rate controller failure detector at takeoff

fix syntax of prev commit
More compact if statement
2026-05-27 17:30:04 +08:00 · 2020-12-13 20:45:48 -05:00 · 2020-12-11 22:00:56 +01:00 · 2020-12-11 22:00:56 +01:00 · 2020-12-11 22:00:56 +01:00 · 2020-12-11 22:00:56 +01:00
420 changed files with 10040 additions and 7417 deletions
@@ -9,10 +9,10 @@ pipeline {
        script {
          def build_nodes = [:]
          def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2020-04-01",
-            arm64: "px4io/px4-dev-aarch64:latest",
-            base: "px4io/px4-dev-base-bionic:2020-04-01",
-            nuttx: "px4io/px4-dev-nuttx-focal:2020-09-14",
+            armhf: "px4io/px4-dev-armhf:2020-11-18",
+            arm64: "px4io/px4-dev-aarch64:2020-11-18",
+            base: "px4io/px4-dev-base-bionic:2020-11-18",
+            nuttx: "px4io/px4-dev-nuttx-focal:2020-11-18",
            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

@@ -118,7 +118,7 @@ pipeline {
    // TODO: actually upload artifacts to S3
    // stage('S3 Upload') {
    //   agent {
-    //     docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+    //     docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
    //   }
    //   options {
    //         skipDefaultCheckout()
@@ -43,23 +43,7 @@ pipeline {
                    sh 'find /dev/serial'
                    unstash 'px4_fmu-v2_test'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf'
-                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
-                  }
-                }
-                stage("configure") {
-                  steps {
-                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 0"'     // no airframe
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin"' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
-                  }
-                }
-                stage("status") {
-                  steps {
-                    statusFTDI()
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v2_test/px4_fmu-v2_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
                  }
                }
                stage("reset") {
@@ -111,8 +95,7 @@ pipeline {
                    sh 'find /dev/serial'
                    unstash 'px4_fmu-v3_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf'
-                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_default/px4_fmu-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
                  }
                }
                stage("configure") {
@@ -121,8 +104,8 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin"' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
@@ -185,8 +168,7 @@ pipeline {
                    sh 'find /dev/serial'
                    unstash 'px4_fmu-v4_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf'
-                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_default/px4_fmu-v4_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
                  }
                }
                stage("configure") {
@@ -195,7 +177,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
@@ -258,8 +240,7 @@ pipeline {
                    sh 'find /dev/serial'
                    unstash 'px4_fmu-v4pro_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf'
-                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_default/px4_fmu-v4pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
                  }
                }
                stage("configure") {
@@ -268,8 +249,8 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin"' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
@@ -332,8 +313,7 @@ pipeline {
                    sh 'find /dev/serial'
                    unstash 'px4_fmu-v5_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf'
-                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_default/px4_fmu-v5_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
                  }
                }
                stage("configure") {
@@ -343,8 +323,8 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin"' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
@@ -405,21 +385,23 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save" || true'
                    unstash 'px4_fmu-v5_debug'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf'
-                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'   // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin"' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                 // reboot to apply
                  }
                }
                stage("status") {
@@ -482,8 +464,7 @@ pipeline {
                    sh 'find /dev/serial'
                    unstash 'px4_fmu-v5_optimized'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf'
-                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_optimized/px4_fmu-v5_optimized.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
                  }
                }
                stage("configure") {
@@ -492,7 +473,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
@@ -553,10 +534,12 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001" || true' // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 250" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save" || true'
                    unstash 'px4_fmu-v5_stackcheck'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf'
-                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
                  }
                }
                stage("configure") {
@@ -567,7 +550,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set MAV_0_CONFIG 0"'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                         // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                 // reboot to apply
                  }
                }
                stage("status") {
@@ -630,17 +613,16 @@ pipeline {
                    sh 'find /dev/serial'
                    unstash 'modalai_fc-v1_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf'
-                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-SEGGER_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_default/modalai_fc-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-SEGGER_*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOSTART 4001"' // generic vtol standardulticopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic vtol standardulticopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot"'                        // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
@@ -703,22 +685,21 @@ pipeline {
                    sh 'find /dev/serial'
                    unstash 'holybro_durandal-v1_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf'
-                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set DSHOT_CONFIG 600"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_BL_UPDATE 1"'    // update bootloader
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_USE_IO 0"'       // for dshot
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_USE_IO 0"'          // for dshot
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin"' // force px4io update
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                  // reboot to apply
                  }
                }
                stage("status") {
@@ -782,8 +763,7 @@ pipeline {
                    sh 'find /dev/serial'
                    unstash 'nxp_fmuk66-v3_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf'
-                    sh './Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_default/nxp_fmuk66-v3_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-FTDI_*` --baudrate 57600'
                  }
                }
                stage("configure") {
@@ -792,7 +772,7 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot"'                        // reboot to apply
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
@@ -803,7 +783,7 @@ pipeline {
                stage("tests") {
                  steps {
                    // run tests
-                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*`'
+                    sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-FTDI_*` || true' // allow failure due to intermittent serial console issues
                  }
                }
                stage("reset") {
@@ -887,7 +867,6 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status streams"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mount"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mtd status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param show"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'
@@ -966,7 +945,6 @@ void statusSEGGER() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status streams"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mount"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "modules status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mtd status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param show"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param status"'
@@ -991,12 +969,13 @@ void statusSEGGER() {
 }

 void cleanupFTDI() {
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "modules stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "commander stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mavlink stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "navigator stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "dataman stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "logger off"'
+
+  // wipe sdcard
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "umount /fs/microsd"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "mkfatfs /dev/mmcsd0"'

@@ -1017,16 +996,17 @@ void cleanupFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-FTDI_*` --cmd "param status"'

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

 void cleanupSEGGER() {
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "modules stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "commander stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mavlink stop-all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "navigator stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "dataman stop"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "logger off"'
+
+  // wipe sdcard
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "umount /fs/microsd"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "mkfatfs /dev/mmcsd0"'

@@ -1047,5 +1027,5 @@ void cleanupSEGGER() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "param status"'

  // reboot
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-SEGGER_*` --cmd "reboot" || true'
 }
@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2020-09-14",
+	"image": "px4io/px4-dev-nuttx-focal:2020-11-18",

