Delete simpleapp CMakeLists

2026-06-03 16:30:05 +08:00 · 2021-10-18 08:33:52 +11:00
1351 changed files with 21126 additions and 45389 deletions
@@ -59,18 +59,14 @@ pipeline {
                     "holybro_durandal-v1_default",
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
-                     "matek_h743-slim",
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7_default",
-                     "mro_ctrl-zero-h7_rtps",
                     "mro_ctrl-zero-h7-oem_default",
-                     "mro_ctrl-zero-h7-oem_rtps",
                     "mro_pixracerpro_default",
-                     "mro_pixracerpro_rtps",
                     "mro_x21-777_default",
                     "mro_x21_default",
                     "nxp_fmuk66-e_default",
@@ -83,7 +79,6 @@ pipeline {
                     "nxp_ucans32k146_canbootloader",
                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
-                     "raspberrypi_pico_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
                     "px4_fmu-v2_multicopter",
@@ -91,12 +86,14 @@ pipeline {
                     "px4_fmu-v3_default",
                     "px4_fmu-v4_default",
                     "px4_fmu-v4pro_default",
+                     "px4_fmu-v5_ctrlalloc",
                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_default",
                     "px4_fmu-v5_rtps",
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
                     "px4_fmu-v5_uavcanv1",
+                     "px4_fmu-v5x_base_phy_DP83848C",
                     "px4_fmu-v5x_default",
                     "px4_fmu-v6u_default",
                     "px4_fmu-v6x_default",
@@ -18,10 +18,10 @@ pipeline {
              }
              steps {
                checkoutSCM()
-                sh 'make cubepilot_cubeorange_bootloader'
                sh 'make cubepilot_cubeorange_test'
+                sh 'make cubepilot_cubeorange_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cubepilot_cubeorange_test'
              }
              post {
                always {
@@ -39,19 +39,15 @@ pipeline {
                    sh 'export'
                    sh 'find /dev/serial'
                    unstash 'cubepilot_cubeorange_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/cubepilot_cubeorange_bootloader.elf'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
                  }
                }
                stage("tests") {
                  steps {
                    // run tests
                    runTests()
-
-                    // load all airframes
-                    // sh("./Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` `cd build/cubepilot_cubeorange_test/etc/init.d/airframes/; find . -regex '.*/[0-9].*' -exec basename {} \\; | cut -d '_' -f 1` || true") // test loading all airframes\
                  }
                }
                stage("status") {
@@ -74,7 +70,7 @@ pipeline {
              }
              post {
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
+                    resetBoard()
                }
              }
            } // stage test
@@ -92,10 +88,10 @@ pipeline {
              }
              steps {
                checkoutSCM()
-                sh 'make cuav_x7pro_bootloader'
                sh 'make cuav_x7pro_test'
+                sh 'make cuav_x7pro_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_test'
              }
              post {
                always {
@@ -113,10 +109,9 @@ pipeline {
                    sh 'export'
                    sh 'find /dev/serial'
                    unstash 'cuav_x7pro_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
                  }
                }
                stage("tests") {
@@ -143,7 +138,7 @@ pipeline {
              }
              post {
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
+                    resetBoard()
                }
              }
            } // stage test
@@ -164,7 +159,7 @@ pipeline {
                sh 'make px4_fmu-v3_test'
                sh 'make px4_fmu-v3_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v3_test'
              }
              post {
                always {
@@ -185,7 +180,6 @@ pipeline {
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
                  }
                }
                stage("tests") {
@@ -212,7 +206,7 @@ pipeline {
              }
              post {
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
+                    resetBoard()
                }
              }
            } // stage test
@@ -233,7 +227,7 @@ pipeline {
                sh 'make px4_fmu-v4_test'
                sh 'make px4_fmu-v4_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4_test'
              }
              post {
                always {
@@ -254,7 +248,6 @@ pipeline {
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
                  }
                }
                stage("tests") {
@@ -280,7 +273,7 @@ pipeline {
              }
              post {
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
+                    resetBoard()
                }
              }
            } // stage test
@@ -301,7 +294,7 @@ pipeline {
                sh 'make px4_fmu-v4pro_test'
                sh 'make px4_fmu-v4pro_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v4pro_test'
              }
              post {
                always {
@@ -322,7 +315,6 @@ pipeline {
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
                  }
                }
                stage("tests") {
@@ -349,7 +341,7 @@ pipeline {
              }
              post {
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
+                    resetBoard()
                }
              }
            } // stage test
@@ -370,7 +362,7 @@ pipeline {
                sh 'make px4_fmu-v5_debug'
                sh 'make px4_fmu-v5_debug bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_debug'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_debug'
              }
              post {
                always {
@@ -396,24 +388,13 @@ pipeline {
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
-                    resetBoard()
                  }
                }
                stage("tests") {
                  steps {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
-
-                    // test dataman
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
+                    //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "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'
                  }
@@ -439,7 +420,7 @@ pipeline {
              }
              post {
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
+                    resetBoard()
                }
              }
            } // stage test
@@ -460,7 +441,7 @@ pipeline {
                sh 'make px4_fmu-v5_stackcheck'
                sh 'make px4_fmu-v5_stackcheck bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_stackcheck'
              }
              post {
                always {
@@ -486,7 +467,6 @@ pipeline {
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
                  }
                }
                stage("tests") {
@@ -495,9 +475,6 @@ pipeline {
                    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 "uorb_tests"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
-
-                    // test dataman
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
                  }
                }
                stage("status") {
@@ -521,7 +498,7 @@ pipeline {
              }
              post {
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
+                    resetBoard()
                }
              }
            } // stage test
@@ -542,7 +519,7 @@ pipeline {
                sh 'make px4_fmu-v5_test'
                sh 'make px4_fmu-v5_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'px4_fmu-v5_test'
              }
              post {
                always {
@@ -563,7 +540,6 @@ pipeline {
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
                  }
                }
                stage("tests") {
@@ -590,13 +566,80 @@ pipeline {
              }
              post {
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
+                    resetBoard()
                }
              }
            } // stage test
          }
        }

+        // stage("modalai_fc-v1_test") {
+        //   stages {
+        //     stage("build modalai_fc-v1_test") {
+        //       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'
+        //         }
+        //       }
+        //       steps {
+        //         checkout scm
+        //         sh 'export'
+        //         sh 'make distclean'
+        //         sh 'ccache -s'
+        //         sh 'git fetch --tags'
+        //         sh 'make modalai_fc-v1_test'
+        //         sh 'make modalai_fc-v1_test bootloader_elf'
+        //         sh 'ccache -s'
+        //         stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'modalai_fc-v1_test'
+        //       }
+        //       post {
+        //         always {
+        //             sh 'make distclean'
+        //         }
+        //       }
+        //     } // stage build
+        //     stage("hardware") {
+        //       agent {
+        //         label 'modalai_fc-v1'
+        //       }
+        //       stages {
+        //         stage("flash") {
+        //           steps {
+        //             sh 'export'
+        //             sh 'find /dev/serial'
+        //             unstash 'modalai_fc-v1_test'
+        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_bootloader.elf'
+        //             // flash board and watch bootup
+        //             sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/modalai_fc-v1_test/modalai_fc-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+        //           }
+        //         }
+        //         stage("tests") {
+        //           steps {
+        //             runTests()
+        //           }
+        //         }
+        //         stage("status") {
+        //           steps {
+        //             // configure
+        //             resetParameters()
+        //             sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
+        //             sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+        //             checkStatus()
+        //             quickCalibrate()
+        //           }
+        //         }
+        //         stage("print topics") {
+        //           steps {
+        //             printTopics()
+        //           }
+        //         }
+
+        //       }
+        //     } // stage test
+        //   }
+        // }
+
        stage("nxp_fmuk66-v3_test") {
          stages {
            stage("build nxp_fmuk66-v3_test") {
@@ -611,7 +654,7 @@ pipeline {
                sh 'make nxp_fmuk66-v3_test'
                //sh 'make nxp_fmuk66-v3_test bootloader_elf'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'nxp_fmuk66-v3_test'
              }
              post {
                always {
@@ -632,7 +675,6 @@ pipeline {
                    //sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_bootloader.elf'
                    // flash board and watch bootup
                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
                  }
                }
                stage("tests") {
@@ -659,7 +701,7 @@ pipeline {
              }
              post {
                always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
+                    resetBoard()
                }
              }
            } // stage test
@@ -718,7 +760,7 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'

  // run logger
@@ -772,17 +814,13 @@ void resetParameters() {
 }

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

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

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

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
@@ -794,49 +832,35 @@ void runTests() {
  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'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
-
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
-
-  // tests (stop modules first)
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
  sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'

+  //sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
+
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -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 "commander stop"'
  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"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
-
  // test rebooting multiple times
  resetParameters()
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/microsd/parameters_backup.bson" || true'
 }

 void printTopics() {
@@ -936,10 +960,6 @@ 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'
@@ -947,8 +967,7 @@ void resetBoard() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true' // reboot to apply

  // check SD card
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df -h" || true'
@@ -972,6 +991,4 @@ void resetBoard() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
-
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
 }
@@ -74,7 +74,6 @@ Checks:          '*,
                  -modernize-deprecated-headers,
                  -modernize-loop-convert,
                  -modernize-pass-by-value,
-                  -modernize-raw-string-literal,
                  -modernize-return-braced-init-list,
                  -modernize-use-auto,
                  -modernize-use-bool-literals,
@@ -82,8 +81,8 @@ Checks:          '*,
                  -modernize-use-equals-default,
                  -modernize-use-equals-delete,
                  -modernize-use-override,
-                  -modernize-use-trailing-return-type,
                  -modernize-use-using,
+                  -modernize-use-trailing-return-type,
                  -performance-inefficient-string-concatenation,
                  -readability-avoid-const-params-in-decls,
                  -readability-container-size-empty,
@@ -13,7 +13,6 @@ jobs:
    runs-on: ubuntu-latest
    container: px4io/px4-dev-nuttx-focal:2021-09-08
    strategy:
-      fail-fast: false
      matrix:
        config: [
          airmind_mindpx-v2,
@@ -34,7 +33,6 @@ jobs:
          holybro_durandal-v1,
          holybro_kakutef7,
          holybro_pix32v5,
-          matek_h743-slim,
          modalai_fc-v1,
          modalai_fc-v2,
          mro_ctrl-zero-f7,
@@ -49,7 +47,6 @@ jobs:
          nxp_fmurt1062-v1,
          nxp_ucans32k146,
          omnibus_f4sd,
-          raspberrypi_pico,
          px4_fmu-v2,
          px4_fmu-v3,
          px4_fmu-v4,
@@ -84,7 +81,7 @@ jobs:
          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
          echo "compression = true" >> ~/.ccache/ccache.conf
          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 120M" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
          echo "hash_dir = false" >> ~/.ccache/ccache.conf
          ccache -s
          ccache -z
@@ -10,7 +10,6 @@ on:
 jobs:
  enumerate_targets:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
    outputs:
      matrix: ${{ steps.set-matrix.outputs.matrix }}
    steps:
@@ -35,11 +34,11 @@ jobs:

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

    - uses: jakejarvis/s3-sync-action@master
      with:
@@ -15,10 +15,10 @@ jobs:
      fail-fast: false
      matrix:
        config:
-          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
-          - {model: "standard_vtol", latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer" } # Australia
-          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
-          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich
+          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo",   model: "iris"          } # Alaska
+          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer", model: "standard_vtol" } # Australia
+          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo",   model: "tailsitter"    } # Florida
+          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",         model: "standard_vtol" } # Zurich

    container:
      image: px4io/px4-dev-simulation-focal:2021-09-08
@@ -96,7 +96,7 @@ jobs:
        PX4_HOME_LON: ${{matrix.config.longitude}}
        PX4_HOME_ALT: ${{matrix.config.altitude}}
        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json
      timeout-minutes: 45

    - name: Look at core files
@@ -105,4 +105,8 @@ src/lib/version/build_git_version.h
 src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp

+# SITL
+dataman
+eeprom/
+
 !src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
@@ -1,11 +1,11 @@
-[submodule "src/modules/mavlink/mavlink"]
-	path = src/modules/mavlink/mavlink
-	url = https://github.com/mavlink/mavlink.git
+[submodule "mavlink/include/mavlink/v2.0"]
+	path = mavlink/include/mavlink/v2.0
+	url = https://github.com/mavlink/c_library_v2.git
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
-	url = https://github.com/dronecan/libuavcan.git
-	branch = main
+	url = https://github.com/PX4/libuavcan.git
+	branch = px4
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
@@ -14,6 +14,10 @@
 	path = Tools/sitl_gazebo
 	url = https://github.com/PX4/PX4-SITL_gazebo.git
 	branch = master
+[submodule "src/lib/matrix"]
+	path = src/lib/matrix
+	url = https://github.com/PX4/PX4-Matrix.git
+	branch = master
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
@@ -42,6 +46,12 @@
 [submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
 	path = src/drivers/uavcan_v1/public_regulated_data_types
 	url = https://github.com/UAVCAN/public_regulated_data_types.git
+[submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
+	path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
+	url = https://github.com/UAVCAN/public_regulated_data_types.git
+[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
+	path = src/drivers/uavcannode_gps_demo/libcanard
+	url = https://github.com/UAVCAN/libcanard.git
 [submodule "src/drivers/uavcan_v1/legacy_data_types"]
 	path = src/drivers/uavcan_v1/legacy_data_types
 	url = https://github.com/PX4/public_regulated_data_types.git
@@ -55,7 +65,7 @@
 	url = https://github.com/mavlink/libevents.git
 [submodule "Tools/simulation-ignition"]
 	path = Tools/simulation-ignition
-	url = https://github.com/PX4/px4-simulation-ignition.git
+	url = https://github.com/Auterion/px4-simulation-ignition.git
 [submodule "src/lib/crypto/libtomcrypt"]
 	path = src/lib/crypto/libtomcrypt
 	url = https://github.com/PX4/libtomcrypt.git
@@ -61,11 +61,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v5_default
-    px4_fmu-v5_debug:
-      short: px4_fmu-v5_debug
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v5_debug
    px4_fmu-v5x_default:
      short: px4_fmu-v5x
      buildType: MinSizeRel
@@ -111,11 +106,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-rtk-gps_default
-    ark_can-rtk-gps_debug:
-      short: ark_can-rtk-gps_debug
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_can-rtk-gps_debug
    ark_can-rtk-gps_canbootloader:
      short: ark_can-rtk-gps_canbootloader
      buildType: MinSizeRel
@@ -191,11 +181,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: holybro_durandal-v1_default
-    matek_h743-slim_default:
-      short: matek_h743-slim
-      buildType: MinSizeRel
-      settings:
-        CONFIG: matek_h743-slim_default
    modalai_fc-v1_default:
      short: modalai_fc-v1
      buildType: MinSizeRel
@@ -231,8 +216,3 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: nxp_fmuk66-v3_default
-    raspberrypi_pico_default:
-      short: raspberrypi_pico
-      buildType: MinSizeRel
-      settings:
-        CONFIG: raspberrypi_pico_default
@@ -14,6 +14,7 @@
        "C_Cpp.workspaceParsingPriority": "low",
        "cmake.buildBeforeRun": true,
        "cmake.buildDirectory": "${workspaceFolder}/build/${variant:CONFIG}",
+        "cmake.buildTask": true,
        "cmake.configureOnOpen": true,
        "cmake.ctest.parallelJobs": 1,
        "cmake.skipConfigureIfCachePresent": true,
@@ -135,6 +136,5 @@
        "workbench.settings.enableNaturalLanguageSearch": false,
        "yaml.schemas": {
                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        },
-        "cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd"       // Added for rp2040
+        }
 }
@@ -40,7 +40,7 @@
 # * Common functions should be included in px_base.cmake.
 #
 # * OS/ board specific fucntions should be include in
-#	px_impl_${PX4_PLATFORM}.cmake
+#	px_impl_${PX4_PLATFORM}.cmake or px4_impl_${PX4_PLATFORM}_${PX4_BOARD}.cmake.
 #
 # Formatting
 # ---------------------------------------------------------------------------
@@ -101,8 +101,8 @@

 cmake_minimum_required(VERSION 3.2 FATAL_ERROR)

