cmake: git check submodules updates

2026-05-31 15:00:04 +08:00 · 2021-10-01 14:51:23 -04:00
216 changed files with 1164 additions and 6328 deletions
@@ -38,10 +38,6 @@ pipeline {
                     "airmind_mindpx-v2_default",
                     "ark_can-flow_canbootloader",
                     "ark_can-flow_default",
-                     "ark_can-gps_canbootloader",
-                     "ark_can-gps_default",
-                     "ark_can-rtk-gps_canbootloader",
-                     "ark_can-rtk-gps_default",
                     "atl_mantis-edu_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie_default",
@@ -13,11 +13,15 @@ pipeline {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
-                checkoutSCM()
+                checkout scm
+                sh 'export'
+                sh 'make distclean'
+                sh 'ccache -s'
+                sh 'git fetch --tags'
                sh 'make cubepilot_cubeorange_test'
                sh 'make cubepilot_cubeorange_test bootloader_elf'
                sh 'ccache -s'
@@ -83,11 +87,15 @@ pipeline {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
-                checkoutSCM()
+                checkout scm
+                sh 'export'
+                sh 'make distclean'
+                sh 'ccache -s'
+                sh 'git fetch --tags'
                sh 'make cuav_x7pro_test'
                sh 'make cuav_x7pro_test bootloader_elf'
                sh 'ccache -s'
@@ -151,11 +159,15 @@ pipeline {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
-                checkoutSCM()
+                checkout scm
+                sh 'export'
+                sh 'make distclean'
+                sh 'ccache -s'
+                sh 'git fetch --tags'
                sh 'make px4_fmu-v3_test'
                sh 'make px4_fmu-v3_test bootloader_elf'
                sh 'ccache -s'
@@ -219,11 +231,15 @@ pipeline {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
-                checkoutSCM()
+                checkout scm
+                sh 'export'
+                sh 'make distclean'
+                sh 'ccache -s'
+                sh 'git fetch --tags'
                sh 'make px4_fmu-v4_test'
                sh 'make px4_fmu-v4_test bootloader_elf'
                sh 'ccache -s'
@@ -286,11 +302,15 @@ pipeline {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
-                checkoutSCM()
+                checkout scm
+                sh 'export'
+                sh 'make distclean'
+                sh 'ccache -s'
+                sh 'git fetch --tags'
                sh 'make px4_fmu-v4pro_test'
                sh 'make px4_fmu-v4pro_test bootloader_elf'
                sh 'ccache -s'
@@ -354,11 +374,15 @@ pipeline {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
-                checkoutSCM()
+                checkout scm
+                sh 'export'
+                sh 'make distclean'
+                sh 'ccache -s'
+                sh 'git fetch --tags'
                sh 'make px4_fmu-v5_debug'
                sh 'make px4_fmu-v5_debug bootloader_elf'
                sh 'ccache -s'
@@ -394,14 +418,6 @@ pipeline {
                  steps {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u"'
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
-
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
                  }
@@ -440,11 +456,15 @@ pipeline {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
-                checkoutSCM()
+                checkout scm
+                sh 'export'
+                sh 'make distclean'
+                sh 'ccache -s'
+                sh 'git fetch --tags'
                sh 'make px4_fmu-v5_optimized'
                sh 'make px4_fmu-v5_optimized bootloader_elf'
                sh 'ccache -s'
@@ -508,11 +528,15 @@ pipeline {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
-                checkoutSCM()
+                checkout scm
+                sh 'export'
+                sh 'make distclean'
+                sh 'ccache -s'
+                sh 'git fetch --tags'
                sh 'make px4_fmu-v5_stackcheck'
                sh 'make px4_fmu-v5_stackcheck bootloader_elf'
                sh 'ccache -s'
@@ -586,11 +610,15 @@ pipeline {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
-                checkoutSCM()
+                checkout scm
+                sh 'export'
+                sh 'make distclean'
+                sh 'ccache -s'
+                sh 'git fetch --tags'
                sh 'make px4_fmu-v5_test'
                sh 'make px4_fmu-v5_test bootloader_elf'
                sh 'ccache -s'
@@ -654,7 +682,7 @@ pipeline {
        //       agent {
        //         docker {
        //           image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-        //           args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+        //           args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
        //         }
        //       }
        //       steps {
@@ -721,11 +749,15 @@ pipeline {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                  args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                }
              }
              steps {
-                checkoutSCM()
+                checkout scm
+                sh 'export'
+                sh 'make distclean'
+                sh 'ccache -s'
+                sh 'git fetch --tags'
                sh 'make nxp_fmuk66-v3_test'
                //sh 'make nxp_fmuk66-v3_test bootloader_elf'
                sh 'ccache -s'
@@ -798,16 +830,6 @@ pipeline {
  }
 }

-void checkoutSCM() {
-  retry(3) {
-    checkout scm
-    sh 'export'
-    sh 'make distclean'
-    sh 'git fetch --tags'
-    sh 'ccache -z'
-  }
-}
-
 void quickCalibrate() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1; param show CAL_ACC*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 1; param show CAL_GYRO*"'
@@ -845,8 +867,8 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /etc"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /obj"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /proc"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status streams" || true'
-  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 "mavlink status streams"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status"'
  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 show" || true'
@@ -904,8 +926,6 @@ void runTests() {
  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 -u"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
-
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'

@@ -1020,10 +1040,6 @@ void printTopics() {
 }

 void resetBoard() {
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ls /fs/microsd" || true'
-
  resetParameters()

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 0" || true'
@@ -18,7 +18,6 @@ jobs:
          airmind_mindpx-v2,
          ark_can-flow,
          ark_can-gps,
-          ark_can-rtk-gps,
          atl_mantis-edu,
          av_x-v1,
          bitcraze_crazyflie,
@@ -17,7 +17,6 @@ jobs:
        config: [
          ark_can-flow_default,
          ark_can-gps_default,
-          ark_can-rtk-gps_default,
          cuav_can-gps-v1_default,
          freefly_can-rtk-gps_default,
          holybro_can-gps-v1_default,
@@ -6,11 +6,6 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
-    px4_sitl_rtps:
-      short: px4_sitl_rtps
-      buildType: RelWithDebInfo
-      settings:
-        CONFIG: px4_sitl_rtps
    px4_sitl_asan:
      short: px4_sitl (AddressSanitizer)
      buildType: AddressSanitizer
@@ -101,16 +96,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-gps_canbootloader
-    ark_can-rtk-gps_default:
-      short: ark_can-rtk-gps_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-rtk-gps_default
-    ark_can-rtk-gps_canbootloader:
-      short: ark_can-rtk-gps_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-rtk-gps_canbootloader
    atl_mantis-edu_default:
      short: atl_mantis-edu
      buildType: MinSizeRel
@@ -110,14 +110,22 @@ include(px4_parse_function_args)
 #=============================================================================
 # git
 #
+find_package(Git QUIET)
 include(px4_git)

