make demo work with pca.

ucan pwm enablement.
S32K1 fixes.
2026-05-24 00:07:34 +08:00 · 2022-06-01 18:22:23 -04:00 · 2022-06-01 13:36:40 -04:00 · 2022-05-31 16:56:49 -04:00 · 2022-05-26 10:52:08 -04:00 · 2022-05-25 17:44:54 -04:00
455 changed files with 11680 additions and 20364 deletions
@@ -809,9 +809,6 @@ void runTests() {
  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 "ostest"'
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest
-
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
@@ -126,6 +126,8 @@
        },
        "search.showLineNumbers": true,
        "telemetry.enableTelemetry": false,
+        "terminal.integrated.copyOnSelection": true,
+        "terminal.integrated.rightClickBehavior": "paste",
        "terminal.integrated.scrollback": 5000,
        "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
        "workbench.editor.highlightModifiedTabs": true,
@@ -331,7 +331,7 @@ px4io_update: px4_io-v2_default cubepilot_io-v2_default
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
+bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status

 .PHONY: coverity_scan
@@ -32,3 +32,4 @@
 ############################################################################

 add_subdirectory(init.d)
+add_subdirectory(mixers)
@@ -33,4 +33,5 @@

 px4_add_romfs_files(
 	rcS
+	rc.output_defaults
 )
@@ -0,0 +1,32 @@
+#!/bin/sh
+#
+# UGV default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+#
+# Enable servo output on pins 3 and 4 (steering and thrust)
+# but also include 1+2 as they form together one output group
+# and need to be set together.
+#
+set PWM_OUT 12
+
+#
+# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
+# may damage analog servos.
+#
+set PWM_MAIN_RATE 50
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+set PWM_AUX_OUT 12
+
+param set-default PWM_MAIN_DISARM 1500
+param set-default PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_MIN 1000
+
+# Set mixer
+set MIXER IO_pass_ucan
@@ -65,8 +65,8 @@ unset BOARD_RC_DEFAULTS
 #
 # Start system state indicator.
 #
-rgbled start -X -q
-rgbled_ncp5623c start -X -q
+#rgbled start -X -q
+#rgbled_ncp5623c start -X -q

 #
 # board sensors: rc.sensors
@@ -86,28 +86,10 @@ unset BOARD_RC_SENSORS
 . ${R}etc/init.d/rc.serial

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

-if param compare -s IMU_GYRO_CAL_EN 1
-then
-	gyro_calibration start
-fi
-
-
-if param compare -s MBE_ENABLE 1
-then
-	# conservative mag bias estimation
-	param set-default MBE_LEARN_GAIN 5
-	param set-default IMU_GYRO_CUTOFF 20
-	mag_bias_estimator start
-fi
-
-param set-default SENS_MAG_RATE 100
-
-sensors start
-
-uavcannode start
+#uavcannode start
 unset R
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2018 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
@@ -31,4 +31,6 @@
 #
 ############################################################################

-add_subdirectory(sagetech_mxs)
+px4_add_romfs_files(
+	IO_pass_ucan.main.mix
+)
@@ -0,0 +1,12 @@
+Passthrough mixer for PX4IO
+============================
+
+This file defines passthrough mixers suitable for testing.
+
+Channel group 0, channels 0-7 are passed directly through to the outputs.
+
+M: 1
+S: 0 0  10000  10000      0 -10000  10000
+
+M: 1
+S: 0 1  10000  10000      0 -10000  10000
@@ -1,101 +0,0 @@
-#!/bin/sh
-#
-# @name 6DoF Omnicopter SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Jaeyoung Lim <jalim@ethz.ch>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default SYS_CTRL_ALLOC 1
-
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 255
-
-param set-default CA_ROTOR0_PX 0.14435
-param set-default CA_ROTOR0_PY -0.14435
-param set-default CA_ROTOR0_PZ -0.14435
-param set-default CA_ROTOR0_KM 0.05 # CCW
-param set-default CA_ROTOR0_AX -0.788675
-param set-default CA_ROTOR0_AY -0.211325
-param set-default CA_ROTOR0_AZ -0.57735
-
-param set-default CA_ROTOR1_PX -0.14435
-param set-default CA_ROTOR1_PY -0.14435
-param set-default CA_ROTOR1_PZ -0.14435
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR1_AX 0.211325
-param set-default CA_ROTOR1_AY -0.788675
-param set-default CA_ROTOR1_AZ 0.57735
-
-param set-default CA_ROTOR2_PX 0.14435
-param set-default CA_ROTOR2_PY 0.14435
-param set-default CA_ROTOR2_PZ -0.14435
-param set-default CA_ROTOR2_KM 0.05
-param set-default CA_ROTOR2_AX -0.211325
-param set-default CA_ROTOR2_AY 0.788675
-param set-default CA_ROTOR2_AZ 0.57735
-
-param set-default CA_ROTOR3_PX -0.14435
-param set-default CA_ROTOR3_PY 0.14435
-param set-default CA_ROTOR3_PZ -0.14435
-param set-default CA_ROTOR3_KM 0.05
-param set-default CA_ROTOR3_AX 0.788675
-param set-default CA_ROTOR3_AY 0.211325
-param set-default CA_ROTOR3_AZ -0.57735
-
-param set-default CA_ROTOR4_PX 0.14435
-param set-default CA_ROTOR4_PY -0.14435
-param set-default CA_ROTOR4_PZ 0.14435
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR4_AX 0.788675
-param set-default CA_ROTOR4_AY 0.211325
-param set-default CA_ROTOR4_AZ -0.57735
-
-param set-default CA_ROTOR5_PX -0.14435
-param set-default CA_ROTOR5_PY -0.14435
-param set-default CA_ROTOR5_PZ 0.14435
-param set-default CA_ROTOR5_KM 0.05
-param set-default CA_ROTOR5_AX -0.211325
-param set-default CA_ROTOR5_AY 0.788675
-param set-default CA_ROTOR5_AZ 0.57735
-
-param set-default CA_ROTOR6_PX 0.14435
-param set-default CA_ROTOR6_PY 0.14435
-param set-default CA_ROTOR6_PZ 0.14435
-param set-default CA_ROTOR6_KM 0.05
-param set-default CA_ROTOR6_AX 0.211325
-param set-default CA_ROTOR6_AY -0.788675
-param set-default CA_ROTOR6_AZ 0.57735
-
-param set-default CA_ROTOR7_PX -0.14435
-param set-default CA_ROTOR7_PY 0.14435
-param set-default CA_ROTOR7_PZ 0.14435
-param set-default CA_ROTOR7_KM 0.05
-param set-default CA_ROTOR7_AX -0.788675
-param set-default CA_ROTOR7_AY -0.211325
-param set-default CA_ROTOR7_AZ -0.57735
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105
-param set-default PWM_MAIN_FUNC6 106
-param set-default PWM_MAIN_FUNC7 107
-param set-default PWM_MAIN_FUNC8 108
-
-# disable MC desaturation which improves attitude tracking
-param set-default CA_METHOD 0
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-
-set MIXER skip
-set MIXER_AUX none
@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# @name QuadrotorX SITL for SIH
-#
-# @type Quadrotor
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER quad_x
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set SIH_VEHICLE_TYPE 0
@@ -1,33 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL for SIH
-#
-# @type Plane
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-
-. ${R}etc/init.d/rc.fw_defaults
-
-set MIXER AERT
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default BAT_N_CELLS 3
-
-param set SIH_T_MAX 6.0
-param set SIH_MASS 0.3
-param set SIH_IXX 0.00402
-param set SIH_IYY 0.0144
-param set SIH_IZZ 0.0177
-param set SIH_IXZ 0.00046
-param set SIH_KDV 0.2
-
-param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
-param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
@@ -1,45 +0,0 @@
-#!/bin/sh
-#
-# @name SIH Tailsitter Duo
-#
-# @type VTOL
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_TYPE 0
-param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.3
-param set-default MPC_MAN_Y_MAX 60
-param set-default MC_PITCH_P 5
-
-param set-default MAV_TYPE 19
-set MAV_TYPE 19
-set MIXER vtol_tailsitter_duo_sat
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default BAT_N_CELLS 3
-
-param set SIH_T_MAX 2.0
-param set SIH_Q_MAX 0.0165
-param set SIH_MASS 0.2
-# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
-param set SIH_IXX 0.00354
-param set SIH_IYY 0.000625
-param set SIH_IZZ 0.00300
-param set SIH_IXZ 0.0
-param set SIH_KDV 0.2
-param set SIH_L_ROLL 0.145
-
-# sih as tailsitter
-param set SIH_VEHICLE_TYPE 2
@@ -18,7 +18,3 @@ param set-default LPE_FAKE_ORIGIN 1

