mavlink: receiver handle_message_command_both() use case statement

.ci/Jenkinsfile-compile

@@ -97,6 +97,7 @@ pipeline {
                      "px4_fmu-v5_stackcheck",
                      "px4_fmu-v5_uavcanv0periph",
                      "px4_fmu-v5_uavcanv1",
+                     "px4_fmu-v5x_base_phy_DP83848C",
                      "px4_fmu-v5x_default",
                      "px4_fmu-v6u_default",
                      "px4_fmu-v6x_default",

.ci/Jenkinsfile-hardware

@@ -21,7 +21,7 @@ pipeline {
                 sh 'make cubepilot_cubeorange_bootloader'
                 sh 'make cubepilot_cubeorange_test'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*, build/cubepilot_cubeorange_test/etc/init.d/airframes/*', name: 'cubepilot_cubeorange_test'
               }
               post {
                 always {
@@ -64,6 +64,7 @@ pipeline {
                     checkStatus()
                     quickCalibrate()
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
                   }
                 }
                 stage("print topics") {
@@ -74,7 +75,7 @@ pipeline {
               }
               post {
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf || true'
                 }
               }
             } // stage test
@@ -95,7 +96,7 @@ pipeline {
                 sh 'make cuav_x7pro_bootloader'
                 sh 'make cuav_x7pro_test'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'cuav_x7pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'cuav_x7pro_test'
               }
               post {
                 always {
@@ -143,7 +144,7 @@ pipeline {
               }
               post {
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/cuav_x7pro_test/cuav_x7pro_test.elf || true'
                 }
               }
             } // stage test
@@ -164,7 +165,7 @@ pipeline {
                 sh 'make px4_fmu-v3_test'
                 sh 'make px4_fmu-v3_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v3_test'
               }
               post {
                 always {
@@ -212,7 +213,7 @@ pipeline {
               }
               post {
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
                 }
               }
             } // stage test
@@ -233,7 +234,7 @@ pipeline {
                 sh 'make px4_fmu-v4_test'
                 sh 'make px4_fmu-v4_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v4_test'
               }
               post {
                 always {
@@ -280,7 +281,7 @@ pipeline {
               }
               post {
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf || true'
                 }
               }
             } // stage test
@@ -301,7 +302,7 @@ pipeline {
                 sh 'make px4_fmu-v4pro_test'
                 sh 'make px4_fmu-v4pro_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v4pro_test'
               }
               post {
                 always {
@@ -349,7 +350,7 @@ pipeline {
               }
               post {
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf || true'
                 }
               }
             } // stage test
@@ -370,7 +371,7 @@ pipeline {
                 sh 'make px4_fmu-v5_debug'
                 sh 'make px4_fmu-v5_debug bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_debug'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v5_debug'
               }
               post {
                 always {
@@ -409,10 +410,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -u -v"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
-
-                    // test dataman
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
-
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
@@ -439,7 +437,7 @@ pipeline {
               }
               post {
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf || true'
                 }
               }
             } // stage test
@@ -460,7 +458,7 @@ pipeline {
                 sh 'make px4_fmu-v5_stackcheck'
                 sh 'make px4_fmu-v5_stackcheck bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v5_stackcheck'
               }
               post {
                 always {
@@ -495,9 +493,6 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
-
-                    // test dataman
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
                   }
                 }
                 stage("status") {
@@ -521,7 +516,7 @@ pipeline {
               }
               post {
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf || true'
                 }
               }
             } // stage test
@@ -542,7 +537,7 @@ pipeline {
                 sh 'make px4_fmu-v5_test'
                 sh 'make px4_fmu-v5_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v5_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'px4_fmu-v5_test'
               }
               post {
                 always {
@@ -590,7 +585,7 @@ pipeline {
               }
               post {
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf || true'
                 }
               }
             } // stage test
@@ -611,7 +606,7 @@ pipeline {
                 sh 'make nxp_fmuk66-v3_test'
                 //sh 'make nxp_fmuk66-v3_test bootloader_elf'
                 sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, Tools/HIL/*', name: 'nxp_fmuk66-v3_test'
               }
               post {
                 always {
@@ -659,7 +654,7 @@ pipeline {
               }
               post {
                 always {
-                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
+                    sh './platforms/nuttx/Debug/jlink_gdb_backtrace.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf || true'
                 }
               }
             } // stage test
@@ -794,15 +789,13 @@ void runTests() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
 
+  sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
+
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
 
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
@@ -810,22 +803,13 @@ void runTests() {
 
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
 
-  // tests (stop modules first)
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander stop"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink stop-all"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "navigator stop"'
-  sh './Tools/HIL/run_tests.py --device `find /dev/serial -name *usb-*`'
-
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors stop"' // ignore irrelevant sensor timeouts during microbenchmarks
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "microbench all"'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "calib_udelay"'
-
   // test rebooting multiple times
   resetParameters()
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
   sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
@@ -835,8 +819,6 @@ void runTests() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
   sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CBRK*; param show SYS*"' // check that CBRK_BUZZER and SYS_AUTOSTART haven't been lost
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/microsd/parameters_backup.bson" || true'
 }
 
 void printTopics() {

.github/workflows/sitl_tests.yml

@@ -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

.gitignore

@@ -105,4 +105,8 @@ src/lib/version/build_git_version.h
 src/modules/simulator/simulator_config.h
 src/systemcmds/topic_listener/listener_generated.cpp
 
+# SITL
+dataman
+eeprom/
+
 !src/drivers/distance_sensor/broadcom/afbrs50/Lib/*

ROMFS/px4fmu_common/init.d/rcS

@@ -35,7 +35,7 @@ set MIXER_AUX none
 set MIXER_FILE none
 set MIXER_EXTRA none
 set OUTPUT_MODE none
-set PARAM_FILE ""
+set PARAM_FILE /fs/microsd/params
 set PWM_OUT none
 set PWM_MAIN_RATE p:PWM_MAIN_RATE
 set PWM_AUX_OUT none
@@ -129,8 +129,6 @@ then
 			fi
 		fi
 	fi
-
-	set PARAM_FILE /fs/microsd/params
 fi
 