+# sync submodules
 execute_process(
-	COMMAND git describe --exclude ext/* --always --tags
-	OUTPUT_VARIABLE PX4_GIT_TAG
-	OUTPUT_STRIP_TRAILING_WHITESPACE
-	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
-	)
+        COMMAND ${GIT_EXECUTABLE} submodule sync --recursive --quiet
+        OUTPUT_VARIABLE GIT_SUBMODULE_SYNC
+        WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+)
+
+execute_process(
+        COMMAND ${GIT_EXECUTABLE} describe --exclude ext/* --always --tags
+        OUTPUT_VARIABLE PX4_GIT_TAG
+        OUTPUT_STRIP_TRAILING_WHITESPACE
+        WORKING_DIRECTORY ${PX4_SOURCE_DIR}
+)
 message(STATUS "PX4 version: ${PX4_GIT_TAG}")

 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
@@ -16,6 +16,11 @@ set +e
 #------------------------------------------------------------------------------
 set R /

+#
+# Start CDC/ACM serial driver.
+#
+sercon
+
 #
 # Print full system version.
 #
@@ -57,7 +57,6 @@ mc_rate_control start
 # Start Multicopter Attitude Controller.
 #
 mc_att_control start
-mc_autotune_attitude_control start

 #
 # Start Multicopter Position Controller.
@@ -49,6 +49,11 @@ set STARTUP_TUNE 1
 set USE_IO no
 set VEHICLE_TYPE none

+#
+# Start CDC/ACM serial driver.
+#
+sercon
+
 #
 # Print full system version.
 #
@@ -369,11 +374,6 @@ else
 		commander start
 	fi

-	# Pre-takeoff continuous magnetometer calibration
-	if param compare -s MBE_ENABLE 1
-	then
-		mag_bias_estimator start
-	fi

 	if param greater -s TRIG_MODE 0
 	then
@@ -13,6 +13,14 @@ then
 	led_control on -c blue
 fi

+if sercon
+then
+	echo "[i] USB interface connected"
+
+	# Try to get an USB console
+	nshterm /dev/ttyACM0 &
+fi
+
 #
 # Try to mount the microSD card.
 #
@@ -1,85 +0,0 @@
-#!/usr/bin/env bash
-
-function check_git_submodule {
-
-# The .git exists in a submodule if init and update have been done.
-if [[ -f $1"/.git" || -d $1"/.git" ]]; then
-
-	# always update within CI environment or configuring withing VSCode CMake where you can't interact
-	if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ]; then
-		git submodule --quiet sync --recursive -- $1
-		git submodule --quiet update --init --recursive --jobs=8 -- $1  || true
-		git submodule --quiet update --init --recursive --jobs=8 -- $1
-		exit 0
-	fi
-
-	SUBMODULE_STATUS=$(git submodule summary "$1")
-	STATUSRETVAL=$(echo $SUBMODULE_STATUS | grep -A20 -i "$1")
-	if ! [[ -z "$STATUSRETVAL" ]]; then
-		echo -e "\033[31mChecked $1 submodule, ACTION REQUIRED:\033[0m"
-		echo ""
-		echo -e "Different commits:"
-		echo -e "$SUBMODULE_STATUS"
-		echo ""
-		echo ""
-		echo -e " *******************************************************************************"
-		echo -e " *   \033[31mIF YOU DID NOT CHANGE THIS FILE (OR YOU DON'T KNOW WHAT A SUBMODULE IS):\033[0m  *"
-		echo -e " *   \033[31mHit 'u' and <ENTER> to update ALL submodules and resolve this.\033[0m            *"
-		echo -e " *   (performs \033[94mgit submodule sync --recursive\033[0m                                  *"
-		echo -e " *    and \033[94mgit submodule update --init --recursive\033[0m )                            *"
-		echo -e " *******************************************************************************"
-		echo ""
-		echo ""
-		echo -e "   Only for EXPERTS:"
-		echo -e "   $1 submodule is not in the recommended version."
-		echo -e "   Hit 'y' and <ENTER> to continue the build with this version. Hit <ENTER> to resolve manually."
-		echo -e "   Use \033[94mgit add $1 && git commit -m 'Updated $1'\033[0m to choose this version (careful!)"
-		echo ""
-		read user_cmd
-		if [ "$user_cmd" == "y" ]; then
-			echo "Continuing build with manually overridden submodule.."
-		elif [ "$user_cmd" == "u" ]; then
-			git submodule sync --recursive -- $1
-			git submodule update --init --recursive -- $1 || true
-			git submodule update --init --recursive --force -- $1
-			echo "Submodule fixed, continuing build.."
-		else
-			echo "Build aborted."
-			exit 1
-		fi
-	fi
-else
-	git submodule --quiet sync --recursive --quiet -- $1
-	git submodule --quiet update --init --recursive -- $1  || true
-	git submodule --quiet update --init --recursive -- $1
-fi
-
-}
-
-# If called with a path then respect $GIT_SUBMODULES_ARE_EVIL but do normal processing
-if [ "$#" != "0" ]; then
-	# called with a path then process only that path but respect $GIT_SUBMODULES_ARE_EVIL
-	[ -n "$GIT_SUBMODULES_ARE_EVIL" ] && {
-		# GIT_SUBMODULES_ARE_EVIL is set, meaning user doesn't want submodules updated
-		exit 0
-	}
-
-	check_git_submodule $1
-
-else
-
-	[ -n "$GIT_SUBMODULES_ARE_EVIL" ] && {
-		# GIT_SUBMODULES_ARE_EVIL is set, meaning user doesn't want submodules updated
-		echo "GIT_SUBMODULES_ARE_EVIL is defined - Skipping All submodule checking!"
-		exit 0
-	}
-
-	submodules=$(git submodule status | awk '{ print $2 }')
-	for i in $submodules;
-	do
-		check_git_submodule $i
-	done
-
-fi
-
-exit 0
@@ -45,7 +45,6 @@ class MavlinkSerialPort():
        self.port = devnum
        self.debug("Connecting with MAVLink to %s ..." % portname)
        self.mav = mavutil.mavlink_connection(portname, autoreconnect=True, baud=baudrate)
-        self.mav.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GENERIC, mavutil.mavlink.MAV_AUTOPILOT_INVALID, 0, 0, 0)
        self.mav.wait_heartbeat()
        self.debug("HEARTBEAT OK\n")
        self.debug("Locked serial device\n")
@@ -227,7 +226,8 @@ def main():
            # handle heartbeat sending
            heartbeat_time = timer()
            if heartbeat_time > next_heartbeat_time:
-                mav_serialport.mav.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GENERIC, mavutil.mavlink.MAV_AUTOPILOT_INVALID, 0, 0, 0)
+                mav_serialport.mav.mav.heartbeat_send(mavutil.mavlink.MAV_TYPE_GCS,
+                        mavutil.mavlink.MAV_AUTOPILOT_GENERIC, 0, 0, 0)
                next_heartbeat_time = heartbeat_time + 1

    except serial.serialutil.SerialException as e:
@@ -14,7 +14,7 @@ class ModuleDocumentation(object):
    # If you add categories or subcategories, they also need to be added to the
    # TOC in https://github.com/PX4/Devguide/blob/master/en/SUMMARY.md
    valid_categories = ['driver', 'estimator', 'controller', 'system',
-                        'communication', 'command', 'template', 'simulation', 'autotune']
+                        'communication', 'command', 'template', 'simulation']
    valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
                           'magnetometer', 'baro', 'optical_flow']