-set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
-set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
+set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}")
+set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}")

 list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/cmake)
 include(px4_parse_function_args)
@@ -423,8 +423,6 @@ endforeach()

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

 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
@@ -63,10 +63,13 @@ menu "Toolchain"
        help
            relative path to the ROMFS root directory

+    config BOARD_BUILD_BOOTLOADER
+        bool "Enable bootloader"
+        help
+            flag to enable building and including the bootloader config
+
    config BOARD_IO
        string "IO board name"
-        default "px4_io-v2_default"
-        depends on DRIVERS_PX4IO
        help
            name of IO board to be built and included in the ROMFS (requires a valid ROMFSROOT)

@@ -114,15 +117,17 @@ config BOARD_ETHERNET
        flag to indicate that ethernet is enabled

 config BOARD_CRYPTO
-    bool "Crypto support"
+    string "Crypto"
    help
-        Enable PX4 Crypto Support. Select the implementation under drivers
+        Crypto implementation selection
+
+config BOARD_KEYSTORE
+    string "Keystore"
+    help
+        Keystore implememntation selection

 menu "Serial ports"

-    config BOARD_SERIAL_URT6
-        string "URT6 tty port"
-
    config BOARD_SERIAL_GPS1
        string "GPS1 tty port"

@@ -153,14 +158,8 @@ menu "Serial ports"
    config BOARD_SERIAL_TEL5
        string "TEL5 tty port"

-    config BOARD_SERIAL_RC
-        string "RC tty port"
-
    config BOARD_SERIAL_WIFI
        string "WIFI tty port"
-
-    config BOARD_SERIAL_PPB
-        string "PPB (Pixhawk Payload Bus) tty port"
 endmenu

 menu "drivers"
@@ -309,24 +309,6 @@ uorb_graphs:
 	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph

-px4io_update: px4_io-v2_default cubepilot_io-v2_default
-	# px4_io-v2_default
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/durandal-v1/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/holybro/pix32v5/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/mro/x21-777/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v2/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v3/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v4pro/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
-	# cubepilot_io-v2_default
-	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
-	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 matek_h743-slim_bootloader modalai_fc-v2_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

@@ -482,7 +464,7 @@ shellcheck_all:
 	@make px4_fmu-v5_default shellcheck

 validate_module_configs:
-	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -not -path "$(SRC_DIR)/src/lib/mixer_module/*" -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml
+	@find "$(SRC_DIR)"/src/modules "$(SRC_DIR)"/src/drivers "$(SRC_DIR)"/src/lib -name *.yaml -type f -print0 | xargs -0 "$(SRC_DIR)"/Tools/validate_yaml.py --schema-file "$(SRC_DIR)"/validation/module_schema.yaml

 # Cleanup
 # --------------------------------------------------------------------
@@ -143,14 +143,38 @@ add_custom_command(
 	COMMENT "ROMFS: copying, generating airframes"
 	)

-if(EXISTS ${PX4_BOARD_DIR}/extras/${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin)
-	set(BOARD_FIRMWARE_BIN "${PX4_BOARD_VENDOR}_${PX4_BOARD_MODEL}_bootloader.bin")
-	configure_file(${PX4_SOURCE_DIR}/platforms/nuttx/init/rc.board_bootloader_upgrade.in ${romfs_gen_root_dir}/init.d/rc.board_bootloader_upgrade @ONLY)
-endif()
-
 # copy extras into ROMFS
 set(extras_dependencies)

+# copy px4io binary if configured
+if(config_io_board)
+	list(APPEND extras_dependencies
+		copy_px4io_bin
+		${fw_io_bin}
+	)
+	file(RELATIVE_PATH iofw_file_relative ${PX4_SOURCE_DIR} ${fw_io_bin})
+	message(STATUS "ROMFS:  Adding ${iofw_file_relative} -> /etc/extras/${config_io_board}.bin")
+endif()
+
+
+# board bootloader (built or included)
+if(TARGET copy_bootloader_bin)
+
+	if(board_bootloader_firmware)
+		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${board_bootloader_firmware})
+		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
+	else()
+		file(RELATIVE_PATH bl_file_relative ${PX4_SOURCE_DIR} ${bootloader_bin})
+		message(STATUS "ROMFS:  Adding ${bl_file_relative} -> /etc/extras/bootloader.bin")
+	endif()
+
+	list(APPEND extras_dependencies
+		copy_bootloader_bin
+		${bootloader_bin}
+	)
+endif()
+
+
 # optional board architecture defaults
 set(board_arch_rc_file "rc.board_arch_defaults")
 if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/${board_arch_rc_file}")
@@ -175,7 +199,6 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/init/${CONFIG_ARCH_CHIP}/
 endif()


-# board custom init files
 set(OPTIONAL_BOARD_RC)
 list(APPEND OPTIONAL_BOARD_RC
 	rc.board_defaults
@@ -210,59 +233,21 @@ foreach(board_rc_file ${OPTIONAL_BOARD_RC})
 endforeach()


-# board extras
-set(OPTIONAL_BOARD_EXTRAS)
-file(GLOB OPTIONAL_BOARD_EXTRAS ${PX4_BOARD_DIR}/extras/*)
-
-foreach(board_extra_file ${OPTIONAL_BOARD_EXTRAS})
-
-	if(EXISTS "${board_extra_file}")
-		file(RELATIVE_PATH extra_file_base_name ${PX4_BOARD_DIR}/extras/ ${board_extra_file})
-		file(RELATIVE_PATH extra_file_relative_source ${PX4_SOURCE_DIR} ${board_extra_file})
-		message(STATUS "ROMFS:  Adding ${extra_file_relative_source} -> /etc/extras/${extra_file_base_name}")
-
-		add_custom_command(
-			OUTPUT
-				${romfs_gen_root_dir}/extras/${extra_file_base_name}
-				${extra_file_base_name}.stamp
-			COMMAND ${CMAKE_COMMAND} -E copy_if_different ${PX4_BOARD_DIR}/extras/${extra_file_base_name} ${romfs_gen_root_dir}/extras/${extra_file_base_name}
-			COMMAND ${CMAKE_COMMAND} -E touch ${extra_file_base_name}.stamp
-			DEPENDS
-				${board_extra_file}
-				romfs_copy.stamp
-			COMMENT "ROMFS: copying ${board_extra_file}"
-		)
-
-		list(APPEND extras_dependencies
-			${extra_file_base_name}.stamp
-		)
-	endif()
-
-endforeach()
-
-
-
 if(config_uavcan_peripheral_firmware)

 	include(ExternalProject)

 	foreach(uavcan_peripheral_config ${config_uavcan_peripheral_firmware})
-		# include the UAVCAN peripheral binaries in ROMFS
+		# include the px4io binary in ROMFS
 		message(STATUS "ROMFS:  Adding UAVCAN peripheral ${uavcan_peripheral_config} -> /etc/uavcan/fw/")
-
-		# ExternalProject_Add() with GIT_SUBMODULES "" initializes no submodules.
-		cmake_policy(SET CMP0097 NEW)
-
-		include(ExternalProject)
-
 		ExternalProject_Add(build_${uavcan_peripheral_config}
-			GIT_REPOSITORY ${CMAKE_SOURCE_DIR}
-			GIT_TAG ${PX4_GIT_TAG}
-			GIT_SUBMODULES ""
-			DOWNLOAD_NO_PROGRESS true
+			SOURCE_DIR ${CMAKE_SOURCE_DIR}
+			DOWNLOAD_COMMAND ""
+			UPDATE_COMMAND ""
 			CMAKE_ARGS -DCONFIG=${uavcan_peripheral_config}
 			INSTALL_COMMAND ""
 			USES_TERMINAL_BUILD true
+			DEPENDS git_nuttx git_nuttx_apps
 			BUILD_ALWAYS 1
 		)

@@ -8,30 +8,41 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.ctrlalloc

-param set-default SYS_CTRL_ALLOC 1
+param set-default MPC_USE_HTE 0

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

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

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

-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-
-set MIXER skip
-set MIXER_AUX none
+set MIXER direct
@@ -5,6 +5,8 @@

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

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

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

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

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

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

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

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

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

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

 param set-default FW_W_EN 1

@@ -7,3 +7,4 @@

 param set-default FW_THR_CRUISE 0.0
 param set-default RWTO_TKOFF 0
+
@@ -19,9 +19,12 @@ param set-default FW_RR_P 0.3
 param set-default FW_THR_CRUISE 0.25
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
+param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2

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

 param set-default MC_YAW_P 1.6

@@ -6,8 +6,7 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
-
-param set-default SYS_CTRL_ALLOC 1
+. ${R}etc/init.d/rc.ctrlalloc

 param set-default MC_PITCHRATE_P 0.0800
 param set-default MC_PITCHRATE_I 0.0400
@@ -29,36 +28,54 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 0
 param set-default MAV_PROTO_VER 2

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

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

-param set-default PWM_MAIN_FUNC1 101
-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
-
 set MAV_TYPE 13

-set MIXER skip
-set MIXER_AUX none
+# set MIXER hexa_x
+set MIXER direct
@@ -1,7 +1,5 @@
 #!/bin/sh

-set -e
-
 # PX4 commands need the 'px4-' prefix in bash.
 # (px4-alias.sh is expected to be in the PATH)
 # shellcheck disable=SC1091
@@ -146,8 +144,6 @@ param set-default SENS_MAG_MODE 0

 param set-default IMU_GYRO_FFT_EN 1

-param set-default -s MC_AT_EN 1
-
 # By default log from boot until first disarm.
 param set-default SDLOG_MODE 1
 # enable default, estimator replay and vision/avoidance logging profiles
@@ -221,7 +217,6 @@ load_mon start
 battery_simulator start
 tone_alarm start
 rc_update start
-manual_control start
 sensors start
 commander start
 navigator start
@@ -55,4 +55,5 @@ px4_add_romfs_files(
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults
+	rc.ctrlalloc
 )
@@ -9,7 +9,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -19,7 +19,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -14,7 +14,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -19,7 +19,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -17,7 +17,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -9,7 +9,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -9,7 +9,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -18,7 +18,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -22,7 +22,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -21,7 +21,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -14,7 +14,6 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
-# @board holybro_kakutef7 exclude
 #

 . ${R}etc/init.d/rc.vtol_defaults
@@ -84,8 +84,6 @@ param set-default MPC_Z_VEL_P_ACC 5
 param set-default MPC_Z_VEL_I_ACC 3
 param set-default MPC_LAND_ALT1 3
 param set-default MPC_LAND_ALT2 1
-param set-default MPC_POS_MODE 3
-param set-default CP_GO_NO_DATA 1

 # Navigator Parameters
 param set-default NAV_ACC_RAD 2
@@ -11,29 +11,45 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.ctrlalloc

-set MIXER skip
-set MIXER_AUX none
+set MIXER none

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

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

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

-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
+set MIXER direct
+
+set MIXER_AUX direct_aux
@@ -77,3 +77,4 @@ param set-default IMU_DGYRO_CUTOFF 100

 # enable to use high-rate logging for better rate tracking analysis
 param set-default SDLOG_PROFILE 27
+
@@ -13,6 +13,9 @@

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

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

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

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

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

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

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

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

 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128
@@ -11,42 +11,63 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.ctrlalloc

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

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

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

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

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

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

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

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

-param set-default PWM_MAIN_FUNC1 101
-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
+set MIXER direct
+set PWM_OUT 123456

-set MIXER skip
-set MIXER_AUX none
+set MIXER_AUX direct_aux
+set PWM_AUX_OUT 123456
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# External airframe startup script (on SD card)
-#
-set SDCARD_MIXERS_PATH ${SDCARD_EXT_PATH}/mixers
-
-if [ -e ${SDCARD_EXT_PATH}/rc.autostart ]
-then
-	. ${SDCARD_EXT_PATH}/rc.autostart
-else
-	echo "Error: ${SDCARD_EXT_PATH}/rc.autostart does not exist"
-fi
@@ -0,0 +1,26 @@
+#!/bin/sh
+#
+# Standard apps for new control allocation and controllers
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+#
+# Start angular velocity controller
+#
+# angular_velocity_controller start
+# mc_rate_control stop
+
+#
+# Start Control Allocator
+#
+control_allocator start
+
+#
+# Disable hover thrust estimator and prearming
+# These features are currently incompatible with control allocation
+#
+# TODO: fix
+#
+param set MPC_USE_HTE 0
+param set COM_PREARM_MODE 0
@@ -16,12 +16,6 @@ ekf2 start &
 fw_att_control start
 fw_pos_control_l1 start
 airspeed_selector start
-
-#
-# Start attitude control auto-tuner
-#
-fw_autotune_attitude_control start
-
 #
 # Start Land Detector.
 #
@@ -18,17 +18,8 @@ set OUTPUT_AUX_DEV /dev/pwm_output1
 set OUTPUT_EXTRA_DEV /dev/pwm_output0

 # set these before starting the modules
-if [ $PWM_AUX_OUT != none ]
-then
-
-	param set PWM_AUX_OUT ${PWM_AUX_OUT}
-fi
-
-
-if [ $PWM_OUT != none ]
-then
-	param set PWM_MAIN_OUT ${PWM_OUT}
-fi
+param set PWM_AUX_OUT ${PWM_AUX_OUT}
+param set PWM_MAIN_OUT ${PWM_OUT}