 param set-default MPC_ALT_MODE 2

-param set-default SENS_FLOW_ROT 6
-param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 3.0
-param set-default SENS_FLOW_MAXR 2.5
@@ -9,6 +9,7 @@

 # EKF2
 param set-default EKF2_AID_MASK 2
+param set-default SENS_FLOW_ROT 0

 # LPE: Flow-only mode
 param set-default LPE_FUSION 242
@@ -35,12 +35,8 @@ px4_add_romfs_files(
 	10016_iris
 	10017_iris_ctrlalloc
 	10018_iris_foggy_lidar
-	10019_omnicopter
 	10020_if750a
 	10030_px4vision
-	10040_quadx
-	10041_airplane
-	10042_xvert
 	1010_iris_opt_flow
 	1010_iris_opt_flow.post
 	1011_iris_irlock
@@ -30,12 +30,3 @@ mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $ud

 # Onboard link to gimbal
 mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
-
-# To display for SIH sitl
-if [ "$SIM_MODE" = "sihsim" ]; then
-	udp_sihsim_port_local=$((19450+px4_instance))
-	udp_sihsim_port_remote=$((19410+px4_instance))
-	mavlink start -x -u $udp_sihsim_port_local -r 400000 -m custom -o $udp_sihsim_port_remote
-	mavlink stream -r 200 -s HIL_ACTUATOR_CONTROLS -u  $udp_sihsim_port_local
-	mavlink stream -r 25 -s HIL_STATE_QUATERNION -u  $udp_sihsim_port_local
-fi
@@ -154,8 +154,6 @@ param set-default SDLOG_DIRS_MAX 7

 param set-default TRIG_INTERFACE 3

-param set-default SYS_FAILURE_EN 1
-
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
@@ -204,11 +202,8 @@ param set IMU_INTEG_RATE 250
 . px4-rc.params

 dataman start
-# start sih in sih_sim mode, otherwise simulator module
-if [ "$SIM_MODE" = "sihsim" ]; then
-	sih start
 # only start the simulator if not in replay mode, as both control the lockstep time
-elif ! replay tryapplyparams
+if ! replay tryapplyparams
 then
  . px4-rc.simulator
 fi
@@ -55,4 +55,5 @@ px4_add_romfs_files(
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults
+	rc.output_defaults
 )
@@ -0,0 +1,21 @@
+#!/bin/sh
+#
+# @name Generic Output
+#
+# @maintainer
+#
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.output_defaults
+
+
+# Provide ESC a constant 1500 us pulse
+param set-default PWM_MAIN_DISARM 1500
+param set-default PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_MIN 1000
+
+# Set mixer
+set MIXER IO_pass
+
+set PWM_OUT 12
@@ -104,6 +104,7 @@ param set-default SDLOG_PROFILE 131
 param set-default SENS_CM8JL65_CFG 104
 param set-default SENS_FLOW_MAXHGT 25
 param set-default SENS_FLOW_MINHGT 0.5
+param set-default SENS_FLOW_ROT 0
 param set-default IMU_GYRO_CUTOFF 100
 param set-default SENS_EN_PMW3901 1

@@ -47,7 +47,6 @@ param set-default COM_RC_LOSS_T 3

 # ekf2
 param set-default EKF2_AID_MASK 33
-param set-default EKF2_TERR_MASK 1
 param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0

@@ -174,7 +173,7 @@ param set-default RC1_TRIM          1000
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
 param set-default SENS_FLOW_MAXHGT 5.0
-param set-default SENS_FLOW_ROT 0
+param set-default SENS_FLOW_ROT    0

 # ignore the SD card errors and use normal startup sound
 set STARTUP_TUNE "1"
@@ -147,7 +147,7 @@ px4_add_romfs_files(
 	18001_TF-B1