@@ -67,10 +67,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -106,7 +104,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		serial_test
 		system_time
 		top
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# Airmind Mindpx-v2 specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -33,6 +33,6 @@ px4_add_board(
 		topic_listener
 		tune_control
 		uorb
-		#ver
+		ver
 		work_queue
 )
@@ -4,8 +4,7 @@ px4_add_board(
 	PLATFORM nuttx
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
-	CONSTRAINED_FLASH
-	  NO_HELP
+	#CONSTRAINED_FLASH
 	CONSTRAINED_MEMORY
 	EXTERNAL_METADATA
 	ROMFSROOT cannode
@@ -1,10 +0,0 @@
-include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
-
-px4_add_board(
-	PLATFORM nuttx
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_MEMORY
-	DRIVERS
-		bootloaders
-)
@@ -1,38 +0,0 @@
-include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
-
-add_definitions(-DCONSTRAINED_FLASH_NO_HELP="https://docs.px4.io/master/en/modules/modules_main.html")
-
-px4_add_board(
-	PLATFORM nuttx
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_MEMORY
-	EXTERNAL_METADATA
-	ROMFSROOT cannode
-	UAVCAN_INTERFACES 1
-	DRIVERS
-		barometer/bmp388
-		bootloaders
-		gps
-		imu/invensense/icm42688p
-		magnetometer/bosch/bmm150
-		safety_button
-		tone_alarm
-		uavcannode
-	MODULES
-		#ekf2
-		#load_mon
-		#sensors
-	SYSTEMCMDS
-		#i2cdetect
-		#led_control
-		param
-		#perf
-		reboot
-		top
-		topic_listener
-		tune_control
-		uorb
-		#ver
-		work_queue
-)
@@ -1,37 +0,0 @@
-include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
-
-px4_add_board(
-	PLATFORM nuttx
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_FLASH
-	  NO_HELP
-	CONSTRAINED_MEMORY
-	EXTERNAL_METADATA
-	ROMFSROOT cannode
-	UAVCAN_INTERFACES 1
-	DRIVERS
-		barometer/bmp388
-		bootloaders
-		gps
-		imu/invensense/icm42688p
-		magnetometer/bosch/bmm150
-		safety_button
-		tone_alarm
-		uavcannode
-	MODULES
-		#ekf2
-		#load_mon
-		#sensors
-	SYSTEMCMDS
-		#mft
-		#mtd
-		param
-		#perf
-		#reboot
-		#system_time
-		#top
-		#topic_listener
-		#ver
-		#work_queue
-)
@@ -1,13 +0,0 @@
-{
-    "board_id": 82,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the ARK RTK GPS board",
-    "image": "",
-    "build_time": 0,
-    "summary": "ARKRTKGPS",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 2080768,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,9 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default CBRK_IO_SAFETY 0
-
-safety_button start
-tone_alarm start
@@ -1,11 +0,0 @@
-#!/bin/sh
-#
-# board sensors init
-#------------------------------------------------------------------------------
-gps start -d /dev/ttyS0 -p ubx
-
-icm42688p -R 0 -s start
-
-bmp388 -I -b 2 start
-
-bmm150 -I -b 1 start
@@ -1,68 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32"
-CONFIG_ARCH_CHIP_STM32=y
-CONFIG_ARCH_CHIP_STM32F412CE=y
-CONFIG_ARCH_INTERRUPTSTACK=4096
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BINFMT_DISABLE=y
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_C99_BOOL8=y
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DISABLE_MOUNTPOINT=y
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_DISABLE_PTHREAD=y
-CONFIG_EXPERIMENTAL=y
-CONFIG_FDCLONE_DISABLE=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_IDLETHREAD_STACKSIZE=4096
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_LIB_BOARDCTL=y
-CONFIG_FS_PROCFS_MAX_TASKS=0
-CONFIG_MM_REGIONS=2
-CONFIG_NAME_MAX=0
-CONFIG_NUNGET_CHARS=0
-CONFIG_NXFONTS_DISABLE_16BPP=y
-CONFIG_NXFONTS_DISABLE_1BPP=y
-CONFIG_NXFONTS_DISABLE_24BPP=y
-CONFIG_NXFONTS_DISABLE_2BPP=y
-CONFIG_NXFONTS_DISABLE_32BPP=y
-CONFIG_NXFONTS_DISABLE_4BPP=y
-CONFIG_NXFONTS_DISABLE_8BPP=y
-CONFIG_PREALLOC_TIMERS=0
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=262144
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_DISABLE_BUFFERING=y
-CONFIG_STM32_NOEXT_VECTORS=y
-CONFIG_STM32_TIM8=y
-CONFIG_TASK_NAME_SIZE=0
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=4096
@@ -1,152 +0,0 @@
-/************************************************************************************
- * configs/px4fmu/include/board.h
- * include/arch/board/board.h
- *
- *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * 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 NuttX 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 "board_dma_map.h"
-
-#ifndef __ARCH_BOARD_BOARD_H
-#define __ARCH_BOARD_BOARD_H
-
-#include <nuttx/config.h>
-#ifndef __ASSEMBLY__
-# include <stdint.h>
-#endif
-
-#include <stm32.h>
-
-/* HSI - 8 MHz RC factory-trimmed
- * LSI - 32 KHz RC
- * HSE - 8  MHz Crystal
- * LSE - not installed
- */
-#define STM32_BOARD_USEHSE      1
-#define STM32_BOARD_XTAL        8000000
-#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-
-#define STM32_HSI_FREQUENCY     16000000ul
-#define STM32_LSI_FREQUENCY     32000
-
-/* Main PLL Configuration */
-#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
-#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(384)
-#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_4
-#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(8)
-#define STM32_PLLCFG_PLLR       RCC_PLLCFG_PLLR(2)
-
-#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/
-
-#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL
-#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
-#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
-
-#define STM32_SYSCLK_FREQUENCY  96000000ul
-
-/* AHB clock (HCLK) is SYSCLK (96MHz) */
-#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK      /* HCLK  = SYSCLK / 1 */
-#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
-#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY      /* Same as above, to satisfy compiler */
-
-/* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
-#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2     /* PCLK1 = HCLK / 2 */
-#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
-
-/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
-#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-
-/* APB2 clock (PCLK2) is HCLK (96MHz) */
-#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK       /* PCLK2 = HCLK */
-#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY)
-
-/* Timers driven from APB2 will be PCLK2 since no prescale division */
-#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM9_CLKIN   (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM10_CLKIN  (STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM11_CLKIN  (STM32_PCLK2_FREQUENCY)
-
-/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
-#define BOARD_TIM2_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM3_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM4_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM5_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM6_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM7_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
-#define BOARD_TIM8_FREQUENCY    (2 * STM32_PCLK2_FREQUENCY)
-
-/* Alternate function pin selections ************************************************/
-
-/* UARTs */
-#define GPIO_USART1_RX	GPIO_USART1_RX_2
-#define GPIO_USART1_TX	GPIO_USART1_TX_3
-
-#define GPIO_USART2_RX	GPIO_USART2_RX_1
-#define GPIO_USART2_TX	GPIO_USART2_TX_1
-
-/* CAN */
-#define GPIO_CAN1_RX	GPIO_CAN1_RX_1
-#define GPIO_CAN1_TX	GPIO_CAN1_TX_1
-
-/* I2C */
-
-#define GPIO_MCU_I2C1_SCL
-#define GPIO_MCU_I2C1_SDA
-
-#define GPIO_I2C1_SCL	GPIO_I2C1_SCL_1
-#define GPIO_I2C1_SDA	GPIO_I2C1_SDA_1
-
-#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
-#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
-
-#define GPIO_I2C2_SCL	GPIO_I2C2_SCL_1
-#define GPIO_I2C2_SDA	GPIO_I2C2_SDA_4
-
-#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
-#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
-
-/* SPI */
-#define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1
-#define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
-#define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1
-
-#endif /* __ARCH_BOARD_BOARD_H */
@@ -1,43 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 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.
- *
- ****************************************************************************/
-
-#pragma once
-
-// DMA1 Channel/Stream Selections
-//--------------------------------------------//---------------------------//----------------
-
-
-//  DMA2 Channel/Stream Selections
-//--------------------------------------------//---------------------------//----------------
-#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
-#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 5, Channel 3
@@ -1,161 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_OS_API is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS 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_MKFATFS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_STM32_DMACAPABLE is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32"