 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],

@@ -26,7 +26,9 @@ jobs:
          "module_documentation",
          "parameters_metadata",
        ]
-    container: px4io/px4-dev-nuttx-focal:2020-09-14
+    container:
+      image: px4io/px4-dev-nuttx-focal:2020-11-18
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
      with:
@@ -53,6 +55,9 @@ jobs:
          echo "max_size = 400M" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z
-
+    - name: check environment
+      run: |
+          export
+          ulimit -a
    - name: ${{matrix.check}}
      run: make ${{matrix.check}}
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-clang:2020-08-14
+    container: px4io/px4-dev-clang:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2020-08-14
+    container: px4io/px4-dev-armhf:2020-11-18
    strategy:
      matrix:
        config: [
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:latest
+    container: px4io/px4-dev-aarch64:2020-11-18
    strategy:
      matrix:
        config: [
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-09-14
+    container: px4io/px4-dev-nuttx-focal:2020-11-18
    strategy:
      matrix:
        config: [
@@ -11,7 +11,9 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-09-14
+    container:
+      image: px4io/px4-dev-base-focal:2020-11-18
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    strategy:
      matrix:
        config: [
@@ -19,7 +19,7 @@ jobs:
          - {test_file: "mavros_posix_test_safe_landing.test", vehicle: "iris_obs_avoid", mission: "MC_safe_landing", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2020-08-14
+      image: px4io/px4-dev-ros-melodic:2020-11-18
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -49,7 +49,9 @@ jobs:
          ccache -z

    - name: check environment
-      run: export
+      run: |
+          export
+          ulimit -a
    - name: Build PX4 and sitl_gazebo
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
@@ -25,7 +25,7 @@ jobs:
          - {vehicle: "tiltrotor",     mission: "VTOL_mission_1",  build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2020-08-14
+      image: px4io/px4-dev-ros-melodic:2020-11-18
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -55,7 +55,9 @@ jobs:
          ccache -z

    - name: check environment
-      run: export
+      run: |
+          export
+          ulimit -a
    - name: Build PX4 and sitl_gazebo
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
@@ -20,7 +20,7 @@ jobs:
          #- {test_file: "mavros_posix_tests_offboard_rpyrt_ctl.test", vehicle: "iris", build_type: "RelWithDebInfo"}

    container:
-      image: px4io/px4-dev-ros-melodic:2020-08-14
+      image: px4io/px4-dev-ros-melodic:2020-11-18
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -50,7 +50,9 @@ jobs:
          ccache -z

    - name: check environment
-      run: export
+      run: |
+          export
+          ulimit -a
    - name: Build PX4 and sitl_gazebo
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
@@ -12,7 +12,7 @@ jobs:

  airframe:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-09-14
+    container: px4io/px4-dev-base-focal:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
@@ -27,7 +27,7 @@ jobs:

  module:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-09-14
+    container: px4io/px4-dev-base-focal:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
@@ -42,7 +42,7 @@ jobs:

  parameter:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-09-14
+    container: px4io/px4-dev-base-focal:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
@@ -57,7 +57,7 @@ jobs:

  uorb_graph:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-09-14
+    container: px4io/px4-dev-nuttx-focal:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
@@ -72,7 +72,7 @@ jobs:

  micrortps_agent:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-09-14
+    container: px4io/px4-dev-base-focal:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
@@ -86,7 +86,7 @@ jobs:

  ROS_msgs:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-09-14
+    container: px4io/px4-dev-base-focal:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
@@ -99,7 +99,7 @@ jobs:

  ROS2_bridge:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2020-09-14
+    container: px4io/px4-dev-base-focal:2020-11-18
    steps:
    - uses: actions/checkout@v1
      with:
@@ -20,7 +20,7 @@ jobs:
          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
    container:
-      image: px4io/px4-dev-simulation-focal:2020-08-14
+      image: px4io/px4-dev-simulation-focal:2020-11-18
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
    - uses: actions/checkout@v1
@@ -60,7 +60,9 @@ jobs:
        PX4_HOME_LON: ${{matrix.config.longitude}}
        PX4_HOME_ALT: ${{matrix.config.altitude}}
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: export
+      run: |
+          export
+          ulimit -a
    - name: Build PX4
      env:
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
@@ -15,7 +15,7 @@ pipeline {
        // stage('Catkin build on ROS workspace') {
        //   agent {
        //     docker {
-        //       image 'px4io/px4-dev-ros-melodic:2020-08-20'
+        //       image 'px4io/px4-dev-ros-melodic:2020-11-18'
        //       args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
        //     }
        //   }
@@ -56,7 +56,7 @@ pipeline {
        stage('Colcon build on ROS2 workspace') {
          agent {
            docker {
-              image 'px4io/px4-dev-ros2-foxy:2020-08-20'
+              image 'px4io/px4-dev-ros2-foxy:2020-11-18'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw -e HOME=$WORKSPACE'
            }
          }
@@ -87,7 +87,7 @@ pipeline {

        stage('Airframe') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh 'make distclean'
@@ -106,7 +106,7 @@ pipeline {

        stage('Parameter') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh 'make distclean'
@@ -125,7 +125,7 @@ pipeline {

        stage('Module') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh 'make distclean'
@@ -145,7 +145,7 @@ pipeline {
        stage('uORB graphs') {
          agent {
            docker {
-              image 'px4io/px4-dev-nuttx-focal:2020-09-14'
+              image 'px4io/px4-dev-nuttx-focal:2020-11-18'
              args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
            }
          }
@@ -174,7 +174,7 @@ pipeline {

        stage('Devguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh('export')
@@ -204,7 +204,7 @@ pipeline {

        stage('Userguide') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh('export')
@@ -234,7 +234,7 @@ pipeline {

        stage('QGroundControl') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh('export')
@@ -262,7 +262,7 @@ pipeline {

        stage('microRTPS agent') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh('export')
@@ -292,7 +292,7 @@ pipeline {

        stage('PX4 ROS msgs') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh('export')
@@ -321,7 +321,7 @@ pipeline {

        stage('PX4 ROS2 bridge') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh('export')
@@ -364,7 +364,7 @@ pipeline {

        stage('S3') {
          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-09-14' }
+            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
          }
          steps {
            sh('export')
@@ -72,7 +72,7 @@ rgbled start -X -q
 rgbled_ncp5623c start -X -q
 rgbled_pwm start

-if param greater LIGHT_EN_BLINKM 0
+if param greater -s LIGHT_EN_BLINKM 0
 then
 	if blinkm start -X
 	then
@@ -22,7 +22,6 @@ fi
 # initialize script variables
 set AUX_MODE                    none
 set IO_PRESENT                  no
-set LOG_FILE                    bootlog.txt
 set MAV_TYPE                    none
 set MIXER                       none
 set MIXER_AUX                   none
@@ -53,10 +52,6 @@ else
 	fi
 fi

