commander: cleanup mavlink system present and validity checks

- try to handle mavlink system validity and present checks more consistently - telemetry_status unify heartbeats and healthy flags across MAV_TYPE and MAV_COMPONENT (once it's outside of mavlink we don't care about the difference) - add gimbal
2026-06-05 08:10:05 +08:00 · 2021-12-22 09:38:43 +01:00
129 changed files with 762 additions and 856 deletions
@@ -410,8 +410,10 @@ pipeline {
                    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"'
+                    // test dataman (stop mavlink & navigator first)
+                    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_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" || 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 "uorb_tests"'
@@ -495,9 +497,6 @@ 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") {
@@ -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
@@ -111,7 +111,7 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                    for key in param['values']:
                        tags += '\n * @value {:} {:}'.format(key, param['values'][key])
                elif param['type'] == 'boolean':
-                    param_type = 'BOOL'
+                    param_type = 'INT32'
                    tags += '\n * @boolean'
                elif param['type'] == 'int32':
                    param_type = 'INT32'
@@ -136,6 +136,9 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
                        else:
                            default_value = param['default']

+                    if type(default_value) == bool:
+                        default_value = int(default_value)
+
                    # output the existing C-style format
                    ret += '''
 /**
@@ -14,7 +14,6 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
-CONFIG_DRIVERS_LINUX_PWM_OUT=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PWM_OUT_SIM=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -24,7 +23,6 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -48,6 +46,7 @@ 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
@@ -14,8 +14,6 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
-CONFIG_DRIVERS_IMU_ST_LSM9DS1=y
-CONFIG_DRIVERS_LINUX_PWM_OUT=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_MAGNETOMETER_LSM9DS1_MAG=y
 CONFIG_DRIVERS_PWM_OUT_SIM=y
@@ -26,7 +24,6 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -50,6 +47,7 @@ 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
@@ -49,11 +49,7 @@ add_custom_target(metadata_airframes
 set(generated_params_dir ${PX4_BINARY_DIR}/generated_params_metadata)
 file(GLOB_RECURSE yaml_config_files ${PX4_SOURCE_DIR}/src/modules/*.yaml
 	${PX4_SOURCE_DIR}/src/drivers/*.yaml ${PX4_SOURCE_DIR}/src/lib/*.yaml)
-
-# avoid param duplicates
-list(FILTER yaml_config_files EXCLUDE REGEX ".*/pwm_out_sim/")
-list(FILTER yaml_config_files EXCLUDE REGEX ".*/linux_pwm_out/")
-
+list(FILTER yaml_config_files EXCLUDE REGEX ".*/pwm_out_sim/") # avoid param duplicates
 add_custom_target(metadata_parameters
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${PX4_BINARY_DIR}/docs
 	COMMAND ${CMAKE_COMMAND} -E make_directory ${generated_params_dir}
@@ -37,25 +37,38 @@ float32 rx_message_lost_rate

 uint64 HEARTBEAT_TIMEOUT_US = 1500000       # Heartbeat timeout 1.5 seconds

-# Heartbeats per type
-bool heartbeat_type_antenna_tracker         # MAV_TYPE_ANTENNA_TRACKER
-bool heartbeat_type_gcs                     # MAV_TYPE_GCS
-bool heartbeat_type_onboard_controller      # MAV_TYPE_ONBOARD_CONTROLLER
-bool heartbeat_type_gimbal                  # MAV_TYPE_GIMBAL
-bool heartbeat_type_adsb                    # MAV_TYPE_ADSB
-bool heartbeat_type_camera                  # MAV_TYPE_CAMERA
-bool heartbeat_type_parachute               # MAV_TYPE_PARACHUTE
+# Heartbeats
+bool heartbeat_adsb               # MAV_TYPE_ADSB
+bool heartbeat_antenna_tracker    # MAV_TYPE_ANTENNA_TRACKER
+bool heartbeat_battery            # MAV_TYPE_BATTERY
+bool heartbeat_camera             # MAV_TYPE_CAMERA
+bool heartbeat_gcs                # MAV_TYPE_GCS
+bool heartbeat_gimbal             # MAV_TYPE_GIMBAL
+bool heartbeat_log                # MAV_COMP_ID_LOG
+bool heartbeat_obstacle_avoidance # MAV_COMP_ID_OBSTACLE_AVOIDANCE
+bool heartbeat_onboard_controller # MAV_TYPE_ONBOARD_CONTROLLER
+bool heartbeat_osd                # MAV_COMP_ID_OSD
+bool heartbeat_pairing_manager    # MAV_COMP_ID_PAIRING_MANAGER
+bool heartbeat_parachute          # MAV_TYPE_PARACHUTE
+bool heartbeat_telemetry_radio    # MAV_COMP_ID_TELEMETRY_RADIO
+bool heartbeat_uart_bridge        # MAV_COMP_ID_UART_BRIDGE
+bool heartbeat_udp_bridge         # MAV_COMP_ID_UDP_BRIDGE
+bool heartbeat_vio                # MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY

-# Heartbeats per component
-bool heartbeat_component_telemetry_radio    # MAV_COMP_ID_TELEMETRY_RADIO
-bool heartbeat_component_log                # MAV_COMP_ID_LOG
-bool heartbeat_component_osd                # MAV_COMP_ID_OSD
-bool heartbeat_component_obstacle_avoidance # MAV_COMP_ID_OBSTACLE_AVOIDANCE
-bool heartbeat_component_vio                # MAV_COMP_ID_VISUAL_INERTIAL_ODOMETRY
-bool heartbeat_component_pairing_manager    # MAV_COMP_ID_PAIRING_MANAGER
-bool heartbeat_component_udp_bridge         # MAV_COMP_ID_UDP_BRIDGE
-bool heartbeat_component_uart_bridge        # MAV_COMP_ID_UART_BRIDGE
-
-# Misc component health
-bool avoidance_system_healthy
-bool parachute_system_healthy
+# system status healthy
+bool system_healthy_adsb
+bool system_healthy_antenna_tracker
+bool system_healthy_battery
+bool system_healthy_camera
+bool system_healthy_gcs
+bool system_healthy_gimbal
+bool system_healthy_log
+bool system_healthy_obstacle_avoidance
+bool system_healthy_onboard_controller
+bool system_healthy_osd
+bool system_healthy_pairing_manager
+bool system_healthy_parachute
+bool system_healthy_telemetry_radio
+bool system_healthy_uart_bridge
+bool system_healthy_udp_bridge
+bool system_healthy_vio
@@ -30,14 +30,22 @@ bool circuit_breaker_vtol_fw_arming_check 	# set to true if for VTOLs arming in
 bool offboard_control_signal_lost

 bool rc_signal_found_once
-bool rc_calibration_in_progress
+bool rc_input_blocked                                # set if RC input should be ignored temporarily
 bool rc_calibration_valid                            # set if RC calibration is valid
 bool vtol_transition_failure                        # Set to true if vtol transition failed
 bool usb_connected                                # status of the USB power supply
 bool sd_card_detected_once                        # set to true if the SD card was detected

-bool avoidance_system_required					  # Set to true if avoidance system is enabled via COM_OBS_AVOID parameter
-bool avoidance_system_valid                       # Status of the obstacle avoidance system
+bool system_required_obstacle_avoidance					  # Set to true if avoidance system is enabled via COM_OBS_AVOID parameter

-bool parachute_system_present
-bool parachute_system_healthy
+bool system_present_gcs
+bool system_present_gimbal
+bool system_present_obstacle_avoidance
+bool system_present_onboard_controller
+bool system_present_parachute
+
+bool system_valid_gcs
+bool system_valid_gimbal
+bool system_valid_obstacle_avoidance
+bool system_valid_onboard_controller
+bool system_valid_parachute
@@ -261,7 +261,7 @@ private:
 	int32_t _val;
 };

-// external version
+//external version
 template<px4::params p>
 class Param<int32_t &, p>
 {
@@ -318,7 +318,7 @@ class Param<bool, p>
 {
 public:
 	// static type-check
-	static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_BOOL, "parameter type must be bool");
+	static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_INT32, "parameter type must be int32_t");

 	Param()
 	{
@@ -331,10 +331,18 @@ public:
 	const bool &reference() const { return _val; }

 	/// Store the parameter value to the parameter storage (@see param_set())
-	bool commit() const { return param_set(handle(), &_val) == 0; }
+	bool commit() const
+	{
+		int32_t value_int = (int32_t)_val;
+		return param_set(handle(), &value_int) == 0;
+	}

 	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
-	bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
+	bool commit_no_notification() const
+	{
+		int32_t value_int = (int32_t)_val;
+		return param_set_no_notification(handle(), &value_int) == 0;
+	}

 	/// Set and commit a new value. Returns true if the value changed.
 	bool commit_no_notification(bool val)
@@ -356,83 +364,38 @@ public:
 		update();
 	}

-	bool update() { return param_get(handle(), &_val) == 0; }
+	bool update()
+	{
+		int32_t value_int;
+		int ret = param_get(handle(), &value_int);
+
+		if (ret == 0) {
+			_val = value_int != 0;
+			return true;
+		}
+
+		return false;
+	}

 	param_t handle() const { return param_handle(p); }
 private:
 	bool _val;
 };

-// external version
-template<px4::params p>
-class Param<bool &, p>
-{
-public:
-	// static type-check
-	static_assert(px4::parameters_type[(int)p] == PARAM_TYPE_BOOL, "parameter type must be bool");
-
-	Param(bool &external_val)
-		: _val(external_val)
-	{
-		param_set_used(handle());
-		update();
-	}
-
-	bool get() const { return _val; }
-
-	const bool &reference() const { return _val; }
-
-	/// Store the parameter value to the parameter storage (@see param_set())
-	bool commit() const { return param_set(handle(), &_val) == 0; }
-
-	/// Store the parameter value to the parameter storage, w/o notifying the system (@see param_set_no_notification())
-	bool commit_no_notification() const { return param_set_no_notification(handle(), &_val) == 0; }
-
-	/// Set and commit a new value. Returns true if the value changed.
-	bool commit_no_notification(bool val)
-	{
-		if (val != _val) {
-			set(val);
-			commit_no_notification();
-			return true;
-		}
-
-		return false;
-	}
-
-	void set(bool val) { _val = val; }
-
-	void reset()
-	{
-		param_reset_no_notification(handle());
-		update();
-	}
-
-	bool update() { return param_get(handle(), &_val) == 0; }
-
-	param_t handle() const { return param_handle(p); }
-private:
-	bool &_val;
-};
-
 template <px4::params p>
-using ParamBool = Param<bool, p>;
+using ParamFloat = Param<float, p>;

 template <px4::params p>
 using ParamInt = Param<int32_t, p>;

 template <px4::params p>
-using ParamFloat = Param<float, p>;
-
-
-template <px4::params p>
-using ParamExtBool = Param<bool &, p>;
+using ParamExtFloat = Param<float &, p>;

 template <px4::params p>
 using ParamExtInt = Param<int32_t &, p>;

 template <px4::params p>
-using ParamExtFloat = Param<float &, p>;
+using ParamBool = Param<bool, p>;

 } /* namespace do_not_explicitly_use_this_namespace */

@@ -268,7 +268,7 @@ WorkQueueManagerRun(int, char **)
 			// On posix system , the desired stacksize round to the nearest multiplier of the system pagesize
 			// It is a requirement of the  pthread_attr_setstacksize* function
 			const unsigned int page_size = sysconf(_SC_PAGESIZE);
-			const size_t stacksize_adj = math::max((int)PTHREAD_STACK_MIN, PX4_STACK_ADJUSTED(wq->stacksize));
+			const size_t stacksize_adj = math::max(PTHREAD_STACK_MIN, PX4_STACK_ADJUSTED(wq->stacksize));
 			const size_t stacksize = (stacksize_adj + page_size - (stacksize_adj % page_size));
 #endif

@@ -114,7 +114,7 @@ public:
 	ArchPX4IOSerial();
 	ArchPX4IOSerial(ArchPX4IOSerial &) = delete;
 	ArchPX4IOSerial &operator = (const ArchPX4IOSerial &) = delete;
-	virtual ~ArchPX4IOSerial();
+	~ArchPX4IOSerial();

 	virtual int	init();
 	virtual int	ioctl(unsigned operation, unsigned &arg);
@@ -159,6 +159,7 @@ private:
 	/**
 	 * Performance counters.
 	 */
+	perf_counter_t		_pc_dmasetup;
 	perf_counter_t		_pc_dmaerrs;

 	/**
@@ -58,7 +58,13 @@ ArchPX4IOSerial::ArchPX4IOSerial() :
 	_current_packet(nullptr),
 	_rx_dma_status(_dma_status_inactive),
 	_completion_semaphore(SEM_INITIALIZER(0)),
-	_pc_dmaerrs(perf_alloc(PC_COUNT, MODULE_NAME": DMA errors"))
+#if 0
+	_pc_dmasetup(perf_alloc(PC_ELAPSED,	"io_dmasetup ")),
+	_pc_dmaerrs(perf_alloc(PC_COUNT,	"io_dmaerrs  "))
+#else
+	_pc_dmasetup(nullptr),
+	_pc_dmaerrs(nullptr)
+#endif
 {
 }

@@ -93,6 +99,7 @@ ArchPX4IOSerial::~ArchPX4IOSerial()
 	/* and kill our semaphores */
 	px4_sem_destroy(&_completion_semaphore);

