEUE_LENGTH)) {
-			parameter_updates++;
-
-			parameter_update_s parameter_update;
-
-			if (_parameter_update_sub.copy(&parameter_update)
-			    && (_parameter_update_instance > 0)
-			    && (parameter_update.instance == _parameter_update_instance + 1)
-			    && (parameter_update.changed_param.index >= 0)
-			    && (static_cast<uint16_t>(parameter_update.changed_param.index) != PARAM_INVALID)
-			   ) {
-				update_all = false;
-
-				for (const auto &child : _children) {
-					child->updateParams(parameter_update);
-				}
-
-				updateParamsImpl(parameter_update);
-
-				_parameter_update_instance = parameter_update.instance;
-
-			} else {
-				update_all = true;
-				break;
-			}
-		}
-
-		if (update_all) {
-			PX4_DEBUG("updateParams: updating all params");
-			parameter_update_s parameter_update;
-
-			if (_parameter_update_sub.copy(&parameter_update)) {
-				_parameter_update_instance = parameter_update.instance;
-			}
-
-			for (const auto &child : _children) {
-				child->updateParams();
-			}
-
-			updateParamsImpl();
-
-		} else {
-			PX4_DEBUG("updateParams: updating all params skipped");
-		}
-	}
-
-	virtual void updateParams(const parameter_update_s &parameter_update)
 	{
 		for (const auto &child : _children) {
-			child->updateParams(parameter_update);
+			child->updateParams();
 		}

-		updateParamsImpl(parameter_update);
+		updateParamsImpl();
 	}

 	/**
 	 * @brief The implementation for this is generated with the macro DEFINE_PARAMETERS()
 	 */
 	virtual void updateParamsImpl() {}
-	virtual void updateParamsImpl(const parameter_update_s &parameter_update) {}

 private:
 	/** @list _children The module parameter list of inheriting classes. */
 	List<ModuleParams *> _children;
 	ModuleParams *_parent{nullptr};
-
-	uORB::Subscription _parameter_update_sub{ORB_ID(parameter_update)};
-	uint32_t _parameter_update_instance{0};
 };
@@ -44,13 +44,11 @@
 #include <math.h>

 #include <parameters/px4_parameters.hpp>
-#include <uORB/topics/parameter.h>
-#include <uORB/topics/parameter_update.h>

 /**
 * get the parameter handle from a parameter enum
 */
-inline static constexpr param_t param_handle(px4::params p)
+inline static param_t param_handle(px4::params p)
 {
 	return (param_t)p;
 }
@@ -64,9 +62,6 @@ inline static constexpr param_t param_handle(px4::params p)
 #define _CALL_UPDATE(x) \
 	STRIP(x).update();

-#define _SET_PARAMETER_UPDATE(x) \
-	case STRIP(x).handle(): STRIP(x).setValue(parameter_update.changed_param); return;
-
 // define the parameter update method, which will update all parameters.
 // It is marked as 'final', so that wrong usages lead to a compile error (see below)
 #define _DEFINE_PARAMETER_UPDATE_METHOD(...) \
@@ -74,11 +69,6 @@ inline static constexpr param_t param_handle(px4::params p)
 	void updateParamsImpl() final { \
 		APPLY_ALL(_CALL_UPDATE, __VA_ARGS__) \
 	} \
-	void updateParamsImpl(const parameter_update_s &parameter_update) { \
-		switch(parameter_update.changed_param.index) { \
-			APPLY_ALL(_SET_PARAMETER_UPDATE, __VA_ARGS__) \
-		} \
-	} \
 	private:

 // Define a list of parameters. This macro also creates code to update parameters.
@@ -98,12 +88,6 @@ inline static constexpr param_t param_handle(px4::params p)
 		parent_class::updateParamsImpl(); \
 		APPLY_ALL(_CALL_UPDATE, __VA_ARGS__) \
 	} \
-	void updateParamsImpl(const parameter_update_s &parameter_update) { \
-		parent_class::updateParamsImpl(parameter_update); \
-		switch(parameter_update.changed_param.index) { \
-			APPLY_ALL(_SET_PARAMETER_UPDATE, __VA_ARGS__) \
-		} \
-	} \
 	private:

 #define DEFINE_PARAMETERS_CUSTOM_PARENT(parent_class, ...) \
@@ -134,6 +118,7 @@ public:

 	Param()
 	{
+		param_set_used(handle());
 		update();
 	}

@@ -141,22 +126,35 @@ public:

 	const float &reference() const { return _val; }

+	/// Store the parameter value to the parameter storage (@see param_set())
+	bool commit() const { return param_set(handle(), &_val) == 0; }
+
+	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
+	bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
+
 	/// Set and commit a new value. Returns true if the value changed.
-	bool set(float val)
+	bool commit_no_notification(float val)
 	{
 		if (fabsf(val - _val) > FLT_EPSILON) {
-			_val = val;
-			return (param_set(handle(), &_val) == 0);
+			set(val);
+			commit_no_notification();
+			return true;
 		}

 		return false;
 	}

+	void set(float val) { _val = val; }
+
+	void reset()
+	{
+		param_reset_no_notification(handle());
+		update();
+	}
+
 	bool update() { return param_get(handle(), &_val) == 0; }

-	void setValue(const parameter_s &parameter_update) { _val = parameter_update.float32_value; }
-
-	static constexpr param_t handle() { return param_handle(p); }
+	param_t handle() const { return param_handle(p); }
 private:
 	float _val;
 };
@@ -172,6 +170,7 @@ public:
 	Param(float &external_val)
 		: _val(external_val)
 	{
+		param_set_used(handle());
 		update();
 	}

@@ -179,18 +178,35 @@ public:

 	const float &reference() const { return _val; }

+	/// Store the parameter value to the parameter storage (@see param_set())
+	bool commit() const { return param_set(handle(), &_val) == 0; }
+
+	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
+	bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
+
 	/// Set and commit a new value. Returns true if the value changed.
-	bool set(float val)
+	bool commit_no_notification(float val)
 	{
-		_val = val;
-		return (param_set(handle(), &_val) == 0);
+		if (fabsf(val - _val) > FLT_EPSILON) {
+			set(val);
+			commit_no_notification();
+			return true;
+		}
+
+		return false;
+	}
+
+	void set(float val) { _val = val; }
+
+	void reset()
+	{
+		param_reset_no_notification(handle());
+		update();
 	}

 	bool update() { return param_get(handle(), &_val) == 0; }

-	void setValue(const parameter_s &parameter_update) { _val = parameter_update.float32_value; }
-
-	static constexpr param_t handle() { return param_handle(p); }
+	param_t handle() const { return param_handle(p); }
 private:
 	float &_val;
 };
@@ -204,6 +220,7 @@ public:

 	Param()
 	{
+		param_set_used(handle());
 		update();
 	}

@@ -211,18 +228,35 @@ public:

 	const int32_t &reference() const { return _val; }

+	/// Store the parameter value to the parameter storage (@see param_set())
+	bool commit() const { return param_set(handle(), &_val) == 0; }
+
+	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
+	bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
+
 	/// Set and commit a new value. Returns true if the value changed.
-	bool set(int32_t val)
+	bool commit_no_notification(int32_t val)
 	{
-		_val = val;
-		return (param_set(handle(), &_val) == 0);
+		if (val != _val) {
+			set(val);
+			commit_no_notification();
+			return true;
+		}
+
+		return false;
+	}
+
+	void set(int32_t val) { _val = val; }
+
+	void reset()
+	{
+		param_reset_no_notification(handle());
+		update();
 	}

 	bool update() { return param_get(handle(), &_val) == 0; }

-	void setValue(const parameter_s &parameter_update) { _val = parameter_update.int32_value; }
-
-	static constexpr param_t handle() { return param_handle(p); }
+	param_t handle() const { return param_handle(p); }
 private:
 	int32_t _val;
 };
@@ -238,6 +272,7 @@ public:
 	Param(int32_t &external_val)
 		: _val(external_val)
 	{
+		param_set_used(handle());
 		update();
 	}

@@ -246,17 +281,34 @@ public:
 	const int32_t &reference() const { return _val; }

 	/// Store the parameter value to the parameter storage (@see param_set())
-	bool set(int32_t val)
+	bool commit() const { return param_set(handle(), &_val) == 0; }
+
+	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
+	bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
+
+	/// Set and commit a new value. Returns true if the value changed.
+	bool commit_no_notification(int32_t val)
 	{
-		_val = val;
-		return (param_set(handle(), &_val) == 0);
+		if (val != _val) {
+			set(val);
+			commit_no_notification();
+			return true;
+		}
+
+		return false;
+	}
+
+	void set(int32_t val) { _val = val; }
+
+	void reset()
+	{
+		param_reset_no_notification(handle());
+		update();
 	}

 	bool update() { return param_get(handle(), &_val) == 0; }

-	void setValue(const parameter_s &parameter_update) { _val = parameter_update.int32_value; }
-
-	static constexpr param_t handle() { return param_handle(p); }
+	param_t handle() const { return param_handle(p); }
 private:
 	int32_t &_val;
 };
@@ -270,6 +322,7 @@ public:

 	Param()
 	{
+		param_set_used(handle());
 		update();
 	}

@@ -277,12 +330,38 @@ public:

 	const bool &reference() const { return _val; }

-	/// Set and commit a new value. Returns true if the value changed.
-	bool set(bool val)
+	/// Store the parameter value to the parameter storage (@see param_set())
+	bool commit() const
 	{
-		_val = val;
 		int32_t value_int = (int32_t)_val;
-		return (param_set(handle(), &value_int) == 0);
+		return param_set(handle(), &value_int) == 0;
+	}
+
+	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
+	bool commit_no_notification() const
+	{
+		int32_t value_int = (int32_t)_val;
+		return param_set_no_notification(handle(), &value_int) == 0;
+	}
+
+	/// Set and commit a new value. Returns true if the value changed.
+	bool commit_no_notification(bool val)
+	{
+		if (val != _val) {
+			set(val);
+			commit_no_notification();
+			return true;
+		}
+
+		return false;
+	}
+
+	void set(bool val) { _val = val; }
+
+	void reset()
+	{
+		param_reset_no_notification(handle());
+		update();
 	}

 	bool update()
@@ -298,9 +377,7 @@ public:
 		return false;
 	}

-	void setValue(const parameter_s &parameter_update) { _val = parameter_update.int32_value; }
-
-	static constexpr param_t handle() { return param_handle(p); }
+	param_t handle() const { return param_handle(p); }
 private:
 	bool _val;
 };
@@ -385,7 +385,7 @@ uORB::DeviceNode::print_statistics(int max_topic_length)
 	lock();

 	const uint8_t instance = get_instance();
-	const int16_t sub_count = subscriber_count();
+	const int8_t sub_count = subscriber_count();
 	const uint8_t queue_size = get_queue_size();

 	unlock();
@@ -197,7 +197,7 @@ public:

 	uint8_t get_queue_size() const { return _queue_size; }

-	int16_t subscriber_count() const { return _subscriber_count; }
+	int8_t subscriber_count() const { return _subscriber_count; }

 	/**
 	 * Returns the number of updated data relative to the parameter 'generation'
@@ -296,7 +296,7 @@ private:
 	const uint8_t _instance; /**< orb multi instance identifier */
 	bool _advertised{false};  /**< has ever been advertised (not necessarily published data yet) */
 	uint8_t _queue_size; /**< maximum number of elements in the queue */
-	int16_t _subscriber_count{0};
+	int8_t _subscriber_count{0};


 // Determine the data range
@@ -103,7 +103,9 @@ __BEGIN_DECLS
 #define px4_arch_gpioread(pinset)               s32k1xx_gpioread(pinset)
 #define px4_arch_gpiowrite(pinset, value)       s32k1xx_gpiowrite(pinset, value)

-/* s32k1xx_gpiosetevent is not implemented and will need to be added */
+/* s32k1xx_gpiosetevent is added at PX4 level */
+
+int s32k1xx_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge, bool event, xcpt_t func, void *arg);

 #define px4_arch_gpiosetevent(pinset,r,f,e,fp,a)  s32k1xx_gpiosetevent(pinset,r,f,e,fp,a)

@@ -36,4 +36,6 @@ px4_add_library(arch_io_pins
 	pwm_servo.c
 	pwm_trigger.c
 	input_capture.c
+	input_capture.c
+	s32k1xx_pinirq.c
 )
@@ -0,0 +1,90 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <systemlib/px4_macros.h>
+
+#include <arch/board/board.h>
+
+#include <errno.h>
+
+#include <s32k1xx_pin.h>
+
+/****************************************************************************
+ * Name: s32k1xx_gpiosetevent
+ *
+ * Description:
+ *   Sets/clears GPIO based event and interrupt triggers.
+ *
+ * Input Parameters:
+ *  - pinset: gpio pin configuration
+ *  - rising/falling edge: enables
+ *  - event:  generate event when set
+ *  - func:   when non-NULL, generate interrupt
+ *  - arg:    Argument passed to the interrupt callback
+ *
+ * Returned Value:
+ *   Zero (OK) on success; a negated errno value on failure indicating the
+ *   nature of the failure.
+ *
+ ****************************************************************************/
+#if defined(CONFIG_S32K1XX_GPIOIRQ)
+int s32k1xx_gpiosetevent(uint32_t pinset, bool risingedge, bool fallingedge,
+			 bool event, xcpt_t func, void *arg)
+{
+	int ret = -ENOSYS;
+
+	s32k1xx_pinconfig(pinset);
+
+	if (func == NULL) {
+		s32k1xx_pinirqdisable(pinset);
+		ret = s32k1xx_pinirqattach(pinset, NULL, NULL);
+
+	} else {
+		ret = s32k1xx_pinirqattach(pinset, func, arg);
+		pinset &= ~_PIN_INT_MASK;
+
+		if (risingedge) {
+			pinset |= PIN_INT_RISING;
+		}
+
+		if (fallingedge) {
+			pinset |= PIN_INT_FALLING;
+		}
+
+		s32k1xx_pinirqenable(pinset);
+	}
+
+	return ret;
+}
+#endif /* CONFIG_S32K1XX_GPIOIRQ */
@@ -0,0 +1,37 @@
+/****************************************************************************
+ *
+ * Copyright (C) 2022 ModalAI, Inc. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+// This file prevents a missing header file error but since Qurt doesn't support
+// termios the actual code will still need to be changed for Qurt
+
+typedef unsigned int speed_t;
@@ -107,6 +107,7 @@ public:

 	Param()
 	{
+		//param_set_used(handle());
 		update();
 	}

@@ -121,12 +122,19 @@ public:
 		//return param_set(handle(), &_val) == 0;
 	}

+	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
+	bool commit_no_notification() const
+	{
+		return true; // TODO
+		//return param_set_no_notification(handle(), &_val) == 0;
+	}
+
 	/// Set and commit a new value. Returns true if the value changed.
-	bool commit(float val)
+	bool commit_no_notification(float val)
 	{
 		if (fabsf(val - _val) > FLT_EPSILON) {
 			set(val);
-			commit();
+			commit_no_notification();
 			return true;
 		}

@@ -135,6 +143,12 @@ public:

 	void set(float val) { _val = val; }

+	void reset()
+	{
+		//param_reset_no_notification(handle()); // TODO
+		update();
+	}
+
 	bool update()
 	{
 		return true; // TODO
@@ -157,6 +171,7 @@ public:
 	Param(float &external_val)
 		: _val(external_val)
 	{
+		//param_set_used(handle()); // TODO
 		update();
 	}

@@ -171,12 +186,19 @@ public:
 		return true;
 	}

+	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
+	bool commit_no_notification() const
+	{
+		return true;
+		//return param_set_no_notification(handle(), &_val) == 0;
+	}
+
 	/// Set and commit a new value. Returns true if the value changed.
-	bool commit(float val)
+	bool commit_no_notification(float val)
 	{
 		if (fabsf(val - _val) > FLT_EPSILON) {
 			set(val);
-			commit();
+			commit_no_notification();
 			return true;
 		}

@@ -185,6 +207,12 @@ public:

 	void set(float val) { _val = val; }

+	void reset()
+	{
+		//param_reset_no_notification(handle());
+		update();
+	}
+
 	bool update()
 	{
 		return true;
@@ -205,6 +233,7 @@ public:

 	Param()
 	{
+		//param_set_used(handle());
 		update();
 	}

@@ -219,12 +248,19 @@ public:
 		//return param_set(handle(), &_val) == 0;
 	}

+	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
+	bool commit_no_notification() const
+	{
+		//return param_set_no_notification(handle(), &_val) == 0;
+		return true;
+	}
+
 	/// Set and commit a new value. Returns true if the value changed.
-	bool commit(int32_t val)
+	bool commit_no_notification(int32_t val)
 	{
 		if (val != _val) {
 			set(val);
-			commit();
+			commit_no_notification();
 			return true;
 		}

@@ -233,6 +269,12 @@ public:

 	void set(int32_t val) { _val = val; }

+	void reset()
+	{
+		//param_reset_no_notification(handle());
+		update();
+	}
+
 	bool update()
 	{
 		//return param_get(handle(), &_val) == 0;
@@ -255,6 +297,7 @@ public:
 	Param(int32_t &external_val)
 		: _val(external_val)
 	{
+		//param_set_used(handle());
 		update();
 	}

@@ -269,12 +312,19 @@ public:
 		//return param_set(handle(), &_val) == 0;
 	}

+	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
+	bool commit_no_notification() const
+	{
+		return true;
+		//return param_set_no_notification(handle(), &_val) == 0;
+	}
+
 	/// Set and commit a new value. Returns true if the value changed.
-	bool commit(int32_t val)
+	bool commit_no_notification(int32_t val)
 	{
 		if (val != _val) {
 			set(val);
-			commit();
+			commit_no_notification();
 			return true;
 		}

@@ -283,6 +333,12 @@ public:

 	void set(int32_t val) { _val = val; }

+	void reset()
+	{
+		//param_reset_no_notification(handle());
+		update();
+	}
+
 	bool update()
 	{
 		//return param_get(handle(), &_val) == 0;
@@ -303,6 +359,7 @@ public:

 	Param()
 	{
+		//param_set_used(handle());
 		update();
 	}

@@ -318,12 +375,20 @@ public:
 		return true;
 	}

+	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
+	bool commit_no_notification() const
+	{
+		int32_t value_int = (int32_t)_val;
+		//return param_set_no_notification(handle(), &value_int) == 0;
+		return true;
+	}
+
 	/// Set and commit a new value. Returns true if the value changed.
-	bool commit(bool val)
+	bool commit_no_notification(bool val)
 	{
 		if (val != _val) {
 			set(val);
-			commit();
+			commit_no_notification();
 			return true;
 		}

@@ -332,6 +397,12 @@ public:

 	void set(bool val) { _val = val; }

+	void reset()
+	{
+		//param_reset_no_notification(handle());
+		update();
+	}
+
 	bool update()
 	{
 		int32_t value_int;
@@ -47,4 +47,5 @@ px4_add_module(
 		qc_esc_packet.h
 	DEPENDS
 		px4_work_queue
+		mixer_module
 	)
@@ -53,13 +53,18 @@ int ModalaiEscSerial::uart_open(const char *dev, speed_t speed)
 	}

 	/* Open UART */
+#ifdef __PX4_QURT
+	_uart_fd = qurt_uart_open(dev, speed);
+#else
 	_uart_fd = open(dev, O_RDWR | O_NOCTTY | O_NONBLOCK);
+#endif

 	if (_uart_fd < 0) {
 		PX4_ERR("Error opening port: %s (%i)", dev, errno);
 		return -1;
 	}

+#ifndef __PX4_QURT
 	/* Back up the original UART configuration to restore it after exit */
 	int termios_state;

@@ -98,6 +103,8 @@ int ModalaiEscSerial::uart_open(const char *dev, speed_t speed)
 		return -1;
 	}

+#endif
+
 	_speed =  speed;

 	return 0;
@@ -105,6 +112,8 @@ int ModalaiEscSerial::uart_open(const char *dev, speed_t speed)

 int ModalaiEscSerial::uart_set_baud(speed_t speed)
 {
+#ifndef __PX4_QURT
+
 	if (_uart_fd < 0) {
 		return -1;
 	}
@@ -120,10 +129,15 @@ int ModalaiEscSerial::uart_set_baud(speed_t speed)
 	_speed = speed;

 	return 0;
+#endif
+
+	return -1;
 }

 int ModalaiEscSerial::uart_close()
 {
+#ifndef __PX4_QURT
+
 	if (_uart_fd < 0) {
 		PX4_ERR("invalid state for closing");
 		return -1;
@@ -137,6 +151,8 @@ int ModalaiEscSerial::uart_close()
 		PX4_ERR("error closing uart");
 	}

+#endif
+
 	_uart_fd = -1;

 	return 0;
@@ -149,7 +165,11 @@ int ModalaiEscSerial::uart_write(FAR void *buf, size_t len)
 		return -1;
 	}

+#ifdef __PX4_QURT
+	return qurt_uart_write(_uart_fd, (const char *) buf, len);
+#else
 	return write(_uart_fd, buf, len);
+#endif
 }

 int ModalaiEscSerial::uart_read(FAR void *buf, size_t len)
@@ -159,5 +179,13 @@ int ModalaiEscSerial::uart_read(FAR void *buf, size_t len)
 		return -1;
 	}