-CONFIG_ARCH_CHIP_STM32=y
-CONFIG_ARCH_CHIP_STM32F412CE=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-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_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MM_REGIONS=2
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-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_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-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
-CONFIG_RAM_SIZE=262144
-CONFIG_RAM_START=0x20000000
-CONFIG_RAW_BINARY=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_STM32_ADC1=y
-CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
-CONFIG_STM32_DMA1=y
-CONFIG_STM32_DMA2=y
-CONFIG_STM32_FLASH_PREFETCH=y
-CONFIG_STM32_FLOWCONTROL_BROKEN=y
-CONFIG_STM32_I2C1=y
-CONFIG_STM32_I2C2=y
-CONFIG_STM32_JTAG_SW_ENABLE=y
-CONFIG_STM32_PWR=y
-CONFIG_STM32_RTC=y
-CONFIG_STM32_RTC_HSECLOCK=y
-CONFIG_STM32_RTC_MAGIC=0xfacefeee
-CONFIG_STM32_RTC_MAGIC_REG=1
-CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
-CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32_SPI1=y
-CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=1024
-CONFIG_STM32_SPI_DMA=y
-CONFIG_STM32_TIM8=y
-CONFIG_STM32_USART1=y
-CONFIG_STM32_USART2=y
-CONFIG_STM32_USART_BREAKS=y
-CONFIG_STM32_WWDG=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1100
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_SERIAL_CONSOLE=y
-CONFIG_USART2_TXBUFSIZE=1100
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2624
-CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -1,134 +0,0 @@
-/****************************************************************************
- * nuttx-config/scripts/canbootloader_script.ld
- *
- *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * 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 NuttX 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.
- *
- ****************************************************************************/
-
-/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
- * 256Kb of SRAM. SRAM is split up into three blocks:
- *
- * 1) 112Kb of SRAM beginning at address 0x2000:0000
- * 2)  16Kb of SRAM beginning at address 0x2001:c000
- * 3)  64Kb of SRAM beginning at address 0x2002:0000
- * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- *
- * The first 0x10000 of flash is reserved for the bootloader.
- */
-
-MEMORY
-{
-    flash (rx)   : ORIGIN = 0x08000000, LENGTH = 32K
-    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
-}
-
-OUTPUT_ARCH(arm)
-
-ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
-EXTERN(_vectors)	/* force the vectors to be included in the output */
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-	} > flash
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-        .init_section : {
-                _sinit = ABSOLUTE(.);
-                KEEP(*(.init_array .init_array.*))
-                _einit = ABSOLUTE(.);
-        } > flash
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > flash
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > flash
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > sram AT > flash
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > sram
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-}
@@ -1,146 +0,0 @@
-/****************************************************************************
- * scripts/ld.script
- *
- *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * 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 NuttX 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.
- *
- ****************************************************************************/
-
-/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
- * 256Kb of SRAM. SRAM is split up into three blocks:
- *
- * 1) 112Kb of SRAM beginning at address 0x2000:0000
- * 2)  16Kb of SRAM beginning at address 0x2001:c000
- * 3)  64Kb of SRAM beginning at address 0x2002:0000
- * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- *
- * The first 0x10000 of flash is reserved for the bootloader.
- */
-
-MEMORY
-{
-    flash (rx)   : ORIGIN = 0x08010000, LENGTH = 448K
-    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
-}
-
-OUTPUT_ARCH(arm)
-
-ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
-EXTERN(_vectors)	/* force the vectors to be included in the output */
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		. = ALIGN(8);
-		/*
-		* This section positions the app_descriptor_t used
-		* by the make_can_boot_descriptor.py tool to set
-		* the application image's descriptor so that the
-		* uavcan bootloader has the ability to validate the
-		* image crc, size etc
-		*/
-		KEEP(*(.app_descriptor))
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-	} > flash
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-        .init_section : {
-                _sinit = ABSOLUTE(.);
-                KEEP(*(.init_array .init_array.*))
-                _einit = ABSOLUTE(.);
-        } > flash
-
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > flash
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > flash
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > sram AT > flash
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > sram
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-}
@@ -1,68 +0,0 @@
-############################################################################
-#
-#   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.
-#
-############################################################################
-
-if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
-
-	add_library(drivers_board
-		boot_config.h
-		boot.c
-		led.c
-		led.h
-	)
-	target_link_libraries(drivers_board
-		PRIVATE
-			nuttx_arch
-			nuttx_drivers
-			canbootloader
-	)
-	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
-
-else()
-	add_library(drivers_board
-		can.c
-		i2c.cpp
-		init.c
-		led.c
-		spi.cpp
-	)
-
-	target_link_libraries(drivers_board
-		PRIVATE
-			arch_spi
-			drivers__led # drv_led_start
-			nuttx_arch
-			nuttx_drivers
-			px4_layer
-			arch_io_pins
-	)
-endif()
@@ -1,115 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 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.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * board internal definitions
- */
-
-#pragma once
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-/* BUTTON */
-#define GPIO_BTN_SAFETY       /* PB15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)
-
-/* Safety LED */
-#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)
-
-/* Tone alarm output. */
-#define TONE_ALARM_TIMER             2    /* timer 2 */
-#define TONE_ALARM_CHANNEL           1    /* channel 1 */
-#define GPIO_TONE_ALARM_IDLE  /* PA0  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
-#define GPIO_TONE_ALARM       /* PA0  */ (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN0)
-
-/* CAN  Silent mode control */
-#define GPIO_CAN1_SILENT_S0   /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN12)
-
-/* CAN termination software control */
-#define GPIO_CAN1_TERMINATION /* PB13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN13)
-
-/* ICM42688p FSYNC */
-#define GPIO_42688P_FSYNC     /* PB8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
-
-/* Boot config */
-#define GPIO_BOOT_CONFIG      /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)
-
-/* LEDs are driven with open drain to support Anode to 5V or 3.3V */
-#define GPIO_TIM1_CH1         /* PA8  */ (GPIO_TIM1_CH1_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
-#define GPIO_TIM1_CH2         /* PA9  */ (GPIO_TIM1_CH2_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
-#define GPIO_TIM1_CH3         /* PA10 */ (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
-
-#define GPIO_I2C1_SCL_RESET   /* PB6  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN6)
-#define GPIO_I2C1_SDA_RESET   /* PB7  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)
-
-#define GPIO_I2C2_SCL_RESET   /* PB10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define GPIO_I2C2_SDA_RESET   /* PB9  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
-
-#define FLASH_BASED_PARAMS
-
-/* High-resolution timer */
-#define HRT_TIMER                    3  /* use timer 3 for the HRT */
-#define HRT_TIMER_CHANNEL            4  /* use capture/compare channel 4 */
-
-#define PX4_GPIO_INIT_LIST { \
-		GPIO_BTN_SAFETY,                  \
-		GPIO_LED_SAFETY,                  \
-		GPIO_I2C1_SCL_RESET,              \
-		GPIO_I2C1_SDA_RESET,              \
-		GPIO_I2C2_SCL_RESET,              \
-		GPIO_I2C2_SDA_RESET,              \
-		GPIO_42688P_FSYNC,                \
-		GPIO_BOOT_CONFIG,                 \
-		GPIO_CAN1_TX,                     \
-		GPIO_CAN1_RX,                     \
-		GPIO_CAN1_SILENT_S0,              \
-		GPIO_CAN1_TERMINATION,            \
-	}
-
-__BEGIN_DECLS
-
-#define BOARD_HAS_N_S_RGB_LED       1
-#define BOARD_MAX_LEDS              BOARD_HAS_N_S_RGB_LED
-
-#ifndef __ASSEMBLY__
-
-extern void stm32_spiinitialize(void);
-