+	perf_free(_pc_dmasetup);
 	perf_free(_pc_dmaerrs);
 }

@@ -195,6 +202,7 @@ ArchPX4IOSerial::ioctl(unsigned operation, unsigned &arg)
 					if (count >= 5000) {
 						syslog(LOG_INFO, "==== test 1 : %u failures ====\n", fails);
 						perf_print_counter(_pc_txns);
+						perf_print_counter(_pc_dmasetup);
 						perf_print_counter(_pc_retries);
 						perf_print_counter(_pc_timeouts);
 						perf_print_counter(_pc_crcerrs);
@@ -233,6 +241,7 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)

 	/* start RX DMA */
 	perf_begin(_pc_txns);
+	perf_begin(_pc_dmasetup);

 	/* DMA setup time ~3µs */
 	_rx_dma_status = _dma_status_waiting;
@@ -279,6 +288,8 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 	//rCR1 |= USART_CR1_TE;
 	rCR3 |= USART_CR3_DMAT;

+	perf_end(_pc_dmasetup);
+
 	/* compute the deadline for a 10ms timeout */
 	struct timespec abstime;
 	clock_gettime(CLOCK_REALTIME, &abstime);
@@ -298,8 +309,6 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 		if (ret == OK) {
 			/* check for DMA errors */
 			if (_rx_dma_status & DMA_STATUS_TEIF) {
-				// stream transfer error, ensure all DMA is also stopped before exiting early
-				_abort_dma();
 				perf_count(_pc_dmaerrs);
 				ret = -EIO;
 				break;
@@ -310,7 +319,6 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 			_current_packet->crc = 0;

 			if ((crc != crc_packet(_current_packet)) || (PKT_CODE(*_current_packet) == PKT_CODE_CORRUPT)) {
-				_abort_dma();
 				perf_count(_pc_crcerrs);
 				ret = -EIO;
 				break;
@@ -68,7 +68,13 @@ ArchPX4IOSerial::ArchPX4IOSerial() :
 	_current_packet(nullptr),
 	_rx_dma_status(_dma_status_inactive),
 	_completion_semaphore(SEM_INITIALIZER(0)),
-	_pc_dmaerrs(perf_alloc(PC_COUNT, MODULE_NAME": DMA errors"))
+#if 0
+	_pc_dmasetup(perf_alloc(PC_ELAPSED,	"io_dmasetup ")),
+	_pc_dmaerrs(perf_alloc(PC_COUNT,	"io_dmaerrs  "))
+#else
+	_pc_dmasetup(nullptr),
+	_pc_dmaerrs(nullptr)
+#endif
 {
 }

@@ -103,6 +109,7 @@ ArchPX4IOSerial::~ArchPX4IOSerial()
 	/* and kill our semaphores */
 	px4_sem_destroy(&_completion_semaphore);

+	perf_free(_pc_dmasetup);
 	perf_free(_pc_dmaerrs);
 }

@@ -207,6 +214,7 @@ ArchPX4IOSerial::ioctl(unsigned operation, unsigned &arg)
 					if (count >= 5000) {
 						syslog(LOG_INFO, "==== test 1 : %u failures ====\n", fails);
 						perf_print_counter(_pc_txns);
+						perf_print_counter(_pc_dmasetup);
 						perf_print_counter(_pc_retries);
 						perf_print_counter(_pc_timeouts);
 						perf_print_counter(_pc_crcerrs);
@@ -248,6 +256,7 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)

 	/* start RX DMA */
 	perf_begin(_pc_txns);
+	perf_begin(_pc_dmasetup);

 	/* DMA setup time ~3µs */
 	_rx_dma_status = _dma_status_waiting;
@@ -298,6 +307,8 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 	//rCR1 &= ~USART_CR1_TE;
 	//rCR1 |= USART_CR1_TE;

+	perf_end(_pc_dmasetup);
+
 	/* compute the deadline for a 10ms timeout */
 	struct timespec abstime;
 	clock_gettime(CLOCK_REALTIME, &abstime);
@@ -317,8 +328,8 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 		if (ret == OK) {
 			/* check for DMA errors */
 			if (_rx_dma_status & DMA_STATUS_TEIF) {
-				// stream transfer error, ensure all DMA is also stopped before exiting early
-				_abort_dma();
+				// stream transfer error, ensure TX DMA is also stopped before exiting early
+				stm32_dmastop(_tx_dma);
 				perf_count(_pc_dmaerrs);
 				ret = -EIO;
 				break;
@@ -329,7 +340,6 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 			_current_packet->crc = 0;

 			if ((crc != crc_packet(_current_packet)) || (PKT_CODE(*_current_packet) == PKT_CODE_CORRUPT)) {
-				_abort_dma();
 				perf_count(_pc_crcerrs);
 				ret = -EIO;
 				break;
@@ -106,7 +106,13 @@ ArchPX4IOSerial::ArchPX4IOSerial() :
 	_current_packet(nullptr),
 	_rx_dma_status(_dma_status_inactive),
 	_completion_semaphore(SEM_INITIALIZER(0)),
-	_pc_dmaerrs(perf_alloc(PC_COUNT, MODULE_NAME": DMA errors"))
+#if 0
+	_pc_dmasetup(perf_alloc(PC_ELAPSED, "io_dmasetup ")),
+	_pc_dmaerrs(perf_alloc(PC_COUNT,  "io_dmaerrs  "))
+#else
+	_pc_dmasetup(nullptr),
+	_pc_dmaerrs(nullptr)
+#endif
 {
 }

@@ -141,6 +147,7 @@ ArchPX4IOSerial::~ArchPX4IOSerial()
 	/* and kill our semaphores */
 	px4_sem_destroy(&_completion_semaphore);

+	perf_free(_pc_dmasetup);
 	perf_free(_pc_dmaerrs);
 }

@@ -245,6 +252,7 @@ ArchPX4IOSerial::ioctl(unsigned operation, unsigned &arg)
 					if (count >= 5000) {
 						syslog(LOG_INFO, "==== test 1 : %u failures ====\n", fails);
 						perf_print_counter(_pc_txns);
+						perf_print_counter(_pc_dmasetup);
 						perf_print_counter(_pc_retries);
 						perf_print_counter(_pc_timeouts);
 						perf_print_counter(_pc_crcerrs);
@@ -286,6 +294,7 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)

 	/* start RX DMA */
 	perf_begin(_pc_txns);
+	perf_begin(_pc_dmasetup);

 	/* DMA setup time ~3µs */
 	_rx_dma_status = _dma_status_waiting;
@@ -345,6 +354,8 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 	//rCR1 &= ~USART_CR1_TE;
 	//rCR1 |= USART_CR1_TE;

+	perf_end(_pc_dmasetup);
+
 	/* compute the deadline for a 10ms timeout */
 	struct timespec abstime;
 	clock_gettime(CLOCK_REALTIME, &abstime);
@@ -364,8 +375,8 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 		if (ret == OK) {
 			/* check for DMA errors */
 			if (_rx_dma_status & DMA_STATUS_TEIF) {
-				// stream transfer error, ensure all DMA is also stopped before exiting early
-				_abort_dma();
+				// stream transfer error, ensure TX DMA is also stopped before exiting early
+				stm32_dmastop(_tx_dma);
 				perf_count(_pc_dmaerrs);
 				ret = -EIO;
 				break;
@@ -376,7 +387,6 @@ ArchPX4IOSerial::_bus_exchange(IOPacket *_packet)
 			_current_packet->crc = 0;

 			if ((crc != crc_packet(_current_packet)) || (PKT_CODE(*_current_packet) == PKT_CODE_CORRUPT)) {
-				_abort_dma();
 				perf_count(_pc_crcerrs);
 				ret = -EIO;
 				break;
@@ -6,8 +6,7 @@
 # config for a quad
 # modified from ../rpi/px4.config

-param select eeprom/parameters
-param import
+param load

 param set CBRK_SUPPLY_CHK 894281

@@ -6,8 +6,7 @@
 # config for fixed wing (FW)
 # modified from ./px4.config, switch att/pos_control & mixer

-param select eeprom/parameters
-param import
+param load

 param set CBRK_SUPPLY_CHK 894281

@@ -3,8 +3,10 @@
 # (px4-alias.sh is expected to be in the PATH)
 . px4-alias.sh

-param select eeprom/parameters
-param import
+if [ -f eeprom/parameters ]
+then
+	param load
+fi

 # system_power not implemented
 param set CBRK_SUPPLY_CHK 894281
@@ -3,8 +3,10 @@
 # (px4-alias.sh is expected to be in the PATH)
 . px4-alias.sh

-param select eeprom/parameters
-param import
+if [ -f eeprom/parameters ]
+then
+	param load
+fi

 # system_power not implemented
 param set CBRK_SUPPLY_CHK 894281
@@ -5,9 +5,10 @@

 # navio config for a quad

-param select eeprom/parameters
-param import
-
+if [ -f eeprom/parameters ]
+then
+	param load
+fi
 param set CBRK_SUPPLY_CHK 894281
 param set SYS_AUTOSTART 4001
 param set MAV_TYPE 2
@@ -5,9 +5,10 @@

 # navio config for FW

-param select eeprom/parameters
-param import
-
+if [ -f eeprom/parameters ]
+then
+	param load
+fi
 param set CBRK_SUPPLY_CHK 894281
 param set SYS_AUTOSTART 2100
 param set MAV_TYPE 1
@@ -7,9 +7,10 @@
 # connect to it with jMAVSim:
 # ./Tools/jmavsim_run.sh -q -i <IP> -p 14577 -r 250

-param select eeprom/parameters
-param import
-
+if [ -f eeprom/parameters ]
+then
+	param load
+fi
 param set CBRK_SUPPLY_CHK 894281
 param set SYS_AUTOSTART 1001
 param set MAV_TYPE 2
@@ -5,9 +5,10 @@

 # navio config for simple testing

-param select eeprom/parameters
-param import
-
+if [ -f eeprom/parameters ]
+then
+	param load
+fi
 param set CBRK_SUPPLY_CHK 894281
 param set SYS_AUTOSTART 4001
 param set MAV_TYPE 2
@@ -39,7 +39,7 @@
 * @boolean
 * @group Sensors
 */
-PARAM_DEFINE_BOOL(SENS_EN_BATT, 0);
+PARAM_DEFINE_INT32(SENS_EN_BATT, 0);

 /**
 * Capacity/current multiplier for high-current capable SMBUS battery
@@ -70,13 +70,13 @@ CameraCapture::CameraCapture() :

 	// get the capture channel from function configuration params
 	param_t p_ctrl_alloc = param_find("SYS_CTRL_ALLOC");
-	bool ctrl_alloc = false;
+	int32_t ctrl_alloc = 0;

 	if (p_ctrl_alloc != PARAM_INVALID) {
 		param_get(p_ctrl_alloc, &ctrl_alloc);
 	}

-	if (ctrl_alloc) {
+	if (ctrl_alloc == 1) {
 		_capture_channel = -1;

 		for (unsigned i = 0; i < 16 && _capture_channel == -1; ++i) {
@@ -59,7 +59,7 @@ PARAM_DEFINE_FLOAT(CAM_CAP_DELAY, 0.0f);
 * @group Camera Control
 * @reboot_required true
 */
-PARAM_DEFINE_BOOL(CAM_CAP_FBACK, 0);
+PARAM_DEFINE_INT32(CAM_CAP_FBACK, 0);

 /**
 * Camera capture timestamping mode
@@ -84,4 +84,4 @@ PARAM_DEFINE_INT32(CAM_CAP_MODE, 0);
 * @group Camera Control
 * @reboot_required true
 */
-PARAM_DEFINE_INT32(CAM_CAP_EDGE, 0);
+PARAM_DEFINE_INT32(CAM_CAP_EDGE, 0);
@@ -43,13 +43,14 @@ void CameraInterface::get_pins()
 	}

 	param_t p_ctrl_alloc = param_find("SYS_CTRL_ALLOC");
-	bool ctrl_alloc = false;
+	int32_t ctrl_alloc = 0;

 	if (p_ctrl_alloc != PARAM_INVALID) {
 		param_get(p_ctrl_alloc, &ctrl_alloc);
 	}

-	if (ctrl_alloc) {
+	if (ctrl_alloc == 1) {
+
 		unsigned pin_index = 0;

 		for (unsigned i = 0; i < 16 && pin_index < arraySize(_pins); ++i) {
@@ -38,4 +38,4 @@
 * @group Sensors
 * @boolean
  */
-PARAM_DEFINE_BOOL(SENS_EN_ETSASPD, 0);
+PARAM_DEFINE_INT32(SENS_EN_ETSASPD, 0);
@@ -38,4 +38,4 @@
 * @group Sensors
 * @boolean
  */
-PARAM_DEFINE_BOOL(SENS_EN_MS4525, 0);
+PARAM_DEFINE_INT32(SENS_EN_MS4525, 0);
@@ -37,5 +37,5 @@
 * @reboot_required true
 * @group Sensors
 * @boolean
- **/
-PARAM_DEFINE_BOOL(SENS_EN_MS5525, 0);
+  */
+PARAM_DEFINE_INT32(SENS_EN_MS5525, 0);
@@ -37,5 +37,5 @@
 * @reboot_required true
 * @group Sensors
 * @boolean
- **/
-PARAM_DEFINE_BOOL(SENS_EN_SDP3X, 0);
+  */
+PARAM_DEFINE_INT32(SENS_EN_SDP3X, 0);
@@ -157,7 +157,7 @@ private:
 	perf_counter_t _sample_perf{perf_alloc(PC_COUNT, "mb12xx_sample_perf")};