 #
@@ -163,31 +161,8 @@ else
 	param select $PARAM_FILE
 	if ! param import
 	then
-		echo "ERROR [init] param import failed"
-		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
-
-		param dump $PARAM_FILE
-
-		if [ -d "/fs/microsd" ]
-		then
-			dmesg >> /fs/microsd/param_import_fail.txt &
-
-			# try to make a backup copy
-			cp $PARAM_FILE /fs/microsd/param_import_fail.bson &
-		fi
-
-		# try importing from backup file
-		if [ -f "/fs/microsd/parameters_backup.bson" ]
-		then
-			param import /fs/microsd/parameters_backup.bson
-		fi
+		param reset_all
 	fi
-
-	if [ $SDCARD_AVAILABLE = yes ]
-	then
-		param select-backup /fs/microsd/parameters_backup.bson
-	fi
-
 	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
 	then
 		netman update -i eth0
@@ -235,16 +210,7 @@ else
 	# Waypoint storage.
 	# REBOOTWORK this needs to start in parallel.
 	#
-	if param compare SYS_DM_BACKEND 1
-	then
-		dataman start -r
-	else
-		if param compare SYS_DM_BACKEND 0
-		then
-			# dataman start default
-			dataman start
-		fi
-	fi
+	dataman start
 
 	#
 	# Start the socket communication send_event handler.
@@ -477,12 +443,6 @@ else
 		rc_input start $RC_INPUT_ARGS
 	fi
 
-	# PPS capture driver (before pwm_out)
-	if param greater -s PPS_CAP_ENABLE 0
-	then
-		pps_capture start
-	fi
-
 	# Camera capture driver (before pwm_out)
 	if param greater -s CAM_CAP_FBACK 0
 	then

Tools/HIL/monitor_firmware_upload.py

@@ -40,8 +40,8 @@ def monitor_firmware_upload(port, baudrate):
     ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
 
     timeout = 180  # 3 minutes
-    timeout_start = time.monotonic()
-    timeout_newline = time.monotonic()
+    timeout_start = time.time()
+    timeout_newline = time.time()
 
     return_code = 0
 
@@ -59,13 +59,13 @@ def monitor_firmware_upload(port, baudrate):
         elif "nsh>" in serial_line:
             sys.exit(return_code)
 
-        if time.monotonic() > timeout_start + timeout:
+        if time.time() > timeout_start + timeout:
             print("Error, timeout")
             sys.exit(-1)
 
         # newline every 10 seconds if still running
-        if time.monotonic() - timeout_newline > 10:
-            timeout_newline = time.monotonic()
+        if time.time() - timeout_newline > 10:
+            timeout_newline = time.time()
             ser.write("\n".encode("ascii"))
             ser.flush()
 

Tools/HIL/nsh_param_set.py

@@ -34,7 +34,7 @@ def print_line(line):
 def do_param_set_cmd(port, baudrate, param_name, param_value):
     ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
 
-    timeout_start = time.monotonic()
+    timeout_start = time.time()
     timeout = 30  # 30 seconds
 
     # wait for nsh prompt
@@ -50,7 +50,7 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
             if len(serial_line) > 0:
                 print_line(serial_line)
 
-        if time.monotonic() > timeout_start + timeout:
+        if time.time() > timeout_start + timeout:
             print("Error, timeout waiting for prompt")
             sys.exit(1)
 
@@ -58,13 +58,12 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
     ser.readlines()
 
     # run command
-    timeout_start = time.monotonic()
+    timeout_start = time.time()
     timeout = 10  # 10 seconds
 
     cmd = "param set " + param_name + " " + param_value
 
     # write command (param set) and wait for command echo
-    print("Running command: \'{0}\'".format(cmd))
     serial_cmd = '{0}\r\n'.format(cmd)
     ser.write(serial_cmd.encode("ascii"))
     ser.flush()
@@ -78,7 +77,7 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
             if len(serial_line) > 0:
                 print_line(serial_line)
 
-        if time.monotonic() > timeout_start + timeout:
+        if time.time() > timeout_start + timeout:
             print("Error, timeout waiting for command echo")
             break
 
@@ -90,8 +89,8 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
 
     param_show_response = param_name + " ["
 
-    timeout_start = time.monotonic()
-    timeout = 3  # 3 seconds
+    timeout_start = time.time()
+    timeout = 2  # 2 seconds
 
     while True:
         serial_line = ser.readline().decode("ascii", errors='ignore')
@@ -108,20 +107,19 @@ def do_param_set_cmd(port, baudrate, param_name, param_value):
             if len(serial_line) > 0:
                 print_line(serial_line)
 
-            if time.monotonic() > timeout_start + timeout:
+            if time.time() > timeout_start + timeout:
                 if "nsh>" in serial_line:
                     sys.exit(1) # error, command didn't complete successfully
                 elif "NuttShell (NSH)" in serial_line:
                     sys.exit(1) # error, command didn't complete successfully
 
-        if time.monotonic() > timeout_start + timeout:
-            print("Error, timeout")
-            sys.exit(-1)
-
         if len(serial_line) <= 0:
             ser.write("\r\n".encode("ascii"))
             ser.flush()
-            time.sleep(0.2)
+
+        if time.time() > timeout_start + timeout:
+            print("Error, timeout")
+            sys.exit(-1)
 
     ser.close()
 

Tools/HIL/reboot.py

@@ -36,29 +36,26 @@ def print_line(line):
     else:
         print('{0}'.format(line), end='')
 
-def reboot(port, baudrate):
+def monitor_firmware_upload(port, baudrate):
     ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
 