 #
 # If mount (gimbal) control is enabled and output mode is AUX, set the aux
@@ -105,16 +96,10 @@ then

 	if [ $OUTPUT_MODE = $OUTPUT_CMD -o $OUTPUT_MODE = io ]
 	then
-		if param compare SYS_CTRL_ALLOC 1
+		if ! $OUTPUT_CMD start
 		then
-			pwm_out start
-			dshot start
-		else
-			if ! $OUTPUT_CMD start
-			then
-				echo "$OUTPUT_CMD start failed"
-				tune_control play error
-			fi
+			echo "$OUTPUT_CMD start failed"
+			tune_control play error
 		fi
 	fi
 fi
@@ -229,10 +214,10 @@ fi

 if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
 then
-	if [ $PWM_OUT != none -a $PWM_MAIN_RATE != none ]
+	if [ $PWM_OUT != none ]
 	then
 		# Set PWM output frequency.
-		if ! param compare SYS_CTRL_ALLOC 1
+		if [ $PWM_MAIN_RATE != none ]
 		then
 			pwm rate -c ${PWM_OUT} -r ${PWM_MAIN_RATE}
 		fi
@@ -48,14 +48,6 @@ fi
 #                        End Estimator Group Selection                        #
 ###############################################################################

-if param compare SYS_CTRL_ALLOC 1
-then
-	#
-	# Start Control Allocator
-	#
-	control_allocator start
-fi
-
 #
 # Start Multicopter Rate Controller.
 #
@@ -65,11 +57,7 @@ mc_rate_control start
 # Start Multicopter Attitude Controller.
 #
 mc_att_control start
-
-if param greater -s MC_AT_EN 0
-then
-	mc_autotune_attitude_control start
-fi
+mc_autotune_attitude_control start

 #
 # Start Multicopter Position Controller.
@@ -25,14 +25,8 @@ flight_mode_manager start
 mc_pos_control start vtol
 mc_hover_thrust_estimator start

-if param greater -s MC_AT_EN 0
-then
-	mc_autotune_attitude_control start
-fi
-
 fw_att_control start vtol
 fw_pos_control_l1 start vtol
-fw_autotune_attitude_control start vtol

 # Start Land Detector
 # Multicopter for now until we have something for VTOL
@@ -35,7 +35,7 @@ set MIXER_AUX none
 set MIXER_FILE none
 set MIXER_EXTRA none
 set OUTPUT_MODE none
-set PARAM_FILE ""
+set PARAM_FILE /fs/microsd/params
 set PWM_OUT none
 set PWM_MAIN_RATE p:PWM_MAIN_RATE
 set PWM_AUX_OUT none
@@ -44,9 +44,6 @@ set PWM_EXTRA_OUT none
 set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
 set EXTRA_MIXER_MODE none
 set RC_INPUT_ARGS ""
-set SDCARD_AVAILABLE no
-set SDCARD_EXT_PATH /fs/microsd/ext_autostart
-set SDCARD_FORMAT no
 set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
 set STARTUP_TUNE 1
 set USE_IO no
@@ -60,78 +57,55 @@ ver all
 #
 # Try to mount the microSD card.
 #
-if [ -b "/dev/mmcsd0" ]
+set SDCARD_AVAILABLE no
+# REBOOTWORK this needs to start after the flight control loop.
+if mount -t vfat /dev/mmcsd0 /fs/microsd
 then
-	if mount -t vfat /dev/mmcsd0 /fs/microsd
+	set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
+	date >> $PX4_INIT_TEST_FILE
+
+	if [ -f $PX4_INIT_TEST_FILE ]
 	then
-		if [ -f "/fs/microsd/.format" ]
+		cat $PX4_INIT_TEST_FILE
+		rm $PX4_INIT_TEST_FILE
+
+		if [ ! -f $PX4_INIT_TEST_FILE ]
 		then
-			echo "INFO [init] format /dev/mmcsd0 requested (/fs/microsd/.format)"
-			set SDCARD_FORMAT yes
-			rm /fs/microsd/.format
-			umount /fs/microsd
-
-		else
-			# very basic I/O test
-			set PX4_INIT_TEST_FILE "/fs/microsd/.px4_init_test_file"
-			date >> $PX4_INIT_TEST_FILE
-
-			if [ $? -eq 0 -a -f $PX4_INIT_TEST_FILE ]
-			then
-				cat $PX4_INIT_TEST_FILE
-				rm $PX4_INIT_TEST_FILE
-
-				if [ $? -eq 0 -a ! -f $PX4_INIT_TEST_FILE ]
-				then
-					set SDCARD_AVAILABLE yes
-				fi
-			fi
-			unset PX4_INIT_TEST_FILE
-
-			if [ $SDCARD_AVAILABLE = no ]
-			then
-				echo "ERROR [init] card I/O failure, formatting"
-				set SDCARD_FORMAT yes
-				umount /fs/microsd
-			fi
+			set SDCARD_AVAILABLE yes
 		fi
 	fi
+fi

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

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

-	if [ $SDCARD_AVAILABLE = yes ]
+if [ $SDCARD_AVAILABLE = yes ]
+then
+	if hardfault_log check
 	then
-		if hardfault_log check
+		# Error tune.
+		set STARTUP_TUNE 2
+		if hardfault_log commit
 		then
-			set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
-			if hardfault_log commit
-			then
-				hardfault_log reset
-			fi
+			hardfault_log reset
 		fi
 	fi
-
-	set PARAM_FILE /fs/microsd/params
 fi
+unset SDCARD_AVAILABLE

 #
 # Look for an init script on the microSD card.
@@ -163,31 +137,8 @@ else
 	param select $PARAM_FILE
 	if ! param import
 	then
-		echo "ERROR [init] param import failed"
-		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
-
-		param dump $PARAM_FILE
-
-		if [ -d "/fs/microsd" ]
-		then
-			dmesg >> /fs/microsd/param_import_fail.txt &
-
-			# try to make a backup copy
-			cp $PARAM_FILE /fs/microsd/param_import_fail.bson &
-		fi
-
-		# try importing from backup file
-		if [ -f "/fs/microsd/parameters_backup.bson" ]
-		then
-			param import /fs/microsd/parameters_backup.bson
-		fi
+		param reset_all
 	fi
-
-	if [ $SDCARD_AVAILABLE = yes ]
-	then
-		param select-backup /fs/microsd/parameters_backup.bson
-	fi
-
 	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
 	then
 		netman update -i eth0
@@ -231,20 +182,20 @@ else
 	#
 	tone_alarm start

+	#
+	# Play the startup tune (if not disabled or there is an error)
+	#
+	param compare CBRK_BUZZER 782090
+	if [ $? != 0 -o $STARTUP_TUNE != 1 ]
+	then
+		tune_control play -t $STARTUP_TUNE
+	fi
+
 	#
 	# Waypoint storage.
 	# REBOOTWORK this needs to start in parallel.
 	#
-	if param compare SYS_DM_BACKEND 1
-	then
-		dataman start -r
-	else
-		if param compare SYS_DM_BACKEND 0
-		then
-			# dataman start default
-			dataman start
-		fi
-	fi
+	dataman start

 	#
 	# Start the socket communication send_event handler.
@@ -265,22 +216,10 @@ else
 	#
 	# Set parameters and env variables for selected AUTOSTART.
 	#
-	set AUTOSTART_PATH etc/init.d/rc.autostart
 	if ! param compare SYS_AUTOSTART 0
 	then
-		if param greater SYS_AUTOSTART 1000000
-		then
-			# Use external startup file
-			if [ $SDCARD_AVAILABLE = yes ]
-			then
-				set AUTOSTART_PATH etc/init.d/rc.autostart_ext
-			else
-				echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
-			fi
-		fi
-		. ${R}$AUTOSTART_PATH
+		. ${R}etc/init.d/rc.autostart
 	fi
-	unset AUTOSTART_PATH

 	#
 	# Override parameters from user configuration file.
@@ -311,7 +250,7 @@ else
 			then
 				# Start UAVCAN firmware update server and dynamic node ID allocation server.
 				uavcan start fw
-
+				tune_control play -t 1
 				if param greater UAVCAN_ENABLE 2
 				then
 					set OUTPUT_MODE uavcan_esc
@@ -376,7 +315,7 @@ else
 	if [ $USE_IO = yes -a $IO_PRESENT = no ]
 	then
 		echo "PX4IO not found"
-		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+		tune_control play error
 	fi

 	#
@@ -384,7 +323,6 @@ else
 	#  start before commander
 	#
 	rc_update start
-	manual_control start

 	#
 	# Sensors System (start before Commander so Preflight checks are properly run).
@@ -431,17 +369,6 @@ else
 		commander start
 	fi

-
-	#
-	# Play the startup tune (if not disabled or there is an error)
-	#
-	param compare CBRK_BUZZER 782090
-	if [ $? != 0 -o $STARTUP_TUNE != 1 ]
-	then
-		tune_control play -t $STARTUP_TUNE
-	fi
-
-
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -477,12 +404,6 @@ else
 		rc_input start $RC_INPUT_ARGS
 	fi

-	# PPS capture driver (before pwm_out)
-	if param greater -s PPS_CAP_ENABLE 0
-	then
-		pps_capture start
-	fi
-
 	# Camera capture driver (before pwm_out)
 	if param greater -s CAM_CAP_FBACK 0
 	then
@@ -572,13 +493,21 @@ else
 		. ${R}etc/init.d/rc.autostart.post
 	fi

-
-	set BOARD_BOOTLOADER_UPGRADE ${R}etc/init.d/rc.board_bootloader_upgrade
-	if [ -f $BOARD_BOOTLOADER_UPGRADE ]
+	#
+	# Bootloader upgrade
+	#
+	if param compare -s SYS_BL_UPDATE 1
 	then
-		sh $BOARD_BOOTLOADER_UPGRADE
+		if [ -f "/etc/extras/bootloader.bin" ]
+		then
+			param set SYS_BL_UPDATE 0
+			param save
+			echo "bootloader update..."
+			bl_update "/etc/extras/bootloader.bin"
+			echo "bootloader update done, rebooting"
+			reboot
+		fi
 	fi
-	unset BOARD_BOOTLOADER_UPGRADE

 #
 # End of autostart.
@@ -610,9 +539,6 @@ unset PWM_OUT
 unset PWM_EXTRA_OUT
 unset PWM_EXTRA_RATE
 unset RC_INPUT_ARGS
-unset SDCARD_AVAILABLE
-unset SDCARD_EXT_PATH
-unset SDCARD_FORMAT
 unset SDCARD_MIXERS_PATH
 unset STARTUP_TUNE
 unset USE_IO
@@ -44,4 +44,5 @@ px4_add_romfs_files(
 	tiltrotor_sitl.main.mix
 	uuv_x_sitl.main.mix
 	vectored6dof_sitl.main.mix
+	tiltrotor_sitl_direct.main.mix
 )
@@ -0,0 +1,14 @@
+Mixer for quad tiltrotor (x motor configuration)
+================================================
+
+A: 0
+A: 1
+A: 2
+A: 3
+A: 4
+A: 5
+A: 6
+A: 7
+A: 8
+A: 9
+A: 10
@@ -46,6 +46,7 @@ px4_add_romfs_files(
 	coax.main.mix
 	delta.main.mix
 	deltaquad.main.mix
+	direct.main.mix
 	dodeca_bottom_cox.aux.mix
 	dodeca_top_cox.main.mix
 	firefly6.aux.mix
@@ -0,0 +1,11 @@
+# Direct mixer
+# @board px4_fmu-v2 exclude
+
+A: 0
+A: 1
+A: 2
+A: 3
+A: 4
+A: 5
+A: 6
+A: 7
@@ -40,8 +40,8 @@ def monitor_firmware_upload(port, baudrate):
    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)

    timeout = 180  # 3 minutes
-    timeout_start = time.monotonic()
-    timeout_newline = time.monotonic()
+    timeout_start = time.time()
+    timeout_newline = time.time()

    return_code = 0

@@ -59,13 +59,13 @@ def monitor_firmware_upload(port, baudrate):
        elif "nsh>" in serial_line:
            sys.exit(return_code)

-        if time.monotonic() > timeout_start + timeout:
+        if time.time() > timeout_start + timeout:
            print("Error, timeout")
            sys.exit(-1)

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

@@ -34,7 +34,7 @@ def print_line(line):
 def do_param_set_cmd(port, baudrate, param_name, param_value):
    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)

-    timeout_start = time.monotonic()
+    timeout_start = time.time()
    timeout = 30  # 30 seconds

    # wait for nsh prompt
@@ -50,7 +50,7 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
            if len(serial_line) > 0:
                print_line(serial_line)

-        if time.monotonic() > timeout_start + timeout:
+        if time.time() > timeout_start + timeout:
            print("Error, timeout waiting for prompt")
            sys.exit(1)

@@ -58,13 +58,12 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
    ser.readlines()

    # run command
-    timeout_start = time.monotonic()
+    timeout_start = time.time()
    timeout = 10  # 10 seconds

    cmd = "param set " + param_name + " " + param_value

    # write command (param set) and wait for command echo
-    print("Running command: \'{0}\'".format(cmd))
    serial_cmd = '{0}\r\n'.format(cmd)
    ser.write(serial_cmd.encode("ascii"))
    ser.flush()
@@ -78,7 +77,7 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
            if len(serial_line) > 0:
                print_line(serial_line)

-        if time.monotonic() > timeout_start + timeout:
+        if time.time() > timeout_start + timeout:
            print("Error, timeout waiting for command echo")
            break

@@ -90,8 +89,8 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):

    param_show_response = param_name + " ["

-    timeout_start = time.monotonic()
-    timeout = 3  # 3 seconds
+    timeout_start = time.time()
+    timeout = 2  # 2 seconds

    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')
@@ -108,20 +107,19 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
            if len(serial_line) > 0:
                print_line(serial_line)

-            if time.monotonic() > timeout_start + timeout:
+            if time.time() > timeout_start + timeout:
                if "nsh>" in serial_line:
                    sys.exit(1) # error, command didn't complete successfully
                elif "NuttShell (NSH)" in serial_line:
                    sys.exit(1) # error, command didn't complete successfully

-        if time.monotonic() > timeout_start + timeout:
-            print("Error, timeout")
-            sys.exit(-1)
-
        if len(serial_line) <= 0:
            ser.write("\r\n".encode("ascii"))
            ser.flush()
-            time.sleep(0.2)
+
+        if time.time() > timeout_start + timeout:
+            print("Error, timeout")
+            sys.exit(-1)

    ser.close()