-#include <px4_platform_common/board_common.h>
-
-#endif /* __ASSEMBLY__ */
-
-__END_DECLS
@@ -1,188 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *       Author: Ben Dyer <ben_dyer@mac.com>
- *               Pavel Kirienko <pavel.kirienko@zubax.com>
- *               David Sidrane <david_s5@nscdg.com>
- *
- * 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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <px4_config.h>
-#include <stdint.h>
-#include "boot_config.h"
-#include "board.h"
-
-#include <debug.h>
-#include <string.h>
-#include <arch/board/board.h>
-
-#include <nuttx/board.h>
-#include "led.h"
-
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
- *   and mapped but before any devices have been initialized.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_boardinitialize(void)
-{
-	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
-	stm32_configgpio(GPIO_CAN1_RX);
-	stm32_configgpio(GPIO_CAN1_TX);
-	stm32_configgpio(GPIO_CAN1_SILENT_S0);
-	stm32_configgpio(GPIO_CAN1_TERMINATION);
-	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
-	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
-
-#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
-	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
-#endif
-
-}
-
-/************************************************************************************
- * Name: board_deinitialize
- *
- * Description:
- *   This function is called by the bootloader code prior to booting
- *   the application. Is should place the HW into an benign initialized state.
- *
- ************************************************************************************/
-
-void board_deinitialize(void)
-{
-	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
-}
-
-/****************************************************************************
- * Name: board_get_product_name
- *
- * Description:
- *   Called to retrieve the product name. The returned value is a assumed
- *   to be written to a pascal style string that will be length prefixed
- *   and not null terminated
- *
- * Input Parameters:
- *    product_name - A pointer to a buffer to write the name.
- *    maxlen       - The maximum number of charter that can be written
- *
- * Returned Value:
- *   The length of characters written to the buffer.
- *
- ****************************************************************************/
-
-uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
-{
-	DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
-	memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
-	return UAVCAN_STRLEN(HW_UAVCAN_NAME);
-}
-
-/****************************************************************************
- * Name: board_get_hardware_version
- *
- * Description:
- *   Called to retrieve the hardware version information. The function
- *   will first initialize the the callers struct to all zeros.
- *
- * Input Parameters:
- *    hw_version - A pointer to a uavcan_hardwareversion_t.
- *
- * Returned Value:
- *   Length of the unique_id
- *
- ****************************************************************************/
-
-size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
-{
-	memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
-
-	hw_version->major = HW_VERSION_MAJOR;
-	hw_version->minor = HW_VERSION_MINOR;
-
-	return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
-}
-
-/****************************************************************************
- * Name: board_indicate
- *
- * Description:
- *   Provides User feedback to indicate the state of the bootloader
- *   on board specific  hardware.
- *
- * Input Parameters:
- *    indication - A member of the uiindication_t
- *
- * Returned Value:
- *   None
- *
- ****************************************************************************/
-#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
-
-typedef begin_packed_struct struct led_t {
-	uint8_t red;
-	uint8_t green;
-	uint8_t blue;
-	uint8_t hz;
-} end_packed_struct led_t;
-
-static const  led_t i2l[] = {
-
-	led(0, off,                             0,     0,     0,     0),
-	led(1, reset,                          128,   128,   128,   30),
-	led(2, autobaud_start,                  0,   128,     0,     1),
-	led(3, autobaud_end,                    0,   128,     0,     2),
-	led(4, allocation_start,                0,     0,    64,     2),
-	led(5, allocation_end,                  0,   128,    64,     3),
-	led(6, fw_update_start,                32,   128,    64,     3),
-	led(7, fw_update_erase_fail,           32,   128,    32,     3),
-	led(8, fw_update_invalid_response,     64,     0,     0,     1),
-	led(9, fw_update_timeout,              64,     0,     0,     2),
-	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
-	led(b, jump_to_app,                     0,   128,     0,    10),
-
-};
-
-void board_indicate(uiindication_t indication)
-{
-	rgb_led(i2l[indication].red,
-		i2l[indication].green,
-		i2l[indication].blue,
-		i2l[indication].hz);
-}
@@ -1,130 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 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.
- *
- ****************************************************************************/
-
-/*
- * @file boot_config.h
- *
- * bootloader definitions that configures the behavior and options
- * of the Boot loader
- * This file is relies on the parent folder's boot_config.h file and defines
- * different usages of the hardware for bootloading
- */
-
-#pragma once
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-/* Bring in the board_config.h definitions
- * todo:make this be pulled in from a targed's build
- * files in nuttx*/
-
-#include "board_config.h"
-#include "uavcan.h"
-#include <nuttx/compiler.h>
-
-#include <stdint.h>
-
-#include <stm32_flash.h>
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-#define OPT_PREFERRED_NODE_ID ANY_NODE_ID
-
-//todo:wrap OPT_x in in ifdefs for command line definitions
-#define OPT_TBOOT_MS                    5000
-#define OPT_NODE_STATUS_RATE_MS         800
-#define OPT_NODE_INFO_RATE_MS           50
-#define OPT_BL_NUMBER_TIMERS            7
-
-/*
- *  This Option set is set to 1 ensure a provider of firmware has an
- *  opportunity update the node's firmware.
- *  This Option is the default policy and can be overridden by
- *  a jumper
- *  When this Policy is set, the node will ignore tboot and
- *  wait indefinitely for a GetNodeInfo request before booting.
- *
- *  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT is used to allow
- *  the polarity of the jumper to be True Active
- *
- *  wait  OPT_WAIT_FOR_GETNODEINFO  OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO
- *                                                 Jumper
- *   yes           1                       0         x
- *   yes           1                       1       Active
- *   no            1                       1       Not Active
- *   no            0                       0         X
- *   yes           0                       1       Active
- *   no            0                       1       Not Active
- *
- */
-#define OPT_WAIT_FOR_GETNODEINFO                    0
-#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO        1
-#define OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO_INVERT 0
-
-#define OPT_ENABLE_WD           1
-
-#define OPT_RESTART_TIMEOUT_MS          20000
-
-/* Reserved for the Booloader */
-#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)
-
-/* Reserved for the application out of the total
- * system flash minus the BOOTLOADER_SIZE_IN_K
- */
-#define OPT_APPLICATION_RESERVER_IN_K    0
-
-#define OPT_APPLICATION_IMAGE_OFFSET    OPT_BOOTLOADER_SIZE_IN_K
-#define OPT_APPLICATION_IMAGE_LENGTH    (FLASH_SIZE-(OPT_BOOTLOADER_SIZE_IN_K+OPT_APPLICATION_RESERVER_IN_K))
-
-
-#define FLASH_BASE              STM32_FLASH_BASE
-#define FLASH_SIZE              STM32_FLASH_SIZE
-
-#define APPLICATION_LOAD_ADDRESS (FLASH_BASE + OPT_APPLICATION_IMAGE_OFFSET)
-#define APPLICATION_SIZE (FLASH_SIZE-OPT_APPLICATION_IMAGE_OFFSET)
-#define APPLICATION_LAST_8BIT_ADDRRESS  ((uint8_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint8_t)))
-#define APPLICATION_LAST_32BIT_ADDRRESS ((uint32_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint32_t)))
-#define APPLICATION_LAST_64BIT_ADDRRESS ((uint64_t *)((APPLICATION_LOAD_ADDRESS+APPLICATION_SIZE)-sizeof(uint64_t)))
-
-/* If this board uses big flash that have large sectors */
-
-#define OPT_USE_YIELD
-
-/* Bootloader Option*****************************************************************
- *
- */
-#define GPIO_GETNODEINFO_JUMPER (GPIO_BOOT_CONFIG & ~GPIO_EXTI)
@@ -1,130 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2021 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.
- *
- ****************************************************************************/
-
-/**
- * @file can.c
- *
- * Board-specific CAN functions.
- */
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-
-#include <errno.h>
-#include <debug.h>
-
