mc_rate_control: RateControl inline simple getters/setters

- these are typically called on every iteration

.ci/Jenkinsfile-compile

@@ -66,11 +66,8 @@ pipeline {
                      "mro_ctrl-zero-f7_default",
                      "mro_ctrl-zero-f7-oem_default",
                      "mro_ctrl-zero-h7_default",
-                     "mro_ctrl-zero-h7_rtps",
                      "mro_ctrl-zero-h7-oem_default",
-                     "mro_ctrl-zero-h7-oem_rtps",
                      "mro_pixracerpro_default",
-                     "mro_pixracerpro_rtps",
                      "mro_x21-777_default",
                      "mro_x21_default",
                      "nxp_fmuk66-e_default",
@@ -97,6 +94,7 @@ 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 {
@@ -42,7 +42,6 @@ pipeline {
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_bootloader/cubepilot_cubeorange_bootloader.elf'
                     // flash board and watch bootup
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cubepilot_cubeorange_test/cubepilot_cubeorange_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
                   }
                 }
                 stage("tests") {
@@ -74,7 +73,8 @@ 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'
+                    resetBoard()
                 }
               }
             } // stage test
@@ -95,7 +95,7 @@ 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 {
@@ -116,7 +116,6 @@ pipeline {
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_bootloader/cuav_x7pro_bootloader.elf'
                     // flash board and watch bootup
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
                   }
                 }
                 stage("tests") {
@@ -143,7 +142,8 @@ 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'
+                    resetBoard()
                 }
               }
             } // stage test
@@ -164,7 +164,7 @@ 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 {
@@ -185,7 +185,6 @@ pipeline {
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_bootloader.elf'
                     // flash board and watch bootup
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
                   }
                 }
                 stage("tests") {
@@ -212,7 +211,8 @@ 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'
+                    resetBoard()
                 }
               }
             } // stage test
@@ -233,7 +233,7 @@ 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 {
@@ -254,7 +254,6 @@ pipeline {
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_bootloader.elf'
                     // flash board and watch bootup
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4_test/px4_fmu-v4_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
                   }
                 }
                 stage("tests") {
@@ -280,7 +279,8 @@ 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'
+                    resetBoard()
                 }
               }
             } // stage test
@@ -301,7 +301,7 @@ 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 {
@@ -322,7 +322,6 @@ pipeline {
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_bootloader.elf'
                     // flash board and watch bootup
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v4pro_test/px4_fmu-v4pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
                   }
                 }
                 stage("tests") {
@@ -349,7 +348,8 @@ 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'
+                    resetBoard()
                 }
               }
             } // stage test
@@ -370,7 +370,7 @@ 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 {
@@ -396,7 +396,6 @@ pipeline {
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_bootloader.elf'
                     // flash board and watch bootup
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_debug/px4_fmu-v5_debug.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600 || true'
-                    resetBoard()
                   }
                 }
                 stage("tests") {
@@ -409,10 +408,7 @@ 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 +435,8 @@ 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'
+                    resetBoard()
                 }
               }
             } // stage test
@@ -460,7 +457,7 @@ 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 {
@@ -486,7 +483,6 @@ pipeline {
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_bootloader.elf'
                     // flash board and watch bootup
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_stackcheck/px4_fmu-v5_stackcheck.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
                   }
                 }
                 stage("tests") {
@@ -495,9 +491,6 @@ 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 +514,8 @@ 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'
+                    resetBoard()
                 }
               }
             } // stage test
@@ -542,7 +536,7 @@ 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 {
@@ -563,7 +557,6 @@ pipeline {
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_bootloader.elf'
                     // flash board and watch bootup
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v5_test/px4_fmu-v5_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
                   }
                 }
                 stage("tests") {
@@ -590,7 +583,8 @@ 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'
+                    resetBoard()
                 }
               }
             } // stage test
@@ -611,7 +605,7 @@ 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 {
@@ -632,7 +626,6 @@ pipeline {
                     //sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_bootloader.elf'
                     // flash board and watch bootup
                     sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/nxp_fmuk66-v3_test/nxp_fmuk66-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
                   }
                 }
                 stage("tests") {
@@ -659,7 +652,8 @@ 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'
+                    resetBoard()
                 }
               }
             } // stage test
@@ -794,15 +788,13 @@ 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 +802,13 @@ 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 +818,6 @@ 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() {
@@ -947,7 +928,6 @@ void resetBoard() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SDLOG_MODE -1" || true'        // limit cpu usage
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "echo > /fs/microsd/.format" || true'
   sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
 