 	DEFINE_PARAMETERS(
-		(ParamBool<px4::params::SENS_EN_MB12XX>)   _p_sensor_enabled,
+		(ParamInt<px4::params::SENS_EN_MB12XX>)   _p_sensor_enabled,
 		(ParamInt<px4::params::SENS_MB12_0_ROT>)  _p_sensor0_rot,
 		(ParamInt<px4::params::SENS_MB12_1_ROT>)  _p_sensor1_rot,
 		(ParamInt<px4::params::SENS_MB12_2_ROT>)  _p_sensor2_rot,
@@ -39,7 +39,7 @@
 * @boolean
 * @group Sensors
 */
-PARAM_DEFINE_BOOL(SENS_EN_MB12XX, 0);
+PARAM_DEFINE_INT32(SENS_EN_MB12XX, 0);

 /**
 * MaxBotix MB12XX Sensor 0 Rotation
@@ -291,4 +291,4 @@ PARAM_DEFINE_INT32(SENS_MB12_10_ROT, 0);
 * @value 6 Yaw 270°
 * @value 7 Yaw 315°
 */
-PARAM_DEFINE_INT32(SENS_MB12_11_ROT, 0);
+PARAM_DEFINE_INT32(SENS_MB12_11_ROT, 0);
@@ -39,4 +39,4 @@
 * @boolean
 * @group Sensors
 */
-PARAM_DEFINE_BOOL(SENS_EN_PGA460, 0);
+PARAM_DEFINE_INT32(SENS_EN_PGA460, 0);
@@ -38,4 +38,4 @@
 * @group Sensors
 * @boolean
 */
-PARAM_DEFINE_BOOL(SENS_EN_SR05, 0);
+PARAM_DEFINE_INT32(SENS_EN_SR05, 0);
@@ -39,4 +39,4 @@
 * @boolean
 * @group Sensors
 */
-PARAM_DEFINE_BOOL(SENS_EN_VL53L1X, 0);
+PARAM_DEFINE_INT32(SENS_EN_VL53L1X, 0);
@@ -0,0 +1,43 @@
+############################################################################
+#
+#   Copyright (c) 2017 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(adis16477)
+add_subdirectory(adis16497)
+add_subdirectory(analog_devices)
+add_subdirectory(bosch)
+add_subdirectory(fxas21002c)
+add_subdirectory(fxos8701cq)
+add_subdirectory(invensense)
+add_subdirectory(l3gd20)
+add_subdirectory(lsm303d)
+add_subdirectory(st)
@@ -0,0 +1,44 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(icm20602)
+add_subdirectory(icm20608g)
+add_subdirectory(icm20649)
+add_subdirectory(icm20689)
+add_subdirectory(icm40609d)
+add_subdirectory(icm42605)
+add_subdirectory(icm42688p)
+add_subdirectory(icm42670p)
+add_subdirectory(mpu6000)
+add_subdirectory(mpu6500)
+add_subdirectory(mpu9250)
@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(lsm9ds1)
@@ -1,3 +1,5 @@
-menu "ST"
-rsource "*/Kconfig"
-endmenu #Invensense
+menuconfig DRIVERS_IMU_ST
+	bool "st"
+	default n
+	---help---
+		Enable support for st
@@ -1,5 +0,0 @@
-menuconfig DRIVERS_IMU_ST_LSM9DS1
-	bool "lsm9ds1"
-	default n
-	---help---
-		Enable support for lsm9ds1
@@ -268,7 +268,7 @@ void LinuxPWMOut::update_params()
 		// PWM_MAIN_REVx
 		{
 			sprintf(str, "%s_REV%u", prefix, i + 1);
-			bool pwm_rev = false;
+			int32_t pwm_rev = 0;

 			if (param_get(param_find(str), &pwm_rev) == PX4_OK) {
 				uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
@@ -85,7 +85,7 @@ private:

 	void		update_params();

-	MixingOutput _mixing_output{"PWM_MAIN", MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false};
+	MixingOutput _mixing_output{"PWM", MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false};

 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};

@@ -1,7 +1,7 @@
 module_name: PWM Output
 actuator_output:
  output_groups:
-    - param_prefix: PWM_MAIN
+    - param_prefix: PWM
      channel_label: 'Channel'
      standard_params:
        disarmed: { min: 800, max: 2200, default: 900 }
@@ -39,4 +39,4 @@
 * @boolean
 * @group Sensors
 */
-PARAM_DEFINE_BOOL(SENS_EN_PAW3902, 0);
+PARAM_DEFINE_INT32(SENS_EN_PAW3902, 0);
@@ -39,4 +39,4 @@
 * @boolean
 * @group Sensors
 */
-PARAM_DEFINE_BOOL(SENS_EN_PMW3901, 0);
+PARAM_DEFINE_INT32(SENS_EN_PMW3901, 0);
@@ -39,4 +39,4 @@
 * @boolean
 * @group Sensors
 */
-PARAM_DEFINE_BOOL(SENS_EN_PX4FLOW, 0);
+PARAM_DEFINE_INT32(SENS_EN_PX4FLOW, 0);
@@ -314,7 +314,7 @@ void PCA9685Wrapper::updatePWMParams()

 		if (param_h != PARAM_INVALID) {
 			uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
-			bool pval = false;
+			int32_t pval = 0;
 			param_get(param_h, &pval);
 			reverse_pwm_mask &= (0xfffe << i);  // clear this bit
 			reverse_pwm_mask |= (((uint16_t)(pval != 0)) << i); // set to new val
@@ -40,7 +40,7 @@
 * @boolean
 * @reboot_required true
 */
-PARAM_DEFINE_BOOL(SENS_EN_INA226, 0);
+PARAM_DEFINE_INT32(SENS_EN_INA226, 0);

 /**
 * INA226 Power Monitor Config
@@ -40,7 +40,7 @@
 * @boolean
 * @reboot_required true
 */
-PARAM_DEFINE_BOOL(SENS_EN_INA228, 0);
+PARAM_DEFINE_INT32(SENS_EN_INA228, 0);

 /**
 * INA228 Power Monitor Config
@@ -40,7 +40,7 @@
 * @boolean
 * @reboot_required true
 */
-PARAM_DEFINE_BOOL(SENS_EN_INA238, 0);
+PARAM_DEFINE_INT32(SENS_EN_INA238, 0);

 /**
 * INA238 Power Monitor Max Current
@@ -655,7 +655,7 @@ void PWMOut::update_params()
 		// PWM_MAIN_REVx
 		{
 			sprintf(str, "%s_REV%u", prefix, i + 1);
-			bool pwm_rev = false;
+			int32_t pwm_rev = 0;

 			if (param_get(param_find(str), &pwm_rev) == PX4_OK) {
 				uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
@@ -902,7 +902,7 @@ void PX4IO::update_params()

 		for (unsigned i = 0; i < _max_actuators; i++) {
 			sprintf(str, "%s_REV%u", prefix, i + 1);
-			bool pwm_rev = false;
+			int32_t pwm_rev = -1;

 			if (param_get(param_find(str), &pwm_rev) == PX4_OK) {
 				if (pwm_rev >= 1) {
@@ -40,4 +40,4 @@
 * @reboot_required true
 * @group Telemetry
 */
-PARAM_DEFINE_BOOL(TEL_BST_EN, 0);
+PARAM_DEFINE_INT32(TEL_BST_EN, 0);
@@ -57,18 +57,18 @@
 void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge *> &list)
 {
 	// airspeed
-	bool uavcan_sub_aspd = true;
+	int32_t uavcan_sub_aspd = 1;
 	param_get(param_find("UAVCAN_SUB_ASPD"), &uavcan_sub_aspd);

-	if (uavcan_sub_aspd) {
+	if (uavcan_sub_aspd != 0) {
 		list.add(new UavcanAirspeedBridge(node));
 	}

 	// baro
-	bool uavcan_sub_baro = true;
+	int32_t uavcan_sub_baro = 1;
 	param_get(param_find("UAVCAN_SUB_BARO"), &uavcan_sub_baro);

-	if (uavcan_sub_baro) {
+	if (uavcan_sub_baro != 0) {
 		list.add(new UavcanBarometerBridge(node));
 	}

@@ -84,7 +84,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
 	}

 	// differential pressure
-	bool uavcan_sub_dpres = true;
+	int32_t uavcan_sub_dpres = 1;
 	param_get(param_find("UAVCAN_SUB_DPRES"), &uavcan_sub_dpres);

 	if (uavcan_sub_dpres != 0) {
@@ -92,7 +92,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
 	}

 	// flow
-	bool uavcan_sub_flow = true;
+	int32_t uavcan_sub_flow = 1;
 	param_get(param_find("UAVCAN_SUB_FLOW"), &uavcan_sub_flow);

 	if (uavcan_sub_flow != 0) {
@@ -100,7 +100,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
 	}

 	// GPS
-	bool uavcan_sub_gps = true;
+	int32_t uavcan_sub_gps = 1;
 	param_get(param_find("UAVCAN_SUB_GPS"), &uavcan_sub_gps);

 	if (uavcan_sub_gps != 0) {
@@ -108,7 +108,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
 	}

 	// ice (internal combustion engine)
-	bool uavcan_sub_ice = true;
+	int32_t uavcan_sub_ice = 1;
 	param_get(param_find("UAVCAN_SUB_ICE"), &uavcan_sub_ice);

 	if (uavcan_sub_ice != 0) {
@@ -116,7 +116,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
 	}

 	// IMU
-	bool uavcan_sub_imu = true;
+	int32_t uavcan_sub_imu = 1;
 	param_get(param_find("UAVCAN_SUB_IMU"), &uavcan_sub_imu);

 	if (uavcan_sub_imu != 0) {
@@ -125,7 +125,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
 	}

 	// magnetometer
-	bool uavcan_sub_mag = true;
+	int32_t uavcan_sub_mag = 1;
 	param_get(param_find("UAVCAN_SUB_MAG"), &uavcan_sub_mag);

 	if (uavcan_sub_mag != 0) {
@@ -133,7 +133,7 @@ void IUavcanSensorBridge::make_all(uavcan::INode &node, List<IUavcanSensorBridge
 	}

 	// range finder
-	bool uavcan_sub_rng = true;
+	int32_t uavcan_sub_rng = 1;
 	param_get(param_find("UAVCAN_SUB_RNG"), &uavcan_sub_rng);

 	if (uavcan_sub_rng != 0) {
@@ -206,7 +206,7 @@ PARAM_DEFINE_INT32(UAVCAN_LGT_LAND, 0);
 * @reboot_required true
 * @group UAVCAN
 */
-PARAM_DEFINE_BOOL(UAVCAN_SUB_ASPD, 0);
+PARAM_DEFINE_INT32(UAVCAN_SUB_ASPD, 0);

 /**
 * subscription barometer
@@ -219,7 +219,7 @@ PARAM_DEFINE_BOOL(UAVCAN_SUB_ASPD, 0);
 * @reboot_required true
 * @group UAVCAN
 */
-PARAM_DEFINE_BOOL(UAVCAN_SUB_BARO, 0);
+PARAM_DEFINE_INT32(UAVCAN_SUB_BARO, 0);

 /**
 * subscription battery
@@ -248,7 +248,7 @@ PARAM_DEFINE_INT32(UAVCAN_SUB_BAT, 0);
 * @reboot_required true
 * @group UAVCAN
 */
-PARAM_DEFINE_BOOL(UAVCAN_SUB_DPRES, 0);
+PARAM_DEFINE_INT32(UAVCAN_SUB_DPRES, 0);

 /**
 * subscription flow
@@ -259,7 +259,7 @@ PARAM_DEFINE_BOOL(UAVCAN_SUB_DPRES, 0);
 * @reboot_required true
 * @group UAVCAN
 */
-PARAM_DEFINE_BOOL(UAVCAN_SUB_FLOW, 0);
+PARAM_DEFINE_INT32(UAVCAN_SUB_FLOW, 0);

 /**
 * subscription GPS
@@ -273,7 +273,7 @@ PARAM_DEFINE_BOOL(UAVCAN_SUB_FLOW, 0);
 * @reboot_required true
 * @group UAVCAN
 */
-PARAM_DEFINE_BOOL(UAVCAN_SUB_GPS, 1);
+PARAM_DEFINE_INT32(UAVCAN_SUB_GPS, 1);

 /**
 * subscription ICE
@@ -285,7 +285,7 @@ PARAM_DEFINE_BOOL(UAVCAN_SUB_GPS, 1);
 * @reboot_required true
 * @group UAVCAN
 */
-PARAM_DEFINE_BOOL(UAVCAN_SUB_ICE, 0);
+PARAM_DEFINE_INT32(UAVCAN_SUB_ICE, 0);

 /**
 * subscription IMU
@@ -297,7 +297,7 @@ PARAM_DEFINE_BOOL(UAVCAN_SUB_ICE, 0);
 * @reboot_required true
 * @group UAVCAN
 */
-PARAM_DEFINE_BOOL(UAVCAN_SUB_IMU, 0);
+PARAM_DEFINE_INT32(UAVCAN_SUB_IMU, 0);

 /**
 * subscription magnetometer
@@ -310,7 +310,7 @@ PARAM_DEFINE_BOOL(UAVCAN_SUB_IMU, 0);
 * @reboot_required true
 * @group UAVCAN
 */
-PARAM_DEFINE_BOOL(UAVCAN_SUB_MAG, 1);
+PARAM_DEFINE_INT32(UAVCAN_SUB_MAG, 1);

 /**
 * subscription range finder
@@ -322,4 +322,4 @@ PARAM_DEFINE_BOOL(UAVCAN_SUB_MAG, 1);
 * @reboot_required true
 * @group UAVCAN
 */
-PARAM_DEFINE_BOOL(UAVCAN_SUB_RNG, 0);
+PARAM_DEFINE_INT32(UAVCAN_SUB_RNG, 0);
@@ -178,7 +178,7 @@ private:
 	CanardTransferID _uavcan_node_heartbeat_transfer_id{0};