     # clear
     ser.readlines()
 
-    time_start = time.monotonic()
     ser.write("\nreboot\n".encode("ascii"))
     ser.flush()
-    time_reboot_cmd = time_start
 
-    timeout_reboot_cmd = 90
+    timeout_reboot_cmd = 30
     timeout = 300  # 5 minutes
+    timeout_start = time.time()
+    timeout_newline = time.time()
+    time_success = 0
 
     return_code = 0
 
     while True:
-        if time.monotonic() > time_reboot_cmd + timeout_reboot_cmd:
-            time_reboot_cmd = time.monotonic()
-            print("sending reboot cmd again")
+        if time.time() > timeout_start + timeout_reboot_cmd:
             ser.write("reboot\n".encode("ascii"))
-            ser.flush()
-            time.sleep(0.2)
 
         serial_line = ser.readline().decode("ascii", errors='ignore')
 
@@ -69,9 +66,13 @@ def reboot(port, baudrate):
             print_line(serial_line)
 
         if "NuttShell (NSH)" in serial_line:
+            time_success = time.time()
+
+        # wait at least 2 seconds after seeing prompt to catch potential errors
+        if time_success > 0 and time.time() > time_success + 2:
             sys.exit(return_code)
 
-        if time.monotonic() > time_start + timeout:
+        if time.time() > timeout_start + timeout:
             print("Error, timeout")
             sys.exit(-1)
 
@@ -81,7 +82,7 @@ def main():
     parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
     args = parser.parse_args()
 
-    reboot(args.device, args.baudrate)
+    monitor_firmware_upload(args.device, args.baudrate)
 
 if __name__ == "__main__":
    main()

Tools/HIL/run_nsh_cmd.py

@@ -40,7 +40,7 @@ def print_line(line):
 def do_nsh_cmd(port, baudrate, cmd):
     ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
 
-    timeout_start = time.monotonic()
+    timeout_start = time.time()
     timeout = 30  # 30 seconds
 
     # wait for nsh prompt
@@ -56,7 +56,7 @@ def do_nsh_cmd(port, baudrate, cmd):
             if len(serial_line) > 0:
                 print_line(serial_line)
 
-        if time.monotonic() > timeout_start + timeout:
+        if time.time() > timeout_start + timeout:
             print("Error, timeout waiting for prompt")
             sys.exit(1)
 
@@ -64,13 +64,12 @@ def do_nsh_cmd(port, baudrate, cmd):
     ser.readlines()
 
     # run command
-    timeout_start = time.monotonic()
+    timeout_start = time.time()
     timeout = 1  # 1 second
 
     success_cmd = "cmd succeeded!"
 
     # wait for command echo
-    print("Running command: \'{0}\'".format(cmd))
     serial_cmd = '{0}; echo "{1}"; echo "{2}";\r\n'.format(cmd, success_cmd, success_cmd)
     ser.write(serial_cmd.encode("ascii"))
     ser.flush()
@@ -87,13 +86,13 @@ def do_nsh_cmd(port, baudrate, cmd):
             if len(serial_line) > 0:
                 print_line(serial_line)
 
-        if (len(serial_line) <= 0) and (time.monotonic() > timeout_start + timeout):
+        if time.time() > timeout_start + timeout:
             print("Error, timeout waiting for command echo")
             break
 
 
-    timeout_start = time.monotonic()
-    timeout = 240 # 4 minutes
+    timeout_start = time.time()
+    timeout = 180 # 3 minutes
 
     return_code = 0
 
@@ -115,14 +114,13 @@ def do_nsh_cmd(port, baudrate, cmd):
             elif "NuttShell (NSH)" in serial_line:
                 sys.exit(1) # error, command didn't complete successfully
 
-        if (len(serial_line) <= 0) and (time.monotonic() > timeout_start + timeout):
-            print("Error, timeout")
-            sys.exit(-1)
-
         if len(serial_line) <= 0:
             ser.write("\r\n".encode("ascii"))
             ser.flush()
-            time.sleep(0.2)
+
+        if time.time() > timeout_start + timeout:
+            print("Error, timeout")
+            sys.exit(-1)
 
     ser.close()
 

Tools/HIL/run_tests.py

@@ -41,7 +41,7 @@ def print_line(line):
 def do_test(port, baudrate, test_name):
     ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
 
-    timeout_start = time.monotonic()
+    timeout_start = time.time()
     timeout = 30  # 30 seconds
 
     # wait for nsh prompt
@@ -57,7 +57,7 @@ def do_test(port, baudrate, test_name):
             if len(serial_line) > 0:
                 print(serial_line, end='')
 
-        if time.monotonic() > timeout_start + timeout:
+        if time.time() > timeout_start + timeout:
             print("Error, timeout waiting for prompt")
             return False
 
@@ -72,11 +72,10 @@ def do_test(port, baudrate, test_name):
     print("| Running:", cmd)
     print('|======================================================================')
 
-    timeout_start = time.monotonic()
+    timeout_start = time.time()
     timeout = 2  # 2 seconds
 
     # wait for command echo
-    print("Running command: \'{0}\'".format(cmd))
     serial_cmd = '{0}\n'.format(cmd)
     ser.write(serial_cmd.encode("ascii"))
     ser.flush()
@@ -89,14 +88,14 @@ def do_test(port, baudrate, test_name):
             if len(serial_line) > 0:
                 print_line(serial_line)
 
-        if time.monotonic() > timeout_start + timeout:
+        if time.time() > timeout_start + timeout:
             print("Error, timeout waiting for command echo")
             break
 
 
     # print results, wait for final result (PASSED or FAILED)
     timeout = 300  # 5 minutes
-    timeout_start = time.monotonic()
+    timeout_start = time.time()
     timeout_newline = timeout_start
 
     while True:
@@ -112,16 +111,16 @@ def do_test(port, baudrate, test_name):
             success = False
             break
 