@@ -1,87 +0,0 @@
-#! /usr/bin/env python3
-
-import serial, time
-import subprocess
-from subprocess import call, Popen
-from argparse import ArgumentParser
-import re
-import sys
-import datetime
-
-COLOR_RED    = "\x1b[31m"
-COLOR_GREEN  = "\x1b[32m"
-COLOR_YELLOW = "\x1b[33m"
-COLOR_WHITE  = "\x1b[37m"
-COLOR_RESET  = "\x1b[0m"
-
-def print_line(line):
-    if "WARNING" in line:
-        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
-    elif "WARN" in line:
-        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
-    elif "ERROR" in line:
-        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
-    elif "INFO" in line:
-        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
-
-    if "PASSED" in line:
-        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
-
-    if "FAILED" in line:
-        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
-
-    if "\n" in line:
-        current_time = datetime.datetime.now()
-        print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')
-    else:
-        print('{0}'.format(line), end='')
-
-def reboot(port, baudrate):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
-
-    # clear
-    ser.readlines()
-
-    time_start = time.monotonic()
-    ser.write("\nreboot\n".encode("ascii"))
-    ser.flush()
-    time_reboot_cmd = time_start
-
-    timeout_reboot_cmd = 90
-    timeout = 300  # 5 minutes
-
-    return_code = 0
-
-    while True:
-        if time.monotonic() > time_reboot_cmd + timeout_reboot_cmd:
-            time_reboot_cmd = time.monotonic()
-            print("sending reboot cmd again")
-            ser.write("reboot\n".encode("ascii"))
-            ser.flush()
-            time.sleep(0.2)
-
-        serial_line = ser.readline().decode("ascii", errors='ignore')
-
-        if len(serial_line) > 0:
-            if "ERROR" in serial_line:
-                return_code = -1
-
-            print_line(serial_line)
-
-        if "NuttShell (NSH)" in serial_line:
-            sys.exit(return_code)
-
-        if time.monotonic() > time_start + timeout:
-            print("Error, timeout")
-            sys.exit(-1)
-
-def main():
-    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
-    args = parser.parse_args()
-
-    reboot(args.device, args.baudrate)
-
-if __name__ == "__main__":
-   main()
@@ -40,7 +40,7 @@ def print_line(line):
 def do_nsh_cmd(port, baudrate, cmd):
    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)

-    timeout_start = time.monotonic()
+    timeout_start = time.time()
    timeout = 30  # 30 seconds

    # wait for nsh prompt
@@ -56,7 +56,7 @@ def do_nsh_cmd(port, baudrate, cmd):
            if len(serial_line) > 0:
                print_line(serial_line)

-        if time.monotonic() > timeout_start + timeout:
+        if time.time() > timeout_start + timeout:
            print("Error, timeout waiting for prompt")
            sys.exit(1)

@@ -64,13 +64,12 @@ def do_nsh_cmd(port, baudrate, cmd):
    ser.readlines()

    # run command
-    timeout_start = time.monotonic()
+    timeout_start = time.time()
    timeout = 1  # 1 second

    success_cmd = "cmd succeeded!"

    # wait for command echo
-    print("Running command: \'{0}\'".format(cmd))
    serial_cmd = '{0}; echo "{1}"; echo "{2}";\r\n'.format(cmd, success_cmd, success_cmd)
    ser.write(serial_cmd.encode("ascii"))
    ser.flush()
@@ -87,13 +86,13 @@ def do_nsh_cmd(port, baudrate, cmd):
            if len(serial_line) > 0:
                print_line(serial_line)

-        if (len(serial_line) <= 0) and (time.monotonic() > timeout_start + timeout):
+        if time.time() > timeout_start + timeout:
            print("Error, timeout waiting for command echo")
            break


-    timeout_start = time.monotonic()
-    timeout = 240 # 4 minutes
+    timeout_start = time.time()
+    timeout = 180 # 3 minutes

    return_code = 0

@@ -115,14 +114,13 @@ def do_nsh_cmd(port, baudrate, cmd):
            elif "NuttShell (NSH)" in serial_line:
                sys.exit(1) # error, command didn't complete successfully

-        if (len(serial_line) <= 0) and (time.monotonic() > timeout_start + timeout):
-            print("Error, timeout")
-            sys.exit(-1)
-
        if len(serial_line) <= 0:
            ser.write("\r\n".encode("ascii"))
            ser.flush()
-            time.sleep(0.2)
+
+        if time.time() > timeout_start + timeout:
+            print("Error, timeout")
+            sys.exit(-1)

    ser.close()

@@ -41,7 +41,7 @@ def print_line(line):
 def do_test(port, baudrate, test_name):
    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)

-    timeout_start = time.monotonic()
+    timeout_start = time.time()
    timeout = 30  # 30 seconds

    # wait for nsh prompt
@@ -57,7 +57,7 @@ def do_test(port, baudrate, test_name):
            if len(serial_line) > 0:
                print(serial_line, end='')

-        if time.monotonic() > timeout_start + timeout:
+        if time.time() > timeout_start + timeout:
            print("Error, timeout waiting for prompt")
            return False

@@ -72,11 +72,10 @@ def do_test(port, baudrate, test_name):
    print("| Running:", cmd)
    print('|======================================================================')

-    timeout_start = time.monotonic()
+    timeout_start = time.time()
    timeout = 2  # 2 seconds

    # wait for command echo
-    print("Running command: \'{0}\'".format(cmd))
    serial_cmd = '{0}\n'.format(cmd)
    ser.write(serial_cmd.encode("ascii"))
    ser.flush()
@@ -89,14 +88,14 @@ def do_test(port, baudrate, test_name):
            if len(serial_line) > 0:
                print_line(serial_line)

-        if time.monotonic() > timeout_start + timeout:
+        if time.time() > timeout_start + timeout:
            print("Error, timeout waiting for command echo")
            break


    # print results, wait for final result (PASSED or FAILED)
    timeout = 300  # 5 minutes
-    timeout_start = time.monotonic()
+    timeout_start = time.time()
    timeout_newline = timeout_start

    while True:
@@ -112,16 +111,16 @@ def do_test(port, baudrate, test_name):
            success = False
            break

-        if time.monotonic() > timeout_start + timeout:
+        if time.time() > timeout_start + timeout:
            print("Error, timeout")
            print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
            success = False
            break

        # newline every 10 seconds if still running
-        if (len(serial_line) <= 0) and (time.monotonic() - timeout_newline > 10):
+        if time.time() - timeout_newline > 10:
            ser.write("\n".encode("ascii"))
-            timeout_newline = time.monotonic()
+            timeout_newline = time.time()

    ser.close()

@@ -143,8 +142,9 @@ class TestHardwareMethods(unittest.TestCase):
    def test_bson(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))

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

    # def test_file(self):
    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file"))
@@ -1,41 +0,0 @@
-#! /bin/bash
-
-# exit when any command fails
-set -e
-
-DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
-
-SERIAL_DEVICE=$1
-
-if [ ! -e "${SERIAL_DEVICE}" ]
-then
-	echo "Invalid serial device ${SERIAL_DEVICE}"
-	exit -1
-fi
-
-# all airframes (from ROMFS/px4fmu_common/init.d/airframes/)
-# $(find . -regex '.*/[0-9].*' -exec basename {} \; | cut -d "_" -f 1)
-ALL_AIRFRAMES=${@:2}
-echo "airframes: ${ALL_AIRFRAMES}"
-
-for airframe in $ALL_AIRFRAMES
-do
-	echo
-	echo "##########################################################################################"
-	echo " Airframe: $airframe"
-	echo "##########################################################################################"
-	echo
-
-	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name SYS_AUTOSTART  --value $airframe
-	${DIR}/nsh_param_set.py --device ${SERIAL_DEVICE} --name CBRK_BUZZER    --value 782097
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
-
-	${DIR}/reboot.py --device ${SERIAL_DEVICE}
-
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
-
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'pwm info'
-
-done
@@ -8,16 +8,18 @@ if [ -f "$FILE" ]; then
 	if [ -n "$CHECK_FAILED" ]; then
 		${DIR}/fix_code_style.sh --quiet < $FILE > $FILE.pretty

-		echo -e 'Formatting issue found in' $FILE
 		echo
-		git --no-pager diff --no-index --minimal --histogram --color=always $FILE $FILE.pretty | grep -vE -e "^.{,4}diff.*\.pretty.{,3}$" -e "^.{,4}--- a/.*$" -e "^.{,4}\+\+\+ b/.*$" -e "^.{,5}@@ .* @@.*$" -e "^.{,4}index .{10}\.\."
+		git --no-pager diff --no-index --minimal --histogram --color=always $FILE $FILE.pretty
 		rm -f $FILE.pretty
 		echo

 		if [[ $PX4_ASTYLE_FIX -eq 1 ]]; then
 			${DIR}/fix_code_style.sh $FILE
 		else
-			echo 'to fix automatically run "make format" or "./Tools/astyle/fix_code_style.sh' $FILE'"'
+			# Make sure this file is not staged for comitting
+			git reset $FILE
+			# Provide instructions
+			echo $FILE 'bad formatting, please run "make format" or "./Tools/astyle/fix_code_style.sh' $FILE'"'
 			exit 1
 		fi
 	fi
@@ -17,10 +17,10 @@ exec find boards msg src platforms test \
    -path src/drivers/uavcannode_gps_demo/libcanard -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/events/libevents -prune -o \
+    -path src/lib/matrix -prune -o \
    -path src/lib/parameters/uthash -prune -o \
    -path src/modules/ekf2/EKF -prune -o \
    -path src/modules/gyro_fft/CMSIS_5 -prune -o \
-    -path src/modules/mavlink/mavlink -prune -o \
    -path src/modules/micrortps_bridge/micro-CDR -prune -o \
    -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
    -path test/mavsdk_tests/catch2 -prune -o \
@@ -54,9 +54,12 @@ if [ $? -ne 0 ]; then
 fi

 # Check for code style, only in changed files
-bash -c "comm -12 <(./Tools/astyle/files_to_check_code_style.sh | sort) <(git diff --cached --name-only --diff-filter=ACM) | xargs -P 8 -I % ./Tools/astyle/check_code_style.sh %"
-if [ $? -ne 0 ]
-then
-	echo "Pre-commit style error: Bad formatting according to astyle rules"
-	exit 1
-fi
+for i in `git diff --cached --name-only --diff-filter=ACM`
+do
+	./Tools/astyle/files_to_check_code_style.sh $i | xargs -n 1 -P 8 -I % ./Tools/astyle/check_code_style.sh %
+	if [ $? -ne 0 ]
+	then
+		echo "Pre-commit style error: Bad formatting according to astyle rules"
+		exit 1
+	fi
+done
@@ -9,7 +9,6 @@ if [[ -f $1"/.git" || -d $1"/.git" ]]; then
 	if [ "$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 sync --recursive -- $1
 		git submodule --quiet update --init --recursive --jobs=8 -- $1
 		exit 0
 	fi
@@ -52,7 +51,6 @@ if [[ -f $1"/.git" || -d $1"/.git" ]]; then
 else
 	git submodule --quiet sync --recursive --quiet -- $1
 	git submodule --quiet update --init --recursive -- $1  || true
-	git submodule --quiet sync --recursive --quiet -- $1
 	git submodule --quiet update --init --recursive -- $1
 fi

@@ -17,3 +17,4 @@ def save_compressed(filename):
            f.write(content_file.read())

 save_compressed(filename)
+
@@ -69,7 +69,7 @@ num_vehicles=${NUM_VEHICLES:=3}
 world=${WORLD:=empty}
 target=${TARGET:=px4_sitl_default}
 vehicle_model=${VEHICLE_MODEL:="iris"}
-export PX4_SIM_MODEL=${vehicle_model}
+export PX4_SIM_MODEL=${vehicle_model}${LABEL}

 echo ${SCRIPT}
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
@@ -126,7 +126,7 @@ else

 		m=0
 		while [ $m -lt ${target_number} ]; do
-			export PX4_SIM_MODEL=${target_vehicle}
+			export PX4_SIM_MODEL=${target_vehicle}${LABEL}
 			spawn_model ${target_vehicle}${LABEL} $n $target_x $target_y
 			m=$(($m + 1))
 			n=$(($n + 1))
@@ -6,14 +6,6 @@ import os
 import sys
 import json
 import re
-from kconfiglib import Kconfig
-
-kconf = Kconfig()
-
-# Supress warning output
-kconf.warn_assign_undef = False
-kconf.warn_assign_override = False
-kconf.warn_assign_redun = False

 source_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..')

@@ -36,45 +28,42 @@ excluded_labels = [
    'uavcanv1' # TODO: fix and enable
    ]

-def process_target(px4board_file, target_name):
+def process_target(cmake_file, target_name):
    ret = None
+    is_board_def = False
    platform = None
    toolchain = None
+    for line in open(cmake_file, 'r'):
+        if 'px4_add_board' in line:
+            is_board_def = True
+        if not is_board_def:
+            continue

-    if px4board_file.endswith("default.px4board") or \
-        px4board_file.endswith("recovery.px4board") or \
-        px4board_file.endswith("bootloader.px4board"):
-        kconf.load_config(px4board_file, replace=True)
-    else: # Merge config with default.px4board
-        default_kconfig = re.sub(r'[a-zA-Z\d_]+\.px4board', 'default.px4board', px4board_file)
-        kconf.load_config(default_kconfig, replace=True)
-        kconf.load_config(px4board_file, replace=False)
+        re_platform = re.search('PLATFORM\s+([^\s]+)', line)
+        if re_platform: platform = re_platform.group(1)

-    if "BOARD_TOOLCHAIN" in kconf.syms:
-        toolchain = kconf.syms["BOARD_TOOLCHAIN"].str_value
+        re_toolchain = re.search('TOOLCHAIN\s+([^\s]+)', line)
+        if re_toolchain: toolchain = re_toolchain.group(1)

-    if "BOARD_PLATFORM" in kconf.syms:
-        platform = kconf.syms["BOARD_PLATFORM"].str_value
+    if is_board_def:
+        assert platform, f"PLATFORM not found in {cmake_file}"

-    assert platform, f"PLATFORM not found in {px4board_file}"
-
-    if platform not in excluded_platforms:
-        # get the container based on the platform and toolchain
-        container = platform
-        if platform == 'posix':
-            container = 'base-focal'
-            if toolchain:
-                if toolchain.startswith('aarch64'):
-                    container = 'aarch64'
-                elif toolchain == 'arm-linux-gnueabihf':
-                    container = 'armhf'
-                else:
-                    if verbose: print(f'possibly unmatched toolchain: {toolchain}')
-        elif platform == 'nuttx':
-            container = 'nuttx-focal'
-
-        ret = {'target': target_name, 'container': container}
+        if platform not in excluded_platforms:
+            # get the container based on the platform and toolchain
+            container = platform
+            if platform == 'posix':
+                container = 'base-focal'
+                if toolchain:
+                    if toolchain.startswith('aarch64'):
+                        container = 'aarch64'
+                    elif toolchain == 'arm-linux-gnueabihf':
+                        container = 'armhf'
+                    else:
+                        if verbose: print(f'possibly unmatched toolchain: {toolchain}')
+            elif platform == 'nuttx':
+                container = 'nuttx-focal'