+#ifdef __PX4_QURT
+#define ASYNC_UART_READ_WAIT_US 2000
+	// The UART read on SLPI is via an asynchronous service so specify a timeout
+	// for the return. The driver will poll periodically until the read comes in
+	// so this may block for a while. However, it will timeout if no read comes in.
+	return qurt_uart_read(_uart_fd, (char *) buf, len, ASYNC_UART_READ_WAIT_US);
+#else
 	return read(_uart_fd, buf, len);
+#endif
 }
@@ -38,6 +38,10 @@
 #include <fcntl.h>
 #include <termios.h>

+#ifdef __PX4_QURT
+#include <drivers/device/qurt/uart.h>
+#define FAR
+#endif

 class ModalaiEscSerial
 {
@@ -55,7 +59,11 @@ public:

 private:
 	int			_uart_fd = -1;
+
+#if ! defined(__PX4_QURT)
 	struct termios		_orig_cfg;
 	struct termios		_cfg;
+#endif
+
 	int   _speed = -1;
 };
@@ -308,7 +308,7 @@ CameraTrigger::CameraTrigger() :

 		_activation_time = 40.0f;
 		PX4_WARN("Trigger interval too low for PWM interface, setting to 40 ms");
-		param_set(_p_activation_time, &(_activation_time));
+		param_set_no_notification(_p_activation_time, &(_activation_time));
 	}

 	// Advertise critical publishers here, because we cannot advertise in interrupt context
@@ -581,7 +581,7 @@ CameraTrigger::Run()
 			 */
 			if (cmd.param1 > 0.0f) {
 				_distance = cmd.param1;
-				param_set(_p_distance, &_distance);
+				param_set_no_notification(_p_distance, &_distance);

 				_trigger_enabled = true;
 				_trigger_paused = false;
@@ -598,7 +598,7 @@ CameraTrigger::Run()
 			if (cmd.param2 > 0.0f) {
 				if (_camera_interface_mode == CAMERA_INTERFACE_MODE_GPIO) {
 					_activation_time = cmd.param2;
-					param_set(_p_activation_time, &(_activation_time));
+					param_set_no_notification(_p_activation_time, &(_activation_time));
 				}
 			}

@@ -616,14 +616,14 @@ CameraTrigger::Run()

 			if (cmd.param1 > 0.0f) {
 				_interval = cmd.param1;
-				param_set(_p_interval, &_interval);
+				param_set_no_notification(_p_interval, &(_interval));
 			}

 			// We can only control the shutter integration time of the camera in GPIO mode
 			if (cmd.param2 > 0.0f) {
 				if (_camera_interface_mode == CAMERA_INTERFACE_MODE_GPIO) {
 					_activation_time = cmd.param2;
-					param_set(_p_activation_time, &_activation_time);
+					param_set_no_notification(_p_activation_time, &_activation_time);
 				}
 			}

@@ -637,7 +637,7 @@ CameraTrigger::Run()

 			if (cmd.param1 > 0.0f) {
 				_distance = cmd.param1;
-				param_set(_p_distance, &_distance);
+				param_set_no_notification(_p_distance, &_distance);

 				_trigger_enabled = true;
 				_trigger_paused = false;
@@ -654,14 +654,14 @@ CameraTrigger::Run()
 			if (cmd.param2 > 0.0f) {
 				if (_camera_interface_mode == CAMERA_INTERFACE_MODE_GPIO) {
 					_activation_time = cmd.param2;
-					param_set(_p_activation_time, &_activation_time);
+					param_set_no_notification(_p_activation_time, &(_activation_time));
 				}
 			}

 			// Set Param for minimum camera trigger interval
 			if (cmd.param3 > 0.0f) {
 				_min_interval = cmd.param3;
-				param_set(_p_min_interval, &_min_interval);
+				param_set_no_notification(_p_min_interval, &(_min_interval));
 			}

 			if (cmd.param4 >= 2.0f) {
@@ -135,7 +135,7 @@ void DShot::enable_dshot_outputs(const bool enabled)
 			if (dshot_frequency_request != 0) {
 				if (dshot_frequency != 0 && dshot_frequency != dshot_frequency_request) {
 					PX4_WARN("Only supporting a single frequency, adjusting param %s", param_name);
-					param_set(handle, &dshot_frequency_param);
+					param_set_no_notification(handle, &dshot_frequency_param);

 				} else {
 					dshot_frequency = dshot_frequency_request;
@@ -773,6 +773,7 @@ void RCInput::Run()
 		   ) {
 			// RC_INPUT_PROTO auto => locked selection
 			_param_rc_input_proto.set(_rc_scan_state);
+			_param_rc_input_proto.commit();
 		}
 	}
 }
@@ -106,6 +106,8 @@ int SagetechMXS::task_spawn(int argc, char *argv[])
 	return PX4_ERROR;
 }

+
+
 bool SagetechMXS::init()
 {
 	ScheduleOnInterval(UPDATE_INTERVAL_US);	// 50Hz
@@ -115,6 +117,7 @@ bool SagetechMXS::init()
 	if (vehicle_list == nullptr) {
 		if (_adsb_list_max.get() > MAX_VEHICLES_LIMIT) {	// Safety Check
 			_adsb_list_max.set(MAX_VEHICLES_LIMIT);
+			_adsb_list_max.commit();
 			list_size_allocated = MAX_VEHICLES_LIMIT;
 		}

@@ -155,7 +158,8 @@ int SagetechMXS::custom_command(int argc, char *argv[])
 	}

 	if (!strcmp(verb, "ident")) {
-		return get_instance()->_adsb_ident.set(1);
+		get_instance()->_adsb_ident.set(1);
+		return get_instance()->_adsb_ident.commit();
 	}

 	if (!strcmp(verb, "opmode")) {
@@ -166,16 +170,20 @@ int SagetechMXS::custom_command(int argc, char *argv[])
 			return PX4_ERROR;

 		} else if (!strcmp(opmode, "off") || !strcmp(opmode, "0")) {
-			return get_instance()->_mxs_op_mode.set(0);
+			get_instance()->_mxs_op_mode.set(0);
+			return get_instance()->_mxs_op_mode.commit();

 		} else if (!strcmp(opmode, "on") || !strcmp(opmode, "1")) {
-			return get_instance()->_mxs_op_mode.set(1);
+			get_instance()->_mxs_op_mode.set(1);
+			return get_instance()->_mxs_op_mode.commit();

 		} else if (!strcmp(opmode, "stby") || !strcmp(opmode, "2")) {
-			return get_instance()->_mxs_op_mode.set(2);
+			get_instance()->_mxs_op_mode.set(2);
+			return get_instance()->_mxs_op_mode.commit();

 		} else if (!strcmp(opmode, "alt") || !strcmp(opmode, "3")) {
-			return get_instance()->_mxs_op_mode.set(3);
+			get_instance()->_mxs_op_mode.set(3);
+			return get_instance()->_mxs_op_mode.commit();

 		} else {
 			print_usage("Invalid Op Mode");
@@ -199,7 +207,8 @@ int SagetechMXS::custom_command(int argc, char *argv[])
 			return PX4_ERROR;

 		} else {
-			return get_instance()->_adsb_squawk.set(sqk);
+			get_instance()->_adsb_squawk.set(sqk);
+			return get_instance()->_adsb_squawk.commit();
 		}
 	}