-        if time.monotonic() > timeout_start + timeout:
+        if time.time() > timeout_start + timeout:
             print("Error, timeout")
             print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
             success = False
             break
 
         # newline every 10 seconds if still running
-        if (len(serial_line) <= 0) and (time.monotonic() - timeout_newline > 10):
+        if time.time() - timeout_newline > 10:
             ser.write("\n".encode("ascii"))
-            timeout_newline = time.monotonic()
+            timeout_newline = time.time()
 
     ser.close()
 

Tools/generate_board_targets_json.py

@@ -41,9 +41,7 @@ def process_target(px4board_file, target_name):
     platform = None
     toolchain = None
 
-    if px4board_file.endswith("default.px4board") or \
-        px4board_file.endswith("recovery.px4board") or \
-        px4board_file.endswith("bootloader.px4board"):
+    if px4board_file.endswith("default.px4board"):
         kconf.load_config(px4board_file, replace=True)
     else: # Merge config with default.px4board
         default_kconfig = re.sub(r'[a-zA-Z\d_]+\.px4board', 'default.px4board', px4board_file)

Tools/kconfig/cmake_kconfig_lut.txt

@@ -92,7 +92,6 @@ pca9685,CONFIG_DRIVERS_PCA9685=y
 pca9685_pwm_out,CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 power_monitor/ina226,CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 power_monitor/voxlpm,CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
-pps_capture,CONFIG_DRIVERS_PPS_CAPTURE=y
 protocol_splitter,CONFIG_DRIVERS_PROTOCOL_SPLITTER=y
 pwm_input,CONFIG_DRIVERS_PWM_INPUT=y
 pwm_out_sim,CONFIG_DRIVERS_PWM_OUT_SIM=y

Tools/module_config/generate_params.py

@@ -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 += '''
 /**

boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig

@@ -42,7 +42,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0030
 CONFIG_CDCACM_PRODUCTSTR="MindPX FMU v2.x"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/airmind/mindpx-v2/src/init.c

@@ -239,6 +239,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi4) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 4\n");
 		board_autoled_on(LED_AMBER);
+		return -ENODEV;
 	}
 
 	/* Default SPI4 to 10MHz and de-assert the known chip selects. */
@@ -254,6 +255,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi1) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n");
 		board_autoled_on(LED_AMBER);
+		return -ENODEV;
 	}
 
 	/* Default SPI1 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
@@ -277,7 +279,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
 
 	if (!sdio) {
-		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n",
+		       CONFIG_NSH_MMCSDSLOTNO);
+		return -ENODEV;
 	}
 
 	/* Now bind the SDIO interface to the MMC/SD driver */
@@ -285,6 +289,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (ret != OK) {
 		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+		return ret;
 	}
 
 	/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */

boards/ark/can-flow/src/init.c

@@ -146,6 +146,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (result != OK) {
 		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+		return -ENODEV;
 	}
 
 #endif // FLASH_BASED_PARAMS

boards/ark/can-gps/src/init.c

@@ -151,6 +151,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (result != OK) {
 		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+		return -ENODEV;
 	}
 
 #endif // FLASH_BASED_PARAMS

boards/ark/can-rtk-gps/src/init.c

@@ -157,6 +157,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (result != OK) {
 		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+		return -ENODEV;
 	}
 
 #endif // FLASH_BASED_PARAMS

boards/atl/mantis-edu/nuttx-config/nsh/defconfig

@@ -47,7 +47,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0061
 CONFIG_CDCACM_PRODUCTSTR="PX4 ATL Mantis-EDU"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/atl/mantis-edu/src/init.c

@@ -240,6 +240,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (ret != OK) {
 		led_on(LED_RED);
+		return ret;
 	}
 
 #endif /* CONFIG_MMCSD */

boards/av/x-v1/src/init.c

@@ -175,6 +175,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (ret != OK) {
 		syslog(LOG_ERR, "[boot] SDIO init failed\n");
+		return ret;
 	}
 
 #endif /* CONFIG_MMCSD */

boards/beaglebone/blue/default.px4board

@@ -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

boards/bitcraze/crazyflie/default.px4board

@@ -12,7 +12,6 @@ CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
@@ -28,11 +27,15 @@ CONFIG_MODULES_MC_ATT_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_SENSORS=y
 CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MIXER=y
 CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
@@ -43,7 +46,10 @@ CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y

boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig

@@ -42,7 +42,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0016
 CONFIG_CDCACM_PRODUCTSTR="PX4 Crazyflie v2.0"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/bitcraze/crazyflie/src/init.c

@@ -150,7 +150,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	}
 
 #ifdef CONFIG_SPI
-	stm32_spi_bus_initialize();
+	int ret = stm32_spi_bus_initialize();
+
+	if (ret != OK) {
+		return ret;
+	}
+
 #endif
 
 	/* Configure the HW based on the manifest */

boards/bitcraze/crazyflie/syslink/syslink_main.cpp

@@ -404,9 +404,9 @@ Syslink::handle_message(syslink_message_t *msg)
 		memcpy(&vbat, &msg->data[1], sizeof(float));
 		//memcpy(&iset, &msg->data[5], sizeof(float));
 
-		_battery.setConnected(true);
-		_battery.updateVoltage(vbat);
-		_battery.updateAndPublishBatteryStatus(t);
+		_battery.updateBatteryStatus(t, vbat, -1, true,
+					     battery_status_s::BATTERY_SOURCE_POWER_MODULE, 0, 0);
+
 
 		// Update battery charge state
 		if (charging) {

boards/bitcraze/crazyflie/syslink/syslink_main.h

@@ -139,7 +139,7 @@ private:
 