-# clear bootlog
-[ -f $LOG_FILE ] && rm $LOG_FILE
-
-
 uorb start

 # Load parameters
@@ -225,7 +220,7 @@ commander start
 navigator start


-if ! param compare -s MNT_MODE_IN -1
+if param greater -s MNT_MODE_IN -1
 then
 	vmount start
 fi
@@ -2,7 +2,7 @@
 #
 # @name Wing Wing (aka Z-84) Flying Wing
 #
-# @url https://docs.px4.io/master/en/framebuild_plane/wing_wing_z84.html
+# @url https://docs.px4.io/master/en/frames_plane/wing_wing_z84.html
 #
 # @type Flying Wing
 # @class Plane
@@ -1,7 +1,7 @@
 #!/bin/sh
 #
 # @name Spedix S250AQ
-# @url https://docs.px4.io/master/en/framebuild_multicopter/spedix_s250_pixracer.html
+# @url https://docs.px4.io/master/en/frames_multicopter/spedix_s250_pixracer.html
 #
 # @type Quadrotor asymmetric
 # @class Copter
@@ -18,7 +18,7 @@ set OUTPUT_DEV none
 # If mount (gimbal) control is enabled and output mode is AUX, set the aux
 # mixer to mount (override the airframe-specific MIXER_AUX setting).
 #
-if ! param compare -s MNT_MODE_IN -1
+if param greater -s MNT_MODE_IN -1
 then
        if param compare -s MNT_MODE_OUT 0
        then
@@ -43,13 +43,13 @@ then
 		if [ $IO_PRESENT = yes ]
 		then
 			set OUTPUT_MODE io
-			if param greater DSHOT_CONFIG 0
+			if param greater -s DSHOT_CONFIG 0
 			then
 				set OUTPUT_CMD dshot
 			fi
 		fi
 	else
-		if param greater DSHOT_CONFIG 0
+		if param greater -s DSHOT_CONFIG 0
 		then
 			set OUTPUT_MODE dshot
 			set OUTPUT_CMD dshot
@@ -93,7 +93,7 @@ then
 	then
 		if ! $OUTPUT_CMD mode_$FMU_MODE
 		then
-			echo "$OUTPUT_CMD start failed" >> $LOG_FILE
+			echo "$OUTPUT_CMD start failed"
 			tune_control play error
 		fi
 	fi
@@ -172,7 +172,6 @@ then
 		echo "INFO  [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
 	else
 		echo "ERROR  [init] Failed loading mixer: ${MIXER_FILE}"
-		echo "ERROR  [init] Failed loading mixer: ${MIXER_FILE}" >> $LOG_FILE
 		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 	fi

@@ -180,7 +179,6 @@ else
 	if [ $MIXER != skip ]
 	then
 		echo "ERROR  [init] Mixer undefined"
-		echo "ERROR  [init] Mixer undefined" >> $LOG_FILE
 		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 	fi
 fi
@@ -213,7 +211,6 @@ then
 					echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} appended to ${OUTPUT_DEV}"
 				else
 					echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}"
-					echo "ERROR  [init] Failed appending mixer: ${MIXER_AUX_FILE}" >> $LOG_FILE
 				fi
 			fi
 			if [ -e $OUTPUT_AUX_DEV -a $OUTPUT_MODE != hil ]
@@ -223,14 +220,13 @@ then
 					echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
 				else
 					echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
-					echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}" >> $LOG_FILE
 				fi
 			else
 				set PWM_AUX_OUT none
 				set FAILSAFE_AUX none
 			fi
 		else
-			echo "ERROR: Could not start: pwm_out mode_pwm" >> $LOG_FILE
+			echo "ERROR: Could not start: pwm_out mode_pwm"
 			tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 			set PWM_AUX_OUT none
 			set FAILSAFE_AUX none
@@ -17,7 +17,7 @@ then
 		# Allow PX4IO to recover from midair restarts.
 		px4io recovery
 	else
-		echo "PX4IO start failed" >> $LOG_FILE
+		echo "PX4IO start failed"
 		tune_control play -t 18 # PROG_PX4IO_ERR
 	fi
 fi
@@ -102,6 +102,12 @@ then
 	paw3902 -S start
 fi

+# vl53l1x i2c distance sensor
+if param compare -s SENS_EN_VL53L1X 1
+then
+	vl53l1x start -X
+fi
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -7,17 +7,17 @@

 set TEMP_COMP_START ""

-if param compare TC_A_ENABLE 1
+if param compare -s TC_A_ENABLE 1
 then
 	set TEMP_COMP_START "true"
 fi

-if param compare TC_B_ENABLE 1
+if param compare -s TC_B_ENABLE 1
 then
 	set TEMP_COMP_START "true"
 fi

-if param compare TC_G_ENABLE 1
+if param compare -s TC_G_ENABLE 1
 then
 	set TEMP_COMP_START "true"
 fi
@@ -15,8 +15,10 @@ then
 	param set MIS_TAKEOFF_ALT 20
 	param set MIS_YAW_TMT 10

+	param set EKF2_ARSP_THR 10
+	param set EKF2_FUSE_BETA 1
+
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_LAND_SPEED 0.7
 	param set MPC_TKO_SPEED 1
 	param set MPC_VEL_MANUAL 3
 	param set MPC_XY_CRUISE 3
@@ -32,7 +32,6 @@ set FMU_MODE pwm
 set FRC /fs/microsd/etc/rc.txt
 set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
-set LOG_FILE /fs/microsd/bootlog.txt
 set LOGGER_ARGS ""
 set LOGGER_BUF  14
 set MAV_TYPE none
@@ -140,10 +139,7 @@ else
 		else
 			set STARTUP_TUNE 15 # tune 15 = SD_ERROR
 			echo "ERROR [init] format failed"
-			set LOG_FILE /dev/null
 		fi
-	else
-		set LOG_FILE /dev/null
 	fi
 fi

@@ -157,9 +153,10 @@ then
 else

 	#
-	# Set the parameter file if mtd starts successfully.
+	# Set the parameter file the board supports params on
+	# MTD device.
 	#
-	if mtd start
+	if mft query -q -k MTD -s MTD_PARAMETERS -v /fs/mtd_params
 	then
 		set PARAM_FILE /fs/mtd_params
 	fi
@@ -167,13 +164,10 @@ else
 	#
 	# Load parameters.
 	#
-	# if MTD has a secondary storage it is used for (factory) calibration data
-	if mtd has-secondary
+	# if the board has a storage for (factory) calibration data
+	if mft query -q -k MTD -s MTD_CALDATA -v /fs/mtd_caldata
 	then
-		if mtd start -i 1 /fs/mtd_caldata
-		then
-			param load /fs/mtd_caldata
-		fi
+		param load /fs/mtd_caldata
 	fi

 	param select $PARAM_FILE
@@ -244,7 +238,7 @@ else
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q