 	# [22000, 22999] Reserve for custom models
-
+	22222_generic_output
 	24001_dodeca_cox

 	50000_generic_ground_vehicle
@@ -0,0 +1,25 @@
+#!/bin/sh
+#
+# UGV default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+#
+# Enable servo output on pins 3 and 4 (steering and thrust)
+# but also include 1+2 as they form together one output group
+# and need to be set together.
+#
+set PWM_OUT 12
+
+#
+# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
+# may damage analog servos.
+#
+set PWM_MAIN_RATE 50
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+set PWM_AUX_OUT 12
@@ -95,7 +95,7 @@ def do_nsh_cmd(port_url, baudrate, cmd):


    timeout_start = time.monotonic()
-    timeout = 600 # 10 minutes
+    timeout = 240 # 4 minutes

    return_code = 0

@@ -0,0 +1,7 @@
+if SWD
+speed 1000
+r
+loadbin /Users/landon/git/px4/build/nxp_ucans32k146_nxp_demo/deploy/34.bin,0x6000
+r
+g
+q
@@ -0,0 +1,3 @@
+#!/bin/zsh
+
+JLinkExe -device S32K146 -CommandFile /Users/landon/git/px4/Tools/flash_nxp/flash_ucan.jlink
@@ -5,13 +5,12 @@ set -e
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 cd "$SCRIPT_DIR/jMAVSim"

-port=4560
+tcp_port=4560
 extra_args=
 baudrate=921600
 device=
 ip="127.0.0.1"
-protocol="tcp"
-while getopts ":b:d:u:p:qsr:f:i:loat" opt; do
+while getopts ":b:d:p:qsr:f:i:loat" opt; do
 	case $opt in
 		b)
 			baudrate=$OPTARG
@@ -19,14 +18,11 @@ while getopts ":b:d:u:p:qsr:f:i:loat" opt; do
 		d)
 			device="$OPTARG"
 			;;
-		u)
-			protocol="udp"
-			;;
 		i)
 			ip="$OPTARG"
 			;;
 		p)
-			port=$OPTARG
+			tcp_port=$OPTARG
 			;;
 		q)
 			extra_args="$extra_args -qgc"
@@ -57,11 +53,7 @@ while getopts ":b:d:u:p:qsr:f:i:loat" opt; do
 done