 	// nrf chip schedules battery updates with SYSLINK_SEND_PERIOD_MS
 	static constexpr uint32_t SYSLINK_BATTERY_STATUS_INTERVAL_US = 10_ms;
-	Battery _battery{1, nullptr, SYSLINK_BATTERY_STATUS_INTERVAL_US, battery_status_s::BATTERY_SOURCE_POWER_MODULE};
+	Battery _battery{1, nullptr, SYSLINK_BATTERY_STATUS_INTERVAL_US};
 
 	int32_t _rssi;
 	battery_state _bstate;

boards/bitcraze/crazyflie21/default.px4board

@@ -11,7 +11,6 @@ CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
@@ -28,11 +27,15 @@ CONFIG_MODULES_MC_ATT_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_SENSORS=y
 CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MIXER=y
 CONFIG_SYSTEMCMDS_MOTOR_RAMP=y
 CONFIG_SYSTEMCMDS_MOTOR_TEST=y
@@ -44,6 +47,7 @@ CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y

boards/bitcraze/crazyflie21/nuttx-config/nsh/defconfig

@@ -41,7 +41,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0016
 CONFIG_CDCACM_PRODUCTSTR="PX4 Crazyflie v2.0"
 CONFIG_CDCACM_RXBUFSIZE=300

boards/bitcraze/crazyflie21/src/init.c

@@ -150,7 +150,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	}
 
 #ifdef CONFIG_SPI
-	stm32_spi_bus_initialize();
+	int ret = stm32_spi_bus_initialize();
+
+	if (ret != OK) {
+		return ret;
+	}
+
 #endif
 
 	return OK;

boards/cuav/can-gps-v1/src/init.c

@@ -145,6 +145,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (result != OK) {
 		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+		return -ENODEV;
 	}
 
 #endif // FLASH_BASED_PARAMS

boards/cuav/nora/nuttx-config/bootloader/defconfig

@@ -29,7 +29,6 @@ CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004c
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL CUAV Nora"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/cuav/nora/nuttx-config/nsh/defconfig

@@ -46,7 +46,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004c
 CONFIG_CDCACM_PRODUCTSTR="PX4 CUAV Nora"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/cuav/nora/src/init.c

@@ -201,10 +201,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (!sdio_dev) {
 		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
+		return ERROR;
 	}
 
 	if (mmcsd_slotinitialize(0, sdio_dev) != OK) {
 		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n");
+		return ERROR;
 	}
 
 	/* Assume that the SD card is inserted.  What choice do we have? */

boards/cuav/x7pro/nuttx-config/bootloader/defconfig

@@ -29,7 +29,6 @@ CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004c
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL CUAV X7Pro"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/cuav/x7pro/nuttx-config/nsh/defconfig

@@ -46,13 +46,13 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004c
 CONFIG_CDCACM_PRODUCTSTR="PX4 CUAV X7Pro"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x3163
 CONFIG_CDCACM_VENDORSTR="CUAV"
+CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
@@ -60,7 +60,6 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -83,6 +82,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y

boards/cuav/x7pro/src/init.c

@@ -201,10 +201,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (!sdio_dev) {
 		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
+		return ERROR;
 	}
 
 	if (mmcsd_slotinitialize(0, sdio_dev) != OK) {
 		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n");
+		return ERROR;
 	}
 
 	/* Assume that the SD card is inserted.  What choice do we have? */

boards/cubepilot/cubeorange/nuttx-config/bootloader/defconfig

@@ -29,7 +29,6 @@ CONFIG_BOARD_LOOPSPERMSEC=79954
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1016
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL CubePilot CubeOrange"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/cubepilot/cubeorange/nuttx-config/nsh/defconfig

@@ -47,7 +47,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1016
 CONFIG_CDCACM_PRODUCTSTR="CubeOrange"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/cubepilot/cubeorange/nuttx-config/test/defconfig

@@ -46,7 +46,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1016
 CONFIG_CDCACM_PRODUCTSTR="CubeOrange"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/cubepilot/cubeorange/src/init.c

@@ -181,10 +181,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (!sdio_dev) {
 		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
+		return ERROR;
 	}
 
 	if (mmcsd_slotinitialize(0, sdio_dev) != OK) {
 		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n");
+		return ERROR;
 	}
 
 	/* Assume that the SD card is inserted.  What choice do we have? */

boards/cubepilot/cubeyellow/nuttx-config/nsh/defconfig

@@ -48,7 +48,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1012
 CONFIG_CDCACM_PRODUCTSTR="CubeYellow"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/cubepilot/cubeyellow/src/init.c

@@ -185,10 +185,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (!sdio_dev) {
 		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
+		return ERROR;
 	}
 
 	if (mmcsd_slotinitialize(0, sdio_dev) != OK) {
 		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n");
+		return ERROR;
 	}
 
 	/* Assume that the SD card is inserted.  What choice do we have? */

boards/emlid/navio2/default.px4board

@@ -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

boards/freefly/can-rtk-gps/nuttx-config/nsh/defconfig

@@ -41,7 +41,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0016
 CONFIG_CDCACM_PRODUCTSTR="PX4 FreeFly RTK GPS"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/freefly/can-rtk-gps/src/init.c

@@ -138,6 +138,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (result != OK) {
 		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+		return -ENODEV;
 	}
 
 #endif // FLASH_BASED_PARAMS

boards/holybro/can-gps-v1/src/init.c

@@ -162,6 +162,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (result != OK) {
 		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+		return -ENODEV;
 	}
 
 #endif // FLASH_BASED_PARAMS

boards/holybro/durandal-v1/nuttx-config/bootloader/defconfig

@@ -29,7 +29,6 @@ CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004b
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL Holybro Durandal Vx"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/holybro/durandal-v1/nuttx-config/nsh/defconfig

@@ -46,7 +46,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004b
 CONFIG_CDCACM_PRODUCTSTR="PX4 DurandalV1"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/holybro/durandal-v1/src/init.c