-#include <nuttx/can/can.h>
-#include <arch/board/board.h>
-
-#include "chip.h"
-#include "arm_arch.h"
-
-#include "stm32.h"
-#include "stm32_can.h"
-#include "board_config.h"
-
-#ifdef CONFIG_CAN
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-/* Configuration ********************************************************************/
-
-#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
-#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
-#  undef CONFIG_STM32_CAN2
-#endif
-
-#ifdef CONFIG_STM32_CAN1
-#  define CAN_PORT 1
-#else
-#  define CAN_PORT 2
-#endif
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-int can_devinit(void);
-
-/************************************************************************************
- * Name: can_devinit
- *
- * Description:
- *   All STM32 architectures must provide the following interface to work with
- *   examples/can.
- *
- ************************************************************************************/
-
-int can_devinit(void)
-{
-	static bool initialized = false;
-	struct can_dev_s *can;
-	int ret;
-
-	/* Check if we have already initialized */
-
-	if (!initialized) {
-		/* Call stm32_caninitialize() to get an instance of the CAN interface */
-
-		can = stm32_caninitialize(CAN_PORT);
-
-		if (can == NULL) {
-			canerr("ERROR:  Failed to get CAN interface\n");
-			return -ENODEV;
-		}
-
-		/* Register the CAN driver at "/dev/can0" */
-
-		ret = can_register("/dev/can0", can);
-
-		if (ret < 0) {
-			canerr("ERROR: can_register failed: %d\n", ret);
-			return ret;
-		}
-
-		/* Now we are initialized */
-
-		initialized = true;
-	}
-
-	return OK;
-}
-
-#endif
@@ -1,39 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2021 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_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusInternal(1),
-	initI2CBusInternal(2),
-};
@@ -1,148 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 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.
- *
- ****************************************************************************/
-
-/**
- * @file init.c
- *
- * board specific early startup code.  This file implements the
- * board_app_initialize() function that is called early by nsh during startup.
- *
- * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialization.
- */
-
-#include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/tasks.h>
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <string.h>
-#include <debug.h>
-#include <errno.h>
-#include <syslog.h>
-
-#include <nuttx/board.h>
-
-#include <stm32.h>
-#include "board_config.h"
-#include <stm32_uart.h>
-
-#include <arch/board/board.h>
-
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_board_led.h>
-#include <drivers/drv_watchdog.h>
-
-#include <systemlib/px4_macros.h>
-
-#include <px4_platform_common/init.h>
-#include <px4_platform/gpio.h>
-
-# if defined(FLASH_BASED_PARAMS)
-#  include <parameters/flashparams/flashfs.h>
-#endif
-
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
- *   and mapped but before any devices have been initialized.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_boardinitialize(void)
-{
-	watchdog_init();
-
-	/* configure pins */
-	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
-	px4_gpio_init(gpio, arraySize(gpio));
-
-	// Configure SPI all interfaces GPIO & enable power.
-	stm32_spiinitialize();
-}
-
-/****************************************************************************
- * Name: board_app_initialize
- *
- * Description:
- *   Perform application specific initialization.  This function is never
- *   called directly from application code, but only indirectly via the
- *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
- *
- * Input Parameters:
- *   arg - The boardctl() argument is passed to the board_app_initialize()
- *         implementation without modification.  The argument has no
- *         meaning to NuttX; the meaning of the argument is a contract
- *         between the board-specific initalization logic and the the
- *         matching application logic.  The value cold be such things as a
- *         mode enumeration value, a set of DIP switch switch settings, a
- *         pointer to configuration data read from a file or serial FLASH,
- *         or whatever you would like to do with it.  Every implementation
- *         should accept zero/NULL as a default configuration.
- *
- * Returned Value:
- *   Zero (OK) is returned on success; a negated errno value is returned on
- *   any failure to indicate the nature of the failure.
- *
- ****************************************************************************/
-
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-	px4_platform_init();
-
-#if defined(FLASH_BASED_PARAMS)
-	static sector_descriptor_t params_sector_map[] = {
-		{2, 16 * 1024, 0x08008000},
-		{3, 16 * 1024, 0x0800C000},
-		{0, 0, 0},
-	};
-
-	/* Initialize the flashfs layer to use heap allocated memory */
-	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
-
-	if (result != OK) {
-		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
-		return -ENODEV;
-	}
-
-#endif // FLASH_BASED_PARAMS
-
-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
-	return OK;
-}
@@ -1,124 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 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.
- *
- ****************************************************************************/
-
-/**
- * @file led.c
- *
- * LED backend.
- */
-
-#include <px4_platform_common/px4_config.h>
-
-#include <stdbool.h>
-
-#include "chip.h"
-#include "stm32_gpio.h"
-#include "board_config.h"
-
-#include <nuttx/board.h>
-#include <arch/board/board.h>
-
-#include "led.h"
-
-#define TMR_BASE        STM32_TIM1_BASE
-#define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
-#define TMR_REG(o)      (TMR_BASE+(o))
-
-void rgb_led(int r, int g, int b, int freqs)
-{
-
-	long fosc = TMR_FREQUENCY;
-	long prescale = 2048;
-	long p1s = fosc / prescale;
-	long p0p5s  = p1s / 2;
-	uint16_t val;
-	static bool once = 0;
-
-	if (!once) {
-		once = 1;
-
-		/* Enabel Clock to Block */
-		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
-
-		/* Reload */
-
-		val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
-		val |= ATIM_EGR_UG;
-		putreg16(val, TMR_REG(STM32_BTIM_EGR_OFFSET));
-
-		/* Set Prescaler STM32_TIM_SETCLOCK */
-
-		putreg16(prescale, TMR_REG(STM32_BTIM_PSC_OFFSET));
-
-		/* Enable STM32_TIM_SETMODE*/
-
-		putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));
-
-
-		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
-			 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
-		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
-		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
-			 ATIM_CCER_CC2E | ATIM_CCER_CC2P |
-			 ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));
-
-
-		stm32_configgpio(GPIO_TIM1_CH1);
-		stm32_configgpio(GPIO_TIM1_CH2);
-		stm32_configgpio(GPIO_TIM1_CH3);
-
-		/* master output enable = on */
-		putreg16(ATIM_BDTR_MOE, (TMR_REG(STM32_ATIM_BDTR_OFFSET)));
-	}
-
-	long p  = freqs == 0 ? p1s : p1s / freqs;
-	putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
-
-	p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
-
-	putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
-	putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
-	putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));
-
-	val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));
-
-	if (freqs == 0) {
-		val &= ~ATIM_CR1_CEN;
-
-	} else {
-		val |= ATIM_CR1_CEN;
-	}
-
-	putreg16(val, TMR_REG(STM32_BTIM_CR1_OFFSET));
-
-}
@@ -1,37 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2015 PX4 Development Team. All rights reserved.
- *   Author: David Sidrane<david_s5@nscdg.com>
- *
- * 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.
- *
- ****************************************************************************/
-
-__BEGIN_DECLS
-void rgb_led(int r, int g, int b, int freqs);
-__END_DECLS
@@ -1,44 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2021 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_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-#include <nuttx/spi/spi.h>
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortB, GPIO::Pin0}, SPI::DRDY{GPIO::PortB, GPIO::Pin1}),
-	}),
-};
-
-static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -1,17 +0,0 @@
-# UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major 0)
-set(uavcanblid_sw_version_minor 1)
-add_definitions(
-	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
-)
-
-set(uavcanblid_hw_version_major 0)
-set(uavcanblid_hw_version_minor 82)
-set(uavcanblid_name "\"org.ark.can-rtk-gps\"")
-
-add_definitions(
-	-DHW_UAVCAN_NAME=${uavcanblid_name}
-	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
-)
@@ -25,10 +25,8 @@ px4_add_board(
 		land_detector
 		load_mon
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -14,3 +14,6 @@ mavlink stream -d ${GIMBAL_TTY} -s GIMBAL_DEVICE_SET_ATTITUDE -r 20