 	DEFINE_PARAMETERS(
-		(ParamBool<px4::params::UAVCAN_V1_ENABLE>) _param_uavcan_v1_enable,
+		(ParamInt<px4::params::UAVCAN_V1_ENABLE>) _param_uavcan_v1_enable,
 		(ParamInt<px4::params::UAVCAN_V1_ID>) _param_uavcan_v1_id,
 		(ParamInt<px4::params::UAVCAN_V1_BAUD>) _param_uavcan_v1_baud
 	)
@@ -41,7 +41,7 @@
 * @reboot_required true
 * @group UAVCAN v1
 */
-PARAM_DEFINE_BOOL(UAVCAN_V1_ENABLE, 0);
+PARAM_DEFINE_INT32(UAVCAN_V1_ENABLE, 0);

 /**
 * UAVCAN v1 Node ID.
@@ -58,7 +58,7 @@ PARAM_DEFINE_INT32(CANNODE_BITRATE, 1000000);
 * @max 1
 * @group UAVCAN
 */
-PARAM_DEFINE_BOOL(CANNODE_TERM, 0);
+PARAM_DEFINE_INT32(CANNODE_TERM, 0);

 /**
 * Cannode flow board rotation
@@ -317,7 +317,7 @@ TEST_F(CollisionPreventionTest, testPurgeOldData)
 		//at iteration 8 change the CP_GO_NO_DATA to True
 		if (i == 8) {
 			param_t param_allow = param_handle(px4::params::CP_GO_NO_DATA);
-			bool value_allow = true;
+			float value_allow = 1;
 			param_set(param_allow, &value_allow);
 			cp.paramsChanged();
 		}
@@ -555,7 +555,7 @@ TEST_F(CollisionPreventionTest, goNoData)

 	//WHEN: we change the parameter CP_GO_NO_DATA to allow flying ouside the FOV
 	param_t param_allow = param_handle(px4::params::CP_GO_NO_DATA);
-	bool value_allow = true;
+	float value_allow = 1;
 	param_set(param_allow, &value_allow);
 	cp.paramsChanged();

@@ -83,4 +83,4 @@ PARAM_DEFINE_FLOAT(CP_GUIDE_ANG, 30.f);
 * @boolean
 * @group Multicopter Position Control
 */
-PARAM_DEFINE_BOOL(CP_GO_NO_DATA, 0);
+PARAM_DEFINE_INT32(CP_GO_NO_DATA, 0);
@@ -331,7 +331,7 @@ private:

 	perf_counter_t _control_latency_perf;

-	/* SYS_CTRL_ALLOC */
+	/* SYS_CTRL_ALLOC == 1 */
 	FunctionProviderBase *_function_allocated[MAX_ACTUATORS] {}; ///< unique allocated functions
 	FunctionProviderBase *_functions[MAX_ACTUATORS] {}; ///< currently assigned functions
 	OutputFunction _function_assignment[MAX_ACTUATORS] {};
@@ -94,7 +94,6 @@ param_export_internal(bool only_unsaved, param_filter_func filter)

 	while ((s = (struct param_wbuf_s *)utarray_next(param_values, s)) != nullptr) {

-		bool b;
 		int32_t i;
 		float   f;

@@ -115,16 +114,6 @@ param_export_internal(bool only_unsaved, param_filter_func filter)
 		/* append the appropriate BSON type object */

 		switch (param_type(s->param)) {
-		case PARAM_TYPE_BOOL:
-			b = s->val.b;
-
-			if (bson_encoder_append_bool(&encoder, param_name(s->param), b)) {
-				debug("BSON append failed for '%s'", param_name(s->param));
-				goto out;
-			}
-
-			break;
-
 		case PARAM_TYPE_INT32:
 			i = s->val.i;

@@ -216,10 +205,8 @@ struct param_import_state {
 static int
 param_import_callback(bson_decoder_t decoder, void *priv, bson_node_t node)
 {
-	bool b;
-	int32_t i;
 	float f;
-
+	int32_t i;
 	void *v = nullptr;
 	int result = -1;
 	struct param_import_state *state = (struct param_import_state *)priv;
@@ -251,17 +238,6 @@ param_import_callback(bson_decoder_t decoder, void *priv, bson_node_t node)
 	 */

 	switch (node->type) {
-	case BSON_BOOL:
-		if (param_type(param) != PARAM_TYPE_BOOL) {
-			PX4_WARN("unexpected type for %s", node->name);
-			result = 1; // just skip this entry
-			goto out;
-		}
-
-		b = node->b;
-		v = &b;
-		break;
-
 	case BSON_INT32:
 		if (param_type(param) != PARAM_TYPE_INT32) {
 			PX4_WARN("unexpected type for %s", node->name);
@@ -57,10 +57,9 @@ __BEGIN_DECLS
 /**
 * Parameter types.
 */
-#define PARAM_TYPE_UNKNOWN 0
-#define PARAM_TYPE_BOOL    1
-#define PARAM_TYPE_INT32   2
-#define PARAM_TYPE_FLOAT   3
+#define PARAM_TYPE_UNKNOWN		0
+#define PARAM_TYPE_INT32		1
+#define PARAM_TYPE_FLOAT		2

 typedef uint8_t param_type_t;

@@ -453,10 +452,9 @@ __EXPORT void	param_control_autosave(bool enable);
 * Parameter value union.
 */
 union param_value_u {
-	void    *p;
-	bool    b;
-	int32_t i;
-	float   f;
+	void		*p;
+	int32_t		i;
+	float		f;
 };

 /**
@@ -495,23 +493,16 @@ __END_DECLS
 // param is a C-interface. This means there is no overloading, and thus no type-safety for param_get().
 // So for C++ code we redefine param_get() to inlined overloaded versions, which gives us type-safety
 // w/o having to use a different interface
-static inline int param_get_cplusplus(param_t param, bool *val)
-{
-	CHECK_PARAM_TYPE(param, PARAM_TYPE_BOOL);
-	return param_get(param, (void *)val);
-}
-
-static inline int param_get_cplusplus(param_t param, int32_t *val)
-{
-	CHECK_PARAM_TYPE(param, PARAM_TYPE_INT32);
-	return param_get(param, (void *)val);
-}
-
 static inline int param_get_cplusplus(param_t param, float *val)
 {
 	CHECK_PARAM_TYPE(param, PARAM_TYPE_FLOAT);
 	return param_get(param, (void *)val);
 }
+static inline int param_get_cplusplus(param_t param, int32_t *val)
+{
+	CHECK_PARAM_TYPE(param, PARAM_TYPE_INT32);
+	return param_get(param, (void *)val);
+}
 #undef CHECK_PARAM_TYPE

 #define param_get(param, val) param_get_cplusplus(param, val)
@@ -163,13 +163,5 @@ bool param_modify_on_import(bson_node_t node)
 		}
 	}

-	// 2021-11-15 migrate INT32 parameters that are now BOOL
-	if ((node->type == BSON_INT32) && (param_type(param_find(node->name)) == PARAM_TYPE_BOOL)) {
-		int32_t old_value = node->i32;
-
-		node->type = BSON_BOOL;
-		node->b = (old_value != 0);
-	}
-
 	return false;
 }
@@ -425,9 +425,6 @@ size_t param_size(param_t param)
 {
 	if (handle_in_range(param)) {
 		switch (param_type(param)) {
-		case PARAM_TYPE_BOOL:
-			return 1;
-
 		case PARAM_TYPE_INT32:
 		case PARAM_TYPE_FLOAT:
 			return 4;
@@ -473,9 +470,6 @@ param_get_value_ptr(param_t param)

 			// otherwise return static default value
 			switch (param_type(param)) {
-			case PARAM_TYPE_BOOL:
-				return &px4::parameters[param].val.b;
-
 			case PARAM_TYPE_INT32:
 				return &px4::parameters[param].val.i;

@@ -543,10 +537,6 @@ param_get_default_value_internal(param_t param, void *default_val)

 		// otherwise return static default value
 		switch (param_type(param)) {
-		case PARAM_TYPE_BOOL:
-			memcpy(default_val, &px4::parameters[param].val.b, param_size(param));
-			return PX4_OK;
-
 		case PARAM_TYPE_INT32:
 			memcpy(default_val, &px4::parameters[param].val.i, param_size(param));
 			return PX4_OK;
@@ -575,25 +565,6 @@ bool param_value_is_default(param_t param)
 	// back to default, so we don't rely on the params_changed bitset here
 	if (handle_in_range(param)) {
 		switch (param_type(param)) {
-		case PARAM_TYPE_BOOL: {
-				param_lock_reader();
-				bool default_value = false;
-
-				if (param_get_default_value_internal(param, &default_value) == PX4_OK) {
-					const void *v = param_get_value_ptr(param);
-
-					if (v) {
-						bool current_value;
-						memcpy(&current_value, v, param_size(param));
-						param_unlock_reader();
-						return (current_value == default_value);
-					}
-				}
-
-				param_unlock_reader();
-			}
-			break;
-
 		case PARAM_TYPE_INT32: {
 				param_lock_reader();
 				int32_t default_value = 0;
@@ -647,10 +618,6 @@ param_get_system_default_value(param_t param, void *default_val)
 	int ret = PX4_OK;

 	switch (param_type(param)) {
-	case PARAM_TYPE_BOOL:
-		memcpy(default_val, &px4::parameters[param].val.b, param_size(param));
-		break;
-
 	case PARAM_TYPE_INT32:
 		memcpy(default_val, &px4::parameters[param].val.i, param_size(param));
 		break;
@@ -804,14 +771,6 @@ param_set_internal(param_t param, const void *val, bool mark_saved, bool notify_
 		if (s != nullptr) {
 			/* update the changed value */
 			switch (param_type(param)) {
-			case PARAM_TYPE_BOOL:
-				param_changed = param_changed || s->val.b != *(bool *)val;
-				s->val.b = *(bool *)val;
-				s->unsaved = !mark_saved;
-				params_changed.set(param, true);
-				result = PX4_OK;
-				break;
-
 			case PARAM_TYPE_INT32:
 				param_changed = param_changed || s->val.i != *(int32_t *)val;
 				s->val.i = *(int32_t *)val;
@@ -926,10 +885,6 @@ int param_set_default_value(param_t param, const void *val)
 	bool setting_to_static_default = false;

 	switch (param_type(param)) {
-	case PARAM_TYPE_BOOL:
-		setting_to_static_default = (px4::parameters[param].val.b == *(bool *)val);
-		break;
-
 	case PARAM_TYPE_INT32:
 		setting_to_static_default = (px4::parameters[param].val.i == *(int32_t *)val);
 		break;
@@ -976,12 +931,6 @@ int param_set_default_value(param_t param, const void *val)
 		if (s != nullptr) {
 			// update the default value
 			switch (param_type(param)) {
-			case PARAM_TYPE_BOOL:
-				s->val.b = *(bool *)val;
-				params_custom_default.set(param, true);
-				result = PX4_OK;
-				break;
-
 			case PARAM_TYPE_INT32:
 				s->val.i = *(int32_t *)val;
 				params_custom_default.set(param, true);
@@ -1336,17 +1285,6 @@ param_export(int fd, bool only_unsaved, param_filter_func filter)

 		// don't export default values
 		switch (param_type(s->param)) {
-		case PARAM_TYPE_BOOL: {
-				bool default_value = false;
-				param_get_default_value_internal(s->param, &default_value);
-
-				if (s->val.b == default_value) {
-					PX4_DEBUG("skipping %s %d export", param_name(s->param), default_value);
-					continue;
-				}
-			}
-			break;
-
 		case PARAM_TYPE_INT32: {
 				int32_t default_value = 0;
 				param_get_default_value_internal(s->param, &default_value);
@@ -1377,17 +1315,6 @@ param_export(int fd, bool only_unsaved, param_filter_func filter)

 		/* append the appropriate BSON type object */
 		switch (param_type(s->param)) {
-		case PARAM_TYPE_BOOL: {
-				const bool b = s->val.b;
-				PX4_DEBUG("exporting: %s (%d) size: %lu val: %d", name, s->param, (long unsigned int)size, b);
-
-				if (bson_encoder_append_bool(&encoder, name, b) != 0) {
-					PX4_ERR("BSON append failed for '%s'", name);
-					goto out;
-				}
-			}
-			break;
-
 		case PARAM_TYPE_INT32: {
 				const int32_t i = s->val.i;
 				PX4_DEBUG("exporting: %s (%d) size: %lu val: %d", name, s->param, (long unsigned int)size, i);
@@ -1446,10 +1373,8 @@ struct param_import_state {
 static int
 param_import_callback(bson_decoder_t decoder, void *priv, bson_node_t node)
 {
-	bool b = false;
-	int32_t i = 0;
 	float f = 0.0f;
-
+	int32_t i = 0;
 	void *v = nullptr;
 	int result = -1;
 	param_import_state *state = (param_import_state *)priv;
@@ -1481,20 +1406,6 @@ param_import_callback(bson_decoder_t decoder, void *priv, bson_node_t node)
 	 */

 	switch (node->type) {
-	case BSON_BOOL: {
-			if (param_type(param) != PARAM_TYPE_BOOL) {
-				PX4_WARN("unexpected type for %s", node->name);
-				result = 1; // just skip this entry
-				goto out;
-			}
-
-			b = node->b;
-			v = &b;
-
-			PX4_DEBUG("Imported %s with value %d", param_name(param), b);
-		}
-		break;
-
 	case BSON_INT32: {
 			if (param_type(param) != PARAM_TYPE_INT32) {
 				PX4_WARN("unexpected type for %s", node->name);
@@ -1591,10 +1502,9 @@ param_import_internal(int fd, bool mark_saved)
 			} while (result > 0);

 			if (result == 0) {
-				PX4_INFO("BSON document size %" PRId32 " bytes, decoded %" PRId32 " bytes, bool:%" PRIu16 ", int32:%" PRIu16
-					 ", double:%" PRIu16,
+				PX4_INFO("BSON document size %" PRId32 " bytes, decoded %" PRId32 " bytes (INT32:%" PRIu16 ", FLOAT:%" PRIu16 ")",
 					 decoder.total_document_size, decoder.total_decoded_size,
-					 decoder.count_node_bool, decoder.count_node_int32, decoder.count_node_double);
+					 decoder.count_node_int32, decoder.count_node_double);

 				return 0;