@@ -264,6 +264,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (ret != OK) {
 		led_on(LED_RED);
+		return ret;
 	}
 
 #endif /* CONFIG_MMCSD */

boards/holybro/kakutef7/nuttx-config/nsh/defconfig

@@ -46,7 +46,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0016
 CONFIG_CDCACM_PRODUCTSTR="PX4 KakuteF7"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/holybro/kakutef7/src/init.c

@@ -222,6 +222,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi_dev) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO);
 		led_on(LED_BLUE);
+		return -ENODEV;
 	}
 
 	/* Now bind the SPI interface to the MMCSD driver */
@@ -230,6 +231,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (result != OK) {
 		led_on(LED_BLUE);
 		syslog(LOG_ERR, "[boot] FAILED to bind SPI port 1 to the MMCSD driver\n");
+		return -ENODEV;
 	}
 
 	up_udelay(20);
@@ -248,6 +250,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (result != OK) {
 		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
 		led_on(LED_AMBER);
+		return -ENODEV;
 	}
 
 #endif

boards/holybro/pix32v5/nuttx-config/nsh/defconfig

@@ -47,7 +47,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004E
 CONFIG_CDCACM_PRODUCTSTR="PX4 PIX32V5"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/holybro/pix32v5/src/init.c

@@ -272,6 +272,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (ret != OK) {
 		led_on(LED_RED);
+		return ret;
 	}
 
 #endif /* CONFIG_MMCSD */

boards/matek/h743-slim/nuttx-config/bootloader/defconfig

@@ -29,7 +29,6 @@ CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004b
 CONFIG_CDCACM_PRODUCTSTR="Matek H743-slim"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/matek/h743-slim/nuttx-config/nsh/defconfig

@@ -45,7 +45,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0036
 CONFIG_CDCACM_PRODUCTSTR="MatekH743-slim"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/matek/h743-slim/src/init.c

@@ -170,6 +170,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (ret != OK) {
 		led_on(LED_BLUE);
+		return ret;
 	}
 
 #endif

boards/modalai/fc-v1/nuttx-config/nsh/defconfig

@@ -46,7 +46,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0xa32f
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU ModalAI FCv1"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/modalai/fc-v1/src/init.c

@@ -277,6 +277,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (ret != OK) {
 		led_on(LED_RED);
+		return ret;
 	}
 
 #endif /* CONFIG_MMCSD */

boards/modalai/fc-v2/nuttx-config/bootloader/defconfig

@@ -29,7 +29,6 @@ CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0xa330
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL ModalAI FCv2"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/modalai/fc-v2/nuttx-config/nsh/defconfig

@@ -46,7 +46,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0xa330
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU ModalAI FCv2"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/modalai/fc-v2/src/init.c

@@ -252,6 +252,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (ret != OK) {
 		led_on(LED_RED);
+		return ret;
 	}
 
 #endif /* CONFIG_MMCSD */

boards/mro/ctrl-zero-f7-oem/nuttx-config/nsh/defconfig

@@ -46,7 +46,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x008D
 CONFIG_CDCACM_PRODUCTSTR="mRoControlZeroF7"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/mro/ctrl-zero-f7-oem/src/init.c

@@ -226,6 +226,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (ret != OK) {
 		led_on(LED_RED);
+		return ret;
 	}
 
 #endif /* CONFIG_MMCSD */

boards/mro/ctrl-zero-f7/nuttx-config/nsh/defconfig

@@ -46,7 +46,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x008D
 CONFIG_CDCACM_PRODUCTSTR="mRoControlZeroF7"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/mro/ctrl-zero-f7/src/init.c

@@ -226,6 +226,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (ret != OK) {
 		led_on(LED_RED);
+		return ret;
 	}
 
 #endif /* CONFIG_MMCSD */

boards/mro/ctrl-zero-h7-oem/nuttx-config/bootloader/defconfig

@@ -29,7 +29,6 @@ CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1023
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL mRo ControlZeroH7 OEM"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/mro/ctrl-zero-h7-oem/nuttx-config/nsh/defconfig

@@ -46,7 +46,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1024
 CONFIG_CDCACM_PRODUCTSTR="mRoControlZeroH7 OEM"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/mro/ctrl-zero-h7-oem/src/init.c

@@ -186,10 +186,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (!sdio_dev) {
 		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
+		return ERROR;
 	}
 
 	if (mmcsd_slotinitialize(0, sdio_dev) != OK) {
 		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n");
+		return ERROR;
 	}
 
 	/* Assume that the SD card is inserted.  What choice do we have? */

boards/mro/ctrl-zero-h7/nuttx-config/bootloader/defconfig

@@ -29,7 +29,6 @@ CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1023
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL mRo ControlZeroH7"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/mro/ctrl-zero-h7/nuttx-config/nsh/defconfig

@@ -46,7 +46,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1023
 CONFIG_CDCACM_PRODUCTSTR="mRoControlZeroH7"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/mro/ctrl-zero-h7/src/init.c

@@ -186,10 +186,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (!sdio_dev) {
 		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
+		return ERROR;
 	}
 
 	if (mmcsd_slotinitialize(0, sdio_dev) != OK) {
 		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n");
+		return ERROR;
 	}
 
 	/* Assume that the SD card is inserted.  What choice do we have? */

boards/mro/pixracerpro/nuttx-config/bootloader/defconfig

@@ -29,7 +29,6 @@ CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1017
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL mRo Pixracer Pro"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/mro/pixracerpro/nuttx-config/nsh/defconfig

@@ -46,7 +46,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1017
 CONFIG_CDCACM_PRODUCTSTR="mRoPixracerPro"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/mro/pixracerpro/src/init.c

@@ -185,10 +185,12 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (!sdio_dev) {
 		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
+		return ERROR;
 	}
 
 	if (mmcsd_slotinitialize(0, sdio_dev) != OK) {
 		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n");
+		return ERROR;
 	}
 