-	if param greater LIGHT_EN_BLINKM 0
+	if param greater -s LIGHT_EN_BLINKM 0
 	then
 		if blinkm start -X
 		then
@@ -313,7 +307,7 @@ else
 					tune_control stop
 					if px4io checkcrc ${IOFW}
 					then
-						echo "PX4IO CRC OK after updating" >> $LOG_FILE
+						echo "PX4IO CRC OK after updating"
 						tune_control play -t 17 # tune 17 = PROG_PX4IO_OK
 						set IO_PRESENT yes
 					fi
@@ -321,7 +315,7 @@ else

 				if [ $IO_PRESENT = no ]
 				then
-					echo "PX4IO update failed" >> $LOG_FILE
+					echo "PX4IO update failed"
 					tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 				fi
 			fi
@@ -338,7 +332,7 @@ else

 	if [ $USE_IO = yes -a $IO_PRESENT = no ]
 	then
-		echo "PX4IO not found" >> $LOG_FILE
+		echo "PX4IO not found"
 		tune_control play error
 	fi

@@ -410,7 +404,7 @@ else
 		set AUX_MODE pwm4
 	fi

-	if param greater TRIG_MODE 0
+	if param greater -s TRIG_MODE 0
 	then
 		# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
 		if param compare TRIG_PINS 56
@@ -509,24 +503,24 @@ else
 	#
 	# Start vmount to control mounts such as gimbals, disabled by default.
 	#
-	if ! param compare MNT_MODE_IN -1
+	if param greater -s MNT_MODE_IN -1
 	then
 		vmount start
 	fi

 	# Check for flow sensor
-	if param compare SENS_EN_PX4FLOW 1
+	if param compare -s SENS_EN_PX4FLOW 1
 	then
 		px4flow start -X
 	fi

 	# Blacksheep telemetry
-	if param greater TEL_BST_EN 0
+	if param compare -s TEL_BST_EN 1
 	then
 		bst start -X
 	fi

-	if param compare IMU_GYRO_FFT_EN 1
+	if param compare -s IMU_GYRO_FFT_EN 1
 	then
 		gyro_fft start
 	fi
@@ -593,7 +587,6 @@ unset FMU_MODE
 unset FRC
 unset IO_PRESENT
 unset IOFW
-unset LOG_FILE
 unset LOGGER_ARGS
 unset LOGGER_BUF
 unset MAV_TYPE
@@ -29,11 +29,9 @@ Channel 5 connects to the right (starboard) elevon.
 Channel 6 connects to the left (port) elevon.

 M: 2
-O:        7500    7500    0 -10000  10000
 S: 1 0   10000   10000    0 -10000  10000
 S: 1 1   10000   10000    0 -10000  10000

 M: 2
-O:        7500    7500    0 -10000  10000
 S: 1 0   10000   10000    0 -10000  10000
 S: 1 1  -10000  -10000    0 -10000  10000
@@ -1,4 +1,4 @@
-#! /usr/bin/python
+#! /usr/bin/env python3

 import serial, time
 import subprocess
@@ -10,7 +10,7 @@ def monitor_firmware_upload(port, baudrate):
    databits = serial.EIGHTBITS
    stopbits = serial.STOPBITS_ONE
    parity = serial.PARITY_NONE
-    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=10)
+    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=1)

    finished = 0

@@ -19,8 +19,9 @@ def monitor_firmware_upload(port, baudrate):
    timeout_newline = time.time()

    while finished == 0:
-        serial_line = ser.readline()
-        print(serial_line.replace('\n',''))
+        serial_line = ser.readline().decode("ascii", errors='ignore')
+        if (len(serial_line) > 0):
+            print(serial_line.replace('\n', ''))

        if "NuttShell (NSH)" in serial_line:
            finished = 1
@@ -36,16 +37,17 @@ def monitor_firmware_upload(port, baudrate):
            finished = 1
            break

-        # newline every 30 seconds if still running
-        if time.time() - timeout_newline > 30:
-            ser.write('\n')
+        # newline every 10 seconds if still running
+        if time.time() - timeout_newline > 10:
            timeout_newline = time.time()
+            ser.write('\n'.encode("ascii"))
+            ser.flush()

    ser.close()

 def main():
    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default = None, help='')
+    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()

@@ -1,72 +1,87 @@
-#! /usr/bin/python
+#! /usr/bin/env python3

 import serial, time
 import subprocess
 from subprocess import call, Popen
 from argparse import ArgumentParser
 import re
+import sys

 def do_nsh_cmd(port, baudrate, cmd):
    databits = serial.EIGHTBITS
    stopbits = serial.STOPBITS_ONE
    parity = serial.PARITY_NONE
-    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=10)
-
-    ser.write('\n')
-
-    finished = 0
-    success = False
-
-    timeout = 10  # 10 seconds
-    timeout_start = time.time()
-
-    while True:
-        serial_line = ser.readline()
-        print(serial_line.replace('\n',''))
-
-        if "nsh>" in serial_line:
-            break
-        elif "NuttShell (NSH)" in serial_line:
-            break
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout")
-            break
-
-        ser.write('\n')
-        time.sleep(0.01)
-
+    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=0.1)

    # run command
-    ser.write(cmd + '\n')
-
-    timeout = 30  # 30 seconds
    timeout_start = time.time()
-    timeout_newline = timeout_start
+    timeout = 10  # 10 seconds
+
+    # clear
+    ser.write("\n".encode("ascii"))
+    ser.flush()
+    ser.readline()
+
+    success_cmd = "cmd succeeded!"
+
+    serial_cmd = '{0}; echo "{1}"\n'.format(cmd, success_cmd)
+    ser.write(serial_cmd.encode("ascii"))
+    ser.flush()
+    ser.readline()
+
+    # TODO: require successful command echo
+    # while True:
+    #     serial_cmd = '{0}; echo "{1}"\n'.format(cmd, success_cmd)
+    #     ser.write(serial_cmd.encode("ascii"))
+    #     ser.flush()
+
+    #     serial_line = ser.readline().decode("ascii", errors='ignore')
+
+    #     if cmd in serial_line:
+    #         break
+    #     else:
+    #         print(serial_line, end='')
+
+    #     if time.time() > timeout_start + timeout:
+    #         print("Error, timeout")
+    #         sys.exit(-1)
+    #         break
+
+    #     time.sleep(1)
+
+
+    timeout_start = time.time()
+    timeout = 30  # 30 seconds