   // check SD card
@@ -972,6 +952,4 @@ void resetBoard() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/usage" || true'
-
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
 }

.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
@@ -96,7 +96,7 @@ jobs:
         PX4_HOME_LON: ${{matrix.config.longitude}}
         PX4_HOME_ALT: ${{matrix.config.altitude}}
         PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json
       timeout-minutes: 45
 
     - name: Look at core files

.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/*

.gitmodules

@@ -42,6 +42,12 @@
 [submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
 	path = src/drivers/uavcan_v1/public_regulated_data_types
 	url = https://github.com/UAVCAN/public_regulated_data_types.git
+[submodule "src/drivers/uavcannode_gps_demo/public_regulated_data_types"]
+	path = src/drivers/uavcannode_gps_demo/public_regulated_data_types
+	url = https://github.com/UAVCAN/public_regulated_data_types.git
+[submodule "src/drivers/uavcannode_gps_demo/libcanard"]
+	path = src/drivers/uavcannode_gps_demo/libcanard
+	url = https://github.com/UAVCAN/libcanard.git
 [submodule "src/drivers/uavcan_v1/legacy_data_types"]
 	path = src/drivers/uavcan_v1/legacy_data_types
 	url = https://github.com/PX4/public_regulated_data_types.git

Kconfig

@@ -114,9 +114,14 @@ config BOARD_ETHERNET
         flag to indicate that ethernet is enabled
 
 config BOARD_CRYPTO
-    bool "Crypto support"
+    string "Crypto"
     help
-        Enable PX4 Crypto Support. Select the implementation under drivers
+        Crypto implementation selection
+
+config BOARD_KEYSTORE
+    string "Keystore"
+    help
+        Keystore implememntation selection
 
 menu "Serial ports"
 

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -1,7 +1,5 @@
 #!/bin/sh
 
-set -e
-
 # PX4 commands need the 'px4-' prefix in bash.
 # (px4-alias.sh is expected to be in the PATH)
 # shellcheck disable=SC1091

ROMFS/px4fmu_common/init.d/rc.interface

@@ -18,17 +18,8 @@ set OUTPUT_AUX_DEV /dev/pwm_output1
 set OUTPUT_EXTRA_DEV /dev/pwm_output0
 
 # set these before starting the modules
-if [ $PWM_AUX_OUT != none ]
-then
-
-	param set PWM_AUX_OUT ${PWM_AUX_OUT}
-fi
-
-
-if [ $PWM_OUT != none ]
-then
-	param set PWM_MAIN_OUT ${PWM_OUT}
-fi
+param set PWM_AUX_OUT ${PWM_AUX_OUT}
+param set PWM_MAIN_OUT ${PWM_OUT}
 
 #
 # If mount (gimbal) control is enabled and output mode is AUX, set the aux

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
@@ -114,6 +113,7 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y

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/nuttx-config/nsh/defconfig

@@ -91,6 +91,7 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y

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/nuttx-config/nsh/defconfig

@@ -93,6 +93,7 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y

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/nuttx-config/nsh/defconfig

@@ -93,6 +93,7 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y

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

@@ -39,7 +39,6 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114
@@ -47,7 +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=0x0061
 CONFIG_CDCACM_PRODUCTSTR="PX4 ATL Mantis-EDU"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -89,6 +87,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -121,6 +120,7 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y

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/nuttx-config/nsh/defconfig

@@ -51,7 +51,6 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114
@@ -79,7 +78,6 @@ CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -93,8 +91,10 @@ CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y

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/nuttx-config/nsh/defconfig

@@ -31,7 +31,6 @@ CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
@@ -94,6 +93,7 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y

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
@@ -52,6 +51,7 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LIB_BOARDCTL=y
+CONFIG_FS_PROCFS_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_PREALLOC_TIMERS=50

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
@@ -88,6 +87,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -121,6 +121,7 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y

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
@@ -52,6 +51,7 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LIB_BOARDCTL=y
+CONFIG_FS_PROCFS_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_PREALLOC_TIMERS=50