 if [ "$device" == "" ]; then
-	if [ "$protocol" == "tcp" ]; then
-		device="-tcp $ip:$port"
-	else
-		device="-udp $port"
-	fi
+	device="-tcp $ip:$tcp_port"
 else
 	device="-serial $device $baudrate"
 fi
@@ -0,0 +1,72 @@
+#!/bin/python3
+
+import parse_cmake.parsing as cmp
+import glob
+import pprint
+import re
+import os
+
+__location__ = os.path.realpath(
+    os.path.join(os.getcwd(), os.path.dirname(__file__)))
+
+serial_regex = r"(\D\D\D\d):(/dev/ttyS\d+)"
+io_regex = r"IO (.*)"
+romfs_regex = r"ROMFSROOT (.*)"
+arch_regex = r"ARCHITECTURE (.*)"
+toolchain_regex = r"TOOLCHAIN (.*)"
+
+
+
+def stripComments(code):
+    code = str(code)
+    return re.sub(r'(?m) *#.*\n?', '', code)
+
+lut = {}
+with open(os.path.join(__location__, "cmake_kconfig_lut.txt"),'r') as lookup:
+    for line in lookup:
+        if ',' in line:
+            key, value = line.strip().split(',')
+            lut[key] = value
+
+#for name in glob.glob('boards/*/*/*.cmake'):
+px4_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), '../../'))
+
+for name in glob.glob(px4_dir + '/boards/*/*/*.cmake'):
+    print(name)
+    with open(name, 'r') as f:
+        romfs_set = False
+        w = open(name.replace(".cmake",".px4board"), "w")
+        for line in f:
+            clean_line = stripComments(line.strip())
+            value = lut.get(clean_line)
+            if value is not None:
+                print(value, file=w)
+                print(value)
+            else:
+                matches = re.finditer(serial_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_SERIAL_" + match.groups()[0] + "=\"" + match.groups()[1] + "\"")
+                    print("CONFIG_BOARD_SERIAL_" + match.groups()[0] + "=\"" + match.groups()[1] + "\"", file=w)
+                matches = re.finditer(io_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_IO=\"" + match.groups()[0] + "\"")
+                    print("CONFIG_BOARD_IO=\"" + match.groups()[0] + "\"", file=w)
+                matches = re.finditer(romfs_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_ROMFSROOT=\"" + match.groups()[0] + "\"")
+                    print("CONFIG_BOARD_ROMFSROOT=\"" + match.groups()[0] + "\"", file=w)
+                    romfs_set = True
+                matches = re.finditer(arch_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_ARCHITECTURE=\"" + match.groups()[0] + "\"")
+                    print("CONFIG_BOARD_ARCHITECTURE=\"" + match.groups()[0] + "\"", file=w)
+                matches = re.finditer(toolchain_regex, clean_line, re.MULTILINE)
+                for matchNum, match in enumerate(matches, start=1):
+                    print("CONFIG_BOARD_TOOLCHAIN=\"" + match.groups()[0] + "\"")
+                    print("CONFIG_BOARD_TOOLCHAIN=\"" + match.groups()[0] + "\"", file=w)
+
+    if(romfs_set == False):
+        print("CONFIG_BOARD_ROMFSROOT=\"\"", file=w)
+
+
+    w.close()
@@ -0,0 +1,204 @@
+PLATFORM nuttx,CONFIG_PLATFORM_NUTTX=y
+PLATFORM posix,CONFIG_PLATFORM_POSIX=y
+CONSTRAINED_MEMORY,CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONSTRAINED_FLASH,CONFIG_BOARD_CONSTRAINED_FLASH=y
+NO_HELP,CONFIG_BOARD_NO_HELP=y
+EXTERNAL_METADATA,CONFIG_BOARD_EXTERNAL_METADATA=y
+BUILD_BOOTLOADER,CONFIG_BOARD_BUILD_BOOTLOADER=y
+UAVCAN_INTERFACES 2,CONFIG_BOARD_UAVCAN_INTERFACES=2
+UAVCAN_INTERFACES 1,CONFIG_BOARD_UAVCAN_INTERFACES=1
+UAVCAN_TIMER_OVERRIDE 2,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
+UAVCAN_TIMER_OVERRIDE 1,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=1
+UAVCAN_TIMER_OVERRIDE 1,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=0
+TESTING,CONFIG_BOARD_TESTING=y
+ETHERNET,CONFIG_BOARD_ETHERNET=y
+adc/ads1115,CONFIG_DRIVERS_ADC_ADS1115=y
+adc/board_adc,CONFIG_DRIVERS_ADC_BOARD_ADC=y
+barometer,CONFIG_COMMON_BAROMETERS=y
+barometer/bmp280,CONFIG_DRIVERS_BAROMETER_BMP280=y
+barometer/bmp388,CONFIG_DRIVERS_BAROMETER_BMP388=y
+barometer/dps310,CONFIG_DRIVERS_BAROMETER_DPS310=y
+barometer/lps22hb,CONFIG_DRIVERS_BAROMETER_LPS22HB=y
+barometer/lps25h,CONFIG_DRIVERS_BAROMETER_LPS25H=y
+barometer/lps33hw,CONFIG_DRIVERS_BAROMETER_LPS33HW=y
+barometer/mpl3115a2,CONFIG_DRIVERS_BAROMETER_MPL3115A2=y
+barometer/ms5611,CONFIG_DRIVERS_BAROMETER_MS5611=y
+barometer/tcbp001ta,CONFIG_DRIVERS_BAROMETER_TCBP001TA=y
+batt_smbus,CONFIG_DRIVERS_BATT_SMBUS=y
+bootloaders,CONFIG_DRIVERS_BOOTLOADERS=y
+camera_capture,CONFIG_DRIVERS_CAMERA_CAPTURE=y
+camera_trigger,CONFIG_DRIVERS_CAMERA_TRIGGER=y
+differential_pressure,CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
+distance_sensor,CONFIG_COMMON_DISTANCE_SENSOR=y
+distance_sensor/ll40ls,CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
+distance_sensor/lightware_laser_serial,CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
+distance_sensor/broadcom/afbrs50,CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
+distance_sensor/vl53l0x,CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
+distance_sensor/vl53l1x,CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
+distance_sensor/srf05,CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y
+dshot,CONFIG_DRIVERS_DSHOT=y
+gps,CONFIG_DRIVERS_GPS=y
+heater,CONFIG_DRIVERS_HEATER=y
+imu,CONFIG_COMMON_IMU=y
+imu/adis16477,CONFIG_DRIVERS_IMU_ADIS16477=y
+imu/adis16497,CONFIG_DRIVERS_IMU_ADIS16497=y
+imu/analog_devices/adis16448,CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
+imu/analog_devices/adis16470,CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
+imu/bosch/bmi055,CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
+imu/bosch/bmi088,CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
+imu/fxas21002c,CONFIG_DRIVERS_IMU_FXAS21002C=y
+imu/fxos8701cq,CONFIG_DRIVERS_IMU_FXOS8701CQ=y
+imu/invensense/icm20602,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+imu/invensense/icm20608g,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20608G=y
+imu/invensense/icm20649,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
+imu/invensense/icm20689,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
+imu/invensense/icm20948,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+imu/invensense/icm40609d,CONFIG_DRIVERS_IMU_INVENSENSE_ICM40609D=y
+imu/invensense/icm42605,CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
+imu/invensense/icm42688p,CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+imu/invensense/mpu6000,CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+imu/invensense/mpu6500,CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
+imu/invensense/mpu9250,CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
+imu/l3gd20,CONFIG_DRIVERS_IMU_L3GD20=y
+imu/lsm303d,CONFIG_DRIVERS_IMU_LSM303D=y
+imu/st,CONFIG_DRIVERS_IMU_ST=y
+irlock,CONFIG_DRIVERS_IRLOCK=y
+lights,CONFIG_COMMON_LIGHT=y
+lights/neopixel,CONFIG_DRIVERS_LIGHTS_NEOPIXEL=y
+lights/rgbled,CONFIG_DRIVERS_LIGHTS_RGBLED=y
+lights/rgbled_ncp5623c,CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
+lights/rgbled_pwm,CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
+magnetometer,CONFIG_COMMON_MAGNETOMETER=y
+magnetometer/akm/ak09916,CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916=y
+magnetometer/akm/ak8963,CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
+magnetometer/bosch/bmm150,CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
+magnetometer/hmc5883,CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
+magnetometer/isentek/ist8308,CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
+magnetometer/isentek/ist8310,CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
+magnetometer/lis2mdl,CONFIG_DRIVERS_MAGNETOMETER_LIS2MDL=y
+magnetometer/lis3mdl,CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
+magnetometer/lsm303agr,CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
+magnetometer/lsm9ds1_mag,CONFIG_DRIVERS_MAGNETOMETER_LSM9DS1_MAG=y
+magnetometer/qmc5883l,CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+magnetometer/rm3100,CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
+magnetometer/vtrantech/vcm1193l,CONFIG_DRIVERS_MAGNETOMETER_VTRANTECH_VCM1193L=y
+optical_flow,CONFIG_COMMON_OPTICAL_FLOW=y
+optical_flow/paw3902,CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
+optical_flow/paw3901,CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901=y
+optical_flow/px4flow,CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
+optical_flow/thoneflow,CONFIG_DRIVERS_OPTICAL_FLOW_THONEFLOW=y
+osd,CONFIG_DRIVERS_OSD=y
+pca9685,CONFIG_DRIVERS_PCA9685=y
+pca9685_pwm_out,CONFIG_DRIVERS_PCA9685_PWM_OUT=y
+power_monitor/ina226,CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+power_monitor/voxlpm,CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
+pps_capture,CONFIG_DRIVERS_PPS_CAPTURE=y
+protocol_splitter,CONFIG_DRIVERS_PROTOCOL_SPLITTER=y
+pwm_input,CONFIG_DRIVERS_PWM_INPUT=y
+pwm_out_sim,CONFIG_DRIVERS_PWM_OUT_SIM=y
+pwm_out,CONFIG_DRIVERS_PWM_OUT=y
+px4io,CONFIG_DRIVERS_PX4IO=y
+rc_input,CONFIG_DRIVERS_RC_INPUT=y
+roboclaw,CONFIG_DRIVERS_ROBOCLAW=y
+rpi_rc_in,CONFIG_DRIVERS_RPI_RC_IN=y
+rpm,CONFIG_DRIVERS_RPM=y
+safety_button,CONFIG_DRIVERS_SAFETY_BUTTON=y
+smart_battery/batmon,CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
+spektrum_rc,CONFIG_DRIVERS_SPEKTRUM_RC=y
+telemetry,CONFIG_DRIVERS_TELEMETRY=y
+test_ppm,CONFIG_DRIVERS_TEST_PPM=y
+tone_alarm,CONFIG_DRIVERS_TONE_ALARM=y
+uavcan,CONFIG_DRIVERS_UAVCAN=y
+uavcannode,CONFIG_DRIVERS_UAVCANNODE=y
+uavcannode_gps_demo,CONFIG_DRIVERS_UAVCANNODE_GPS_DEMO=y
+airship_att_control,CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
+airspeed_selector,CONFIG_MODULES_AIRSPEED_SELECTOR=y
+velocity_controller,CONFIG_MODULES_ANGULAR_VELOCITY_CONTROLLER=y
+attitude_estimator_q,CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+battery_status,CONFIG_MODULES_BATTERY_STATUS=y
+camera_feedback,CONFIG_MODULES_CAMERA_FEEDBACK=y
+commander,CONFIG_MODULES_COMMANDER=y
+control_allocator,CONFIG_MODULES_CONTROL_ALLOCATOR=y
+dataman,CONFIG_MODULES_DATAMAN=y
+ekf2,CONFIG_MODULES_EKF2=y
+esc_battery,CONFIG_MODULES_ESC_BATTERY=y
+events,CONFIG_MODULES_EVENTS=y
+flight_mode_manager,CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+fw_att_control,CONFIG_MODULES_FW_ATT_CONTROL=y
+fw_pos_control_l1,CONFIG_MODULES_FW_POS_CONTROL_L1=y
+gyro_calibration,CONFIG_MODULES_GYRO_CALIBRATION=y
+gyro_fft,CONFIG_MODULES_GYRO_FFT=y
+land_detector,CONFIG_MODULES_LAND_DETECTOR=y
+landing_target_estimator,CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+load_mon,CONFIG_MODULES_LOAD_MON=y
+local_position_estimator,CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+logger,CONFIG_MODULES_LOGGER=y
+mavlink,CONFIG_MODULES_MAVLINK=y
+mc_att_control,CONFIG_MODULES_MC_ATT_CONTROL=y
+mc_hover_thrust_estimator,CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+mc_pos_control,CONFIG_MODULES_MC_POS_CONTROL=y
+mc_rate_control,CONFIG_MODULES_MC_RATE_CONTROL=y
+micrortps_bridge,CONFIG_MODULES_MICRORTPS_BRIDGE=y
+microdds_client,CONFIG_MODULES_MICRODDS_CLIENT=y
+navigator,CONFIG_MODULES_NAVIGATOR=y
+px4iofirmware,CONFIG_MODULES_PX4IOFIRMWARE=y
+rc_update,CONFIG_MODULES_RC_UPDATE=y
+replay,CONFIG_MODULES_REPLAY=y
+rover_pos_control,CONFIG_MODULES_ROVER_POS_CONTROL=y
+sensors,CONFIG_MODULES_SENSORS=y
+sih,CONFIG_MODULES_SIH=y
+simulator,CONFIG_MODULES_SIMULATOR=y
+temperature_compensation,CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+uuv_att_control,CONFIG_MODULES_UUV_ATT_CONTROL=y
+uuv_pos_control,CONFIG_MODULES_UUV_POS_CONTROL=y
+gimbal,CONFIG_MODULES_GIMBAL=y
+vtol_att_control,CONFIG_MODULES_VTOL_ATT_CONTROL=y
+bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y
+dmesg,CONFIG_SYSTEMCMDS_DMESG=y
+dumpfile,CONFIG_SYSTEMCMDS_DUMPFILE=y
+dyn,CONFIG_SYSTEMCMDS_DYN=y
+failure,CONFIG_SYSTEMCMDS_FAILURE=y
+gpio,CONFIG_SYSTEMCMDS_GPIO=y
+hardfault_log,CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+i2cdetect,CONFIG_SYSTEMCMDS_I2CDETECT=y
+led_control,CONFIG_SYSTEMCMDS_LED_CONTROL=y
+mft,CONFIG_SYSTEMCMDS_MFT=y
+microbench,CONFIG_SYSTEMCMDS_MICROBENCH=y
+mixer,CONFIG_SYSTEMCMDS_MIXER=y
+motor_test,CONFIG_SYSTEMCMDS_MOTOR_TEST=y
+mtd,CONFIG_SYSTEMCMDS_MTD=y
+netman,CONFIG_SYSTEMCMDS_NETMAN=y
+nshterm,CONFIG_SYSTEMCMDS_NSHTERM=y
+param,CONFIG_SYSTEMCMDS_PARAM=y
+perf,CONFIG_SYSTEMCMDS_PERF=y
+pwm,CONFIG_SYSTEMCMDS_PWM=y
+reboot,CONFIG_SYSTEMCMDS_REBOOT=y
+reflect,CONFIG_SYSTEMCMDS_REFLECT=y
+sd_bench,CONFIG_SYSTEMCMDS_SD_BENCH=y
+serial_tet,CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+shutdown,CONFIG_SYSTEMCMDS_SHUTDOWN=y
+system_time,CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+tests,CONFIG_SYSTEMCMDS_TESTS=y
+top,CONFIG_SYSTEMCMDS_TOP=y
+topic_listener,CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+tune_control,CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+uorb,CONFIG_SYSTEMCMDS_UORB=y
+usb_connected,CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+ver,CONFIG_SYSTEMCMDS_VER=y
+work_queue,CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+dyn_hello,CONFIG_EXAMPLES_DYN_HELLO=y
+fake_gps,CONFIG_EXAMPLES_FAKE_GPS=y
+fake_gyro,CONFIG_EXAMPLES_FAKE_GYRO=y
+fake_imu,CONFIG_EXAMPLES_FAKE_IMU=y
+fake_magnetometer,CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
+fixedwing_control,CONFIG_EXAMPLES_FIXEDWING_CONTROL=y
+hello,CONFIG_EXAMPLES_HELLO=y
+hwtest,CONFIG_EXAMPLES_HWTEST=y
+matlab_csv_serial,CONFIG_EXAMPLES_MATLAB_CSV_SERIAL=y
+px4_mavlink_debug,CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
+px4_simple_app,CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
+rover_steering_control,CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
+uuv_example_app,CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
+work_item,CONFIG_EXAMPLES_WORK_ITEM=y
+add_compile_options(-Wno-narrowing),CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
+-D__PX4_LINUX,CONFIG_BOARD_LINUX=y
@@ -16,7 +16,7 @@ class ModuleDocumentation(object):
    valid_categories = ['driver', 'estimator', 'controller', 'system',
                        'communication', 'command', 'template', 'simulation', 'autotune']
    valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
-                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']
+                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor']