@@ -25,7 +25,7 @@ class JsonOutput():
 			"reboot_required": ("rebootRequired", bool),
 			"decimal": ("decimalPlaces", int),
 			}
-        allowed_types = { "Bool", "Uint8", "Int8", "Uint16", "Int16", "Uint32", "Int32", "Float"}
+        allowed_types = { "Uint8", "Int8", "Uint16", "Int16", "Uint32", "Int32", "Float"}

        last_param_name = ""
        board_specific_param_set = False
@@ -33,9 +33,8 @@ class JsonOutput():
            group_name=group.GetName()

            def get_typed_value(value: str, type_name: str):
-                if type_name == 'Bool': return bool(value)
-                if type_name == 'Int32': return int(value)
                if type_name == 'Float': return float(value)
+                if type_name == 'Int32': return int(value)
                return value

            for param in group.GetParams():
@@ -381,7 +381,6 @@ class SourceParser(object):
                seenParamNames.append(name_plus_board)
                # Validate values
                default = param.GetDefault()
-                type = param.GetType()
                min = param.GetFieldValue("min")
                max = param.GetFieldValue("max")
                units = param.GetFieldValue("unit")
@@ -389,11 +388,9 @@ class SourceParser(object):
                    sys.stderr.write("Invalid unit in {0}: {1}\n".format(name, units))
                    return False
                #sys.stderr.write("{0} default:{1} min:{2} max:{3}\n".format(name, default, min, max))
-
-                if type != "BOOL" and default != "" and not self.IsNumber(default):
+                if default != "" and not self.IsNumber(default):
                    sys.stderr.write("Default value not number: {0} {1}\n".format(name, default))
                    return False
-
                # if default != "" and "." not in default:
                #     sys.stderr.write("Default value does not contain dot (e.g. 10 needs to be written as 10.0): {0} {1}\n".format(name, default))
                #     return False
@@ -24,12 +24,10 @@ static constexpr param_info_s parameters[] = {
 {% for param in params %}
 	{
 		"{{ param.attrib["name"] }}",
-	{%- if param.attrib["type"] == "BOOL" %}
-		.val = {{ "{" }} .b = {{ param.attrib["default"] }}{{ "}" }},
+	{%- if param.attrib["type"] == "FLOAT" %}
+		.val = {{ "{" }} .f = {{ param.attrib["default"] }} {{ "}" }},
 	{%- elif param.attrib["type"] == "INT32" %}
 		.val = {{ "{" }} .i = {{ param.attrib["default"] }}{{ "}" }},
-	{%- elif param.attrib["type"] == "FLOAT" %}
-		.val = {{ "{" }} .f = {{ param.attrib["default"] }} {{ "}" }},
 	{%- endif %}
 	},
 {% endfor %}
@@ -187,7 +187,7 @@ PARAM_DEFINE_INT32(SYS_CAL_TMAX, 10);
 *
 * @group System
 */
-PARAM_DEFINE_BOOL(SYS_HAS_GPS, 1);
+PARAM_DEFINE_INT32(SYS_HAS_GPS, 1);

 /**
 * Control if the vehicle has a magnetometer
@@ -201,7 +201,7 @@ PARAM_DEFINE_BOOL(SYS_HAS_GPS, 1);
 *
 * @group System
 */
-PARAM_DEFINE_BOOL(SYS_HAS_MAG, 1);
+PARAM_DEFINE_INT32(SYS_HAS_MAG, 1);

 /**
 * Control if the vehicle has a barometer
@@ -216,7 +216,7 @@ PARAM_DEFINE_BOOL(SYS_HAS_MAG, 1);
 *
 * @group System
 */
-PARAM_DEFINE_BOOL(SYS_HAS_BARO, 1);
+PARAM_DEFINE_INT32(SYS_HAS_BARO, 1);

 /**
 * Enable factory calibration mode
@@ -229,7 +229,7 @@ PARAM_DEFINE_BOOL(SYS_HAS_BARO, 1);
 * @boolean
 * @group System
 */
-PARAM_DEFINE_BOOL(SYS_FAC_CAL_MODE, 0);
+PARAM_DEFINE_INT32(SYS_FAC_CAL_MODE, 0);

 /**
 * Bootloader update
@@ -251,7 +251,7 @@ PARAM_DEFINE_BOOL(SYS_FAC_CAL_MODE, 0);
 *
 * @group System
 */
-PARAM_DEFINE_BOOL(SYS_BL_UPDATE, 0);
+PARAM_DEFINE_INT32(SYS_BL_UPDATE, 0);

 /**
 * Enable failure injection
@@ -266,6 +266,7 @@ PARAM_DEFINE_BOOL(SYS_BL_UPDATE, 0);
 */
 PARAM_DEFINE_INT32(SYS_FAILURE_EN, 0);

+
 /**
 * Enable Dynamic Control Allocation
 *
@@ -279,4 +280,4 @@ PARAM_DEFINE_INT32(SYS_FAILURE_EN, 0);
 * @reboot_required true
 * @group System
 */
-PARAM_DEFINE_BOOL(SYS_CTRL_ALLOC, 0);
+PARAM_DEFINE_INT32(SYS_CTRL_ALLOC, 0);
@@ -45,7 +45,7 @@
 * @boolean
 * @group Multicopter Position Control
 */
-PARAM_DEFINE_BOOL(WV_EN, 0);
+PARAM_DEFINE_INT32(WV_EN, 0);

 /**
 * Weather-vane roll angle to yawrate.
@@ -79,4 +79,4 @@ PARAM_DEFINE_FLOAT(WV_ROLL_MIN, 1.0f);
 * @unit deg/s
 * @group Multicopter Position Control
 */
-PARAM_DEFINE_FLOAT(WV_YRATE_MAX, 90.0f);
+PARAM_DEFINE_FLOAT(WV_YRATE_MAX, 90.0f);
@@ -177,7 +177,7 @@ private:
 		(ParamFloat<px4::params::ASPD_SCALE_3>) _param_airspeed_scale_3,
 		(ParamInt<px4::params::ASPD_PRIMARY>) _param_airspeed_primary_index,
 		(ParamInt<px4::params::ASPD_DO_CHECKS>) _param_airspeed_checks_on,
-		(ParamBool<px4::params::ASPD_FALLBACK_GW>) _param_airspeed_fallback_gw,
+		(ParamInt<px4::params::ASPD_FALLBACK_GW>) _param_airspeed_fallback_gw,

 		(ParamFloat<px4::params::ASPD_FS_INNOV>) _tas_innov_threshold, /**< innovation check threshold */
 		(ParamFloat<px4::params::ASPD_FS_INTEG>) _tas_innov_integ_threshold, /**< innovation check integrator threshold */
@@ -169,7 +169,7 @@ PARAM_DEFINE_INT32(ASPD_DO_CHECKS, 7);
 * @boolean
 * @group Airspeed Validator
 */
-PARAM_DEFINE_BOOL(ASPD_FALLBACK_GW, 0);
+PARAM_DEFINE_INT32(ASPD_FALLBACK_GW, 0);

 /**
 * Airspeed failure innovation threshold
@@ -148,11 +148,11 @@ private:
 		(ParamFloat<px4::params::ATT_W_EXT_HDG>) _param_att_w_ext_hdg,
 		(ParamFloat<px4::params::ATT_W_GYRO_BIAS>) _param_att_w_gyro_bias,
 		(ParamFloat<px4::params::ATT_MAG_DECL>) _param_att_mag_decl,
-		(ParamBool<px4::params::ATT_MAG_DECL_A>) _param_att_mag_decl_a,
+		(ParamInt<px4::params::ATT_MAG_DECL_A>) _param_att_mag_decl_a,
 		(ParamInt<px4::params::ATT_EXT_HDG_M>) _param_att_ext_hdg_m,
-		(ParamBool<px4::params::ATT_ACC_COMP>) _param_att_acc_comp,
+		(ParamInt<px4::params::ATT_ACC_COMP>) _param_att_acc_comp,
 		(ParamFloat<px4::params::ATT_BIAS_MAX>) _param_att_bias_mas,
-		(ParamBool<px4::params::SYS_HAS_MAG>) _param_sys_has_mag
+		(ParamInt<px4::params::SYS_HAS_MAG>) _param_sys_has_mag
 	)
 };

@@ -99,7 +99,7 @@ PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f);
 * @group Attitude Q estimator
 * @boolean
 */
-PARAM_DEFINE_BOOL(ATT_MAG_DECL_A, 1);
+PARAM_DEFINE_INT32(ATT_MAG_DECL_A, 1);

 /**
 * External heading usage mode (from Motion capture/Vision)
@@ -122,7 +122,7 @@ PARAM_DEFINE_INT32(ATT_EXT_HDG_M, 0);
 * @group Attitude Q estimator
 * @boolean
 */
-PARAM_DEFINE_BOOL(ATT_ACC_COMP, 1);
+PARAM_DEFINE_INT32(ATT_ACC_COMP, 1);

 /**
 * Gyro bias limit
@@ -68,10 +68,11 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu

 	/* ---- MAG ---- */
 	{
-		bool sys_has_mag = true;
+		int32_t sys_has_mag = 1;
 		param_get(param_find("SYS_HAS_MAG"), &sys_has_mag);

-		if (sys_has_mag) {
+		if (sys_has_mag == 1) {
+
 			/* check all sensors individually, but fail only for mandatory ones */
 			for (unsigned i = 0; i < max_optional_mag_count; i++) {
 				const bool required = (i < max_mandatory_mag_count) && (sys_has_mag == 1);
@@ -141,14 +142,14 @@ bool PreFlightCheck::preflightCheck(orb_advert_t *mavlink_log_pub, vehicle_statu

 	/* ---- BARO ---- */
 	{
-		bool sys_has_baro = true;
+		int32_t sys_has_baro = 1;
 		param_get(param_find("SYS_HAS_BARO"), &sys_has_baro);

 		bool baro_fail_reported = false;

 		/* check all sensors, but fail only for mandatory ones */
 		for (unsigned i = 0; i < max_optional_baro_count; i++) {
-			const bool required = (i < max_mandatory_baro_count) && sys_has_baro;
+			const bool required = (i < max_mandatory_baro_count) && (sys_has_baro == 1);
 			bool report_fail = (required && report_failures && !baro_fail_reported);

 			int32_t device_id = -1;
@@ -64,10 +64,10 @@ bool PreFlightCheck::ekf2Check(orb_advert_t *mavlink_log_pub, vehicle_status_s &
 	float mag_test_ratio_limit = 1.f;
 	param_get(param_find("COM_ARM_EKF_YAW"), &mag_test_ratio_limit);

-	bool arm_without_gps = 0;
+	int32_t arm_without_gps = 0;
 	param_get(param_find("COM_ARM_WO_GPS"), &arm_without_gps);

-	bool sys_has_gps = 1;
+	int32_t sys_has_gps = 1;
 	param_get(param_find("SYS_HAS_GPS"), &sys_has_gps);

 	bool gps_success = false;
@@ -48,14 +48,14 @@ bool PreFlightCheck::parachuteCheck(orb_advert_t *mavlink_log_pub, const bool re
 	const bool parachute_required = param_com_parachute != 0;

 	if (parachute_required) {
-		if (!status_flags.parachute_system_present) {
+		if (!status_flags.system_present_parachute) {
 			success = false;

 			if (report_fail) {
 				mavlink_log_critical(mavlink_log_pub, "Fail: Parachute system missing");
 			}

-		} else if (!status_flags.parachute_system_healthy) {
+		} else if (!status_flags.system_valid_parachute) {
 			success = false;

 			if (report_fail) {
@@ -123,7 +123,7 @@ bool PreFlightCheck::preArmCheck(orb_advert_t *mavlink_log_pub, const vehicle_st
 		prearm_ok = false;
 	}

-	if (status_flags.avoidance_system_required && !status_flags.avoidance_system_valid) {
+	if (status_flags.system_required_obstacle_avoidance && !status_flags.system_valid_obstacle_avoidance) {
 		if (prearm_ok) {
 			if (report_fail) { mavlink_log_critical(mavlink_log_pub, "Arming denied! Avoidance system not ready"); }
 		}
@@ -572,6 +572,7 @@ transition_result_t Commander::arm(arm_disarm_reason_t calling_reason, bool run_
 				"Arming denied: throttle above center");
 				tune_negative(true);
 				return TRANSITION_DENIED;
+
 			}

 			if (!_vehicle_control_mode.flag_control_climb_rate_enabled &&
@@ -944,12 +945,47 @@ Commander::handle_command(const vehicle_command_s &cmd)
 		break;

 	case vehicle_command_s::VEHICLE_CMD_DO_SET_HOME: {
-			if (_param_com_home_en.get()) {
-				bool use_current = cmd.param1 > 0.5f;
+			bool use_current = cmd.param1 > 0.5f;
+
+			if (use_current) {
+				/* use current position */
+				if (set_home_position()) {
+					cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
+
+				} else {
+					cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
+				}
+
+			} else {
+				float yaw = matrix::wrap_2pi(math::radians(cmd.param4));
+				yaw = PX4_ISFINITE(yaw) ? yaw : (float)NAN;
+				const double lat = cmd.param5;
+				const double lon = cmd.param6;
+				const float alt = cmd.param7;
+
+				if (PX4_ISFINITE(lat) && PX4_ISFINITE(lon) && PX4_ISFINITE(alt)) {
+					const vehicle_local_position_s &local_pos = _local_position_sub.get();
+
+					if (local_pos.xy_global && local_pos.z_global) {
+						/* use specified position */
+						home_position_s home{};
+						home.timestamp = hrt_absolute_time();
+
+						fillGlobalHomePos(home, lat, lon, alt);
+
+						home.manual_home = true;
+
+						// update local projection reference including altitude
+						MapProjection ref_pos{local_pos.ref_lat, local_pos.ref_lon};
+						float home_x;
+						float home_y;
+						ref_pos.project(lat, lon, home_x, home_y);
+						const float home_z = -(alt - local_pos.ref_alt);
+						fillLocalHomePos(home, home_x, home_y, home_z, yaw);
+
+						/* mark home position as set */
+						_status_flags.condition_home_position_valid = _home_pub.update(home);