@@ -296,6 +305,7 @@ void SagetechMXS::Run()
 			auto_config_installation();
 			auto_config_flightid();
 			_mxs_op_mode.set(sg_op_mode_t::modeStby);
+			_mxs_op_mode.commit();
 			send_targetreq_msg();
 			mxs_state.initialized = true;
 		}
@@ -741,6 +751,7 @@ void SagetechMXS::send_operating_msg()

 	if (mxs_state.op.identOn) {
 		_adsb_ident.set(0);
+		_adsb_ident.commit();
 	}

 	if (_gps.vel_ned_valid) {
@@ -1237,16 +1248,22 @@ int SagetechMXS::handle_fid(const char *fid)
 int SagetechMXS::store_inst_resp()
 {
 	_mxs_op_mode.set(mxs_state.ack.opMode);
+	_mxs_op_mode.commit();
 	_adsb_icao.set(mxs_state.inst.icao);
+	_adsb_icao.commit();
 	_adsb_len_width.set(mxs_state.inst.size);
+	_adsb_len_width.commit();
 	_adsb_emit_type.set(convert_sg_to_emitter_type(mxs_state.inst.emitter));
+	_adsb_emit_type.commit();
 	return PX4_OK;
 }

+
 void SagetechMXS::auto_config_operating()
 {
 	mxs_state.op.opMode = sg_op_mode_t::modeOff;
 	_mxs_op_mode.set(sg_op_mode_t::modeOff);
+	_mxs_op_mode.commit();

 	if (check_valid_squawk(_adsb_squawk.get())) {
 		mxs_state.op.squawk = convert_base_to_decimal(BASE_OCTAL, _adsb_squawk.get());
@@ -68,6 +68,7 @@ add_subdirectory(system_identification EXCLUDE_FROM_ALL)
 add_subdirectory(tecs EXCLUDE_FROM_ALL)
 add_subdirectory(terrain_estimation EXCLUDE_FROM_ALL)
 add_subdirectory(timesync EXCLUDE_FROM_ALL)
+add_subdirectory(tinybson EXCLUDE_FROM_ALL)
 add_subdirectory(tunes EXCLUDE_FROM_ALL)
 add_subdirectory(version EXCLUDE_FROM_ALL)
 add_subdirectory(weather_vane EXCLUDE_FROM_ALL)
@@ -226,3 +226,26 @@ PARAM_DEFINE_INT32(ADSB_GPS_OFF_LAT, 0);
 * @group ADSB
 */
 PARAM_DEFINE_INT32(ADSB_GPS_OFF_LON, 0);
+
+/**
+ * First 4 characters of CALLSIGN
+ *
+ * Sets first 4 characters of a total of 8. Valid characters are A-Z, 0-9, " ". Example "PX4 " -> 1347957792
+ * For CALLSIGN shorter than 8 characters use the null terminator at the end '\0'.
+ *
+ * @reboot_required true
+ * @group ADSB
+ */
+
+PARAM_DEFINE_INT32(ADSB_CALLSIGN_1, 0);
+
+/**
+* Second 4 characters of CALLSIGN
+*
+* Sets second 4 characters of a total of 8. Valid characters are A-Z, 0-9, " " only. Example "TEST" -> 1413829460
+* For CALLSIGN shorter than 8 characters use the null terminator at the end '\0'.
+*
+* @reboot_required true
+* @group ADSB
+*/
+PARAM_DEFINE_INT32(ADSB_CALLSIGN_2, 0);
@@ -228,7 +228,7 @@ float get_air_density(float static_pressure, float temperature_celsius)
 	return static_pressure / (CONSTANTS_AIR_GAS_CONST * (temperature_celsius - CONSTANTS_ABSOLUTE_NULL_CELSIUS));
 }

-float calc_CAS_from_TAS(float speed_true, float pressure_ambient, float temperature_celsius)
+float calc_calibrated_from_true_airspeed(float speed_true, float air_density)
 {
-	return speed_true * sqrtf(get_air_density(pressure_ambient, temperature_celsius) / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
+	return speed_true * sqrtf(air_density / CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C);
 }
@@ -130,16 +130,13 @@ __EXPORT float calc_TAS(float total_pressure, float static_pressure, float tempe
 __EXPORT float get_air_density(float static_pressure, float temperature_celsius);

 /**
- * Calculate calibrated airspeed (CAS) from true airspeed (TAS).
- * It is the inverse function to calc_TAS_from_CAS()
+ * @brief Calculates calibrated airspeed from true airspeed and air density
 *
- * @param speed_true current true airspeed
- * @param pressure_ambient pressure at the side of the tube/airplane
- * @param temperature_celsius air temperature in degrees Celsius
- * @return CAS in m/s
+ * @param speed_true true airspeed [m/s]
+ * @param air_density air density [kg/m3]
+ * @return calibrated airspeed [m/s]
 */
-__EXPORT float calc_CAS_from_TAS(float speed_true, float pressure_ambient,
-				 float temperature_celsius);
+__EXPORT float calc_calibrated_from_true_airspeed(float speed_true, float air_density);

 __END_DECLS

@@ -90,6 +90,9 @@ public:
 	// Store the parameter value to the parameter storage (@see param_set())
 	bool commit() { return (param_set(_handle, &_val) == PX4_OK); }

+	// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
+	bool commit_no_notification() { return (param_set_no_notification(_handle, &_val) == PX4_OK); }
+
 	void set(T val) { _val = val; }

 	bool update() override { return (param_get(_handle, &_val) == PX4_OK); }
@@ -43,7 +43,7 @@ if (${PX4_PLATFORM} STREQUAL "nuttx")
 elseif((${PX4_PLATFORM} MATCHES "qurt"))
 	# list(APPEND SRCS_PLATFORM qurt/I2C.cpp)
 	list(APPEND SRCS_PLATFORM qurt/SPI.cpp)
-	# list(APPEND SRCS_PLATFORM qurt/uart.c)
+	list(APPEND SRCS_PLATFORM qurt/uart.c)
 elseif(UNIX AND NOT APPLE) #TODO: add linux PX4 platform type
 	# Linux I2Cdev and SPIdev
 	list(APPEND SRCS_PLATFORM
@@ -33,8 +33,6 @@

 add_compile_options(${MAX_CUSTOM_OPT_LEVEL})

-add_subdirectory(tinybson)
-
 if (NOT PARAM_DEFAULT_OVERRIDES)
 	set(PARAM_DEFAULT_OVERRIDES "{}")
 endif()
@@ -55,7 +55,7 @@
 #include <parameters/param.h>

 #include "../uthash/utarray.h"
-#include <parameters/tinybson/tinybson.h>
+#include <lib/tinybson/tinybson.h>
 #include "flashparams.h"
 #include "flashfs.h"
 #include "../param_translation.h"
@@ -241,7 +241,7 @@ param_import_callback(bson_decoder_t decoder, bson_node_t node)
 		goto out;
 	}

-	if (param_set_external(param, v, true)) {
+	if (param_set_external(param, v, true, true)) {
 		debug("error setting value for '%s'", node->name);
 		goto out;
 	}
@@ -58,7 +58,7 @@ __BEGIN_DECLS
 */

 __EXPORT extern UT_array        *param_values;
-__EXPORT int param_set_external(param_t param, const void *val, bool mark_saveds);
+__EXPORT int param_set_external(param_t param, const void *val, bool mark_saved, bool notify_changes);
 __EXPORT const void *param_get_value_ptr_external(param_t param);