    max_line_length = 80 # wrap lines that are longer than this

@@ -74,9 +74,6 @@ if [ "$model" == "" ] || [ "$model" == "none" ]; then
 	if [ "$program" == "jsbsim" ]; then
 		echo "empty model, setting rascal as default for jsbsim"
 		model="rascal"
-	elif [ "$program" == "sihsim" ]; then
-		echo "empty model, setting quadx as default for sihsim"
-		model="quadx"
 	else
 		echo "empty model, setting iris as default"
 		model="iris"
@@ -217,12 +214,6 @@ elif [ "$program" == "jsbsim" ] && [ -z "$no_sim" ]; then
 	fi
 	"${build_path}/build_jsbsim_bridge/jsbsim_bridge" ${model} -s "${src_path}/Tools/jsbsim_bridge/scene/${world}.xml" 2> /dev/null &
 	JSBSIM_PID=$!
-elif [ "$program" == "sihsim" ] && [ ! -n "$no_sim" ]; then
-	export SIM_MODE="sihsim"
-	if [ "$model" != "airplane" ] && [ "$model" != "quadx" ] && [ "$model" != "xvert" ]; then
-		echo "Model ${model} not compatible with with sih. sih supports [quadx,airplane,xvert]."
-		exit 1
-	fi
 fi