+            ret = {'target': target_name, 'container': container}
    return ret

 for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
@@ -88,8 +77,8 @@ for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
        if not board.is_dir():
            continue
        for files in os.scandir(board.path):
-            if files.is_file() and files.name.endswith('.px4board'):
-                label = files.name[:-9]
+            if files.is_file() and files.name.endswith('.cmake'):
+                label = files.name[:-6]
                target_name = manufacturer.name + '_' + board.name + '_' + label
                if label in excluded_labels:
                    if verbose: print(f'excluding label {label} ({target_name})')
@@ -92,7 +92,6 @@ 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
@@ -110,17 +110,10 @@ def main(kconfig_file, config1, config2):

    for line in f:
        match = unset_match(line)
-        #pprint.pprint(line)
+        #pprint.pprint(match)
        if match is not None:
            sym_name = match.group(1)
            kconf.syms[sym_name].unset_value()
-
-            if kconf.syms[sym_name].type is BOOL:
-                for default, cond in kconf.syms[sym_name].orig_defaults:
-                    if(cond.str_value == 'y'):
-                        # Default is y, our diff is unset thus we've set it to no
-                        kconf.syms[sym_name].set_value(0)
-
    f.close()

    # Print warnings for symbols whose actual value doesn't match the assigned
@@ -1,470 +0,0 @@
-#!/usr/bin/env python3
-""" Script to generate actuators.json metadata from module.yaml config file(s)
-"""
-
-import argparse
-import lzma #to create .xz file
-import json
-import os
-import sys
-
-from output_groups_from_timer_config import get_timer_groups, get_output_groups
-
-try:
-    import yaml
-except ImportError as e:
-    print("Failed to import yaml: " + str(e))
-    print("")
-    print("You may need to install it using:")
-    print("    pip3 install --user pyyaml")
-    print("")
-    sys.exit(1)
-
-parser = argparse.ArgumentParser(description='Generate actuators.json from module.yaml file(s)')
-
-parser.add_argument('--config-files', type=str, nargs='*', default=[],
-                    help='YAML module config file(s)')
-parser.add_argument('--output-file', type=str, action='store',
-                    help='JSON output file', required=True)
-parser.add_argument('--compress', action='store_true', help='Add a compressed output file')
-parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
-                    help='Verbose Output')
-parser.add_argument('--timer-config', type=str, action='store',
-                    help='board-specific timer_config.cpp file')
-parser.add_argument('--board', type=str, action='store',
-                    help='board name, e.g. ')
-parser.add_argument('--board-with-io', dest='board_with_io', action='store_true',
-                    help='Indicate that the board as an IO for extra PWM',
-                    default=False)
-
-args = parser.parse_args()
-
-compress = args.compress
-verbose = args.verbose
-output_file = args.output_file
-timer_config_file = args.timer_config
-board_with_io = args.board_with_io
-board = args.board
-
-root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
-output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")
-
-def save_compressed(filename):
-    #create lzma compressed version
-    xz_filename=filename+'.xz'
-    with lzma.open(xz_filename, 'wt', preset=9) as f:
-        with open(filename, 'r') as content_file:
-            f.write(content_file.read())
-
-def load_yaml_file(file_name):
-    with open(file_name, 'r') as stream:
-        try:
-            return yaml.safe_load(stream)
-        except yaml.YAMLError as exc:
-            print(exc)
-            raise
-
-# functions
-output_functions_yaml = load_yaml_file(output_functions_file)
-output_functions = output_functions_yaml['functions']
-functions = {}
-
-def add_function(functions, index, name, function_obj=None):
-    functions[index] = {
-        "label": name
-    }
-    if function_obj is not None:
-        if function_obj.get('exclude_from_actuator_testing', False):
-            functions[index]['exclude-from-actuator-testing'] = True
-        if 'note' in function_obj:
-            functions[index]['note'] = function_obj['note']
-
-for group_key in output_functions:
-    group = output_functions[group_key]
-    for function_name in group:
-        function_name_label = function_name.replace('_', ' ')
-        if isinstance(group[function_name], int):
-            add_function(functions, group[function_name], function_name_label)
-        elif not 'count' in group[function_name]:
-            add_function(functions, group[function_name]['start'], function_name_label, group[function_name])
-        else:
-            start = group[function_name]['start']
-            count = group[function_name]['count']
-            for i in range(count):
-                add_function(functions, start+i, function_name_label+' '+str(i+1), group[function_name])
-
-# outputs
-outputs = []
-
-def process_module_name(module_name):
-    if module_name == '${PWM_MAIN_OR_AUX}':
-        if board_with_io: return 'PWM AUX'
-        return 'PWM MAIN'
-    if '${' in module_name:
-        raise Exception('unhandled variable in {:}'.format(module_name))
-    return module_name
-
-def process_param_prefix(param_prefix):
-    if param_prefix == '${PWM_MAIN_OR_AUX}':
-        if board_with_io: return 'PWM_AUX'
-        return 'PWM_MAIN'
-    if '${' in param_prefix:
-        raise Exception('unhandled variable in {:}'.format(param_prefix))
-    return param_prefix
-
-def process_channel_label(module_name, channel_label, no_prefix):
-    if channel_label == '${PWM_MAIN_OR_AUX_CAP}':
-        return 'CAP'
-    if channel_label == '${PWM_MAIN_OR_AUX}':
-        if board_with_io: return 'AUX'
-        return 'MAIN'
-    if '${' in channel_label:
-        raise Exception('unhandled variable in {:}'.format(channel_label))
-    if no_prefix: return channel_label
-    return channel_label
-
-def get_actuator_output(yaml_config, output_functions, timer_config_file, verbose):
-    """ parse the actuator_output section from the yaml config file
-    """
-    if not 'actuator_output' in yaml_config:
-        return None
-
-
-    output_groups = yaml_config['actuator_output']['output_groups']
-    module_name = process_module_name(yaml_config['module_name'])
-    group_idx = 0
-
-    if verbose: print('processing module: {}'.format(module_name))
-
-    actuator_output = {
-            'label': module_name
-        }
-    if 'show_subgroups_if' in yaml_config['actuator_output']:
-        actuator_output['show-subgroups-if'] = yaml_config['actuator_output']['show_subgroups_if']
-
-    # config parameters
-    def get_config_params(param_list):
-        """ convert config parameter list (per group or per subgroup) """
-        parameters = []
-        for config_param in param_list:
-            if verbose:
-                print('config param: {}'.format(config_param))
-            param = {
-                    'name': config_param['param'],
-                }
-            if 'label' in config_param:
-                param['label'] = config_param['label']
-            if 'function' in config_param:
-                param['function'] = config_param['function']
-            parameters.append(param)
-        return parameters
-
-    parameters = get_config_params(yaml_config['actuator_output'].get('config_parameters', []))
-    if len(parameters) > 0:
-        actuator_output['parameters'] = parameters
-
-    subgroups = []
-
-    while group_idx < len(output_groups):
-        group = output_groups[group_idx]
-        group_idx += 1
-
-        if verbose: print("processing group: {:}".format(group))
-
-        # Check for generator and generate additional data.
-        if 'generator' in group:
-            if group['generator'] == 'pwm':
-                param_prefix = process_param_prefix(group['param_prefix'])
-                no_prefix = not group.get('channel_label_module_name_prefix', True)
-                channel_labels = [process_channel_label(module_name, label, no_prefix)
-                    for label in group['channel_labels']]
-                standard_params = group.get('standard_params', [])
-                extra_function_groups = group.get('extra_function_groups', [])
-                pwm_timer_param = group.get('pwm_timer_param', None)
-                if 'timer_config_file' in group:
-                    timer_config_file = os.path.join(root_dir, group['timer_config_file'])
-                if timer_config_file is None:
-                    raise Exception('trying to generate pwm outputs, but --timer-config not set')
-                timer_groups = get_timer_groups(timer_config_file, verbose)
-                timer_output_groups, timer_params = get_output_groups(timer_groups,
-                    param_prefix, channel_labels,
-                    standard_params, extra_function_groups, pwm_timer_param,
-                    verbose=verbose)
-                output_groups.extend(timer_output_groups)
-            else:
-                raise Exception('unknown generator {:}'.format(group['generator']))
-            continue
-        
-        subgroup = {}
-
-        # supported actions
-        if 'supported_actions' in group:
-            actions = {}
-            for action_name in group['supported_actions']:
-                action = group['supported_actions'][action_name]
-                action_name = action_name.replace('_', '-')
-                actions[action_name] = {}
-                if 'supported_if' in action:
-                    actions[action_name]['supported-if'] = action['supported_if']
-                if 'actuator_types' in action:
-                    actions[action_name]['actuator-types'] = action['actuator_types']
-            subgroup['supported-actions'] = actions
-
-        # channels
-        num_channels = group['num_channels']
-        no_prefix = not group.get('channel_label_module_name_prefix', True)
-        channel_label = process_channel_label(module_name, group['channel_label'], no_prefix)
-        instance_start = group.get('instance_start', 1)
-        instance_start_label = group.get('instance_start_label', instance_start)
-        channels = []
-        for channel in range(num_channels):
-            channels.append({
-                'label': channel_label + ' ' +str(channel+instance_start_label),
-                'param-index': channel+instance_start
-                })
-        subgroup['channels'] = channels
-
-        if 'group_label' in group:
-            subgroup['label'] = group['group_label']
-
-
-        # per-channel-params
-        per_channel_params = []
-        param_prefix = process_param_prefix(group['param_prefix'])
-        standard_params = group.get('standard_params', {})
-        standard_params_array = [
-            ( 'function', 'Function', 'FUNC', False ),
-            ( 'disarmed', 'Disarmed', 'DIS', False ),
-            ( 'min', 'Minimum', 'MIN', False ),
-            ( 'max', 'Maximum', 'MAX', False ),
-            ( 'failsafe', 'Failsafe', 'FAIL', True ),
-            ]
-        for key, label, param_suffix, advanced in standard_params_array:
-            show_if = None
-            if key in standard_params and 'show_if' in standard_params[key]:
-                show_if = standard_params[key]['show_if']
-
-            if key in standard_params or key == 'function':
-                param = {
-                        'label': label,
-                        'name': param_prefix+'_'+param_suffix+'${i}',
-                        'function': key,
-                    }
-                if advanced: param['advanced'] = True
-                if show_if: param['show-if'] = show_if
-                per_channel_params.append(param)
-
-        # TODO: support non-standard per-channel parameters
-
-        subgroup['per-channel-parameters'] = per_channel_params
-
-        # group config params
-        parameters = get_config_params(group.get('config_parameters', []))
-        if len(parameters) > 0:
-            subgroup['parameters'] = parameters
-
-        subgroups.append(subgroup)
-
-    actuator_output['subgroups'] = subgroups
-    return actuator_output
-
-# Mixers
-mixers = None
-def get_mixers(yaml_config, output_functions, verbose):
-    if not 'mixer' in yaml_config:
-        return None
-
-    actuator_types = {}
-    for actuator_type_key in yaml_config['mixer']['actuator_types']:
-        actuator_type_conf = yaml_config['mixer']['actuator_types'][actuator_type_key]
-        actuator_type = { }
-        if actuator_type_key != 'DEFAULT':
-            actuator_type['label-index-offset'] = 1 # always 1
-        if 'functions' in actuator_type_conf:
-            function_name = actuator_type_conf['functions']
-            # we expect the function to be in 'common' (this is not a requirement, just simplicity)
-            output_function = output_functions['common'][function_name]
-            actuator_type['function-min'] = output_function['start']
-            actuator_type['function-max'] = output_function['start'] + output_function['count'] - 1
-
-        values = actuator_type_conf['actuator_testing_values']
-        actuator_type['values'] = {
-                'min': values['min'],
-                'max': values['max'],
-            }
-        if values.get('default_is_nan', False):
-            actuator_type['values']['default-is-nan'] = True
-        else:
-            actuator_type['values']['default'] = values['default']
-        if values.get('reversible', False):
-            actuator_type['values']['reversible'] = True
-
-        # per item params
-        per_item_params = []
-        for per_item_param in actuator_type_conf.get('per_item_parameters', []):
-            per_item_params.append({k.replace('_','-'): v for k, v in per_item_param.items()})
-        if len(per_item_params) > 0:
-            actuator_type['per-item-parameters'] = per_item_params
-
-        actuator_types[actuator_type_key] = actuator_type
-
-    if verbose:
-        print('Actuator types: {}'.format(actuator_types))
-
-    config = []
-    yaml_mixer_config = yaml_config['mixer']['config']
-    select_param = yaml_mixer_config['param']
-    types = yaml_mixer_config['types']
-    for type_index in types:
-        current_type = types[type_index]
-        option = select_param + '==' + str(type_index)
-        mixer_config = {
-                'option': option,
-            }
-        if 'type' in current_type:
-            mixer_config['type'] = current_type['type']
-        actuators = []
-        for actuator_conf in current_type['actuators']:
-            actuator = {
-                    'actuator-type': actuator_conf['actuator_type'],
-                    'required': True, # for now always set as required
-                }
-            # sanity check that actuator type exists
-            if actuator_conf['actuator_type'] not in actuator_types:
-                raise Exception('actuator type "{}" does not exist (valid: {})'.format(actuator_conf['actuator_type'], actuator_types.keys()))
-
-            if 'group_label' in actuator_conf:
-                actuator['group-label'] = actuator_conf['group_label']
-            else:
-                # infer from actuator type
-                if actuator_conf['actuator_type'] == 'motor':
-                    actuator['group-label'] = 'Motors'
-                elif actuator_conf['actuator_type'] == 'servo':
-                    actuator['group-label'] = 'Servos'
-                else:
-                    raise Exception('Missing group label for actuator type "{}"'.format(actuator_conf['actuator_type']))
-
-            if 'count' in actuator_conf: # possibly dynamic size
-                actuator['count'] = actuator_conf['count']
-                per_item_params = actuator_conf['per_item_parameters']
-                params = []
-                if 'standard' in per_item_params:
-                    standard_params = per_item_params['standard']
-                    if 'position' in standard_params:
-                        params.extend([
-                        {
-                            'label': 'Position X',
-                            'function': 'posx',
-                            'name': standard_params['position'][0],
-                        },
-                        {
-                            'label': 'Position Y',
-                            'function': 'posy',
-                            'name': standard_params['position'][1],
-                        },
-                        {
-                            'label': 'Position Z',
-                            'function': 'posz',
-                            'name': standard_params['position'][2],
-                            'advanced': True,
-                        },
-                        ])
-                if 'extra' in per_item_params:
-                    for extra_param in per_item_params['extra']:
-                        params.append({k.replace('_','-'): v for k, v in extra_param.items()})
-                actuator['per-item-parameters'] = params
-            else: # fixed size
-                labels = []
-                pos_x = []
-                pos_y = []
-                pos_z = []
-                for instance in actuator_conf['instances']:
-                    labels.append(instance['name'])
-                    pos_x.append(instance['position'][0])
-                    pos_y.append(instance['position'][1])
-                    pos_z.append(instance['position'][2])
-                actuator['count'] = len(labels)
-                actuator['item-label-prefix'] = labels
-                actuator['per-item-parameters'] = [
-                        {
-                            'label': 'Position X',
-                            'function': 'posx',
-                            'value': pos_x,
-                        },
-                        {
-                            'label': 'Position Y',
-                            'function': 'posy',
-                            'value': pos_y,
-                        },
-                        {
-                            'label': 'Position Z',
-                            'function': 'posz',
-                            'value': pos_z,
-                            'advanced': True,
-                        },
-                    ]
-
-            # actuator parameters
-            parameters = []
-            for param in actuator_conf.get('parameters', []):
-                parameters.append({k.replace('_','-'): v for k, v in param.items()})
-            actuator['parameters'] = parameters
-
-            actuators.append(actuator)
-
-        mixer_config['actuators'] = actuators
-        config.append(mixer_config)
-
-    if verbose:
-        print('Mixer configs: {}'.format(config))
-    
-    mixers = {
-            'actuator-types': actuator_types,
-            'config': config,
-        }
-    return mixers
-
-
-for yaml_file in args.config_files:
-    yaml_config = load_yaml_file(yaml_file)
-
-    try:
-        actuator_output = get_actuator_output(yaml_config,
-                output_functions, timer_config_file, verbose)
-        if actuator_output:
-            outputs.append(actuator_output)
-
-        parsed_mixers = get_mixers(yaml_config, output_functions, verbose)
-        if parsed_mixers is not None:
-            if mixers is not None:
-                # only expected to be configured in one module
-                raise Exception('multiple "mixer" sections in module config files')
-            mixers = parsed_mixers
-    except Exception as e:
-        print('Exception while parsing {:}:'.format(yaml_file))
-        raise e
-
-if mixers is None:
-    if len(outputs) > 0:
-        raise Exception('Missing "mixer" section in yaml configs (CONFIG_MODULES_CONTROL_ALLOCATOR not added to the build?)')
-    else:
-        # set a minimal default
-        mixers = {
-                'actuator-types': { 'DEFAULT': { 'values': { 'min': 0, 'max': 1 } } },
-            'config': [],
-            }
-
-actuators = {
-    'version': 1,
-    'show-ui-if': 'SYS_CTRL_ALLOC==1',
-    'outputs_v1': outputs,
-    'functions_v1': functions,
-    'mixer_v1': mixers,
-    }
-
-with open(output_file, 'w') as outfile:
-    indent = 2 if verbose else None
-    json.dump(actuators, outfile, indent=indent)
-
-if compress:
-    save_compressed(output_file)
@@ -1,368 +0,0 @@
-#!/usr/bin/env python3
-""" Script to generate params from module.yaml config file(s)
-    Note: serial params are handled in Tools/serial/generate_config.py
-"""
-
-import argparse
-import os
-import sys
-from copy import deepcopy
-
-from output_groups_from_timer_config import get_timer_groups, get_output_groups
-
-try:
-    import yaml
-except ImportError as e:
-    print("Failed to import yaml: " + str(e))
-    print("")
-    print("You may need to install it using:")
-    print("    pip3 install --user pyyaml")
-    print("")
-    sys.exit(1)
-
-parser = argparse.ArgumentParser(description='Generate params from module.yaml file(s)')
-
-parser.add_argument('--config-files', type=str, nargs='*', default=[],
-                    help='YAML module config file(s)')
-parser.add_argument('--params-file', type=str, action='store',
-                    help='Parameter output file')
-parser.add_argument('--timer-config', type=str, action='store',
-                    help='board-specific timer_config.cpp file')
-parser.add_argument('--ethernet', action='store_true',
-                    help='Ethernet support')
-parser.add_argument('--board', type=str, action='store',
-                    help='board name, e.g. ')
-parser.add_argument('--board-with-io', dest='board_with_io', action='store_true',
-                    help='Indicate that the board as an IO for extra PWM',
-                    default=False)
-parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
-                    help='Verbose Output')
-
-args = parser.parse_args()
-
-verbose = args.verbose
-params_output_file = args.params_file
-timer_config_file = args.timer_config
-ethernet_supported = args.ethernet
-board_with_io = args.board_with_io
-board = args.board
-
-root_dir = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../..")
-output_functions_file = os.path.join(root_dir,"src/lib/mixer_module/output_functions.yaml")
-
-def process_module_name(module_name):
-    if module_name == '${PWM_MAIN_OR_AUX}':
-        if board_with_io: return 'PWM AUX'
-        return 'PWM MAIN'
-    if '${' in module_name:
-        raise Exception('unhandled variable in {:}'.format(module_name))
-    return module_name
-
-def process_param_prefix(param_prefix):