 	/* Assume that the SD card is inserted.  What choice do we have? */

boards/mro/x21-777/nuttx-config/nsh/defconfig

@@ -46,7 +46,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0088
 CONFIG_CDCACM_PRODUCTSTR="mRo x2.1-777"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/mro/x21-777/src/init.c

@@ -213,6 +213,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (ret != OK) {
 		led_on(LED_RED);
+		return ret;
 	}
 
 #endif /* CONFIG_MMCSD */

boards/mro/x21/nuttx-config/nsh/defconfig

@@ -43,7 +43,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0021
 CONFIG_CDCACM_PRODUCTSTR="PX4 AUAV X2.1"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/mro/x21/src/init.c

@@ -262,6 +262,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi1) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n");
 		led_on(LED_AMBER);
+		return -ENODEV;
 	}
 
 	/* Default SPI1 to 1MHz and de-assert the known chip selects. */
@@ -277,6 +278,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi2) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 2\n");
 		led_on(LED_AMBER);
+		return -ENODEV;
 	}
 
 	/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
@@ -291,11 +293,14 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 #ifdef CONFIG_MMCSD
 	/* First, get an instance of the SDIO interface */
+
 	sdio = sdio_initialize(CONFIG_NSH_MMCSDSLOTNO);
 
 	if (!sdio) {
-		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n",
+		       CONFIG_NSH_MMCSDSLOTNO);
 		led_on(LED_AMBER);
+		return -ENODEV;
 	}
 
 	/* Now bind the SDIO interface to the MMC/SD driver */
@@ -304,6 +309,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (ret != OK) {
 		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
 		led_on(LED_AMBER);
+		return ret;
 	}
 
 	/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
@@ -312,6 +318,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 #endif
 
 	/* Configure the HW based on the manifest */
+
 	px4_platform_configure();
 
 	return OK;

boards/nxp/fmuk66-e/src/init.c

@@ -270,6 +270,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (ret != OK) {
 		board_autoled_on(LED_RED);
+		return ret;
 	}
 
 #ifdef HAVE_AUTOMOUNTER
@@ -285,6 +286,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (ret != OK) {
 		board_autoled_on(LED_RED);
+		return ret;
 	}
 
 #endif

boards/nxp/fmuk66-v3/nuttx-config/nsh/defconfig

@@ -34,6 +34,7 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=8000
 CONFIG_CDCACM_VENDORID=0x1FC9
 CONFIG_CDCACM_VENDORSTR="NXP SEMICONDUCTORS"
+CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
@@ -42,7 +43,6 @@ CONFIG_DEV_PIPE_SIZE=70
 CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_POSIX_TIMERS=y
 CONFIG_ETH0_PHY_TJA1100=y
-CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
@@ -110,6 +110,7 @@ CONFIG_KINETIS_UART_EXTEDED_BREAK=y
 CONFIG_KINETIS_UART_INVERT=y
 CONFIG_KINETIS_USBDCD=y
 CONFIG_KINETS_LPUART_LOWEST=y
+CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LPUART0_BAUD=57600
 CONFIG_LPUART0_SERIAL_CONSOLE=y

boards/nxp/fmuk66-v3/src/init.c

@@ -270,6 +270,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (ret != OK) {
 		board_autoled_on(LED_RED);
+		return ret;
 	}
 
 #ifdef HAVE_AUTOMOUNTER
@@ -285,6 +286,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (ret != OK) {
 		board_autoled_on(LED_RED);
+		return ret;
 	}
 
 #endif

boards/nxp/fmurt1062-v1/src/init.c

@@ -295,6 +295,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (ret != OK) {
 		led_on(LED_RED);
+		return ret;
 	}
 
 #endif
@@ -305,6 +306,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (ret != OK) {
 		led_on(LED_RED);
+		return ret;
 	}
 
 	/* Configure the HW based on the manifest */

boards/omnibus/f4sd/default.px4board

@@ -25,6 +25,7 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
@@ -35,6 +36,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y
@@ -45,6 +47,7 @@ CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/omnibus/f4sd/nuttx-config/nsh/defconfig

@@ -30,7 +30,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0001
 CONFIG_CDCACM_PRODUCTSTR="PX4 OmnibusF4SD"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/omnibus/f4sd/src/init.c

@@ -267,6 +267,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi1) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n");
 		led_on(LED_BLUE);
+		return -ENODEV;
 	}
 
 	/* Default SPI1 to 1MHz and de-assert the known chip selects. */
@@ -282,6 +283,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi2) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO);
 		led_on(LED_BLUE);
+		return -ENODEV;
 	}
 
 	/* Now bind the SPI interface to the MMCSD driver */
@@ -290,6 +292,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (result != OK) {
 		led_on(LED_BLUE);
 		syslog(LOG_ERR, "[boot] FAILED to bind SPI port 2 to the MMCSD driver\n");
+		return -ENODEV;
 	}
 
 	up_udelay(20);
@@ -301,6 +304,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi3) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 3\n");
 		led_on(LED_BLUE);
+		return -ENODEV;
 	}
 
 	/* Copied from fmu-v4
@@ -326,6 +330,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (result != OK) {
 		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
 		led_on(LED_AMBER);
+		return -ENODEV;
 	}
 
 #endif

boards/px4/fmu-v2/nuttx-config/nsh/defconfig

@@ -42,7 +42,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0011
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v2.x"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/px4/fmu-v2/src/init.c

@@ -453,6 +453,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi1) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 1);
 		led_on(LED_AMBER);
+		return -ENODEV;
 	}
 
 	/* Default SPI1 to 1MHz and de-assert the known chip selects. */
@@ -468,6 +469,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi2) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 2);
 		led_on(LED_AMBER);
+		return -ENODEV;
 	}
 
 	/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
@@ -483,6 +485,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi4) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 4);
 		led_on(LED_AMBER);
+		return -ENODEV;
 	}
 