 pushd "$rootfs" >/dev/null
@@ -130,7 +130,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -173,7 +174,7 @@ CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI4=y
 CONFIG_STM32_SPI4_DMA=y
-CONFIG_STM32_SPI4_DMA_BUFFER=512
+CONFIG_STM32_SPI4_DMA_BUFFER=1024
 CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_SPI_DMATHRESHOLD=8
 CONFIG_STM32_TIM10=y
@@ -2,7 +2,6 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
@@ -11,16 +10,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
-# CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -3,8 +3,6 @@
 # board sensors init
 #------------------------------------------------------------------------------

-param set-default IMU_GYRO_RATEMAX 1000
-
 # Internal SPI
 paw3902 -s start -Y 180

@@ -105,7 +105,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -4,6 +4,7 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
@@ -13,18 +14,5 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -4,7 +4,6 @@
 #------------------------------------------------------------------------------

 param set-default CBRK_IO_SAFETY 0
-param set-default MBE_ENABLE 1

 safety_button start
 tone_alarm start
@@ -107,7 +107,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -4,6 +4,7 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
@@ -13,18 +14,5 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -5,7 +5,6 @@

 param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_GPS_RTCM 1
-param set-default MBE_ENABLE 1

 safety_button start
 tone_alarm start
@@ -107,7 +107,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -107,7 +107,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -140,7 +140,8 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -162,7 +162,8 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -30,7 +30,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MFT=y
@@ -126,7 +126,8 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -141,7 +141,6 @@
 #define PX4_PWM_ALTERNATE_RANGES
 #define PWM_LOWEST_MIN 0
 #define PWM_MOTOR_OFF	0
-#define PWM_SERVO_STOP	0
 #define PWM_DEFAULT_MIN 20
 #define PWM_HIGHEST_MIN 0
 #define PWM_HIGHEST_MAX 255
@@ -30,7 +30,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y
@@ -125,7 +125,8 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -142,7 +142,6 @@
 #define PX4_PWM_ALTERNATE_RANGES
 #define PWM_LOWEST_MIN 0
 #define PWM_MOTOR_OFF	0
-#define PWM_SERVO_STOP	0
 #define PWM_DEFAULT_MIN 20
 #define PWM_HIGHEST_MIN 0
 #define PWM_HIGHEST_MAX 255
@@ -1,8 +1,6 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_COMPILE_DEFINITIONS="-DUSE_S_RGB_LED_DMA"
 CONFIG_DRIVERS_BAROMETER_MS5611=y
@@ -14,16 +12,5 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -108,7 +108,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -139,7 +139,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -111,7 +111,6 @@ MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
 	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
-
 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
 	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
@@ -187,12 +186,7 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
+	} > AXI_SRAM AT > FLASH

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -106,4 +106,3 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
-#CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
@@ -60,7 +60,6 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
@@ -139,7 +138,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -111,7 +111,6 @@ MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
 	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
-
 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
 	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
@@ -187,12 +186,7 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
+	} > AXI_SRAM AT > FLASH

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -1,245 +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_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/x7pro/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743XI=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DTCM=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=95150
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x004c
-CONFIG_CDCACM_PRODUCTSTR="PX4 CUAV X7Pro"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x3163
-CONFIG_CDCACM_VENDORSTR="CUAV"
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_EXAMPLES_CALIB_UDELAY=y
-CONFIG_EXPERIMENTAL=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-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_MAX_TASKS=64
-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_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=4
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NSH_ARCHINIT=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_OTG_ID_GPIO_DISABLE=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_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_READLINE_CMD_HISTORY=y
-CONFIG_READLINE_TABCOMPLETION=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_SDCLONE_DISABLE=y
-CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-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=256
-CONFIG_STM32H7_ADC1=y
-CONFIG_STM32H7_ADC3=y
-CONFIG_STM32H7_BBSRAM=y
-CONFIG_STM32H7_BBSRAM_FILES=5
-CONFIG_STM32H7_BDMA=y
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
-CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32H7_I2C1=y
-CONFIG_STM32H7_I2C2=y
-CONFIG_STM32H7_I2C3=y
-CONFIG_STM32H7_I2C4=y
-CONFIG_STM32H7_I2C_DYNTIMEO=y
-CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_RTC=y
-CONFIG_STM32H7_RTC_HSECLOCK=y
-CONFIG_STM32H7_RTC_MAGIC_REG=1
-CONFIG_STM32H7_SAVE_CRASHDUMP=y
-CONFIG_STM32H7_SDMMC1=y
-CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_SPI1=y
-CONFIG_STM32H7_SPI1_DMA=y
-CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI2=y
-CONFIG_STM32H7_SPI4=y
-CONFIG_STM32H7_SPI4_DMA=y
-CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI5=y
-CONFIG_STM32H7_SPI6=y
-CONFIG_STM32H7_SPI6_DMA=y
-CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI_DMA=y
-CONFIG_STM32H7_TIM12=y
-CONFIG_STM32H7_TIM15=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_TIM3=y
-CONFIG_STM32H7_TIM4=y
-CONFIG_STM32H7_TIM5=y
-CONFIG_STM32H7_TIM8=y
-CONFIG_STM32H7_UART4=y
-CONFIG_STM32H7_UART7=y
-CONFIG_STM32H7_UART8=y
-CONFIG_STM32H7_USART1=y
-CONFIG_STM32H7_USART2=y
-CONFIG_STM32H7_USART6=y
-CONFIG_STM32H7_USART_BREAKS=y
-CONFIG_STM32H7_USART_INVERT=y
-CONFIG_STM32H7_USART_SINGLEWIRE=y
-CONFIG_STM32H7_USART_SWAP=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TESTING_OSTEST=y
-CONFIG_TESTING_OSTEST_FPUTESTDISABLE=y
-CONFIG_TESTING_OSTEST_STACKSIZE=10240
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGTSTP=y
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_SERIAL_CONSOLE=y
-CONFIG_UART7_TXBUFSIZE=1500
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_TXBUFSIZE=1500
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_IFLOWCONTROL=y
-CONFIG_USART6_OFLOWCONTROL=y
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
-CONFIG_WATCHDOG=y
@@ -7,7 +7,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
@@ -24,13 +24,14 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD=y
+CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT_SIM=y
 CONFIG_DRIVERS_PX4IO=y
-#CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -41,7 +42,6 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -50,7 +50,6 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -66,15 +65,17 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -92,6 +93,7 @@ CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -100,4 +102,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
+CONFIG_EXAMPLES_FAKE_GPS=y
@@ -140,7 +140,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -187,12 +187,7 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
+	} > AXI_SRAM AT > FLASH