    while True:
-        serial_line = ser.readline()
-        print(serial_line.replace('\n',''))
+        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if cmd in serial_line:
-            continue
-        elif "nsh>" in serial_line:
-            break
-        elif "NuttShell (NSH)" in serial_line:
+        if success_cmd in serial_line:
            break
+        else:
+            if len(serial_line) > 0:
+                print(serial_line, end='')
+
+            if "nsh>" in serial_line:
+                #sys.exit(-1) # error, command didn't complete successfully
+                break # TODO: return error on failure
+            elif "NuttShell (NSH)" in serial_line:
+                #sys.exit(-1) # error, command didn't complete successfully
+                break # TODO: return error on failure
+
+        if len(serial_line) <= 0:
+            ser.write("\n".encode("ascii"))
+            ser.flush()

        if time.time() > timeout_start + timeout:
            print("Error, timeout")
-            break
-
-        ser.write('\n')
-        time.sleep(0.01)
+            sys.exit(-1)

    ser.close()

 def main():
    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default = None, help='')
+    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)
    parser.add_argument("--cmd", "-c", dest="cmd", help="Command to run")
    args = parser.parse_args()
@@ -1,4 +1,4 @@
-#! /usr/bin/python
+#! /usr/bin/env python3

 import serial, time
 import subprocess
@@ -7,64 +7,70 @@ from argparse import ArgumentParser
 import re
 import unittest
 import os
+import sys

 def do_test(port, baudrate, test_name):
    databits = serial.EIGHTBITS
    stopbits = serial.STOPBITS_ONE
    parity = serial.PARITY_NONE
-    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=10)
+    ser = serial.Serial(port, baudrate, databits, parity, stopbits, timeout=1)

-    ser.write('\n')
-
-    finished = 0
    success = False

-    timeout = 10  # 10 seconds
-    timeout_start = time.time()
-
-    while True:
-        serial_line = ser.readline()
-        print(serial_line.replace('\n',''))
-
-        if "nsh>" in serial_line:
-            break
-        elif "NuttShell (NSH)" in serial_line:
-            break
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout")
-            break
-
-        ser.write('\n')
-        time.sleep(0.01)
-
-
    # run test cmd
+    print('\n|======================================================================')
    cmd = 'tests ' + test_name
-    ser.write(cmd + '\n')
+    print("| Running:", cmd)
+    print('|======================================================================')
+    timeout_start = time.time()
+    timeout = 10  # 10 seconds

+    # clear
+    ser.write("\n".encode("ascii"))
+    ser.flush()
+    ser.readline()
+
+    serial_cmd = '{0}\n'.format(cmd)
+    ser.write(serial_cmd.encode("ascii"))
+    ser.flush()
+    ser.readline()
+
+    # TODO: retry command
+    # while True:
+    #     serial_cmd = '{0}\n'.format(cmd)
+    #     ser.write(serial_cmd.encode("ascii"))
+    #     ser.flush()
+
+    #     serial_line = ser.readline().decode("ascii", errors='ignore')
+
+    #     if cmd in serial_line:
+    #         break
+    #     else:
+    #         print(serial_line.replace('\n', ''))
+
+    #     if time.time() > timeout_start + timeout:
+    #         print("Error, unable to write cmd")
+    #         return False
+
+    #     time.sleep(1)
+
+
+    # print results, wait for final result (PASSED or FAILED)
    timeout = 180  # 3 minutes
    timeout_start = time.time()
    timeout_newline = timeout_start

    while True:
-        serial_line = ser.readline()
-        print(serial_line.replace('\n',''))
+        serial_line = ser.readline().decode("ascii", errors='ignore')
+        if (len(serial_line) > 0):
+            print(serial_line, end='')

-        if cmd in serial_line:
-            continue
-        elif test_name + " PASSED" in serial_line:
+        if test_name + " PASSED" in serial_line:
            success = True
            break
        elif test_name + " FAILED" in serial_line:
            success = False
            break
-        elif "nsh>" in serial_line:
-            success = False
-            break
-        elif "NuttShell (NSH)" in serial_line:
-            success = False
-            break

        if time.time() > timeout_start + timeout:
            print("Error, timeout")
@@ -72,22 +78,28 @@ def do_test(port, baudrate, test_name):
            success = False
            break

-        # newline every 30 seconds if still running
-        if time.time() - timeout_newline > 30:
-            ser.write('\n')
+        # newline every 10 seconds if still running
+        if time.time() - timeout_newline > 10:
+            ser.write("\n".encode("ascii"))
            timeout_newline = time.time()

    ser.close()

    return success

-class TestHadrwareMethods(unittest.TestCase):
+class TestHardwareMethods(unittest.TestCase):
    TEST_DEVICE = 0
    TEST_BAUDRATE = 0

+    def test_atomic_bitset(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "atomic_bitset"))
+
    def test_bezier(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bezier"))

+    def test_bitset(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bitset"))
+
    def test_bson(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))

@@ -97,8 +109,8 @@ class TestHadrwareMethods(unittest.TestCase):
    def test_controllib(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "controllib"))

-#    def test_dataman(self):
-#        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
+    # def test_dataman(self):
+    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))

    def floattest_float(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "float"))
@@ -109,6 +121,9 @@ class TestHadrwareMethods(unittest.TestCase):
    def test_IntrusiveQueue(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "IntrusiveQueue"))

+    def test_IntrusiveSortedList(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "IntrusiveSortedList"))
+
    def test_List(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "List"))

@@ -133,8 +148,8 @@ class TestHadrwareMethods(unittest.TestCase):
    def test_microbench_uorb(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_uorb"))

-#    def test_mixer(self):
-#        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "mixer"))
+    # def test_mixer(self):
+    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "mixer"))

    def test_param(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "param"))
@@ -145,34 +160,34 @@ class TestHadrwareMethods(unittest.TestCase):
    def test_perf(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "perf"))

-    def search_mintest_xxx(self):
+    # def test_rc(self):
+    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "rc"))
+
+    def test_search_min(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "search_min"))

    def test_sleep(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "sleep"))

-    def test_smoothz(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "smoothz"))
-
    def test_time(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "time"))

-    #def test_uorb(self):
-    #    self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "uorb"))
+    def test_uorb(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "uorb"))

    def test_versioning(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))

 def main():
    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default = None, help='')
+    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()

-    TestHadrwareMethods.TEST_DEVICE = args.device
-    TestHadrwareMethods.TEST_BAUDRATE =  args.baudrate
+    TestHardwareMethods.TEST_DEVICE = args.device
+    TestHardwareMethods.TEST_BAUDRATE = args.baudrate