-    if param_prefix == '${PWM_MAIN_OR_AUX}':
-        if board_with_io: return 'PWM_AUX'
-        return 'PWM_MAIN'
-    if '${' in param_prefix:
-        raise Exception('unhandled variable in {:}'.format(param_prefix))
-    return param_prefix
-
-def process_channel_label(module_name, channel_label, no_prefix):
-    if channel_label == '${PWM_MAIN_OR_AUX_CAP}':
-        return 'PWM Capture'
-    if channel_label == '${PWM_MAIN_OR_AUX}':
-        if board_with_io: return 'PWM Aux'
-        return 'PWM Main'
-    if '${' in channel_label:
-        raise Exception('unhandled variable in {:}'.format(channel_label))
-    if no_prefix: return channel_label
-    return module_name + ' ' + channel_label
-
-
-def parse_yaml_parameters_config(yaml_config, ethernet_supported):
-    """ parse the parameters section from the yaml config file """
-    if 'parameters' not in yaml_config:
-        return ''
-    parameters_section_list = yaml_config['parameters']
-    ret = ''
-    for parameters_section in parameters_section_list:
-        if 'definitions' not in parameters_section:
-            continue
-        definitions = parameters_section['definitions']
-        param_group = parameters_section.get('group', None)
-        for param_name in definitions:
-            # 'definitions' either contains the param definition directly (dict),
-            # or a list of definitions with that name (multiple entries for a
-            # multi-instance param with different instance_start)
-            param_list = definitions[param_name]
-            if not isinstance(param_list, list):
-                param_list = [param_list]
-
-            for param in param_list:
-                if param.get('requires_ethernet', False) and not ethernet_supported:
-                    continue
-                num_instances = param.get('num_instances', 1)
-                instance_start = param.get('instance_start', 0) # offset
-                instance_start_label = param.get('instance_start_label', instance_start)
-
-                # get the type and extract all tags
-                tags = '@group {:}'.format(param_group)
-                if param['type'] == 'enum':
-                    param_type = 'INT32'
-                    for key in param['values']:
-                        tags += '\n * @value {:} {:}'.format(key, param['values'][key])
-                elif param['type'] == 'boolean':
-                    param_type = 'BOOL'
-                    tags += '\n * @boolean'
-                elif param['type'] == 'int32':
-                    param_type = 'INT32'
-                elif param['type'] == 'float':
-                    param_type = 'FLOAT'
-                else:
-                    raise Exception("unknown param type {:}".format(param['type']))
-
-                for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
-                            'min', 'max', 'unit', 'reboot_required']:
-                    if tag in param:
-                        tags += '\n * @{:} {:}'.format(tag, param[tag])
-
-                for i in range(num_instances):
-                    # default value
-                    default_value = 0
-                    if 'default' in param:
-                        # default can be a list of num_instances or a single value
-                        if type(param['default']) == list:
-                            assert len(param['default']) == num_instances
-                            default_value = param['default'][i]
-                        else:
-                            default_value = param['default']
-
-                    # output the existing C-style format
-                    ret += '''
-/**
- * {short_descr}
- *
- * {long_descr}
- *
- * {tags}
- */
-PARAM_DEFINE_{param_type}({name}, {default_value});
-'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
-           long_descr=param['description'].get('long', "").replace("\n", "\n * "),
-           tags=tags,
-           param_type=param_type,
-           name=param_name.replace('${i}', str(i+instance_start)),
-           default_value=default_value,
-          ).replace('${i}', str(i+instance_start_label))
-    return ret
-
-
-def get_actuator_output_params(yaml_config, output_functions,
-    timer_config_file, verbose):
-    """ parse the actuator_output section from the yaml config file
-        :return: dict of param definitions
-    """
-    if not 'actuator_output' in yaml_config:
-        return {}
-    output_groups = yaml_config['actuator_output']['output_groups']
-    module_name = process_module_name(yaml_config['module_name'])
-    all_params = {}
-    group_idx = 0
-
-    def add_local_param(param_name, param_def):
-        nonlocal all_params
-        # add as a list, as there can be multiple entries with the same param_name
-        if not param_name in all_params:
-            all_params[param_name] = []
-        all_params[param_name].append(param_def)
-
-    while group_idx < len(output_groups):
-        group = output_groups[group_idx]
-        group_idx += 1
-
-        if verbose: print("processing group: {:}".format(group))
-
-        # Check for generator and generate additional data.
-        # We do this by extending the output_groups list and parse in a later iteration
-        if 'generator' in group:
-            if group['generator'] == 'pwm':
-                param_prefix = process_param_prefix(group['param_prefix'])
-                no_prefix = not group.get('channel_label_module_name_prefix', True)
-                channel_labels = [process_channel_label(module_name, label, no_prefix)
-                    for label in group['channel_labels']]
-                standard_params = group.get('standard_params', [])
-                extra_function_groups = group.get('extra_function_groups', [])
-                pwm_timer_param = group.get('pwm_timer_param', None)
-                if 'timer_config_file' in group:
-                    timer_config_file = os.path.join(root_dir, group['timer_config_file'])
-                if timer_config_file is None:
-                    raise Exception('trying to generate pwm outputs, but --timer-config not set')
-                timer_groups = get_timer_groups(timer_config_file, verbose)
-                timer_output_groups, timer_params = get_output_groups(timer_groups,
-                    param_prefix, channel_labels,
-                    standard_params, extra_function_groups, pwm_timer_param,
-                    verbose=verbose)
-                all_params.update(timer_params)
-                output_groups.extend(timer_output_groups)
-
-                # In case of a board w/o IO and >8 PWM channels, pwm_out splits
-                # into 2 instances (if SYS_CTRL_ALLOC==0) and we need to add the
-                # PWM_AUX min/max/disarmed params as well.
-                num_channels = len(timer_groups['types'])
-                if not board_with_io and num_channels > 8:
-                    output_groups.append(
-                        {
-                            'param_prefix': 'PWM_AUX',
-                            'channel_label': 'PWM AUX',
-                            'instance_start': 1,
-                            'num_channels': num_channels - 8,
-                            'standard_params': deepcopy(timer_output_groups[0]['standard_params'])
-                        })
-
-            else:
-                raise Exception('unknown generator {:}'.format(group['generator']))
-            continue
-
-        num_channels = group['num_channels']
-        param_prefix = process_param_prefix(group['param_prefix'])
-        no_prefix = not group.get('channel_label_module_name_prefix', True)
-        channel_label = process_channel_label(module_name, group['channel_label'], no_prefix)
-        standard_params = group.get('standard_params', {})
-        instance_start = group.get('instance_start', 1)
-        instance_start_label = group.get('instance_start_label', instance_start)
-        if len(param_prefix) > 9: # 16 - len('_FAIL') - 2 (2 digits for index)
-            raise Exception("param prefix {:} too long (max length=10)".format(param_prefix))
-        # collect the functions
-        function_groups = ['common']
-        function_groups.extend(group.get('extra_function_groups', []))
-        output_function_values = {}
-        for function_group in function_groups:
-            group = output_functions[function_group]
-            for function_name in group:
-                function_name_label = function_name.replace('_', ' ')
-                if isinstance(group[function_name], int):
-                    output_function_values[group[function_name]] = function_name_label
-                elif not 'count' in group[function_name]:
-                    output_function_values[group[function_name]['start']] = function_name_label
-                else:
-                    start = group[function_name]['start']
-                    count = group[function_name]['count']
-                    for i in range(count):
-                        output_function_values[start+i] = function_name_label+' '+str(i+1)
-
-        # function param
-        param = {
-            'description': {
-                'short': channel_label+' ${i} Output Function',
-                'long':
-'''Select what should be output on {:} ${{i}}.
-
-The default failsafe value is set according to the selected function:
- 'Min' for ConstantMin
- 'Max' for ConstantMax
- 'Max' for Parachute
- ('Max'+'Min')/2 for Servos
- 'Disarmed' for the rest
-'''.format(channel_label),
-                },
-            'type': 'enum',
-            'instance_start': instance_start,
-            'instance_start_label': instance_start_label,
-            'num_instances': num_channels,
-            'default': 0,
-            'values': output_function_values
-            }
-        add_local_param(param_prefix+'_FUNC${i}', param)
-
-        # handle standard_params
-        disarmed_description = \
-'''This is the output value that is set when not armed.
-
-Note that non-motor outputs might already be active in prearm state if COM_PREARM_MODE is set.
-'''
-        minimum_description = \
-'''Minimum output value (when not disarmed).
-
-The output range can be reversed by setting Min > Max.
-'''
-        maximum_description = \
-'''Maxmimum output value (when not disarmed).
-
-The output range can be reversed by setting Min > Max.
-'''
-        failsafe_description = \
-'''This is the output value that is set when in failsafe mode.
-
-When set to -1 (default), the value depends on the function (see {:}).
-'''.format(param_prefix+'_FUNC${i}')
-        standard_params_array = [
-            ( 'disarmed', 'Disarmed', 'DIS', disarmed_description ),
-            ( 'min', 'Minimum', 'MIN', minimum_description ),
-            ( 'max', 'Maximum', 'MAX', maximum_description ),
-            ( 'failsafe', 'Failsafe', 'FAIL', failsafe_description ),
-            ]
-        for key, label, param_suffix, description in standard_params_array:
-            if key in standard_params:
-
-                # values must be in range of an uint16_t
-                if standard_params[key]['min'] < 0:
-                    raise Exception('minimum value for {:} expected >= 0 (got {:})'.format(key, standard_params[key]['min']))
-                if standard_params[key]['max'] >= 1<<16:
-                    raise Exception('maximum value for {:} expected <= {:} (got {:})'.format(key, 1<<16, standard_params[key]['max']))
-
-                if key == 'failsafe':
-                    standard_params[key]['default'] = -1
-                    standard_params[key]['min'] = -1
-
-                param = {
-                    'description': {
-                        'short': channel_label+' ${i} '+label+' Value',
-                        'long': description
-                        },
-                    'type': 'int32',
-                    'instance_start': instance_start,
-                    'instance_start_label': instance_start_label,
-                    'num_instances': num_channels,
-                    'min': standard_params[key]['min'],
-                    'max': standard_params[key]['max'],
-                    'default': standard_params[key]['default'],
-                    }
-                add_local_param(param_prefix+'_'+param_suffix+'${i}', param)
-
-    if verbose: print('adding actuator params: {:}'.format(all_params))
-    return all_params
-
-def load_yaml_file(file_name):
-    with open(file_name, 'r') as stream:
-        try:
-            return yaml.safe_load(stream)
-        except yaml.YAMLError as exc:
-            print(exc)
-            raise
-
-output_functions_yaml = load_yaml_file(output_functions_file)
-output_functions = output_functions_yaml['functions']
-
-all_params = ""
-
-for yaml_file in args.config_files:
-    yaml_config = load_yaml_file(yaml_file)
-
-    # convert 'output_groups' section into additional params
-    try:
-        actuator_output_params = get_actuator_output_params(yaml_config,
-                output_functions, timer_config_file, verbose)
-    except Exception as e:
-        print('Exception while parsing {:}:'.format(yaml_file))
-        raise e
-    # now add them to the yaml config
-    if not 'parameters' in yaml_config:
-        yaml_config['parameters'] = []
-    group_name = 'Actuator Outputs'
-    yaml_config['parameters'].append({'group': group_name, 'definitions': actuator_output_params})
-
-    all_params += parse_yaml_parameters_config(yaml_config, ethernet_supported)
-
-
-if verbose: print("Generating {:}".format(params_output_file))
-with open(params_output_file, 'w') as fid:
-    fid.write(all_params)
@@ -1,228 +0,0 @@
-#!/usr/bin/env python3
-""" Script to parse board-specific timer_config.cpp and print the output groups
-and timer config params to stdout
-"""
-
-import argparse
-import os
-import sys
-import re
-from itertools import groupby
-from copy import deepcopy
-
-
-def find_matching_brackets(brackets, s, verbose):
-    idx = 0
-    opening = 0
-    first_open = -1
-    while idx < len(s):
-        if s[idx] == brackets[0]:
-            opening += 1
-            if first_open == -1:
-                first_open = idx
-        if s[idx] == brackets[1]:
-            opening -= 1
-            if opening == 0:
-                if verbose: print(first_open, idx, s[first_open:idx+1])
-                return first_open+1, idx
-        idx += 1
-    raise Exception('Failed to find opening/closing brackets in {:}'.format(s))
-
-def extract_timer(line):
-    # Try format: initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
-    search = re.search('Timer::([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
-    if search:
-        return search.group(1)
-
-    # nxp rt1062 format: initIOPWM(PWM::FlexPWM2),
-    search = re.search('PWM::Flex([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
-    if search:
-        return search.group(1)
-
-    return None
-
-def extract_timer_from_channel(line):
-    # Try format: initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
-    search = re.search('Timer::([0-9a-zA-Z_]+), ', line, re.IGNORECASE)
-    if search:
-        return search.group(1)
-
-    # nxp rt1062 format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
-    search = re.search('PWM::(PWM[0-9]+)[_,\)]', line, re.IGNORECASE)
-    if search:
-        return search.group(1)
-
-    return None
-
-def get_timer_groups(timer_config_file, verbose=False):
-    with open(timer_config_file, 'r') as f:
-        timer_config = f.read()
-
-    # timers
-    dshot_support = {} # key: timer
-    timers_start_marker = 'io_timers_t io_timers'
-    timers_start = timer_config.find(timers_start_marker)
-    if timers_start == -1:
-        raise Exception('"{:}" not found in {:}'.format(timers_start_marker, timer_config_file))
-    timer_config = timer_config[timers_start:]
-    open_idx, close_idx = find_matching_brackets(('{', '}'), timer_config, verbose)
-    timers_str = timer_config[open_idx:close_idx]
-    timers = []
-    for line in timers_str.splitlines():
-        line = line.strip()
-        if len(line) == 0 or line.startswith('//'):
-            continue
-        timer = extract_timer(line)
-
-        if timer:
-            if verbose: print('found timer def: {:}'.format(timer))
-            dshot_support[timer] = 'DMA' in line
-            timers.append(timer)
-        else:
-            # Make sure we don't miss anything (e.g. for different syntax) or misparse (e.g. multi-line comments)
-            raise Exception('Unparsed timer in line: {:}'.format(line))
-
-
-    # channels
-    channels_start_marker = 'timer_io_channels_t timer_io_channels'
-    channels_start = timer_config.find(channels_start_marker)
-    if channels_start == -1:
-        raise Exception('"{:}" not found in {:}'.format(channels_start_marker, timer_config_file))
-
-    timer_config = timer_config[channels_start:]
-    open_idx, close_idx = find_matching_brackets(('{', '}'), timer_config, verbose)
-    channels = timer_config[open_idx:close_idx]
-    channel_timers = []
-    channel_types = []
-
-    for line in channels.splitlines():
-        line = line.strip()
-        if len(line) == 0 or line.startswith('//'):
-            continue
-
-        if verbose: print('--'+line+'--')
-        timer = extract_timer_from_channel(line)
-
-        if timer:
-            if verbose: print('Found timer: {:} in channel line {:}'.format(timer, line))
-            channel_types.append('cap' if 'capture' in line.lower() else 'pwm')
-            channel_timers.append(timer)
-        else:
-            # Make sure we don't miss anything (e.g. for different syntax) or misparse (e.g. multi-line comments)
-            raise Exception('Unparsed channel in line: {:}'.format(line))
-
-    if len(channel_timers) == 0:
-        raise Exception('No channels found in "{:}"'.format(channels))
-
-    groups = [(timers.index(k), len(list(g)), dshot_support[k]) for k, g in groupby(channel_timers)]
-    outputs = {
-        'types': channel_types,
-        'groups': groups
-        }
-
-    return outputs
-
-def get_output_groups(timer_groups, param_prefix="PWM_MAIN",
-        channel_labels=["PWM Main", "PWM Capture"],
-        standard_params=[],
-        extra_function_groups=[], pwm_timer_param=None,
-        verbose=False):
-    """ convert the timer groups into an output_groups section of module.yaml
-    and extra timer params
-    """
-
-    instance_start = 1
-    output_groups = []
-    timer_params = {}
-    instance_start_label = [ 1, 1 ]
-    for timer_index, group_count, dshot_support in timer_groups['groups']:
-
-        # check for capture vs normal pins for the label
-        types = timer_groups['types'][instance_start-1:instance_start+group_count-1]
-        if not all(types[0] == t for t in types):
-            # Should this ever be needed, we can extend this script to handle that
-            raise Exception('Implementation requires all channel types for a timer to be equal (types: {:})'.format(types))
-        if types[0] == 'pwm':
-            channel_type_idx = 0
-        elif types[0] == 'cap':
-            channel_type_idx = 1
-        else:
-            raise Exception('unsupported channel type: {:}'.format(types[0]))
-
-        channel_label = channel_labels[channel_type_idx]
-        channel_type_instance = instance_start_label[channel_type_idx]
-        group_label = channel_label + ' ' + str(channel_type_instance)
-        if group_count > 1:
-            group_label += '-' + str(channel_type_instance+group_count-1)
-        group = {
-            'param_prefix': param_prefix,
-            'channel_label': channel_label,
-            'instance_start': instance_start,
-            'instance_start_label': channel_type_instance,
-            'extra_function_groups': deepcopy(extra_function_groups),
-            'num_channels': group_count,
-            'standard_params': deepcopy(standard_params),
-            'group_label': group_label,
-            'channel_label_module_name_prefix': False,
-        }
-
-        if pwm_timer_param is not None:
-            pwm_timer_param_cp = deepcopy(pwm_timer_param)
-            timer_param_name = param_prefix+'_TIM'+str(timer_index)
-
-            group['config_parameters'] = [
-                    {
-                        'param': timer_param_name,
-                        'function': 'primary',
-                    }
-                ]
-
-            if dshot_support:
-                # don't show pwm limit params when dshot enabled
-
-                for standard_param in group['standard_params']:
-                    group['standard_params'][standard_param]['show_if'] = timer_param_name + '>=-1'
-
-                # indicate support for changing motor spin direction
-                group['supported_actions'] = {
-                        'set_spin_direction1': {
-                            'supported_if': timer_param_name + '<-1',
-                            'actuator_types': ['motor']
-                        },
-                        'set_spin_direction2': {
-                            'supported_if': timer_param_name + '<-1',
-                            'actuator_types': ['motor']
-                        },
-                    }
-            else:
-                # remove dshot entries if no dshot support
-                values = pwm_timer_param_cp['values']
-                for key in list(values.keys()):
-                    if 'dshot' in values[key].lower():
-                        del values[key]
-
-            for descr_type in ['short', 'long']:
-                descr = pwm_timer_param_cp['description'][descr_type]
-                pwm_timer_param_cp['description'][descr_type] = \
-                    descr.replace('${label}', group_label)
-            timer_params[timer_param_name] = pwm_timer_param_cp
-        output_groups.append(group)
-        instance_start += group_count
-        instance_start_label[channel_type_idx] += group_count
-    return (output_groups, timer_params)
-
-if __name__ == '__main__':
-    parser = argparse.ArgumentParser(description='Extract output groups from timer_config.cpp')
-
-    parser.add_argument('--timer-config', type=str, action='store',
-                        help='timer_config.cpp file', required=True)
-    parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
-                        help='Verbose Output')
-
-    args = parser.parse_args()
-    verbose = args.verbose
-    timer_groups = get_timer_groups(args.timer_config, verbose)
-    print('timer groups: {:}'.format(timer_groups))
-    output_groups, timer_params = get_output_groups(timer_groups, verbose=verbose)
-    print('output groups: {:}'.format(output_groups))
-    print('timer params: {:}'.format(timer_params))
@@ -25,7 +25,7 @@ div.frame_common table, div.frame_common table {
 }