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -60,7 +60,6 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
@@ -139,7 +138,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -197,9 +197,6 @@ CONFIG_STM32H7_USART_SWAP=y
 CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
-CONFIG_TESTING_OSTEST=y
-CONFIG_TESTING_OSTEST_FPUTESTDISABLE=y
-CONFIG_TESTING_OSTEST_STACKSIZE=10240
 CONFIG_TTY_SIGINT=y
 CONFIG_TTY_SIGTSTP=y
 CONFIG_UART4_BAUD=57600
@@ -5,6 +5,7 @@ CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_UAVCAN=n
+CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
@@ -12,4 +13,3 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
@@ -141,7 +141,8 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -120,7 +120,8 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -157,7 +158,7 @@ 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=512
+CONFIG_STM32_SPI1_DMA_BUFFER=1024
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI2_DMA=y
 CONFIG_STM32_SPI3=y
@@ -175,8 +176,8 @@ CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_TXBUFSIZE=600
+CONFIG_UART4_RXBUFSIZE=300
+CONFIG_UART4_TXBUFSIZE=900
 CONFIG_USART1_RXBUFSIZE=300
 CONFIG_USART1_RXDMA=y
 CONFIG_USART1_TXBUFSIZE=300
@@ -1,22 +1,16 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT="cannode"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_NO_HELP=y
-CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_ST=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MTD=y
@@ -25,7 +19,5 @@ CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -122,7 +122,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -2,7 +2,6 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
@@ -13,18 +12,6 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -108,7 +108,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -140,7 +140,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -109,17 +109,16 @@

 MEMORY
 {
-	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
-
-	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
-	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
-	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
-	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08020000, LENGTH = 1920K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
 }

 OUTPUT_ARCH(arm)
@@ -157,7 +156,7 @@ SECTIONS
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);

-	} > FLASH
+	} > flash

 	/*
 	 * Init functions (static constructors and the like)
@@ -166,17 +165,17 @@ SECTIONS
 		_sinit = ABSOLUTE(.);
 		KEEP(*(.init_array .init_array.*))
 		_einit = ABSOLUTE(.);
-	} > FLASH
+	} > flash


 	.ARM.extab : {
 		*(.ARM.extab*)
-	} > FLASH
+	} > flash

 	__exidx_start = ABSOLUTE(.);
 	.ARM.exidx : {
 		*(.ARM.exidx*)
-	} > FLASH
+	} > flash
 	__exidx_end = ABSOLUTE(.);

 	_eronly = ABSOLUTE(.);
@@ -187,12 +186,7 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
+	} > sram AT > flash

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -201,7 +195,7 @@ SECTIONS
 		*(COMMON)
 		. = ALIGN(4);
 		_ebss = ABSOLUTE(.);
-	} > AXI_SRAM
+	} > sram

 	/* Emit the the D3 power domain section for locating BDMA data */

@@ -210,7 +204,7 @@ SECTIONS
 		*(.sram4)
 		. = ALIGN(4);
 		_sram4_heap_start = ABSOLUTE(.);
-	} > SRAM4
+	} > sram4

 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
@@ -1,6 +1,5 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
@@ -32,7 +31,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_MIXER=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PWM=y
@@ -140,7 +140,8 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -15,10 +15,10 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+CONFIG_DRIVERS_OSD=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT_SIM=y
@@ -28,8 +28,8 @@ CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -42,7 +42,6 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -61,12 +60,12 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -139,7 +139,8 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -109,17 +109,16 @@

 MEMORY
 {
-	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
-
-	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
-	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
-	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
-	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
 }

 OUTPUT_ARCH(arm)
@@ -157,7 +156,7 @@ SECTIONS
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);

-	} > FLASH
+	} > flash

 	/*
 	 * Init functions (static constructors and the like)
@@ -166,17 +165,17 @@ SECTIONS
 		_sinit = ABSOLUTE(.);
 		KEEP(*(.init_array .init_array.*))
 		_einit = ABSOLUTE(.);
-	} > FLASH
+	} > flash


 	.ARM.extab : {
 		*(.ARM.extab*)
-	} > FLASH
+	} > flash

 	__exidx_start = ABSOLUTE(.);
 	.ARM.exidx : {
 		*(.ARM.exidx*)
-	} > FLASH
+	} > flash
 	__exidx_end = ABSOLUTE(.);

 	_eronly = ABSOLUTE(.);
@@ -187,12 +186,7 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
+	} > sram AT > flash

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -201,7 +195,7 @@ SECTIONS
 		*(COMMON)
 		. = ALIGN(4);
 		_ebss = ABSOLUTE(.);
-	} > AXI_SRAM
+	} > sram

 	/* Emit the the D3 power domain section for locating BDMA data */

@@ -210,7 +204,7 @@ SECTIONS
 		*(.sram4)
 		. = ALIGN(4);
 		_sram4_heap_start = ABSOLUTE(.);
-	} > SRAM4
+	} > sram4

 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
@@ -140,7 +140,8 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -1,8 +1,6 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
-CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -12,20 +10,13 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
-# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
-# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SERIAL_PASSTHRU=y
 CONFIG_SERIAL_PASSTHRU_UBLOX=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
@@ -126,7 +126,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_PASSTHRU_UBLOX=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -126,7 +126,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -1,7 +1,7 @@
 /****************************************************************************
 * scripts/script.ld
 *
- *   Copyright (C) 2020 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
 *
 *
@@ -34,7 +34,7 @@
 *
 ****************************************************************************/