-    unittest.main(__name__, argv=['main'])
+    unittest.main(__name__, failfast=True, verbosity=0, argv=['main'])

 if __name__ == "__main__":
   main()
@@ -4,10 +4,10 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-09-14"
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2020-11-18"
 	elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
 		# aerotenna_ocpoc_default, beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-04-01"
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-11-18"
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
 		# scumaker_pilotpi_arm64
 		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
@@ -16,13 +16,13 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2020-04-01"
 	elif [[ $@ =~ .*ocpoc.* ]] || [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
 		# aerotenna_ocpoc_default, posix_rpi_cross, posix_bebop_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-04-01"
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2020-11-18"
 	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
 		# clang tools
-		PX4_DOCKER_REPO="px4io/px4-dev-clang:2020-04-01"
+		PX4_DOCKER_REPO="px4io/px4-dev-clang:2020-11-18"
 	elif [[ $@ =~ .*tests* ]]; then
 		# run all tests with simulation
-		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2020-04-01"
+		PX4_DOCKER_REPO="px4io/px4-dev-simulation-bionic:2020-11-18"
 	fi
 else
 	echo "PX4_DOCKER_REPO is set to '$PX4_DOCKER_REPO'";
@@ -16,8 +16,8 @@ function spawn_model() {
 	MODEL=$1
 	N=$2 #Instance Number

-	SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover")
-	if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL "* ]];
+	SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
+	if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL"* ]];
 	then
 		echo "ERROR: Currently only vehicle model $MODEL is not supported!"
 		echo "       Supported Models: [${SUPPORTED_MODELS[@]}]"
@@ -11,6 +11,7 @@ pandas>=0.21
 pkgconfig
 psutil
 pygments
+pymavlink
 pyros-genmsg
 pyserial>=3.0
 pyulog>=0.5.0
@@ -127,7 +127,30 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 		gzserver $verbose $world_path &
 		SIM_PID=$!

-		while gz model --verbose --spawn-file="${src_path}/Tools/sitl_gazebo/models/${model}/${model_name}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
+		# Check all paths in ${GAZEBO_MODEL_PATH} for specified model
+		IFS_bak=$IFS
+		IFS=":"
+		for possible_model_path in ${GAZEBO_MODEL_PATH}; do
+			if [ -z $possible_model_path ]; then
+				continue
+			fi
+			# trim \r from path
+			possible_model_path=$(echo $possible_model_path | tr -d '\r')
+			if test -f "${possible_model_path}/${model}/${model}.sdf" ; then
+				modelpath=$possible_model_path
+				break
+			fi
+		done
+		IFS=$IFS_bak
+
+		if [ -z $modelpath ]; then
+			echo "Model ${model} not found in model path: ${GAZEBO_MODEL_PATH}"
+			exit 1
+		else
+			echo "Using: ${modelpath}/${model}/${model}.sdf"
+		fi
+
+		while gz model --verbose --spawn-file="${modelpath}/${model}/${model_name}.sdf" --model-name=${model} -x 1.01 -y 0.98 -z 0.83 2>&1 | grep -q "An instance of Gazebo is not running."; do
 			echo "gzserver not ready yet, trying again!"
 			sleep 1
 		done
@@ -71,7 +71,6 @@ px4_add_board(
 		esc_calib
 		led_control
 		mixer
-		modules
 		motor_ramp
 		param
 		perf
@@ -87,8 +87,8 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -307,5 +307,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif

+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }
@@ -95,7 +95,6 @@ px4_add_board(
 		#hardfault_log
 		led_control
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		#mtd
@@ -93,7 +93,6 @@ px4_add_board(
 		#hardfault_log
 		led_control
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		#mtd
@@ -88,7 +88,6 @@ px4_add_board(
 		i2cdetect
 		led_control
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		nshterm
@@ -192,6 +192,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 	configure_switch();

+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }

@@ -67,7 +67,6 @@ px4_add_board(
 		esc_calib
 		led_control
 		mixer
-		modules
 		motor_ramp
 		param
 		perf
@@ -43,8 +43,8 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -64,6 +64,7 @@ EXTERN(_vectors)	/* force the vectors to be included in the output */
 * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
 */
 EXTERN(abort)
+EXTERN(board_get_manifest)

 SECTIONS
 {
@@ -35,6 +35,7 @@ add_library(drivers_board
 	i2c.cpp
 	init.c
 	led.c
+	mtd.cpp
 	spi.cpp
 	timer_config.cpp
 	usb.c
@@ -169,5 +169,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif

+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }
@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <nuttx/spi/spi.h>
+#include <px4_platform_common/px4_manifest.h>
+//                                                                      KiB BS    nB
+static const px4_mft_device_t i2c1 = {             // 24AA64FT on Base  8K 32 X 256
+	.bus_type = px4_mft_device_t::I2C,
+	.devid    = PX4_MK_I2C_DEVID(1, 0x50)
+};
+
+
+static const px4_mtd_entry_t fmu_eeprom = {
+	.device = &i2c1,
+	.npart = 2,
+	.partd = {
+		{
+			.type = MTD_PARAMETERS,
+			.path = "/fs/mtd_params",
+			.nblocks = 128
+		},
+		{
+			.type = MTD_WAYPOINTS,
+			.path = "/fs/mtd_waypoints",
+			.nblocks = 128
+
+		}
+	},
+};
+
+static const px4_mtd_manifest_t board_mtd_config = {
+	.nconfigs   = 1,
+	.entries = {
+		&fmu_eeprom,
+	}
+};
+
+static const px4_mft_entry_s mtd_mft = {
+	.type = MTD,
+	.pmft = (void *) &board_mtd_config,
+};
+
+static const px4_mft_s mft = {
+	.nmft = 1,
+	.mfts = &mtd_mft
+};
+
+const px4_mft_s *board_get_manifest(void)
+{
+	return &mft;
+}
@@ -37,6 +37,7 @@ px4_add_module(
 	COMPILE_FLAGS
 		-Wno-cast-align # TODO: fix and enable
 	SRCS
+		ringbuffer.cpp
 		syslink_main.cpp
 		syslink_bridge.cpp
 		syslink_memory.cpp
@@ -38,7 +38,7 @@
 #include <battery/battery.h>

 #include <drivers/device/device.h>
-#include <drivers/device/ringbuffer.h>
+#include "ringbuffer.h"