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
@@ -83,10 +82,12 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -120,6 +121,7 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=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

@@ -25,11 +25,10 @@ CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_INITTHREAD_PRIORITY=254
 CONFIG_BOARD_LATE_INITIALIZE=y
-CONFIG_BOARD_LOOPSPERMSEC=79954
+CONFIG_BOARD_LOOPSPERMSEC=95150
 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
@@ -52,6 +51,7 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LIB_BOARDCTL=y
+CONFIG_FS_PROCFS_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_PREALLOC_TIMERS=50

boards/cubepilot/cubeorange/nuttx-config/include/board.h

@@ -60,6 +60,7 @@
 #define STM32_HSI_FREQUENCY     16000000ul
 #define STM32_LSI_FREQUENCY     32000
 #define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+#define STM32_LSE_FREQUENCY     0
 
 /* Main PLL Configuration.
  *
@@ -81,55 +82,56 @@
  *   PLLP2,3 = {2, 3, 4, ..., 128}
  *   CPUCLK <= 480 MHz
  */
+#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
 
 /* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
  *
- *   PLL1_VCO = (24,000,000 / 3) * 100 = 800 MHz
+ *   PLL1_VCO = (24,000,000 / 2) * 80 = 960 MHz
  *
- *   PLL1P = PLL1_VCO/2  = 800 MHz / 2   = 400 MHz
- *   PLL1Q = PLL1_VCO/8  = 800 MHz / 8   = 100 MHz
- *   PLL1R = PLL1_VCO/2  = 800 MHz / 2   = 400 MHz
+ *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
+ *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
+ *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
  */
 #define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE|RCC_PLLCFGR_PLL1RGE_4_8_MHZ|RCC_PLLCFGR_DIVP1EN|RCC_PLLCFGR_DIVQ1EN|RCC_PLLCFGR_DIVR1EN)
-#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(3)
-#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(100)
+#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(2)
+#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(80)
 #define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
-#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(8)
-#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(2)
+#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(4)
+#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
 
-#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 3) * 100)
+#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 2) * 80)
 #define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
-#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
-#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
+#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
+#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
 
 /* PLL2 */
 #define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE|RCC_PLLCFGR_PLL2RGE_4_8_MHZ|RCC_PLLCFGR_DIVP2EN|RCC_PLLCFGR_DIVQ2EN|RCC_PLLCFGR_DIVR2EN)
-#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(2)
-#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(30)
-#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(4)
-#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(5)
-#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(1)
+#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(4)
+#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(32)
+#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
+#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
+#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
 
-#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 2) * 30)
-#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 4)
-#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 5)
-#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 1)
+#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 4) * 32)
+#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
 
 /* PLL3 */
 #define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE|RCC_PLLCFGR_PLL3RGE_4_8_MHZ|RCC_PLLCFGR_DIVQ3EN)
-#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(6)
-#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(72)
-#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(3)
-#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(6)
-#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(9)
+#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(4)
+#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(32)
+#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
+#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
+#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
 
-#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 6) * 72)
-#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 3)
-#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 6)
-#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 9)
+#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 4) * 32)
+#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
+#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
 
-/* SYSCLK = PLL1P = 400MHz
- * CPUCLK = SYSCLK / 1 = 400 MHz
+/* SYSCLK = PLL1P = 480MHz
+ * CPUCLK = SYSCLK / 1 = 480 MHz
  */
 #define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
 #define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
@@ -138,7 +140,7 @@
 /* Configure Clock Assignments */
 
 /* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
- * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 200
+ * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
  */
 #define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
 #define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
@@ -184,28 +186,36 @@
 /* Kernel Clock Configuration
  *  Note: look at Table 54 in ST Manual
  */
-#define STM32_RCC_D1CCIPR_SDMMCSEL   RCC_D1CCIPR_SDMMC_PLL1
-
 #define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI  /* I2C123 clock source */
 #define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */
 #define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2  /* SPI45 clock source */
+#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2    /* SPI6 clock source */
 #define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3    /* USB 1 and 2 clock source */
+#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */
 #define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
 
-#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */
+#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
 