 /* The interface hooks to the Flash based storage. The caller is responsible for locking */
@@ -197,6 +197,14 @@ __EXPORT bool		param_value_unsaved(param_t param);
 */
 __EXPORT param_type_t	param_type(param_t param);

+/**
+ * Determine the size of a parameter.
+ *
+ * @param param		A handle returned by param_find or passed by param_foreach.
+ * @return		The size of the parameter's value.
+ */
+__EXPORT size_t		param_size(param_t param);
+
 /**
 * Copy the value of a parameter.
 *
@@ -242,6 +250,45 @@ __EXPORT int		param_set(param_t param, const void *val);
 */
 __EXPORT int		param_set_default_value(param_t param, const void *val);

+/**
+ * Mark a parameter as used. Only marked parameters will be sent to a GCS.
+ * A call to param_find() will mark a param as used as well.
+ *
+ * @param param		A handle returned by param_find or passed by param_foreach.
+ */
+__EXPORT void		param_set_used(param_t param);
+
+/**
+ * Set the value of a parameter, but do not notify the system about the change.
+ *
+ * @param param		A handle returned by param_find or passed by param_foreach.
+ * @param val		The value to set; assumed to point to a variable of the parameter type.
+ * @return		Zero if the parameter's value could be set from a scalar, nonzero otherwise.
+ */
+__EXPORT int		param_set_no_notification(param_t param, const void *val);
+
+/**
+ * Notify the system about parameter changes. Can be used for example after several calls to
+ * param_set_no_notification() to avoid unnecessary system notifications.
+ */
+__EXPORT void		param_notify_changes(void);
+
+/**
+ * Reset a parameter to its default value.
+ *
+ * @param param		A handle returned by param_find or passed by param_foreach.
+ * @return		Zero on success, nonzero on failure
+ */
+__EXPORT int		param_reset(param_t param);
+
+/**
+ * Reset a parameter to its default value, but do not notify the system about the change.
+ *
+ * @param param		A handle returned by param_find or passed by param_foreach.
+ * @return		Zero on success, nonzero on failure
+ */
+__EXPORT int		param_reset_no_notification(param_t param);
+
 /**
 * Reset all parameters to their default values.
 */
@@ -300,17 +347,6 @@ __EXPORT int		param_import(int fd);
 */
 __EXPORT int		param_load(int fd);

-/**
- * Read saved parameters from file and dump to console.
- *
- * This function reads the file and dumps all contents to console
- * values from a file.
- *
- * @param fd		File descriptor to read from.
- * @return		Zero on success, nonzero if an error occurred during import.
- */
-__EXPORT int		param_dump(int fd);
-
 /**
 * Apply a function to each parameter.
 *
@@ -156,7 +156,7 @@ bool param_modify_on_import(bson_node_t node)
 			// If was in range height mode, set range aiding to "always"
 			if (node->i32 == 2) {
 				int32_t rng_mode = 2;
-				param_set(param_find("EKF2_RNG_CTRL"), &rng_mode);
+				param_set_no_notification(param_find("EKF2_RNG_CTRL"), &rng_mode);
 			}

 			PX4_INFO("param migrating EKF2_HGT_MODE (removed) -> EKF2_HGT_REF: value=%" PRId32, node->i32);
@@ -45,7 +45,7 @@
 #include "param.h"
 #include "param_translation.h"
 #include <parameters/px4_parameters.hpp>
-#include "tinybson/tinybson.h"
+#include <lib/tinybson/tinybson.h>

 #include <crc32.h>
 #include <float.h>
@@ -246,33 +246,18 @@ param_find_changed(param_t param)
 	return nullptr;
 }

-static void param_notify_changes(param_t param = PARAM_INVALID)
+void
+param_notify_changes()
 {
 	parameter_update_s pup{};
 	pup.instance = param_instance++;
-	pup.count = params_active.count();
-
-	if (param != PARAM_INVALID) {
-		pup.changed_param.index = param;
-		pup.changed_param.index_used = param_get_used_index(param);
-		memcpy(pup.changed_param.name, param_name(param), 16);
-
-		switch (param_type(param)) {
-		case PARAM_TYPE_INT32:
-			param_get(param, &pup.changed_param.int32_value);
-			pup.changed_param.type = parameter_s::TYPE_INT32;
-			break;
-
-		case PARAM_TYPE_FLOAT:
-			pup.changed_param.type = parameter_s::TYPE_FLOAT32;
-			param_get(param, &pup.changed_param.float32_value);
-			break;
-		}
-
-	} else {
-		pup.changed_param.index = -1;
-	}
-
+	pup.get_count = perf_event_count(param_get_perf);
+	pup.set_count = perf_event_count(param_set_perf);
+	pup.find_count = perf_event_count(param_find_perf);
+	pup.export_count = perf_event_count(param_export_perf);
+	pup.active = params_active.count();
+	pup.changed = params_changed.count();
+	pup.custom_default = params_custom_default.count();
 	pup.timestamp = hrt_absolute_time();

 	if (param_topic == nullptr) {
@@ -299,7 +284,7 @@ static param_t param_find_internal(const char *name, bool notification)

 		if (ret == 0) {
 			if (notification) {
-				params_active.set(middle, true);
+				param_set_used(middle);
 			}

 			return middle;
@@ -444,7 +429,6 @@ param_get(param_t param, void *val)

 	if (!params_active[param]) {
 		PX4_DEBUG("get: param %" PRId16 " (%s) not active", param, param_name(param));
-		params_active.set(param, true);
 	}

 	int result = PX4_ERROR;
@@ -681,7 +665,7 @@ param_control_autosave(bool enable)
 }

 static int
-param_set_internal(param_t param, const void *val, bool mark_saved)
+param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_changes)
 {
 	if (!handle_in_range(param)) {
 		PX4_ERR("set invalid param %d", param);
@@ -778,17 +762,17 @@ out:
 	 * If we set something, now that we have unlocked, go ahead and advertise that
 	 * a thing has been set.
 	 */
-	if ((result == PX4_OK) && param_changed) {
-		param_notify_changes(param);
+	if ((result == PX4_OK) && param_changed && notify_changes) {
+		param_notify_changes();
 	}

 	return result;
 }

 #if defined(FLASH_BASED_PARAMS)
-int param_set_external(param_t param, const void *val, bool mark_saved)
+int param_set_external(param_t param, const void *val, bool mark_saved, bool notify_changes)
 {
-	return param_set_internal(param, val, mark_saved);
+	return param_set_internal(param, val, mark_saved, notify_changes);
 }

 const void *param_get_value_ptr_external(param_t param)
@@ -799,7 +783,12 @@ const void *param_get_value_ptr_external(param_t param)

 int param_set(param_t param, const void *val)
 {
-	return param_set_internal(param, val, false);
+	return param_set_internal(param, val, false, true);
+}
+
+int param_set_no_notification(param_t param, const void *val)
+{
+	return param_set_internal(param, val, false, false);
 }

 bool param_used(param_t param)
@@ -811,6 +800,13 @@ bool param_used(param_t param)
 	return false;
 }