 #include <uORB/PublicationMulti.hpp>
 #include <uORB/topics/parameter_update.h>
@@ -51,6 +51,7 @@ px4_add_board(
 		#hardfault_log
 		#i2cdetect
 		#led_control
+		#mft
 		#mixer
 		#motor_ramp
 		#motor_test
@@ -123,5 +123,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	px4_platform_init();

+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }
@@ -92,6 +92,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test
@@ -156,7 +156,6 @@ CONFIG_STDIO_BUFFER_SIZE=256
 CONFIG_STM32H7_ADC1=y
 CONFIG_STM32H7_BBSRAM=y
 CONFIG_STM32H7_BBSRAM_FILES=5
-CONFIG_STM32H7_BDMA=y
 CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
@@ -129,7 +129,7 @@
 #define GPIO_nVDD_5V_PERIPH_OC          /* PJ4 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTJ|GPIO_PIN4)

 /* Power switch controls ******************************************************/
-#define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, !(on_true))
+#define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, (on_true))
 #define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_EN, (on_true))
 #define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))

@@ -209,5 +209,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	sdio_mediachange(sdio_dev, true);
 #endif /* CONFIG_MMCSD */

+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }
@@ -95,6 +95,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test
@@ -209,5 +209,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	sdio_mediachange(sdio_dev, true);
 #endif /* CONFIG_MMCSD */

+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }
@@ -97,6 +97,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test
@@ -97,6 +97,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test
@@ -4,14 +4,14 @@
 #------------------------------------------------------------------------------
 board_adc start

-# SPI1
-ms5611 -s -b 1 start
-icm20649 -s -b 1 start
-
 # SPI4
 ms5611 -s -b 4 start
 icm20602 -s -b 4 -R 12 start
 icm20948 -s -b 4 -R 10 -M start

+# SPI1
+ms5611 -s -b 1 start
+icm20649 -s -b 1 start
+
 # standard Here/Here2 connected to GPS1
 ak09916 -X -b 1 -R 6 start # external AK09916 (Here2) is rotated 270 degrees yaw
@@ -189,5 +189,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	sdio_mediachange(sdio_dev, true);
 #endif /* CONFIG_MMCSD */

+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }
@@ -96,6 +96,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test
@@ -96,6 +96,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test
@@ -4,14 +4,14 @@
 #------------------------------------------------------------------------------
 board_adc start

-# SPI1
-ms5611 -s -b 1 start
-icm20649 -s -b 1 start
-
 # SPI4
 ms5611 -s -b 4 start
 icm20602 -s -b 4 -R 12 start
 icm20948 -s -b 4 -R 10 -M start

+# SPI1
+ms5611 -s -b 1 start
+icm20649 -s -b 1 start
+
 # standard Here/Here2 connected to GPS1
 ak09916 -X -b 1 -R 6 start # external AK09916 (Here2) is rotated 270 degrees yaw
@@ -208,5 +208,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	sdio_mediachange(sdio_dev, true);
 #endif /* CONFIG_MMCSD */

+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }
@@ -67,7 +67,6 @@ px4_add_board(
 		esc_calib
 		led_control
 		mixer
-		modules
 		motor_ramp
 		param
 		perf
@@ -130,7 +130,8 @@ int NavioRGBLed::task_spawn(int argc, char *argv[])
 	NavioRGBLed *instance = new NavioRGBLed();

 	if (instance) {
-		instance->set_task_id(task_id_is_work_queue);
+		_object.store(instance);
+		_task_id = task_id_is_work_queue;

 		if (instance->init() == PX4_OK) {
 			return PX4_OK;
@@ -141,6 +142,8 @@ int NavioRGBLed::task_spawn(int argc, char *argv[])
 	}

 	delete instance;
+	_object.store(nullptr);
+	_task_id = -1;

 	return PX4_ERROR;
 }
@@ -15,6 +15,7 @@ px4_add_board(
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS1
 		TEL2:/dev/ttyS2
+		TEL3:/dev/ttyS4
 		TEL4:/dev/ttyS3
 	DRIVERS
 		adc/board_adc
@@ -92,8 +93,8 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -280,5 +280,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif /* CONFIG_MMCSD */

+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }
@@ -266,5 +266,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif

+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }
@@ -100,6 +100,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test
@@ -289,5 +289,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif /* CONFIG_MMCSD */

+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }
@@ -7,6 +7,7 @@ px4_add_board(
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	ROMFSROOT px4fmu_common
+	CONSTRAINED_FLASH
 	SERIAL_PORTS
 		GPS1:/dev/ttyS5
 		TEL1:/dev/ttyS3
@@ -68,8 +69,8 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -65,6 +65,7 @@ EXTERN(_vectors)	/* force the vectors to be included in the output */
 * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
 */
 EXTERN(abort)
+EXTERN(board_get_manifest)

 SECTIONS
 {
@@ -68,8 +68,8 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -36,6 +36,7 @@ add_library(drivers_board
 	i2c.cpp
 	init.c
 	led.c
+	mtd.cpp
 	spi.cpp
 	timer_config.cpp
 )
@@ -219,5 +219,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	dm_flash_sector_description_set(&dm_sector_map);
 #endif

+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }
@@ -0,0 +1,81 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <nuttx/spi/spi.h>
+#include <px4_platform_common/px4_manifest.h>
+//                                                                      KiB BS    nB
+static const px4_mft_device_t i2c3 = {             // 24AA64FT on Base  8K 32 X 256
+	.bus_type = px4_mft_device_t::I2C,
+	.devid    = PX4_MK_I2C_DEVID(3, 0x50)
+};
+
+
+static const px4_mtd_entry_t fmu_eeprom = {
+	.device = &i2c3,
+	.npart = 2,
+	.partd = {
+		{
+			.type = MTD_PARAMETERS,
+			.path = "/fs/mtd_params",
+			.nblocks = 128
+		},
+		{
+			.type = MTD_WAYPOINTS,
+			.path = "/fs/mtd_waypoints",
+			.nblocks = 128
+
+		}
+	},
+};
+
+static const px4_mtd_manifest_t board_mtd_config = {
+	.nconfigs   = 1,
+	.entries = {
+		&fmu_eeprom,
+	}
+};
+
+static const px4_mft_entry_s mtd_mft = {
+	.type = MTD,
+	.pmft = (void *) &board_mtd_config,
+};
+
+static const px4_mft_s mft = {
+	.nmft = 1,
+	.mfts = &mtd_mft
+};
+
+const px4_mft_s *board_get_manifest(void)
+{
+	return &mft;
+}
@@ -86,8 +86,8 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -293,5 +293,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif /* CONFIG_MMCSD */

+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }
@@ -92,8 +92,8 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -242,5 +242,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif /* CONFIG_MMCSD */