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2
 
 /* SDMMC definitions ********************************************************/
 /* Init 400kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
-#define STM32_SDMMC_INIT_CLKDIV     (125 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 
-/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div = PLL1Q/(2*freq)
- * div = 100 / (2*25)
+/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
+ * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
  */
-#define STM32_SDMMC_MMCXFR_CLKDIV   (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#define STM32_SDMMC_SDXFR_CLKDIV    (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
+#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
 
 #define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
 

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

@@ -42,12 +42,11 @@ CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=79954
+CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1016
 CONFIG_CDCACM_PRODUCTSTR="CubeOrange"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -89,6 +88,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -122,6 +122,7 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y

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

@@ -41,18 +41,18 @@ CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=79954
+CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1016
 CONFIG_CDCACM_PRODUCTSTR="CubeOrange"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x2DAE
 CONFIG_CDCACM_VENDORSTR="CubePilot"
+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
@@ -83,10 +82,12 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -120,6 +121,7 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y

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

@@ -40,7 +40,6 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114
@@ -48,7 +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=0x1012
 CONFIG_CDCACM_PRODUCTSTR="CubeYellow"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -75,7 +73,6 @@ CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -88,8 +85,10 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -122,6 +121,7 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y

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/cubepilot/io-v2/nuttx-config/nsh/defconfig

@@ -15,7 +15,6 @@ CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F100C8=y
 CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARD_LOOPSPERMSEC=2000
 CONFIG_C99_BOOL8=y
 CONFIG_DEBUG_FULLOPT=y
@@ -29,6 +28,7 @@ CONFIG_FDCLONE_STDIO=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=316
+CONFIG_FS_PROCFS_MAX_TASKS=2
 CONFIG_MM_FILL_ALLOCATIONS=y
 CONFIG_MM_SMALL=y
 CONFIG_NAME_MAX=12

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

@@ -34,14 +34,12 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_LOOPSPERMSEC=22114
 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
@@ -106,6 +104,7 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y

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/nuttx-config/nsh/defconfig

@@ -31,7 +31,6 @@ CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
@@ -94,6 +93,7 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y

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/default.px4board

@@ -18,7 +18,6 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_COMMON_LIGHT=y

boards/holybro/durandal-v1/init/rc.board_sensors

@@ -11,18 +11,6 @@ icm20689 -R 2 -s start
 bmi088 -A -R 2 -s start
 bmi088 -G -R 2 -s start
 
-if ver hwtypecmp  VD00
-then
-	# Internal SPI BMI088
-	bmi088 -A -R 2 -s start
-	bmi088 -G -R 2 -s start
-fi
-if ver hwtypecmp  VD01
-then
-	# Internal SPI ICM-20602
-	icm20602 -R 2 -s start
-fi
-
 # internal compass
 ist8310 -I -R 10 start
 

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
@@ -89,6 +88,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -122,6 +122,7 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y

boards/holybro/durandal-v1/src/board_config.h

@@ -162,11 +162,6 @@
 #define HW_INFO_INIT_VER     2
 #define HW_INFO_INIT_REV     3
 
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
-
-#define VD00   HW_VER_REV(0x0,0x0) // Durandal,  Ver 0        Rev 0
-#define VD01   HW_VER_REV(0x0,0x1) // Durandal,  Ver 0        Rev 1
-
 /* CAN Silence
  *
  * Silent mode control \ ESC Mux select

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/durandal-v1/src/manifest.c

@@ -82,9 +82,7 @@ static const px4_hw_mft_item_t hw_mft_list_durandal[] = {
 };
 
 static px4_hw_mft_list_entry_t mft_lists[] = {
-//  ver_rev
-	{VD00, hw_mft_list_durandal, arraySize(hw_mft_list_durandal)},
-	{VD01, hw_mft_list_durandal, arraySize(hw_mft_list_durandal)},
+	{0x0000, hw_mft_list_durandal, arraySize(hw_mft_list_durandal)},
 };
 
 /************************************************************************************

boards/holybro/durandal-v1/src/spi.cpp

@@ -1,6 +1,6 @@
 /****************************************************************************
  *
- *   Copyright (C) 2020, 2021 PX4 Development Team. All rights reserved.
+ *   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
@@ -35,52 +35,28 @@
 #include <drivers/drv_sensor.h>
 #include <nuttx/spi/spi.h>
 
-constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
-	initSPIHWVersion(HW_VER_REV(0, 0), {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
-			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
-			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortG, GPIO::Pin10}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
-			initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortH, GPIO::Pin5}),
-		}, {GPIO::PortE, GPIO::Pin3}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortF, GPIO::Pin5})
-		}),
-		initSPIBus(SPI::Bus::SPI4, {
-			initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortF, GPIO::Pin10}),
-		}),
-		initSPIBusExternal(SPI::Bus::SPI5, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin4}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}),
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin6}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin7}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin8})
-		}),
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
+		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
+		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortG, GPIO::Pin10}, SPI::DRDY{GPIO::PortB, GPIO::Pin15}),
+		initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortH, GPIO::Pin5}),
+	}, {GPIO::PortE, GPIO::Pin3}),
+	initSPIBus(SPI::Bus::SPI2, {
+		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortF, GPIO::Pin5})
 	}),
-	initSPIHWVersion(HW_VER_REV(0, 1), {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortF, GPIO::Pin2}, SPI::DRDY{GPIO::PortB, GPIO::Pin4}),
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortF, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin14}),
-			initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortH, GPIO::Pin5}),
-		}, {GPIO::PortE, GPIO::Pin3}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortF, GPIO::Pin5})
-		}),
-		initSPIBus(SPI::Bus::SPI4, {
-			initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortF, GPIO::Pin10}),
-		}),
-		initSPIBusExternal(SPI::Bus::SPI5, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin4}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}),
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin6}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin7}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin8})
-		}),
+	initSPIBus(SPI::Bus::SPI4, {
+		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, SPI::CS{GPIO::PortF, GPIO::Pin10}),
+	}),
+	initSPIBusExternal(SPI::Bus::SPI5, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin4}),
+		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}),
+	}),
+	initSPIBusExternal(SPI::Bus::SPI6, {
+		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin6}),
+		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin7}),
+		initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin8})
 	}),
 };
 
-static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);

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

@@ -38,7 +38,6 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114
@@ -46,7 +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=0x0016
 CONFIG_CDCACM_PRODUCTSTR="PX4 KakuteF7"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -77,7 +75,6 @@ CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
 CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y
 CONFIG_FS_PROCFS_EXCLUDE_PARTITIONS=y
 CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -90,8 +87,10 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
@@ -124,6 +123,7 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y

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

@@ -39,7 +39,6 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114
@@ -47,7 +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=0x004E
 CONFIG_CDCACM_PRODUCTSTR="PX4 PIX32V5"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -74,7 +72,6 @@ CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -87,8 +84,10 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -121,6 +120,7 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y

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

@@ -37,7 +37,6 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
@@ -45,7 +44,6 @@ 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
@@ -88,6 +86,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y

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

@@ -38,7 +38,6 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114
@@ -46,7 +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=0xa32f
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU ModalAI FCv1"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -73,7 +71,6 @@ CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -86,8 +83,10 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -120,6 +119,7 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y

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
@@ -52,6 +51,7 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LIB_BOARDCTL=y
+CONFIG_FS_PROCFS_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_PREALLOC_TIMERS=50

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

@@ -38,7 +38,6 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95751
@@ -46,7 +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=0xa330
 CONFIG_CDCACM_PRODUCTSTR="PX4 FMU ModalAI FCv2"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -74,7 +72,6 @@ CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -89,8 +86,10 @@ CONFIG_IOB_NCHAINS=24
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -122,6 +121,7 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y

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

@@ -38,7 +38,6 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114
@@ -46,7 +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=0x008D
 CONFIG_CDCACM_PRODUCTSTR="mRoControlZeroF7"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -73,7 +71,6 @@ CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -86,8 +83,10 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -120,6 +119,7 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y

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

@@ -38,7 +38,6 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114
@@ -46,7 +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=0x008D
 CONFIG_CDCACM_PRODUCTSTR="mRoControlZeroF7"
 CONFIG_CDCACM_RXBUFSIZE=600
@@ -73,7 +71,6 @@ CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
 CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -86,8 +83,10 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -120,6 +119,7 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y

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
@@ -90,6 +89,7 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -123,6 +123,7 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y

boards/mro/ctrl-zero-h7-oem/rtps.px4board

@@ -1 +0,0 @@
-CONFIG_MODULES_MICRORTPS_BRIDGE=y

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? */