-				if (use_current) {
-					/* use current position */
-					if (set_home_position()) {
 						cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;

 					} else {
@@ -957,49 +993,8 @@ Commander::handle_command(const vehicle_command_s &cmd)
 					}

 				} else {
-					float yaw = matrix::wrap_2pi(math::radians(cmd.param4));
-					yaw = PX4_ISFINITE(yaw) ? yaw : (float)NAN;
-					const double lat = cmd.param5;
-					const double lon = cmd.param6;
-					const float alt = cmd.param7;
-
-					if (PX4_ISFINITE(lat) && PX4_ISFINITE(lon) && PX4_ISFINITE(alt)) {
-						const vehicle_local_position_s &local_pos = _local_position_sub.get();
-
-						if (local_pos.xy_global && local_pos.z_global) {
-							/* use specified position */
-							home_position_s home{};
-							home.timestamp = hrt_absolute_time();
-
-							fillGlobalHomePos(home, lat, lon, alt);
-
-							home.manual_home = true;
-
-							// update local projection reference including altitude
-							MapProjection ref_pos{local_pos.ref_lat, local_pos.ref_lon};
-							float home_x;
-							float home_y;
-							ref_pos.project(lat, lon, home_x, home_y);
-							const float home_z = -(alt - local_pos.ref_alt);
-							fillLocalHomePos(home, home_x, home_y, home_z, yaw);
-
-							/* mark home position as set */
-							_status_flags.condition_home_position_valid = _home_pub.update(home);
-
-							cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED;
-
-						} else {
-							cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_TEMPORARILY_REJECTED;
-						}
-
-					} else {
-						cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
-					}
+					cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
 				}
-
-			} else {
-				// COM_HOME_EN disabled
-				cmd_result = vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
 			}
 		}
 		break;
@@ -1262,7 +1257,7 @@ Commander::handle_command(const vehicle_command_s &cmd)
 					/* RC calibration */
 					answer_command(cmd, vehicle_command_s::VEHICLE_CMD_RESULT_ACCEPTED);
 					/* disable RC control input completely */
-					_status_flags.rc_calibration_in_progress = true;
+					_status_flags.rc_input_blocked = true;
 					mavlink_log_info(&_mavlink_log_pub, "Calibration: Disabling RC input\t");
 					events::send(events::ID("commander_calib_rc_off"), events::Log::Info,
 						     "Calibration: Disabling RC input");
@@ -1312,9 +1307,9 @@ Commander::handle_command(const vehicle_command_s &cmd)

 				} else if ((int)(cmd.param4) == 0) {
 					/* RC calibration ended - have we been in one worth confirming? */
-					if (_status_flags.rc_calibration_in_progress) {
+					if (_status_flags.rc_input_blocked) {
 						/* enable RC control input */
-						_status_flags.rc_calibration_in_progress = false;
+						_status_flags.rc_input_blocked = false;
 						mavlink_log_info(&_mavlink_log_pub, "Calibration: Restoring RC input\t");
 						events::send(events::ID("commander_calib_rc_on"), events::Log::Info,
 							     "Calibration: Restoring RC input");
@@ -1460,7 +1455,7 @@ Commander::handle_command_motor_test(const vehicle_command_s &cmd)
 		return vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
 	}

-	if (!_param_com_mot_test_en.get()) {
+	if (_param_com_mot_test_en.get() != 1) {
 		return vehicle_command_s::VEHICLE_CMD_RESULT_DENIED;
 	}

@@ -1557,15 +1552,6 @@ void Commander::executeActionRequest(const action_request_s &action_request)
 {
 	arm_disarm_reason_t arm_disarm_reason{};

-	// Silently ignore RC actions during RC calibration
-	if (_status_flags.rc_calibration_in_progress
-	    && (action_request.source == action_request_s::SOURCE_RC_STICK_GESTURE
-		|| action_request.source == action_request_s::SOURCE_RC_SWITCH
-		|| action_request.source == action_request_s::SOURCE_RC_BUTTON
-		|| action_request.source == action_request_s::SOURCE_RC_MODE_SLOT)) {
-		return;
-	}
-
 	switch (action_request.source) {
 	case action_request_s::SOURCE_RC_STICK_GESTURE: arm_disarm_reason = arm_disarm_reason_t::rc_stick; break;

@@ -1683,8 +1669,7 @@ Commander::set_home_position()
 bool
 Commander::set_in_air_home_position()
 {
-	if (_param_com_home_en.get()
-	    && _status_flags.condition_local_position_valid
+	if (_status_flags.condition_local_position_valid
 	    && _status_flags.condition_global_position_valid) {

 		const vehicle_global_position_s &gpos = _global_position_sub.get();
@@ -1775,7 +1760,7 @@ Commander::set_home_position_alt_only()
 {
 	const vehicle_local_position_s &lpos = _local_position_sub.get();

-	if (_param_com_home_en.get() && !_home_pub.get().valid_alt && lpos.z_global) {
+	if (!_home_pub.get().valid_alt && lpos.z_global) {
 		// handle special case where we are setting only altitude using local position reference
 		home_position_s home{};
 		home.alt = lpos.ref_alt;
@@ -1792,14 +1777,12 @@ Commander::set_home_position_alt_only()
 void
 Commander::updateHomePositionYaw(float yaw)
 {
-	if (_param_com_home_en.get()) {
-		home_position_s home = _home_pub.get();
+	home_position_s home = _home_pub.get();

-		home.yaw = yaw;
-		home.timestamp = hrt_absolute_time();
+	home.yaw = yaw;
+	home.timestamp = hrt_absolute_time();

-		_home_pub.update(home);
-	}
+	_home_pub.update(home);
 }

 void
@@ -1918,7 +1901,7 @@ Commander::run()
 				_status_changed = true;
 			}

-			_status_flags.avoidance_system_required = _param_com_obs_avoid.get();
+			_status_flags.system_required_obstacle_avoidance = _param_com_obs_avoid.get();

 			_arm_requirements.arm_authorization = _param_arm_auth_required.get();
 			_arm_requirements.esc_check = _param_escs_checks_required.get();
@@ -1970,7 +1953,7 @@ Commander::run()
 		}

 		/* Update OA parameter */
-		_status_flags.avoidance_system_required = _param_com_obs_avoid.get();
+		_status_flags.system_required_obstacle_avoidance = _param_com_obs_avoid.get();

 #if defined(BOARD_HAS_POWER_CONTROL)

@@ -2037,7 +2020,7 @@ Commander::run()
 				}

 				// automatically set or update home position
-				if (_param_com_home_en.get() && !_home_pub.get().manual_home) {
+				if (!_home_pub.get().manual_home) {
 					// set the home position when taking off, but only if we were previously disarmed
 					// and at least 500 ms from commander start spent to avoid setting home on in-air restart
 					if (_should_set_home_on_takeoff && !_land_detector.landed &&
@@ -2465,7 +2448,8 @@ Commander::run()
 				_last_valid_manual_control_setpoint = manual_control_setpoint.timestamp;

 			} else {
-				if (_status_flags.rc_signal_found_once && !_status.rc_signal_lost) {
+				if (_status_flags.rc_signal_found_once && !_status.rc_signal_lost
+				    && !_status_flags.condition_calibration_enabled && !_status_flags.rc_input_blocked) {
 					mavlink_log_critical(&_mavlink_log_pub, "Manual control lost\t");
 					events::send(events::ID("commander_rc_lost"), {events::Log::Critical, events::LogInternal::Info},
 						     "Manual control lost");
@@ -2488,7 +2472,7 @@ Commander::run()
 			if ((_status.vehicle_type == vehicle_status_s::VEHICLE_TYPE_ROTARY_WING)
 			    && !in_low_battery_failsafe && !_geofence_warning_action_on
 			    && _armed.armed
-			    && !_status_flags.rc_calibration_in_progress
+			    && !_status_flags.rc_input_blocked
 			    && manual_control_setpoint.valid
 			    && manual_control_setpoint.sticks_moving
 			    && override_enabled) {
@@ -2679,7 +2663,7 @@ Commander::run()
 		const hrt_abstime now = hrt_absolute_time();

 		// automatically set or update home position
-		if (_param_com_home_en.get() && !_home_pub.get().manual_home) {
+		if (!_home_pub.get().manual_home) {
 			const vehicle_local_position_s &local_position = _local_position_sub.get();

 			if (!_armed.armed) {
@@ -3452,124 +3436,152 @@ void Commander::data_link_check()
 				}
 			}

-			if (telemetry.heartbeat_type_gcs) {
-				// Initial connection or recovery from data link lost
-				if (_status.data_link_lost) {
-					_status.data_link_lost = false;
+			if (telemetry.heartbeat_gcs) {
+				if (!_status_flags.system_present_gcs && (_datalink_last_heartbeat_gcs != 0)) {
 					_status_changed = true;
-
-					if (_datalink_last_heartbeat_gcs != 0) {
-						mavlink_log_info(&_mavlink_log_pub, "Data link regained\t");
-						events::send(events::ID("commander_dl_regained"), events::Log::Info, "Data link regained");
-					}
-
-					if (!_armed.armed && !_status_flags.condition_calibration_enabled) {
-						// make sure to report preflight check failures to a connecting GCS
-						PreFlightCheck::preflightCheck(&_mavlink_log_pub, _status, _status_flags, true, false,
-									       hrt_elapsed_time(&_boot_timestamp));
-					}
+					mavlink_log_info(&_mavlink_log_pub, "Data link regained\t");
+					events::send(events::ID("commander_dl_regained"), events::Log::Info, "Data link regained");
 				}

 				_datalink_last_heartbeat_gcs = telemetry.timestamp;
+				_status_flags.system_valid_gcs = telemetry.system_healthy_onboard_controller;
+				_status_flags.system_present_gcs = true;
+
+
+				// Initial connection or recovery from data link lost
+				if (_status.data_link_lost) {
+					_status.data_link_lost = false;
+				}
+
+				if (!_armed.armed && !_status_flags.condition_calibration_enabled) {
+					// make sure to report preflight check failures to a connecting GCS
+					PreFlightCheck::preflightCheck(&_mavlink_log_pub, _status, _status_flags, true, false,
+								       hrt_elapsed_time(&_boot_timestamp));
+				}
 			}

-			if (telemetry.heartbeat_type_onboard_controller) {
-				if (_onboard_controller_lost) {
-					_onboard_controller_lost = false;
+			if (telemetry.heartbeat_onboard_controller) {
+				if (!_status_flags.system_present_onboard_controller && (_datalink_last_heartbeat_onboard_controller != 0)) {
 					_status_changed = true;
-
-					if (_datalink_last_heartbeat_onboard_controller != 0) {
-						mavlink_log_info(&_mavlink_log_pub, "Onboard controller regained\t");
-						events::send(events::ID("commander_onboard_ctrl_regained"), events::Log::Info, "Onboard controller regained");
-					}
+					mavlink_log_info(&_mavlink_log_pub, "Onboard controller regained\t");
+					events::send(events::ID("commander_onboard_ctrl_regained"), events::Log::Info, "Onboard controller regained");
 				}

 				_datalink_last_heartbeat_onboard_controller = telemetry.timestamp;
+				_status_flags.system_valid_onboard_controller = telemetry.system_healthy_onboard_controller;
+				_status_flags.system_present_onboard_controller = true;
 			}

-			if (telemetry.heartbeat_type_parachute) {
-				if (_parachute_system_lost) {
-					_parachute_system_lost = false;
-
-					if (_datalink_last_heartbeat_parachute_system != 0) {
-						mavlink_log_info(&_mavlink_log_pub, "Parachute system regained\t");
-						events::send(events::ID("commander_parachute_regained"), events::Log::Info, "Parachute system regained");
-					}
+			if (telemetry.heartbeat_gimbal) {
+				if (!_status_flags.system_present_gimbal && (_datalink_last_heartbeat_gimbal != 0)) {
+					_status_changed = true;
+					mavlink_log_info(&_mavlink_log_pub, "Gimbal regained\t");
+					events::send(events::ID("commander_gimbal_regained"), events::Log::Info, "Gimbal regained");
 				}

-				bool healthy = telemetry.parachute_system_healthy;
+				_datalink_last_heartbeat_gimbal = telemetry.timestamp;
+				_status_flags.system_valid_gimbal = telemetry.system_healthy_gimbal;
+				_status_flags.system_present_gimbal = true;
+			}
+
+			if (telemetry.heartbeat_parachute) {
+				if (!_status_flags.system_present_parachute && (_datalink_last_heartbeat_parachute_system != 0)) {
+					_status_changed = true;
+					mavlink_log_info(&_mavlink_log_pub, "Parachute system regained\t");
+					events::send(events::ID("commander_parachute_regained"), events::Log::Info, "Parachute system regained");
+				}
+
+				const bool healthy = telemetry.system_healthy_parachute;