-/* The board uses an STM32H743II and has 2048Kb of main FLASH memory.
+/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory.
 * The flash memory is partitioned into a User Flash memory and a System
 * Flash memory. Each of these memories has two banks:
 *
@@ -59,8 +59,8 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * There's a switch on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
+ * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
 * The STM32H743ZI also has 1024Kb of data SRAM.
@@ -109,17 +109,16 @@

 MEMORY
 {
-	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
-
-	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
-	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
-	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
-	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08020000, LENGTH = 1920K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
 }

 OUTPUT_ARCH(arm)
@@ -157,7 +156,7 @@ SECTIONS
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);

-	} > FLASH
+	} > flash

 	/*
 	 * Init functions (static constructors and the like)
@@ -166,17 +165,17 @@ SECTIONS
 		_sinit = ABSOLUTE(.);
 		KEEP(*(.init_array .init_array.*))
 		_einit = ABSOLUTE(.);
-	} > FLASH
+	} > flash


 	.ARM.extab : {
 		*(.ARM.extab*)
-	} > FLASH
+	} > flash

 	__exidx_start = ABSOLUTE(.);
 	.ARM.exidx : {
 		*(.ARM.exidx*)
-	} > FLASH
+	} > flash
 	__exidx_end = ABSOLUTE(.);

 	_eronly = ABSOLUTE(.);
@@ -187,12 +186,7 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
+	} > sram AT > flash

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -201,7 +195,7 @@ SECTIONS
 		*(COMMON)
 		. = ALIGN(4);
 		_ebss = ABSOLUTE(.);
-	} > AXI_SRAM
+	} > sram

 	/* Emit the the D3 power domain section for locating BDMA data */

@@ -210,7 +204,7 @@ SECTIONS
 		*(.sram4)
 		. = ALIGN(4);
 		_sram4_heap_start = ABSOLUTE(.);
-	} > SRAM4
+	} > sram4

 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
@@ -130,7 +130,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -34,7 +34,7 @@
 *
 ****************************************************************************/

-/* The board uses an STM32H743II and has 2048Kb of main FLASH memory.
+/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory.
 * The flash memory is partitioned into a User Flash memory and a System
 * Flash memory. Each of these memories has two banks:
 *
@@ -59,8 +59,8 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * There's a switch on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
+ * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
 * The STM32H743ZI also has 1024Kb of data SRAM.
@@ -109,17 +109,16 @@

 MEMORY
 {
-	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
-
-	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
-	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
-	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
-	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08020000, LENGTH = 1920K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
 }

 OUTPUT_ARCH(arm)
@@ -157,7 +156,7 @@ SECTIONS
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);

-	} > FLASH
+	} > flash

 	/*
 	 * Init functions (static constructors and the like)
@@ -166,17 +165,17 @@ SECTIONS
 		_sinit = ABSOLUTE(.);
 		KEEP(*(.init_array .init_array.*))
 		_einit = ABSOLUTE(.);
-	} > FLASH
+	} > flash


 	.ARM.extab : {
 		*(.ARM.extab*)
-	} > FLASH
+	} > flash

 	__exidx_start = ABSOLUTE(.);
 	.ARM.exidx : {
 		*(.ARM.exidx*)
-	} > FLASH
+	} > flash
 	__exidx_end = ABSOLUTE(.);

 	_eronly = ABSOLUTE(.);
@@ -187,12 +186,7 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
+	} > sram AT > flash

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -201,7 +195,7 @@ SECTIONS
 		*(COMMON)
 		. = ALIGN(4);
 		_ebss = ABSOLUTE(.);
-	} > AXI_SRAM
+	} > sram

 	/* Emit the the D3 power domain section for locating BDMA data */

@@ -210,7 +204,7 @@ SECTIONS
 		*(.sram4)
 		. = ALIGN(4);
 		_sram4_heap_start = ABSOLUTE(.);
-	} > SRAM4
+	} > sram4

 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
@@ -127,7 +127,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -34,7 +34,7 @@
 *
 ****************************************************************************/

-/* The board uses an STM32H743II and has 2048Kb of main FLASH memory.
+/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory.
 * The flash memory is partitioned into a User Flash memory and a System
 * Flash memory. Each of these memories has two banks:
 *
@@ -59,8 +59,8 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * There's a switch on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
+ * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
 * The STM32H743ZI also has 1024Kb of data SRAM.
@@ -109,17 +109,16 @@

 MEMORY
 {
-	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
-
-	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
-	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
-	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
-	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08020000, LENGTH = 1920K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
 }

 OUTPUT_ARCH(arm)
@@ -157,7 +156,7 @@ SECTIONS
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);

-	} > FLASH
+	} > flash

 	/*
 	 * Init functions (static constructors and the like)
@@ -166,17 +165,17 @@ SECTIONS
 		_sinit = ABSOLUTE(.);
 		KEEP(*(.init_array .init_array.*))
 		_einit = ABSOLUTE(.);
-	} > FLASH
+	} > flash


 	.ARM.extab : {
 		*(.ARM.extab*)
-	} > FLASH
+	} > flash

 	__exidx_start = ABSOLUTE(.);
 	.ARM.exidx : {
 		*(.ARM.exidx*)
-	} > FLASH
+	} > flash
 	__exidx_end = ABSOLUTE(.);

 	_eronly = ABSOLUTE(.);
@@ -187,12 +186,7 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
+	} > sram AT > flash

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -201,7 +195,7 @@ SECTIONS
 		*(COMMON)
 		. = ALIGN(4);
 		_ebss = ABSOLUTE(.);
-	} > AXI_SRAM
+	} > sram

 	/* Emit the the D3 power domain section for locating BDMA data */

@@ -210,7 +204,7 @@ SECTIONS
 		*(.sram4)
 		. = ALIGN(4);
 		_sram4_heap_start = ABSOLUTE(.);
-	} > SRAM4
+	} > sram4

 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
@@ -138,7 +138,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC2_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Benjamin Perseghetti	5e5a1e1b1f	make demo work with pca.	2022-06-01 18:22:23 -04:00
Benjamin Perseghetti	b965b38730	ucan pwm enablement.	2022-06-01 13:36:40 -04:00
Benjamin Perseghetti	d688400dfa	S32K1 fixes.	2022-05-31 16:56:49 -04:00
Benjamin	f3839cb90c	Cyphal param updates.	2022-05-26 10:52:08 -04:00
Benjamin Perseghetti	925a6808e0	NXP demo board config. -LH	2022-05-25 17:44:54 -04:00