 	/* Default SPI4 to 1MHz and de-assert the known chip selects. */
@@ -498,6 +501,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!sdio) {
 		led_on(LED_AMBER);
 		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
+		return -ENODEV;
 	}
 
 	/* Now bind the SDIO interface to the MMC/SD driver */
@@ -506,6 +510,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (ret != OK) {
 		led_on(LED_AMBER);
 		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+		return ret;
 	}
 
 	/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */

boards/px4/fmu-v3/nuttx-config/nsh/defconfig

@@ -43,13 +43,13 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0011
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v2.x"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=2000
 CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_VENDORSTR="3D Robotics"
+CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
@@ -58,7 +58,6 @@ CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
 CONFIG_DISABLE_MQUEUE=y
-CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
@@ -79,6 +78,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y

boards/px4/fmu-v3/src/init.c

@@ -453,6 +453,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi1) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 1);
 		led_on(LED_AMBER);
+		return -ENODEV;
 	}
 
 	/* Default SPI1 to 1MHz and de-assert the known chip selects. */
@@ -468,6 +469,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi2) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 2);
 		led_on(LED_AMBER);
+		return -ENODEV;
 	}
 
 	/* Default SPI2 to 37.5 MHz (40 MHz rounded to nearest valid divider, F4 max)
@@ -483,6 +485,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi4) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 4);
 		led_on(LED_AMBER);
+		return -ENODEV;
 	}
 
 	/* Default SPI4 to 1MHz and de-assert the known chip selects. */
@@ -498,6 +501,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!sdio) {
 		led_on(LED_AMBER);
 		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
+		return -ENODEV;
 	}
 
 	/* Now bind the SDIO interface to the MMC/SD driver */
@@ -506,6 +510,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (ret != OK) {
 		led_on(LED_AMBER);
 		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+		return ret;
 	}
 
 	/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */
@@ -514,6 +519,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 #endif
 
 	/* Configure the HW based on the manifest */
+
 	px4_platform_configure();
 
 	return OK;

boards/px4/fmu-v4/nuttx-config/nsh/defconfig

@@ -43,13 +43,13 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0012
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v4.x"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=2000
 CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_VENDORSTR="3D Robotics"
+CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
@@ -58,7 +58,6 @@ CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
 CONFIG_DISABLE_MQUEUE=y
-CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
@@ -79,6 +78,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y

boards/px4/fmu-v4/src/init.c

@@ -292,6 +292,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi1) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 1\n");
 		led_on(LED_RED);
+		return -ENODEV;
 	}
 
 
@@ -307,6 +308,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi2) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port 2\n");
 		led_on(LED_RED);
+		return -ENODEV;
 	}
 
 	/**
@@ -348,7 +350,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (!sdio) {
 		led_on(LED_RED);
-		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n",
+		       CONFIG_NSH_MMCSDSLOTNO);
+		return -ENODEV;
 	}
 
 	// Now bind the SDIO interface to the MMC/SD driver.
@@ -357,6 +361,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (ret != OK) {
 		led_on(LED_RED);
 		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+		return ret;
 	}
 
 	// Then let's guess and say that there is a card in the slot. There is no card detect GPIO.

boards/px4/fmu-v4pro/nuttx-config/nsh/defconfig

@@ -43,13 +43,13 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0013
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v4.x PRO"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=2000
 CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_VENDORSTR="3D Robotics"
+CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
@@ -58,7 +58,6 @@ CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
 CONFIG_DISABLE_MQUEUE=y
-CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
@@ -79,6 +78,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y

boards/px4/fmu-v4pro/src/init.c

@@ -311,6 +311,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi1) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 1);
 		led_on(LED_RED);
+		return -ENODEV;
 	}
 
 	/* Default SPI1 to 1MHz and de-assert the known chip selects. */
@@ -326,6 +327,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi2) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 2);
 		led_on(LED_RED);
+		return -ENODEV;
 	}
 
 	/* Default SPI2 to 12MHz and de-assert the known chip selects.
@@ -343,6 +345,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi5) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 5);
 		led_on(LED_RED);
+		return -ENODEV;
 	}
 
 	/* Default SPI5 to 1MHz and de-assert the known chip selects. */
@@ -357,6 +360,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (!spi6) {
 		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 6);
 		led_on(LED_RED);
+		return -ENODEV;
 	}
 
 	/* Default SPI6 to 1MHz and de-assert the known chip selects. */
@@ -371,7 +375,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 	if (!sdio) {
 		led_on(LED_RED);
-		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", CONFIG_NSH_MMCSDSLOTNO);
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n",
+		       CONFIG_NSH_MMCSDSLOTNO);
+		return -ENODEV;
 	}
 
 	/* Now bind the SDIO interface to the MMC/SD driver */
@@ -380,6 +386,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 	if (ret != OK) {
 		led_on(LED_RED);
 		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+		return ret;
 	}
 
 	/* Then let's guess and say that there is a card in the slot. There is no card detect GPIO. */

boards/px4/fmu-v5/nuttx-config/cryptotest/defconfig

@@ -47,7 +47,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0032
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v5.x"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/px4/fmu-v5/nuttx-config/debug/defconfig

@@ -48,7 +48,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0032
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v5.x"
 CONFIG_CDCACM_RXBUFSIZE=600

boards/px4/fmu-v5/nuttx-config/nsh/defconfig

@@ -47,13 +47,13 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0032
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v5.x"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_VENDORSTR="3D Robotics"
+CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
@@ -62,7 +62,6 @@ CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
 CONFIG_DISABLE_MQUEUE=y
-CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
@@ -84,6 +83,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y

boards/px4/fmu-v5/nuttx-config/stackcheck/defconfig

@@ -48,7 +48,6 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0032
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v5.x"
 CONFIG_CDCACM_RXBUFSIZE=600