 				_datalink_last_heartbeat_parachute_system = telemetry.timestamp;
-				_status_flags.parachute_system_present = true;
-				_status_flags.parachute_system_healthy = healthy;
+				_status_flags.system_present_parachute = true;
+				_status_flags.system_valid_parachute = healthy;
 				set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_PARACHUTE, true, true, healthy, _status);
 			}

-			if (telemetry.heartbeat_component_obstacle_avoidance) {
-				if (_avoidance_system_lost) {
-					_avoidance_system_lost = false;
+			if (telemetry.heartbeat_obstacle_avoidance) {
+				if (!_status_flags.system_present_obstacle_avoidance && (_datalink_last_heartbeat_obstacle_avoidance_system != 0)) {
 					_status_changed = true;
+					mavlink_log_info(&_mavlink_log_pub, "Obstacle avoidance system regained\t");
+					events::send(events::ID("commander_obstacle_avoidance_regained"), events::Log::Info,
+						     "Obstacle avoidance system regained");
 				}

-				_datalink_last_heartbeat_avoidance_system = telemetry.timestamp;
-				_status_flags.avoidance_system_valid = telemetry.avoidance_system_healthy;
+				_datalink_last_heartbeat_obstacle_avoidance_system = telemetry.timestamp;
+				_status_flags.system_valid_obstacle_avoidance = telemetry.system_healthy_obstacle_avoidance;
+				_status_flags.system_present_obstacle_avoidance = true;
 			}
 		}
 	}

+	static constexpr uint64_t TIMEOUT_DEFAULT = 3_s;

-	// GCS data link loss failsafe
-	if (!_status.data_link_lost) {
-		if ((_datalink_last_heartbeat_gcs != 0)
-		    && hrt_elapsed_time(&_datalink_last_heartbeat_gcs) > (_param_com_dl_loss_t.get() * 1_s)) {

-			_status.data_link_lost = true;
-			_status.data_link_lost_counter++;
+	// GCS (data link loss failsafe)
+	if (_status_flags.system_present_gcs
+	    && hrt_elapsed_time(&_datalink_last_heartbeat_gcs) > (_param_com_dl_loss_t.get() * 1_s)) {

-			mavlink_log_info(&_mavlink_log_pub, "Connection to ground station lost\t");
-			events::send(events::ID("commander_gcs_lost"), {events::Log::Warning, events::LogInternal::Info},
-				     "Connection to ground station lost");
+		_status_flags.system_present_gcs = false;
+		_status_flags.system_valid_gcs = false;
+		_status_changed = true;
+		mavlink_log_info(&_mavlink_log_pub, "Connection to ground station lost\t");
+		events::send(events::ID("commander_gcs_lost"), {events::Log::Warning, events::LogInternal::Info},
+			     "Connection to ground station lost");

-			_status_changed = true;
-		}
+		_status.data_link_lost = true;
+		_status.data_link_lost_counter++;
 	}

-	// ONBOARD CONTROLLER data link loss failsafe
-	if ((_datalink_last_heartbeat_onboard_controller > 0)
-	    && (hrt_elapsed_time(&_datalink_last_heartbeat_onboard_controller) > (_param_com_obc_loss_t.get() * 1_s))
-	    && !_onboard_controller_lost) {
+	// gimbal
+	if (_status_flags.system_present_gimbal
+	    && (hrt_elapsed_time(&_datalink_last_heartbeat_gimbal) > TIMEOUT_DEFAULT)) {

+		_status_flags.system_present_gimbal = false;
+		_status_flags.system_valid_gimbal = false;
+		_status_changed = true;
+		mavlink_log_critical(&_mavlink_log_pub, "Connection to gimbal lost\t");
+		events::send(events::ID("commander_gimbal_lost"), events::Log::Critical, "Connection to gimbal lost");
+	}
+
+	// obstacle avoidance
+	if (_status_flags.system_present_obstacle_avoidance
+	    && (hrt_elapsed_time(&_datalink_last_heartbeat_obstacle_avoidance_system) > TIMEOUT_DEFAULT)) {
+
+		_status_flags.system_present_obstacle_avoidance = false;
+		_status_flags.system_valid_obstacle_avoidance = false;
+		_status_changed = true;
+		mavlink_log_critical(&_mavlink_log_pub, "Connection to obstacle avoidance lost\t");
+		events::send(events::ID("commander_obstacle_avoidance_lost"), events::Log::Critical,
+			     "Connection to obstacle avoidance lost");
+	}
+
+	// onboard controller
+	if (_status_flags.system_present_onboard_controller
+	    && (hrt_elapsed_time(&_datalink_last_heartbeat_onboard_controller) > (_param_com_obc_loss_t.get() * 1_s))) {
+
+		_status_flags.system_present_onboard_controller = false;
+		_status_flags.system_valid_onboard_controller = false;
+		_status_changed = true;
 		mavlink_log_critical(&_mavlink_log_pub, "Connection to mission computer lost\t");
 		events::send(events::ID("commander_mission_comp_lost"), events::Log::Critical, "Connection to mission computer lost");
-		_onboard_controller_lost = true;
-		_status_changed = true;
 	}

-	// Parachute system
-	if ((hrt_elapsed_time(&_datalink_last_heartbeat_parachute_system) > 3_s)
-	    && !_parachute_system_lost) {
-		mavlink_log_critical(&_mavlink_log_pub, "Parachute system lost");
-		_status_flags.parachute_system_present = false;
-		_status_flags.parachute_system_healthy = false;
-		_parachute_system_lost = true;
+	// parachute
+	if (_status_flags.system_present_parachute
+	    && (hrt_elapsed_time(&_datalink_last_heartbeat_parachute_system) > TIMEOUT_DEFAULT)) {
+
+		_status_flags.system_present_parachute = false;
+		_status_flags.system_valid_parachute = false;
 		_status_changed = true;
 		set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_PARACHUTE, false, true, false, _status);
-	}
-
-	// AVOIDANCE SYSTEM state check (only if it is enabled)
-	if (_status_flags.avoidance_system_required && !_onboard_controller_lost) {
-		// if heartbeats stop
-		if (!_avoidance_system_lost && (_datalink_last_heartbeat_avoidance_system > 0)
-		    && (hrt_elapsed_time(&_datalink_last_heartbeat_avoidance_system) > 5_s)) {
-
-			_avoidance_system_lost = true;
-			_status_flags.avoidance_system_valid = false;
-		}
+		mavlink_log_critical(&_mavlink_log_pub, "Connection to parachute lost\t");
+		events::send(events::ID("commander_parachute_lost"), events::Log::Critical, "Connection to parachute lost");
 	}

 	// high latency data link loss failsafe
-	if (_high_latency_datalink_heartbeat > 0
+	if ((_high_latency_datalink_heartbeat != 0)
 	    && hrt_elapsed_time(&_high_latency_datalink_heartbeat) > (_param_com_hldl_loss_t.get() * 1_s)) {
+
 		_high_latency_datalink_lost = hrt_absolute_time();

 		if (!_status.high_latency_data_link_lost) {
@@ -3598,16 +3610,18 @@ void Commander::avoidance_check()
 	const bool cp_enabled =  _param_cp_dist.get() > 0.f;

 	const bool distance_sensor_valid = hrt_elapsed_time(&_valid_distance_sensor_time_us) < 500_ms;
-	const bool cp_healthy = _status_flags.avoidance_system_valid || distance_sensor_valid;
+	const bool cp_healthy = _status_flags.system_valid_obstacle_avoidance || distance_sensor_valid;

-	const bool sensor_oa_present = cp_healthy || _status_flags.avoidance_system_required || cp_enabled;
+	const bool sensor_oa_present = cp_healthy || _status_flags.system_required_obstacle_avoidance || cp_enabled;

 	const bool auto_mode = _vehicle_control_mode.flag_control_auto_enabled;
 	const bool pos_ctl_mode = (_vehicle_control_mode.flag_control_manual_enabled
 				   && _vehicle_control_mode.flag_control_position_enabled);

-	const bool sensor_oa_enabled = ((auto_mode && _status_flags.avoidance_system_required) || (pos_ctl_mode && cp_enabled));
-	const bool sensor_oa_healthy = ((auto_mode && _status_flags.avoidance_system_valid) || (pos_ctl_mode && cp_healthy));
+	const bool sensor_oa_enabled = ((auto_mode && _status_flags.system_required_obstacle_avoidance) || (pos_ctl_mode
+					&& cp_enabled));
+	const bool sensor_oa_healthy = ((auto_mode && _status_flags.system_valid_obstacle_avoidance) || (pos_ctl_mode
+					&& cp_healthy));

 	set_health_flags(subsystem_info_s::SUBSYSTEM_TYPE_OBSTACLE_AVOIDANCE, sensor_oa_present, sensor_oa_enabled,
 			 sensor_oa_healthy, _status);
@@ -196,7 +196,6 @@ private:
 		(ParamFloat<px4::params::COM_RCL_ACT_T>) _param_com_rcl_act_t,
 		(ParamInt<px4::params::COM_RCL_EXCEPT>) _param_com_rcl_except,

-		(ParamBool<px4::params::COM_HOME_EN>) _param_com_home_en,
 		(ParamFloat<px4::params::COM_HOME_H_T>) _param_com_home_h_t,
 		(ParamFloat<px4::params::COM_HOME_V_T>) _param_com_home_v_t,
 		(ParamBool<px4::params::COM_HOME_IN_AIR>) _param_com_home_in_air,
@@ -328,12 +327,10 @@ private:


 	hrt_abstime	_datalink_last_heartbeat_gcs{0};
-	hrt_abstime	_datalink_last_heartbeat_avoidance_system{0};
+	hrt_abstime	_datalink_last_heartbeat_gimbal{0};
+	hrt_abstime	_datalink_last_heartbeat_obstacle_avoidance_system{0};
 	hrt_abstime	_datalink_last_heartbeat_onboard_controller{0};
 	hrt_abstime	_datalink_last_heartbeat_parachute_system{0};
-	bool		_onboard_controller_lost{false};
-	bool		_avoidance_system_lost{false};
-	bool		_parachute_system_lost{true};

 	hrt_abstime	_high_latency_datalink_heartbeat{0};
 	hrt_abstime	_high_latency_datalink_lost{0};
@@ -202,17 +202,6 @@ PARAM_DEFINE_FLOAT(COM_RC_LOSS_T, 0.5f);
 */
 PARAM_DEFINE_FLOAT(COM_RCL_ACT_T, 15.0f);

-/**
- * Home position enabled
- *
- * Set home position automatically if possible.
- *
- * @group Commander
- * @reboot_required true
- * @boolean
- */
-PARAM_DEFINE_INT32(COM_HOME_EN, 1);
-
 /**
 * Home set horizontal threshold
 *
@@ -251,7 +240,7 @@ PARAM_DEFINE_FLOAT(COM_HOME_V_T, 10.0f);
 * @boolean
 * @group Commander
 */
-PARAM_DEFINE_BOOL(COM_HOME_IN_AIR, 0);
+PARAM_DEFINE_INT32(COM_HOME_IN_AIR, 0);

 /**
 * RC control input mode
@@ -323,7 +312,7 @@ PARAM_DEFINE_FLOAT(COM_DISARM_PRFLT, 10.0f);
 * @value 0 Require GPS lock to arm
 * @value 1 Allow arming without GPS
 */
-PARAM_DEFINE_BOOL(COM_ARM_WO_GPS, 1);
+PARAM_DEFINE_INT32(COM_ARM_WO_GPS, 1);

 /**
 * Arm switch is a momentary button
@@ -335,7 +324,7 @@ PARAM_DEFINE_BOOL(COM_ARM_WO_GPS, 1);
 * @group Commander
 * @boolean
 */
-PARAM_DEFINE_BOOL(COM_ARM_SWISBTN, 0);
+PARAM_DEFINE_INT32(COM_ARM_SWISBTN, 0);

 /**
 * Battery failsafe mode
@@ -669,7 +658,7 @@ PARAM_DEFINE_INT32(COM_ARM_MAG_STR, 2);
 * @group Commander
 * @boolean
 */
-PARAM_DEFINE_BOOL(COM_REARM_GRACE, 1);
+PARAM_DEFINE_INT32(COM_REARM_GRACE, 1);

 /**
 * Enable RC stick override of auto and/or offboard modes
@@ -713,7 +702,7 @@ PARAM_DEFINE_FLOAT(COM_RC_STICK_OV, 30.0f);
 * @group Commander
 * @boolean
 */
-PARAM_DEFINE_BOOL(COM_ARM_MIS_REQ, 0);
+PARAM_DEFINE_INT32(COM_ARM_MIS_REQ, 0);

 /**
 * Position control navigation loss response.
@@ -736,7 +725,7 @@ PARAM_DEFINE_INT32(COM_POSCTL_NAVL, 0);
 * @group Commander
 * @boolean
 */
-PARAM_DEFINE_BOOL(COM_ARM_AUTH_REQ, 0);
+PARAM_DEFINE_INT32(COM_ARM_AUTH_REQ, 0);

 /**
 * Arm authorizer system id
@@ -930,7 +919,7 @@ PARAM_DEFINE_INT32(COM_RCL_EXCEPT, 0);
 * @boolean
 * @group Commander
 */
-PARAM_DEFINE_BOOL(COM_OBS_AVOID, 0);
+PARAM_DEFINE_INT32(COM_OBS_AVOID, 0);