+void param_set_used(param_t param)
+{
+	if (handle_in_range(param)) {
+		params_active.set(param, true);
+	}
+}
+
 int param_set_default_value(param_t param, const void *val)
 {
 	if (!handle_in_range(param)) {
@@ -912,13 +908,13 @@ int param_set_default_value(param_t param, const void *val)

 	if ((result == PX4_OK) && param_used(param)) {
 		// send notification if param is already in use
-		param_notify_changes(param);
+		param_notify_changes();
 	}

 	return result;
 }

-static int param_reset_internal(param_t param)
+static int param_reset_internal(param_t param, bool notify = true)
 {
 	param_wbuf_s *s = nullptr;
 	bool param_found = false;
@@ -945,13 +941,16 @@ static int param_reset_internal(param_t param)

 	param_unlock_writer();

-	if (param_found) {
-		param_notify_changes(param);
+	if (s != nullptr && notify) {
+		param_notify_changes();
 	}

 	return (!param_found);
 }

+int param_reset(param_t param) { return param_reset_internal(param, true); }
+int param_reset_no_notification(param_t param) { return param_reset_internal(param, false); }
+
 static void
 param_reset_all_internal(bool auto_save)
 {
@@ -1001,7 +1000,7 @@ param_reset_excludes(const char *excludes[], int num_excludes)
 		}

 		if (!exclude) {
-			param_reset_internal(param);
+			param_reset(param);
 		}
 	}
 }
@@ -1026,7 +1025,7 @@ param_reset_specific(const char *resets[], int num_resets)
 		}

 		if (reset) {
-			param_reset_internal(param);
+			param_reset(param);
 		}
 	}
 }
@@ -1493,7 +1492,7 @@ param_import_callback(bson_decoder_t decoder, bson_node_t node)
 	case BSON_INT32: {
 			if (param_type(param) == PARAM_TYPE_INT32) {
 				int32_t i = node->i32;
-				param_set_internal(param, &i, true);
+				param_set_internal(param, &i, true, true);
 				PX4_DEBUG("Imported %s with value %" PRIi32, param_name(param), i);

 			} else {
@@ -1505,7 +1504,7 @@ param_import_callback(bson_decoder_t decoder, bson_node_t node)
 	case BSON_DOUBLE: {
 			if (param_type(param) == PARAM_TYPE_FLOAT) {
 				float f = node->d;
-				param_set_internal(param, &f, true);
+				param_set_internal(param, &f, true, true);
 				PX4_DEBUG("Imported %s with value %f", param_name(param), (double)f);

 			} else {
@@ -1522,38 +1521,6 @@ param_import_callback(bson_decoder_t decoder, bson_node_t node)
 	return 1;
 }

-static int
-param_dump_callback(bson_decoder_t decoder, bson_node_t node)
-{
-	switch (node->type) {
-	case BSON_EOO:
-		PX4_INFO_RAW("BSON_EOO\n");
-		return 0;
-
-	case BSON_DOUBLE:
-		PX4_INFO_RAW("BSON_DOUBLE: %s = %.6f\n", node->name, node->d);
-		return 1;
-
-	case BSON_BOOL:
-		PX4_INFO_RAW("BSON_BOOL:   %s = %d\n", node->name, node->b);
-		return 1;
-
-	case BSON_INT32:
-		PX4_INFO_RAW("BSON_INT32:  %s = %" PRIi32 "\n", node->name, node->i32);
-		return 1;
-
-	case BSON_INT64:
-		PX4_INFO_RAW("BSON_INT64:  %s = %" PRIi64 "\n", node->name, node->i64);
-		return 1;
-
-	default:
-		PX4_INFO_RAW("ERROR %s unhandled bson type %d\n", node->name, node->type);
-		return 1; // just skip this entry
-	}
-
-	return -1;
-}
-
 static int
 param_import_internal(int fd)
 {
@@ -1631,42 +1598,6 @@ param_load(int fd)
 	return param_import_internal(fd);
 }

-int
-param_dump(int fd)
-{
-	bson_decoder_s decoder{};
-
-	if (bson_decoder_init_file(&decoder, fd, param_dump_callback) == 0) {
-		PX4_INFO_RAW("BSON document size %" PRId32 "\n", decoder.total_document_size);
-
-		int result = -1;
-
-		do {
-			result = bson_decoder_next(&decoder);
-
-		} while (result > 0);
-
-		if (result == 0) {
-			PX4_INFO_RAW("BSON decoded %" PRId32 " bytes (double:%" PRIu16 ", string:%" PRIu16 ", bin:%" PRIu16 ", bool:%" PRIu16
-				     ", int32:%" PRIu16 ", int64:%" PRIu16 ")\n",
-				     decoder.total_decoded_size,
-				     decoder.count_node_double, decoder.count_node_string, decoder.count_node_bindata, decoder.count_node_bool,
-				     decoder.count_node_int32, decoder.count_node_int64);
-
-			return 0;
-
-		} else if (result == -ENODATA) {
-			PX4_WARN("BSON: no data");
-			return 0;
-
-		} else {
-			PX4_ERR("param dump failed (%d)", result);
-		}
-	}
-
-	return -1;
-}
-
 void
 param_foreach(void (*func)(void *arg, param_t param), void *arg, bool only_changed, bool only_used)
 {
@@ -96,7 +96,7 @@ bool param_is_volatile(param_t param)
 	return false;
 }

-static size_t param_size(param_t param)
+size_t param_size(param_t param)
 {
 	if (handle_in_range(param)) {
 		switch (param_type(param)) {
@@ -50,6 +50,11 @@ int	param_ioctl(unsigned int cmd, unsigned long arg)
 	int ret = OK;

 	switch (cmd) {
+	case PARAMIOCNOTIFY: {
+			param_notify_changes();
+		}
+		break;
+
 	case PARAMIOCFIND: {
 			paramiocfind_t *data = (paramiocfind_t *)arg;

@@ -106,7 +111,13 @@ int	param_ioctl(unsigned int cmd, unsigned long arg)

 	case PARAMIOCSET: {
 			paramiocset_t *data = (paramiocset_t *)arg;
-			data->ret = param_set(data->param, data->val);
+
+			if (data->notification) {
+				data->ret = param_set(data->param, data->val);
+
+			} else {
+				data->ret = param_set_no_notification(data->param, data->val);
+			}
 		}
 		break;

@@ -116,12 +127,30 @@ int	param_ioctl(unsigned int cmd, unsigned long arg)
 		}
 		break;

+	case PARAMIOCSETUSED: {
+			paramiocsetused_t *data = (paramiocsetused_t *)arg;
+			param_set_used(data->param);
+		}
+		break;
+
 	case PARAMIOCSETDEFAULT: {
 			paramiocsetdefault_t *data = (paramiocsetdefault_t *)arg;
 			data->ret = param_set_default_value(data->param, data->val);
 		}
 		break;

+	case PARAMIOCRESET: {
+			paramiocreset_t *data = (paramiocreset_t *)arg;
+
+			if (data->notification) {
+				data->ret = param_reset(data->param);
+
+			} else {
+				data->ret = param_reset_no_notification(data->param);
+			}
+		}
+		break;
+
 	case PARAMIOCRESETGROUP: {
 			paramiocresetgroup_t *data = (paramiocresetgroup_t *)arg;

@@ -106,6 +106,11 @@ typedef struct paramiocused {
 	bool ret;
 } paramiocused_t;

+#define PARAMIOCSETUSED	_PARAMIOC(11)
+typedef struct paramiocsetused {
+	const param_t param;
+} paramiocsetused_t;
+
 #define PARAMIOCSETDEFAULT	_PARAMIOC(12)
 typedef struct paramiocsetdefault {
 	const param_t param;
@@ -113,6 +118,13 @@ typedef struct paramiocsetdefault {
 	int ret;
 } paramiocsetdefault_t;