+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }
@@ -94,6 +94,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test
@@ -229,5 +229,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif /* CONFIG_MMCSD */

+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }
@@ -89,8 +89,8 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -327,5 +327,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif

+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }
@@ -88,6 +88,7 @@ px4_add_board(
 		#hardfault_log # Needs bbsrm
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test
@@ -87,6 +87,7 @@ px4_add_board(
 		#hardfault_log # Needs bbsrm
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test
@@ -300,5 +300,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif

+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }
@@ -88,8 +88,8 @@ px4_add_board(
 		#hardfault_log # Needs bbsrm
 		i2cdetect
 		led_control
+		mft
 		mixer
-		modules
 		motor_ramp
 		motor_test
 		mtd
@@ -88,6 +88,7 @@ px4_add_board(
 		#hardfault_log # Needs bbsrm
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test
@@ -87,6 +87,7 @@ px4_add_board(
 		#hardfault_log # Needs bbsrm
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test
@@ -292,5 +292,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif

+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }
@@ -9,11 +9,10 @@ px4_add_board(
 	ROMFSROOT px4fmu_common
 	LINKER_PREFIX ocram
 #	UAVCAN_INTERFACES 2
-
 	SERIAL_PORTS
 		GPS1:/dev/ttyS1
-		TEL1:/dev/ttyS3
-		TEL2:/dev/ttyS2
+		TEL1:/dev/ttyS2
+		TEL2:/dev/ttyS3
 		GPS2:/dev/ttyS4

 	DRIVERS
@@ -85,6 +84,7 @@ px4_add_board(
 		mixer
 		motor_ramp
 		motor_test
+		mft
 		mtd
 		nshterm
 		param
@@ -234,7 +234,12 @@
 #define GPIO_LPUART2_RX   (GPIO_LPUART2_RX_1 | LPUART_IOMUX) /* EVK J22-8 */ /* GPIO_AD_B1_03 */
 #define GPIO_LPUART2_TX   (GPIO_LPUART2_TX_1 | LPUART_IOMUX) /* EVK J22-7 */ /* GPIO_AD_B1_02 */

-/* Telem 2 */
+/* N.B. Rev B schematic did not change the names of the nets. Just the silk screen renamed the ports
+ * Such that Telem 2 had the real HW HS signals. The imx driver to dated does not support GOIO controlled
+ * HS lines
+ */
+
+/* Telem 1 */

 #define HS_INPUT_IOMUX  (IOMUX_CMOS_INPUT | IOMUX_SLEW_SLOW | IOMUX_DRIVE_HIZ  | IOMUX_SPEED_MEDIUM | IOMUX_PULL_UP_47K)
 #define HS_OUTPUT_IOMUX (IOMUX_CMOS_OUTPUT | IOMUX_SLEW_FAST | IOMUX_DRIVE_33OHM  | IOMUX_SPEED_MEDIUM | IOMUX_PULL_KEEP)
@@ -244,7 +249,7 @@
 #define GPIO_LPUART3_CTS  (GPIO_PORT3 | GPIO_PIN4  | GPIO_INPUT  | HS_INPUT_IOMUX)  /* GPIO_SD_B1_04 GPIO3_IO04 (GPIO only, no HW Flow control) */
 #define GPIO_LPUART3_RTS  (GPIO_PORT4 | GPIO_PIN24 | GPIO_OUTPUT | GPIO_OUTPUT_ZERO | HS_OUTPUT_IOMUX) /* GPIO_EMC_24   GPIO4_IO24 (GPIO only, no HW Flow control) */

-/* Telem 1 */
+/* Telem 2 */

 #define GPIO_LPUART4_RX   (GPIO_LPUART4_RX_2  | LPUART_IOMUX) /* GPIO_EMC_20 */
 #define GPIO_LPUART4_TX   (GPIO_LPUART4_TX_2  | LPUART_IOMUX) /* GPIO_EMC_19 */
@@ -5,21 +5,9 @@
 # You can then do "make savedefconfig" to generate a new defconfig file that includes your
 # modifications.
 #
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
 # CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
@@ -57,11 +45,10 @@ CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
 CONFIG_DISABLE_MQUEUE=y
+CONFIG_DISABLE_POSIX_TIMERS=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
@@ -120,13 +107,13 @@ CONFIG_IMXRT_LPUART6=y
 CONFIG_IMXRT_LPUART7=y
 CONFIG_IMXRT_LPUART8=y
 CONFIG_IMXRT_LPUART_INVERT=y
+CONFIG_IMXRT_LPUART_SINGLEWIRE=y
 CONFIG_IMXRT_RTC_MAGIC_REG=1
 CONFIG_IMXRT_SNVS_LPSRTC=y
 CONFIG_IMXRT_USDHC1=y
 CONFIG_IMXRT_USDHC1_INVERT_CD=y
 CONFIG_IMXRT_USDHC1_WIDTH_D1_D4=y
 CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LPUART2_BAUD=57600
 CONFIG_LPUART2_RXBUFSIZE=600
@@ -167,20 +154,32 @@ CONFIG_NAME_MAX=40
 CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
-CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_BASENAME=y
+CONFIG_NSH_DISABLE_CMP=y
+CONFIG_NSH_DISABLE_DD=y
+CONFIG_NSH_DISABLE_DIRNAME=y
+CONFIG_NSH_DISABLE_HEXDUMP=y
 CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_LOSETUP=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MKFIFO=y
+CONFIG_NSH_DISABLE_MKRD=y
 CONFIG_NSH_DISABLE_PSSTACKUSAGE=y
+CONFIG_NSH_DISABLE_PUT=y
+CONFIG_NSH_DISABLE_REBOOT=y
 CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_DISABLE_UNAME=y
+CONFIG_NSH_DISABLE_WGET=y
+CONFIG_NSH_DISABLE_XD=y
+CONFIG_NSH_FILEIOSIZE=512
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
+CONFIG_NSH_READLINE=y
 CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
@@ -188,7 +187,6 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAMTRON_WRITEWAIT=y
@@ -120,10 +120,13 @@ SECTIONS
 		*(.text.*probe*)
 		*(.text.*thread_main*);
 		*(.text.*listener*)
+		*(.text.*BlockLocalPositionEstimator*)
 		*(.text.nsh_*)
 		*(.text.lib_vscanf)
+		*(.text.lib_vsprintf)
 		*(.text.*configure_streams_to_default*)
 		*(.text.*_main)
+		*(.text.*GPSDriverAshtech*)
 		*(.rodata .rodata.*)
 		KEEP(*(__param*))
 		*(.fixup)
--- a/Show More
+++ b/Show More