 /**
 * Expect and require a healthy MAVLink parachute system
@@ -965,7 +954,7 @@ PARAM_DEFINE_INT32(COM_FLT_PROFILE, 0);
 * @group Commander
 * @boolean
 */
-PARAM_DEFINE_BOOL(COM_ARM_CHK_ESCS, 0);
+PARAM_DEFINE_INT32(COM_ARM_CHK_ESCS, 0);

 /**
 * Condition to enter prearmed mode
@@ -990,7 +979,7 @@ PARAM_DEFINE_INT32(COM_PREARM_MODE, 0);
 * @boolean
 * @group Commander
 */
-PARAM_DEFINE_BOOL(COM_MOT_TEST_EN, 1);
+PARAM_DEFINE_INT32(COM_MOT_TEST_EN, 1);

 /**
 * Timeout value for disarming when kill switch is engaged
@@ -117,7 +117,7 @@ private:
 		(ParamFloat<px4::params::FD_FAIL_P_TTRI>) _param_fd_fail_p_ttri,
 		(ParamBool<px4::params::FD_EXT_ATS_EN>) _param_fd_ext_ats_en,
 		(ParamInt<px4::params::FD_EXT_ATS_TRIG>) _param_fd_ext_ats_trig,
-		(ParamBool<px4::params::FD_ESCS_EN>) _param_escs_en,
+		(ParamInt<px4::params::FD_ESCS_EN>) _param_escs_en,
 		(ParamInt<px4::params::FD_IMB_PROP_THR>) _param_fd_imb_prop_thr
 	)
 };
@@ -116,7 +116,7 @@ PARAM_DEFINE_FLOAT(FD_FAIL_P_TTRI, 0.3);
 * @reboot_required true
 * @group Failure Detector
 */
-PARAM_DEFINE_BOOL(FD_EXT_ATS_EN, 0);
+PARAM_DEFINE_INT32(FD_EXT_ATS_EN, 0);

 /**
 * The PWM threshold from external automatic trigger system for engaging failsafe.
@@ -140,7 +140,7 @@ PARAM_DEFINE_INT32(FD_EXT_ATS_TRIG, 1900);
 *
 * @group Failure Detector
 */
-PARAM_DEFINE_BOOL(FD_ESCS_EN, 1);
+PARAM_DEFINE_INT32(FD_ESCS_EN, 1);

 /**
 * Imbalanced propeller check threshold
@@ -373,8 +373,8 @@ struct parameters {
 	float is_moving_scaler{1.0f};		///< gain scaler used to adjust the threshold for the on-ground movement detection. Larger values make the test less sensitive.

 	// compute synthetic magnetomter Z value if possible
-	bool synthesize_mag_z{0};
-	bool check_mag_strength{0};
+	int32_t synthesize_mag_z{0};
+	int32_t check_mag_strength{0};

 	// Parameters used to control when yaw is reset to the EKF-GSF yaw estimator value
 	float EKFGSF_tas_default{15.0f};	///< default airspeed value assumed during fixed wing flight if no airspeed measurement available (m/s)
@@ -440,7 +440,7 @@ private:
 		_param_ekf2_rng_qlty_t, ///< Minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (s)

 		// vision estimate fusion
-		(ParamBool<px4::params::EKF2_EV_NOISE_MD>)
+		(ParamInt<px4::params::EKF2_EV_NOISE_MD>)
 		_param_ekf2_ev_noise_md,	///< determine source of vision observation noise
 		(ParamFloat<px4::params::EKF2_EVP_NOISE>)
 		_param_ekf2_evp_noise,	///< default position observation noise for exernal vision measurements (m)
@@ -489,7 +489,7 @@ private:
 		// control of airspeed and sideslip fusion
 		(ParamExtFloat<px4::params::EKF2_ARSP_THR>)
 		_param_ekf2_arsp_thr, 	///< A value of zero will disabled airspeed fusion. Any positive value sets the minimum airspeed which will be used (m/sec)
-		(ParamBool<px4::params::EKF2_FUSE_BETA>)
+		(ParamInt<px4::params::EKF2_FUSE_BETA>)
 		_param_ekf2_fuse_beta,		///< Controls synthetic sideslip fusion, 0 disables, 1 enables

 		// output predictor filter time constants
@@ -542,8 +542,8 @@ private:
 		_param_ekf2_move_test,	///< scaling applied to IMU data thresholds used to determine if the vehicle is static or moving.

 		(ParamFloat<px4::params::EKF2_REQ_GPS_H>) _param_ekf2_req_gps_h, ///< Required GPS health time
-		(ParamExtBool<px4::params::EKF2_MAG_CHECK>) _param_ekf2_mag_check, ///< Mag field strength check
-		(ParamExtBool<px4::params::EKF2_SYNT_MAG_Z>)
+		(ParamExtInt<px4::params::EKF2_MAG_CHECK>) _param_ekf2_mag_check, ///< Mag field strength check
+		(ParamExtInt<px4::params::EKF2_SYNT_MAG_Z>)
 		_param_ekf2_synthetic_mag_z, ///< Enables the use of a synthetic value for the Z axis of the magnetometer calculated from the 3D magnetic field vector at the location of the drone.

 		// Used by EKF-GSF experimental yaw estimator
@@ -717,7 +717,7 @@ PARAM_DEFINE_FLOAT(EKF2_MIN_RNG, 0.1f);
 * @boolean
 * @group EKF2
 */
-PARAM_DEFINE_BOOL(EKF2_EV_NOISE_MD, 0);
+PARAM_DEFINE_INT32(EKF2_EV_NOISE_MD, 0);

 /**
 * Measurement noise for vision position observations used to lower bound or replace the uncertainty included in the message
@@ -973,7 +973,7 @@ PARAM_DEFINE_FLOAT(EKF2_ARSP_THR, 0.0f);
 * @group EKF2
 * @boolean
 */
-PARAM_DEFINE_BOOL(EKF2_FUSE_BETA, 0);
+PARAM_DEFINE_INT32(EKF2_FUSE_BETA, 0);

 /**

@@ -1358,7 +1358,7 @@ PARAM_DEFINE_FLOAT(EKF2_REQ_GPS_H, 10.0f);
 * @group EKF2
 * @boolean
 */
-PARAM_DEFINE_BOOL(EKF2_MAG_CHECK, 1);
+PARAM_DEFINE_INT32(EKF2_MAG_CHECK, 1);

 /**
 * Enable synthetic magnetometer Z component measurement.
@@ -1372,7 +1372,7 @@ PARAM_DEFINE_BOOL(EKF2_MAG_CHECK, 1);
 * @group EKF2
 * @boolean
 */
-PARAM_DEFINE_BOOL(EKF2_SYNT_MAG_Z, 0);
+PARAM_DEFINE_INT32(EKF2_SYNT_MAG_Z, 0);

 /**
 * Default value of true airspeed used in EKF-GSF AHRS calculation.
@@ -53,7 +53,7 @@
 * @boolean
 * @reboot_required true
 */
-PARAM_DEFINE_BOOL(EV_TSK_STAT_DIS, 0);
+PARAM_DEFINE_INT32(EV_TSK_STAT_DIS, 0);

 /**
 * RC Loss Alarm
@@ -68,4 +68,4 @@ PARAM_DEFINE_BOOL(EV_TSK_STAT_DIS, 0);
 * @boolean
 * @reboot_required true
 */
-PARAM_DEFINE_BOOL(EV_TSK_RC_LOSS, 0);
+PARAM_DEFINE_INT32(EV_TSK_RC_LOSS, 0);
@@ -160,7 +160,7 @@ protected:
 					(ParamFloat<px4::params::NAV_MC_ALT_RAD>)
 					_param_nav_mc_alt_rad, //vertical acceptance radius at which waypoints are updated
 					(ParamInt<px4::params::MPC_YAW_MODE>) _param_mpc_yaw_mode, // defines how heading is executed,
-					(ParamBool<px4::params::COM_OBS_AVOID>) _param_com_obs_avoid, // obstacle avoidance active
+					(ParamInt<px4::params::COM_OBS_AVOID>) _param_com_obs_avoid, // obstacle avoidance active
 					(ParamFloat<px4::params::MPC_YAWRAUTO_MAX>) _param_mpc_yawrauto_max,
 					(ParamFloat<px4::params::MIS_YAW_ERR>) _param_mis_yaw_err, // yaw-error threshold
 					(ParamBool<px4::params::WV_EN>) _param_wv_en, // enable/disable weather vane (VTOL)
@@ -159,7 +159,7 @@ private:
 		(ParamFloat<px4::params::FW_AIRSPD_TRIM>) _param_fw_airspd_trim,
 		(ParamInt<px4::params::FW_ARSP_MODE>) _param_fw_arsp_mode,

-		(ParamBool<px4::params::FW_ARSP_SCALE_EN>) _param_fw_arsp_scale_en,
+		(ParamInt<px4::params::FW_ARSP_SCALE_EN>) _param_fw_arsp_scale_en,

 		(ParamBool<px4::params::FW_BAT_SCALE_EN>) _param_fw_bat_scale_en,

@@ -293,7 +293,8 @@ PARAM_DEFINE_FLOAT(FW_RLL_TO_YAW_FF, 0.0f);
 * @boolean
 * @group FW Attitude Control
 */
-PARAM_DEFINE_BOOL(FW_W_EN, 0);
+PARAM_DEFINE_INT32(FW_W_EN, 0);
+

 /**
 * Wheel steering rate proportional gain
@@ -533,7 +534,7 @@ PARAM_DEFINE_INT32(FW_ARSP_MODE, 0);
 * @boolean
 * @group FW Attitude Control
 */
-PARAM_DEFINE_BOOL(FW_ARSP_SCALE_EN, 1);
+PARAM_DEFINE_INT32(FW_ARSP_SCALE_EN, 1);

 /**
 * Manual roll scale
@@ -590,7 +591,7 @@ PARAM_DEFINE_FLOAT(FW_MAN_Y_SC, 1.0f);
 * @boolean
 * @group FW Attitude Control
 */
-PARAM_DEFINE_BOOL(FW_BAT_SCALE_EN, 0);
+PARAM_DEFINE_INT32(FW_BAT_SCALE_EN, 0);

 /**
 * Acro body x max rate.
@@ -56,7 +56,7 @@
 * @boolean
 * @group Autotune
 */
-PARAM_DEFINE_BOOL(FW_AT_START, 0);
+PARAM_DEFINE_INT32(FW_AT_START, 0);

 /**
 * Amplitude of the injected signal
@@ -420,7 +420,7 @@ private:
 		(ParamFloat<px4::params::FW_THR_MIN>) _param_fw_thr_min,
 		(ParamFloat<px4::params::FW_THR_SLEW_MAX>) _param_fw_thr_slew_max,

-		(ParamInt<px4::params::FW_POSCTL_INV_ST>) _param_fw_posctl_inv_st,
+		(ParamBool<px4::params::FW_POSCTL_INV_ST>) _param_fw_posctl_inv_st,


 		(ParamInt<px4::params::FW_GPSF_LT>) _param_nav_gpsf_lt,
@@ -342,7 +342,7 @@ PARAM_DEFINE_FLOAT(FW_LND_HHDIST, 15.0f);
 * @boolean
 * @group FW L1 Control
 */
-PARAM_DEFINE_BOOL(FW_LND_USETER, 0);
+PARAM_DEFINE_INT32(FW_LND_USETER, 0);

 /**
 * Early landing configuration deployment
@@ -358,7 +358,7 @@ PARAM_DEFINE_BOOL(FW_LND_USETER, 0);
 *
 * @group FW L1 Control
 */
-PARAM_DEFINE_BOOL(FW_LND_EARLYCFG, 0);
+PARAM_DEFINE_INT32(FW_LND_EARLYCFG, 0);

 /**
 * Flare, minimum pitch
@@ -50,7 +50,7 @@
 * @boolean
 * @group FW Launch detection
 */
-PARAM_DEFINE_BOOL(LAUN_ALL_ON, 0);
+PARAM_DEFINE_INT32(LAUN_ALL_ON, 0);

 /**
 * Catapult accelerometer threshold.
@@ -45,7 +45,7 @@
 * @boolean
 * @group Runway Takeoff
 */
-PARAM_DEFINE_BOOL(RWTO_TKOFF, 0);
+PARAM_DEFINE_INT32(RWTO_TKOFF, 0);

 /**
 * Specifies which heading should be held during runnway takeoff.
@@ -38,4 +38,4 @@
 * @reboot_required true
 * @group Sensors
 */
-PARAM_DEFINE_BOOL(IMU_GYRO_CAL_EN, 1);
+PARAM_DEFINE_INT32(IMU_GYRO_CAL_EN, 1);
@@ -38,7 +38,7 @@
 * @reboot_required true
 * @group Sensors
 */
-PARAM_DEFINE_BOOL(IMU_GYRO_FFT_EN, 0);
+PARAM_DEFINE_INT32(IMU_GYRO_FFT_EN, 0);

 /**
 * IMU gyro FFT minimum frequency.
@@ -128,7 +128,7 @@ void MulticopterLandDetector::_update_params()
 		_param_lndmc_z_vel_max.commit_no_notification();
 	}

-	bool use_hover_thrust_estimate = false;
+	int32_t use_hover_thrust_estimate = 0;
 	param_get(_paramHandle.useHoverThrustEstimate, &use_hover_thrust_estimate);
 	_params.useHoverThrustEstimate = (use_hover_thrust_estimate == 1);

@@ -37,4 +37,4 @@
 * @boolean
 * @group System
 */
-PARAM_DEFINE_BOOL(SYS_STCK_EN, 1);
+PARAM_DEFINE_INT32(SYS_STCK_EN, 1);
--- a/Show More
+++ b/Show More