 div.frame_common table {
-   float: right;
+   float: right; 
   width: 70%;
 }

@@ -74,7 +74,6 @@ class RCOutput():
        result += "\n"
        result += "if [ ${AIRFRAME} != none ]\n"
        result += "then\n"
-        result += "\techo \"Loading airframe: /etc/init.d/airframes/${AIRFRAME}\"\n"
        result += "\t. /etc/init.d/airframes/${AIRFRAME}\n"
        if not post_start:
            result += "else\n"
@@ -55,3 +55,4 @@ class JsonOutput():
        if need_to_write:
            with codecs.open(filename, 'w', 'utf-8') as f:
                f.write(json.dumps(self.json,indent=2))
+
@@ -137,8 +137,8 @@ class ModuleDocumentation(object):
            "\"board-specific bus (default=all) (external SPI: n-th bus (default=1))\"", 'true'])

        if self._is_bool_true(args[1]):
-            self._handle_usage_param_int(['\'c\'', '-1', '0', '31',
-                "\"chip-select pin (for internal SPI) or index (for external SPI)\"", 'true'])
+            self._handle_usage_param_int(['\'c\'', '1', '1', '10',
+                "\"chip-select index (for external SPI)\"", 'true'])
            self._handle_usage_param_int(['\'m\'', '-1', '0', '3', "\"SPI mode\"", 'true'])

        self._handle_usage_param_int(['\'f\'', '-1', '0', '1000000', "\"bus frequency in kHz\"", 'true'])
@@ -1,6 +1,8 @@
 #!/usr/bin/env python3
 """ Script to generate Serial (UART) parameters and the ROMFS startup script """

+from __future__ import print_function
+
 import argparse
 import os
 import sys
@@ -193,6 +195,7 @@ if rc_serial_output_dir is None and serial_params_output_file is None:
 # parse the YAML files
 serial_commands = []
 ethernet_configuration = []
+additional_params = ""

 if ethernet_supported:
    ethernet_configuration.append({
@@ -213,12 +216,88 @@ def parse_yaml_serial_config(yaml_config):
        ret.append(serial_config)
    return ret

+def parse_yaml_parameters_config(yaml_config, ethernet_supported):
+    """ parse the parameters section from the yaml config file """
+    if 'parameters' not in yaml_config:
+        return ''
+    parameters_section_list = yaml_config['parameters']
+    for parameters_section in parameters_section_list:
+        if 'definitions' not in parameters_section:
+            return ''
+        definitions = parameters_section['definitions']
+        ret = ''
+        param_group = parameters_section.get('group', None)
+        for param_name in definitions:
+            param = definitions[param_name]
+            if param.get('requires_ethernet', False) and not ethernet_supported:
+                continue
+            num_instances = param.get('num_instances', 1)
+            instance_start = param.get('instance_start', 0) # offset
+
+            # get the type and extract all tags
+            tags = '@group {:}'.format(param_group)
+            if param['type'] == 'enum':
+                param_type = 'INT32'
+                for key in param['values']:
+                    tags += '\n * @value {:} {:}'.format(key, param['values'][key])
+            elif param['type'] == 'boolean':
+                param_type = 'INT32'
+                tags += '\n * @boolean'
+            elif param['type'] == 'int32':
+                param_type = 'INT32'
+            elif param['type'] == 'float':
+                param_type = 'FLOAT'
+            else:
+                raise Exception("unknown param type {:}".format(param['type']))
+
+            for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
+                        'min', 'max', 'unit', 'reboot_required']:
+                if tag in param:
+                    tags += '\n * @{:} {:}'.format(tag, param[tag])
+
+            for i in range(num_instances):
+                # default value
+                default_value = 0
+                if 'default' in param:
+                    # default can be a list of num_instances or a single value
+                    if type(param['default']) == list:
+                        assert len(param['default']) == num_instances
+                        default_value = param['default'][i]
+                    else:
+                        default_value = param['default']
+
+                if type(default_value) == bool:
+                    default_value = int(default_value)
+
+                # output the existing C-style format
+                ret += '''
+/**
+ * {short_descr}
+ *
+ * {long_descr}
+ *
+ * {tags}
+ */
+PARAM_DEFINE_{param_type}({name}, {default_value});
+'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
+           long_descr=param['description']['long'].replace("\n", "\n * "),
+           tags=tags,
+           param_type=param_type,
+           name=param_name,
+           default_value=default_value,
+          ).replace('${i}', str(i+instance_start))
+    return ret
+
 for yaml_file in args.config_files:
    with open(yaml_file, 'r') as stream:
        try:
            yaml_config = yaml.load(stream, Loader=yaml.Loader)
            serial_commands.extend(parse_yaml_serial_config(yaml_config))