+#define PARAMIOCRESET	_PARAMIOC(13)
+typedef struct paramiocreset {
+	const param_t param;
+	const bool notification;
+	int ret;
+} paramiocreset_t;
+
 #define PARAMIOCRESETGROUP	_PARAMIOC(14)
 typedef enum {
 	PARAM_RESET_ALL,
@@ -46,6 +46,12 @@

 #include "parameters_common.cpp"

+void
+param_notify_changes()
+{
+	boardctl(PARAMIOCNOTIFY, NULL);
+}
+
 param_t param_find(const char *name)
 {
 	paramiocfind_t data = {name, true, PARAM_INVALID};
@@ -119,6 +125,13 @@ int param_set(param_t param, const void *val)
 	return data.ret;
 }

+int param_set_no_notification(param_t param, const void *val)
+{
+	paramiocset_t data = {param, false, val, PX4_ERROR};
+	boardctl(PARAMIOCSET, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
 bool param_used(param_t param)
 {
 	paramiocused_t data = {param, false};
@@ -126,6 +139,12 @@ bool param_used(param_t param)
 	return data.ret;
 }

+void param_set_used(param_t param)
+{
+	paramiocsetused_t data = {param};
+	boardctl(PARAMIOCSETUSED, reinterpret_cast<unsigned long>(&data));
+}
+
 int param_set_default_value(param_t param, const void *val)
 {
 	paramiocsetdefault_t data = {param, val, PX4_ERROR};
@@ -133,6 +152,20 @@ int param_set_default_value(param_t param, const void *val)
 	return data.ret;
 }

+int param_reset(param_t param)
+{
+	paramiocreset_t data = {param, true, PX4_ERROR};
+	boardctl(PARAMIOCRESET, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
+int param_reset_no_notification(param_t param)
+{
+	paramiocreset_t data = {param, false, PX4_ERROR};
+	boardctl(PARAMIOCRESET, reinterpret_cast<unsigned long>(&data));
+	return data.ret;
+}
+
 void
 param_reset_all()
 {
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	f2972a186e	mavlink: Iridium mode collect special handling - disable events, forwarding, ftp - HIGH_LATENCY2 send raw GPS lat/lon/alt if global position estimate isn't available	2022-12-21 16:47:24 -05:00
Daniel Agar	03c0808ae6	vscode/settings.json: add .sdf and Jenkinsfile associations	2022-12-21 16:46:25 -05:00
Silvan Fuhrer	aff3f2e77f	boards: disable gyro fft module for v5 and v5x to safe flash Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-12-21 10:17:59 -05:00
Daniel Agar	f2cd7667dc	systemcmds/bsondump: new command line utility (extracted from parameters)	2022-12-21 10:14:00 -05:00
Konrad	f5524fa605	TECS: Combine both airspeed and airspeed derivative filters in TECS into one MIMO filter using a steady state Kalman filter.	2022-12-21 09:04:19 +01:00
Konrad	08c36612b3	TECS: Updated throttle control for airspeed sensorless vehicles. It includes the P gain controller instead of feedforward only. I term is still disabled.	2022-12-21 09:04:19 +01:00
Konrad	77539d4dac	TECS: Rearrange setpoint input. If an altitude rate is given, use this as a feedforward term in the altitude control. If an altitude setpoint is given use a reference model to get a smooth altitude setpoint.	2022-12-21 09:04:19 +01:00
Konrad	8c6dfc840b	TECS: Fix bug to reset airspeed derivative and energy rate low pass filters at every time step.	2022-12-21 09:04:19 +01:00
Konrad	7a3e0f53c2	TECS: Replaced old tecs by cleaned up version.	2022-12-21 09:04:19 +01:00
Konrad	991689d3cd	TECS: Add new tecs library in parallel to old tecs in the position control library for comparison.	2022-12-21 09:04:19 +01:00
Konrad	c64e111d8e	TECS: Rearranged the TECS library into submodules.	2022-12-21 09:04:19 +01:00
Daniel Agar	54a32eb2f7	ekf2: EV overhaul yaw and position fusion (#20501 ) - move EV yaw and EV position to new state machines - EV yaw and EV pos now configured via EKF2_EV_CTRL (migrated from EKF2_AID_MASK) - new EV position offset estimator to enable EV position while GPS position is active (no more EV pos delta fusion) - yaw_align now strictly means north (no more rotate external vision aid mask) - automatic switching between EV yaw, and yaw align north based on GPS quality	2022-12-20 10:23:56 -05:00
Silvan Fuhrer	20342216e2	Airspeed Selector: use better density source and only save scale parameter if valid (#20764 ) * AirspeedSelector: use vehicle_air_data.rho for calculating groundspeed-wind CAS Previously the vehicle_air_data.temperature and pressure was used, instead of the density field directly. Only makes a difference if there is an airspeed sensor connected to provide the air temperature. * AirspeedSelector: only safe estimated scale in param if airspeed is valid * AirspeedSelector: remove 0.01 cliff for saving learned scale to param Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-12-20 15:52:54 +01:00
David Sidrane	efbb2cf2e3	nxp_ucans32k146:Add LPSPI DMA nxp_ucans32k146:Add Dready	2022-12-20 09:31:05 -05:00
David Sidrane	b7ea31ceed	s32k1xx:Add gpiosetevent	2022-12-20 09:31:05 -05:00
David Sidrane	da536b3a82	nxp_ucans32k146:Add PROBEs for debugging	2022-12-20 09:29:07 -05:00
David Sidrane	e8aa54e7bb	nxp_ucans32k146:Use GPIO based RTS (Buffer not character)	2022-12-20 09:29:07 -05:00
David Sidrane	fe7d761a11	nxp_ucans32k146:Use serial DMA	2022-12-20 09:29:07 -05:00
David Sidrane	39822ef5a1	nxp_mr-canhubk:lpuart0 use Serial HW flow control	2022-12-20 09:27:40 -05:00
David Sidrane	6a7f5a339b	nxp_mr-canhubk3:fmu use Serial DMA	2022-12-20 09:27:40 -05:00
David Sidrane	022e941ebe	NuttX with s32k3 Serial DMA	2022-12-20 09:27:40 -05:00
Igor Misic	52275923ad	adsb: add support for callsign	2022-12-20 08:18:09 +01:00
Eric Katzfey	678607117a	Qurt UART ESC driver support (#20784 )	2022-12-20 01:25:12 -05:00
PX4 BuildBot	da7d52e302	Update submodule libevents to latest Tue Dec 20 00:39:10 UTC 2022 - libevents in PX4/Firmware (26f3fea7ebb328ef58d4d592dae0559c91f13c1c): https://github.com/mavlink/libevents/commit/0c8bc543db2f8c78f59214d5bcf959bdadd96677 - libevents current upstream: https://github.com/mavlink/libevents/commit/8d9c5551273a52e22253ea6abf28d9e4b05e0ab7 - Changes: https://github.com/mavlink/libevents/compare/0c8bc543db2f8c78f59214d5bcf959bdadd96677...8d9c5551273a52e22253ea6abf28d9e4b05e0ab7 8d9c555 2022-12-13 Beat Küng - README: clarify use of component ID	2022-12-20 01:24:15 -05:00