 # optical flow
 mavlink start -d /dev/ttyS2 -m custom -b 500000
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -66,10 +66,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -104,7 +102,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		serial_test
 		system_time
 		top
@@ -51,10 +51,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -30,10 +30,8 @@ px4_add_board(
 		load_mon
 		#local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		# mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -61,7 +59,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		#sd_stress
 		system_time
 		top
 		topic_listener
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# Bitcraze Crazyflie specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -29,10 +29,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		# mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -59,7 +57,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		#sd_stress
 		system_time
 		top
 		topic_listener
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# Bitcraze Crazyflie specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -73,10 +73,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# board specific MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -16,7 +16,7 @@ px4_add_board(
 		# CONSOLE: /dev/ttyS4
 		# RC: /dev/ttyS5
 	DRIVERS
-		#adc/ads1115
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -37,8 +37,8 @@ px4_add_board(
 		lights # all available light drivers
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
-		#osd
+		optical_flow # all available optical flow drivers
+		osd
 		pca9685
 		pca9685_pwm_out
 		power_monitor/ina226
@@ -73,10 +73,8 @@ px4_add_board(
 		load_mon
 		#local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -113,7 +111,6 @@ px4_add_board(
 		reboot
 		#reflect
 		sd_bench
-		sd_stress
 		serial_test
 		#system_time
 		tests # tests and test runner
@@ -74,10 +74,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -113,7 +111,6 @@ px4_add_board(
 		reboot
 		#reflect
 		sd_bench
-		sd_stress
 		#serial_test
 		#system_time
 		top
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# board specific MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -16,7 +16,7 @@ px4_add_board(
 		# CONSOLE: /dev/ttyS4
 		# RC: /dev/ttyS5
 	DRIVERS
-		#adc/ads1115
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -28,21 +28,20 @@ px4_add_board(
 		gps
 		heater
 		#imu # all available imu drivers
-		#imu/analog_devices/adis16448
+		imu/analog_devices/adis16448
 		imu/analog_devices/adis16470
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		imu/invensense/icm20948 # required for ak09916 mag
-		#imu/invensense/icm42688p
 		#irlock
 		lights # all available light drivers
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
-		#osd
-		#pca9685
-		#pca9685_pwm_out
+		optical_flow # all available optical flow drivers
+		osd
+		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -51,7 +50,6 @@ px4_add_board(
 		#roboclaw
 		#rpm
 		safety_button
-		#smart_battery/batmon
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -76,10 +74,8 @@ px4_add_board(
 		load_mon
 		#local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -116,8 +112,7 @@ px4_add_board(
 		reboot
 		#reflect
 		sd_bench
-		sd_stress
-		#serial_test
+		serial_test
 		#system_time
 		tests # tests and test runner
 		top
@@ -70,10 +70,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -109,7 +107,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		#serial_test
 		system_time
 		top
@@ -3,6 +3,9 @@
 # Board specific MAVLink startup script.
 #------------------------------------------------------------------------------