+            # TODO: additional params should be parsed in a separate script
+            additional_params += parse_yaml_parameters_config(
+                yaml_config, ethernet_supported)
+
        except yaml.YAMLError as exc:
            print(exc)
            raise
@@ -325,5 +404,6 @@ if serial_params_output_file is not None:
    with open(serial_params_output_file, 'w') as fid:
        fid.write(template.render(serial_devices=serial_devices,
            ethernet_configuration=ethernet_configuration,
-            commands=commands, serial_ports=serial_ports))
+            commands=commands, serial_ports=serial_ports,
+            additional_definitions=additional_params))

@@ -71,3 +71,5 @@ PARAM_DEFINE_INT32({{ command.port_param_name }}, {{ command.default_port }});
 {% endfor -%}
 {% endif %}

+{{ additional_definitions }}
+
@@ -3,11 +3,9 @@ argparse>=1.2
 cerberus
 coverage
 empy>=3.3
-future
 jinja2>=2.8
 jsonschema
 kconfiglib
-lxml
 matplotlib>=3.0.*
 numpy>=1.13
 nunavut>=1.1.0
@@ -86,8 +86,6 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	gdb \
 	git \
 	lcov \
-	libxml2-dev \
-	libxml2-utils \
 	make \
 	ninja-build \
 	python3 \
@@ -136,13 +134,13 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		genromfs \
 		gettext \
 		gperf \
+		kconfig-frontends \
 		libelf-dev \
 		libexpat-dev \
 		libgmp-dev \
 		libisl-dev \
 		libmpc-dev \
 		libmpfr-dev \
-		libncurses5 \
 		libncurses5-dev \
 		libncursesw5-dev \
 		libtool \
@@ -153,12 +151,6 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		util-linux \
 		vim-common \
 		;
-	if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
-		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
-		kconfig-frontends \
-		;
-	fi
-

 	if [ -n "$USER" ]; then
 		# add user to dialout group (serial port access)
@@ -1,5 +1,5 @@
 //Public key to verify signed binaries
-0x4d, 0xb0, 0xc2, 0x1, 0x5, 0x55, 0x2a, 0x3c,
-0xd7, 0xfb, 0xaf, 0x5c, 0xba, 0x7a, 0xb0, 0x81,
-0x1b, 0x36, 0x63, 0xdb, 0x28, 0x52, 0x5e, 0xdb,
-0x14, 0x36, 0xf2, 0x57, 0x8d, 0x2, 0xb7, 0xfd,
+0x4d, 0xb0, 0xc2, 0x1, 0x5, 0x55, 0x2a, 0x3c, 
+0xd7, 0xfb, 0xaf, 0x5c, 0xba, 0x7a, 0xb0, 0x81, 
+0x1b, 0x36, 0x63, 0xdb, 0x28, 0x52, 0x5e, 0xdb, 
+0x14, 0x36, 0xf2, 0x57, 0x8d, 0x2, 0xb7, 0xfd, 
@@ -1,38 +1,38 @@

-0x30, 0x82, 0x1, 0x22, 0x30, 0xd, 0x6, 0x9,
-0x2a, 0x86, 0x48, 0x86, 0xf7, 0xd, 0x1, 0x1,
-0x1, 0x5, 0x0, 0x3, 0x82, 0x1, 0xf, 0x0,
-0x30, 0x82, 0x1, 0xa, 0x2, 0x82, 0x1, 0x1,
-0x0, 0xcf, 0xa3, 0xb8, 0xec, 0x4f, 0xac, 0x37,
-0xe6, 0x1b, 0xfa, 0x1e, 0xb3, 0x92, 0xe9, 0x1a,
-0x83, 0x36, 0x2d, 0x27, 0xa6, 0x4a, 0xab, 0x7e,
-0x38, 0x6f, 0x93, 0x7a, 0x1f, 0x60, 0x83, 0x83,
-0xac, 0xfd, 0x2e, 0x61, 0xbf, 0x19, 0x10, 0x1f,
-0x39, 0xe3, 0x6c, 0xb6, 0xcc, 0xf5, 0x85, 0x7c,
-0xb2, 0x38, 0x27, 0x14, 0x43, 0xd7, 0xfe, 0xbc,
-0xa1, 0xe8, 0x7d, 0x33, 0x74, 0x93, 0xe7, 0xd6,
-0x2b, 0x2f, 0x79, 0x87, 0x59, 0xb0, 0x63, 0x95,
-0x5c, 0xe7, 0x4f, 0x60, 0x46, 0xc9, 0xa9, 0xf,
-0xde, 0xa9, 0x36, 0x9e, 0x3e, 0x34, 0xba, 0x77,
-0x18, 0x50, 0xe3, 0x6b, 0x3, 0x93, 0xaa, 0xc7,
-0xf2, 0x2d, 0xe, 0xf3, 0x2b, 0x5, 0x34, 0x60,
-0xa4, 0xf7, 0xa9, 0xe2, 0x37, 0xa3, 0x6d, 0x27,
-0xd8, 0xa3, 0x71, 0x9c, 0x6b, 0xb2, 0x5e, 0xdd,
-0x12, 0x2b, 0x73, 0xe1, 0xdb, 0x9d, 0xf4, 0xc3,
-0xc, 0xd6, 0x5, 0x1d, 0xac, 0xa4, 0xdc, 0x69,
-0x2a, 0xf5, 0x7c, 0x30, 0x24, 0x7b, 0x2b, 0x80,
-0x1b, 0x7a, 0xec, 0x68, 0x77, 0x12, 0x97, 0x2a,
-0xb2, 0xe5, 0xd2, 0xff, 0x41, 0x1d, 0xf5, 0x6,
-0xa4, 0xb6, 0x47, 0xa5, 0xfa, 0x5, 0x7e, 0xf0,
-0xa1, 0xb8, 0xad, 0xde, 0x5c, 0xae, 0x2c, 0x8b,
-0x4e, 0xad, 0xaf, 0xac, 0x6d, 0x46, 0x62, 0xe1,
-0xe9, 0xfe, 0xa1, 0xc5, 0xc9, 0xf4, 0x48, 0xd2,
-0x80, 0x2b, 0xe5, 0xa9, 0x3e, 0xc1, 0xfc, 0x98,
-0xde, 0x3, 0xa9, 0xac, 0x86, 0xb7, 0xb5, 0x19,
-0xe5, 0x75, 0x6a, 0x63, 0x83, 0x3f, 0x27, 0x7a,
-0x5e, 0xf8, 0xf1, 0x6d, 0xb2, 0xd2, 0x36, 0xa1,
-0xc0, 0xd2, 0x5f, 0x93, 0x9c, 0x90, 0xe8, 0x3e,
-0xca, 0x89, 0xd7, 0xca, 0xd0, 0xc7, 0xe8, 0x8f,
-0x4b, 0xb7, 0x60, 0x92, 0x5e, 0x36, 0x43, 0x70,
-0x23, 0x36, 0xfb, 0xb5, 0xa5, 0x6, 0x9a, 0xc0,
-0xcb, 0x2, 0x3, 0x1, 0x0, 0x1,
+0x30, 0x82, 0x1, 0x22, 0x30, 0xd, 0x6, 0x9, 
+0x2a, 0x86, 0x48, 0x86, 0xf7, 0xd, 0x1, 0x1, 
+0x1, 0x5, 0x0, 0x3, 0x82, 0x1, 0xf, 0x0, 
+0x30, 0x82, 0x1, 0xa, 0x2, 0x82, 0x1, 0x1, 
+0x0, 0xcf, 0xa3, 0xb8, 0xec, 0x4f, 0xac, 0x37, 
+0xe6, 0x1b, 0xfa, 0x1e, 0xb3, 0x92, 0xe9, 0x1a, 
+0x83, 0x36, 0x2d, 0x27, 0xa6, 0x4a, 0xab, 0x7e, 
+0x38, 0x6f, 0x93, 0x7a, 0x1f, 0x60, 0x83, 0x83, 
+0xac, 0xfd, 0x2e, 0x61, 0xbf, 0x19, 0x10, 0x1f, 
+0x39, 0xe3, 0x6c, 0xb6, 0xcc, 0xf5, 0x85, 0x7c, 
+0xb2, 0x38, 0x27, 0x14, 0x43, 0xd7, 0xfe, 0xbc, 
+0xa1, 0xe8, 0x7d, 0x33, 0x74, 0x93, 0xe7, 0xd6, 
+0x2b, 0x2f, 0x79, 0x87, 0x59, 0xb0, 0x63, 0x95, 
+0x5c, 0xe7, 0x4f, 0x60, 0x46, 0xc9, 0xa9, 0xf, 
+0xde, 0xa9, 0x36, 0x9e, 0x3e, 0x34, 0xba, 0x77, 
+0x18, 0x50, 0xe3, 0x6b, 0x3, 0x93, 0xaa, 0xc7, 
+0xf2, 0x2d, 0xe, 0xf3, 0x2b, 0x5, 0x34, 0x60, 
+0xa4, 0xf7, 0xa9, 0xe2, 0x37, 0xa3, 0x6d, 0x27, 
+0xd8, 0xa3, 0x71, 0x9c, 0x6b, 0xb2, 0x5e, 0xdd, 
+0x12, 0x2b, 0x73, 0xe1, 0xdb, 0x9d, 0xf4, 0xc3, 
+0xc, 0xd6, 0x5, 0x1d, 0xac, 0xa4, 0xdc, 0x69, 
+0x2a, 0xf5, 0x7c, 0x30, 0x24, 0x7b, 0x2b, 0x80, 
+0x1b, 0x7a, 0xec, 0x68, 0x77, 0x12, 0x97, 0x2a, 
+0xb2, 0xe5, 0xd2, 0xff, 0x41, 0x1d, 0xf5, 0x6, 
+0xa4, 0xb6, 0x47, 0xa5, 0xfa, 0x5, 0x7e, 0xf0, 
+0xa1, 0xb8, 0xad, 0xde, 0x5c, 0xae, 0x2c, 0x8b, 
+0x4e, 0xad, 0xaf, 0xac, 0x6d, 0x46, 0x62, 0xe1, 
+0xe9, 0xfe, 0xa1, 0xc5, 0xc9, 0xf4, 0x48, 0xd2, 
+0x80, 0x2b, 0xe5, 0xa9, 0x3e, 0xc1, 0xfc, 0x98, 
+0xde, 0x3, 0xa9, 0xac, 0x86, 0xb7, 0xb5, 0x19, 
+0xe5, 0x75, 0x6a, 0x63, 0x83, 0x3f, 0x27, 0x7a, 
+0x5e, 0xf8, 0xf1, 0x6d, 0xb2, 0xd2, 0x36, 0xa1, 
+0xc0, 0xd2, 0x5f, 0x93, 0x9c, 0x90, 0xe8, 0x3e, 
+0xca, 0x89, 0xd7, 0xca, 0xd0, 0xc7, 0xe8, 0x8f, 
+0x4b, 0xb7, 0x60, 0x92, 0x5e, 0x36, 0x43, 0x70, 
+0x23, 0x36, 0xfb, 0xb5, 0xa5, 0x6, 0x9a, 0xc0, 
+0xcb, 0x2, 0x3, 0x1, 0x0, 0x1, 
@@ -5,7 +5,6 @@ https://json-schema.org/"""
 import argparse
 import sys
 import json
-import os

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

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

-if args.skip_if_no_schema and not os.path.isfile(schema_file):
-    sys.exit(0)
-
 # load the schema
 with open(schema_file, 'r') as stream:
    schema = json.load(stream)
@@ -48,7 +48,6 @@ CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 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_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -58,14 +57,12 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -77,7 +74,6 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VMOUNT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_ESC_CALIB=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -25,7 +25,7 @@
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/airmind/mindpx-v2/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -42,7 +42,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0030
 CONFIG_CDCACM_PRODUCTSTR="MindPX FMU v2.x"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -93,6 +92,7 @@ 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
@@ -114,6 +114,7 @@ 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
@@ -239,6 +239,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi4) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 4\n");
 		board_autoled_on(LED_AMBER);
+		return -ENODEV;
 	}

 	/* Default SPI4 to 10MHz and de-assert the known chip selects. */
@@ -254,6 +255,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi1) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n");
 		board_autoled_on(LED_AMBER);
+		return -ENODEV;
 	}

 	/* Default SPI1 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
@@ -277,7 +279,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);

 	if (!sdio) {
-		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n",
+		       CONFIG_NSH_MMCSDSLOTNO);
+		return -ENODEV;
 	}

 	/* Now bind the SDIO interface to the MMC/SD driver */
@@ -285,6 +289,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 	if (ret != OK) {
 		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+		return ret;
 	}

 	/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
@@ -13,4 +13,3 @@ CONFIG_DRIVERS_UAVCANNODE=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -7,7 +7,7 @@
 #
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-flow/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -40,6 +40,13 @@ 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
@@ -124,6 +124,10 @@
 #define GPIO_CAN1_RX	GPIO_CAN1_RX_2
 #define GPIO_CAN1_TX	GPIO_CAN1_TX_2

+/* I2C */
+#define GPIO_I2C1_SCL	GPIO_I2C1_SCL_1
+#define GPIO_I2C1_SDA	GPIO_I2C1_SDA_1
+
 /* SPI */
 #define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1
 #define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
@@ -21,7 +21,7 @@
 # CONFIG_STM32_DMACAPABLE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-flow/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32"
@@ -57,6 +57,8 @@ 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
@@ -70,6 +72,7 @@ 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
@@ -91,6 +94,7 @@ 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
@@ -123,6 +127,7 @@ CONFIG_STM32_DMA1=y
 CONFIG_STM32_DMA2=y
 CONFIG_STM32_FLASH_PREFETCH=y
 CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_I2C1=y
 CONFIG_STM32_JTAG_SW_ENABLE=y
 CONFIG_STM32_PWR=y
 CONFIG_STM32_RTC=y
@@ -49,6 +49,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
 else()
 	add_library(drivers_board
 		can.c
+		i2c.cpp
 		init.c
 		led.c
 		spi.cpp
@@ -35,5 +35,4 @@

 constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
 	initI2CBusExternal(1),
-	initI2CBusInternal(2),
 };
@@ -146,6 +146,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 	if (result != OK) {
 		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+		return -ENODEV;
 	}

 #endif // FLASH_BASED_PARAMS
@@ -15,4 +15,3 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
--- a/Show More
+++ b/Show More