+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
+
 # Start ADS-B receiver mavlink connection if console not present
 if [ ! -e /dev/console ]
 then
@@ -71,10 +71,8 @@ px4_add_board(
 		load_mon
 		#local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -111,7 +109,6 @@ px4_add_board(
 		reboot
 		#reflect
 		sd_bench
-		sd_stress
 		#serial_test
 		#system_time
 		tests # tests and test runner
@@ -68,10 +68,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -107,7 +105,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		#serial_test
 		system_time
 		top
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# Board specific MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -69,10 +69,8 @@ px4_add_board(
 		load_mon
 		#local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -109,7 +107,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		#serial_test
 		system_time
 		tests # tests and test runner
@@ -51,10 +51,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -68,10 +68,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -107,7 +105,6 @@ px4_add_board(
 		reboot
 		#reflect
 		sd_bench
-		sd_stress
 		#serial_test
 		system_time
 		top
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# Durandal specific specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -69,10 +69,8 @@ px4_add_board(
 		load_mon
 		#local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -109,7 +107,6 @@ px4_add_board(
 		reboot
 		#reflect
 		sd_bench
-		sd_stress
 		serial_test
 		#system_time
 		tests # tests and test runner
@@ -1,6 +1,4 @@

-add_definitions(-DCONSTRAINED_FLASH_NO_HELP="https://docs.px4.io/master/en/modules/modules_main.html")
-
 px4_add_board(
 	PLATFORM nuttx
 	TOOLCHAIN arm-none-eabi
@@ -45,10 +43,8 @@ px4_add_board(
 		load_mon
 		#local_position_estimator
 		logger
-		#mag_bias_estimator
 		mavlink
 		mc_att_control
-		# mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# KakuteF7 specific specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -72,10 +72,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -111,7 +109,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		serial_test
 		system_time
 		top
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# PX4 FMUv5 specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -66,10 +66,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -105,7 +103,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		serial_test
 		system_time
 		top
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# ModalAI FC-v1 specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -64,10 +64,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -103,7 +101,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		serial_test
 		system_time
 		top
@@ -66,10 +66,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -106,7 +104,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		serial_test
 		system_time
 		tests # tests and test runner
@@ -70,10 +70,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -109,7 +107,6 @@ px4_add_board(
 		reboot
 		#reflect
 		sd_bench
-		sd_stress
 		#serial_test
 		system_time
 		top
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# ModalAI FC-v2 specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -71,10 +71,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -112,7 +110,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		serial_test
 		system_time
 #		tests # tests and test runner
@@ -69,10 +69,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -108,7 +106,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		serial_test
 		system_time
 		top
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# mRo Control Zero specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -69,10 +69,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -108,7 +106,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		serial_test
 		system_time
 		top
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# mRo Control Zero specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -68,10 +68,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -107,7 +105,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		serial_test
 		system_time
 		top
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# board specific MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -68,10 +68,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -107,7 +105,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		serial_test
 		system_time
 		top
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# board specific MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -68,10 +68,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -107,7 +105,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		serial_test
 		system_time
 		top
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# board specific MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -69,10 +69,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -108,7 +106,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		serial_test
 		system_time
 		top
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# Board specific MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -70,10 +70,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -109,7 +107,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		serial_test
 		system_time
 		top
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# mRo x21 specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -66,10 +66,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -104,7 +102,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		serial_test
 		system_time
 		top
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# NXP fmuk66-e specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -66,10 +66,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -104,7 +102,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		serial_test
 		system_time
 		tests # tests and test runner
@@ -65,10 +65,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -103,7 +101,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		serial_test
 		system_time
 		tests # tests and test runner
@@ -66,10 +66,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -104,7 +102,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		serial_test
 		system_time
 		top
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# NXP fmuk66-v3 specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -66,10 +66,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -104,7 +102,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		serial_test
 		system_time
 		tests # tests and test runner
@@ -66,10 +66,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -104,7 +102,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		serial_test
 		system_time
 		tests # tests and test runner
@@ -66,10 +66,8 @@ px4_add_board(
 		load_mon
 		local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -105,7 +103,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		sd_stress
 		serial_test
 		system_time
 		tests # tests and test runner
@@ -44,8 +44,8 @@ px4_add_board(
 		#roboclaw
 		#rpm
 		safety_button
-		#smart_battery/batmon
-		#telemetry # all available telemetry drivers
+		smart_battery/batmon
+		telemetry # all available telemetry drivers
 		tone_alarm
 		#uavcan
 	MODULES
@@ -68,10 +68,8 @@ px4_add_board(
 		load_mon
 		#local_position_estimator
 		logger
-		mag_bias_estimator
 		mavlink
 		mc_att_control
-		mc_autotune_attitude_control
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
@@ -107,7 +105,6 @@ px4_add_board(
 		reboot
 		#reflect
 		sd_bench
-		sd_stress
 		#serial_test
 		#system_time
 		top
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# PX4 FMUv5 specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
--- a/Show More
+++ b/Show More