split drivers/rc_input per protocol

mavlink_shell: fix stall on CubeOrange
On CubeOrange where no console is configured by default, starting MAVLink shell just stalls, and doesn't work. Also, logfile download has been reported not to work, and again, seems to work with this change. Signed-off-by: Julian Oes <julian@oes.ch>
2026-05-23 18:37:35 +08:00 · 2022-12-23 18:49:16 -05:00 · 2022-12-23 11:00:20 -05:00 · 2022-12-23 10:28:19 -05:00 · 2022-12-23 10:28:19 -05:00 · 2022-12-23 10:28:19 -05:00
277 changed files with 7418 additions and 4846 deletions
@@ -684,7 +684,7 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/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 "bsondump /fs/mtd_params"'

  // status commands
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
@@ -715,7 +715,7 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
-  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 "bsondump /fs/mtd_params"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
@@ -767,13 +767,13 @@ void runTests() {

  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 "bsondump /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 "bsondump /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 "bsondump /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 "bsondump /fs/mtd_params" || true' // expected to fail after erase

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
@@ -119,7 +119,9 @@
                "utility": "cpp",
                "valarray": "cpp",
                "variant": "cpp",
-                "vector": "cpp"
+                "vector": "cpp",
+                "Jenkinsfile*": "groovy",
+                "*.sdf": "xml"
        },
        "search.exclude": {
                "${workspaceFolder}/build": true
@@ -74,7 +74,7 @@ if [ -f $PARAM_FILE ]; then
 	then
 		echo "ERROR [init] param import failed"

-		param dump $PARAM_FILE
+		bsondump $PARAM_FILE

 		# try to make a backup copy
 		cp $PARAM_FILE param_import_fail.bson
@@ -85,7 +85,7 @@ if [ -f $PARAM_FILE ]; then
 			echo "[init] importing from parameter backup"

 			# dump current backup file contents for comparison
-			param dump $PARAM_BACKUP_FILE
+			bsondump $PARAM_BACKUP_FILE

 			param import $PARAM_BACKUP_FILE

@@ -29,7 +29,6 @@ set LOGGER_ARGS ""
 set LOGGER_BUF 8
 set PARAM_FILE ""
 set PARAM_BACKUP_FILE ""
-set RC_INPUT_ARGS ""
 set SDCARD_AVAILABLE no
 set SDCARD_EXT_PATH /fs/microsd/ext_autostart
 set SDCARD_FORMAT no
@@ -130,7 +129,7 @@ else
 		echo "ERROR [init] param import failed"
 		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE

-		param dump $PARAM_FILE
+		bsondump $PARAM_FILE

 		if [ -d "/fs/microsd" ]
 		then
@@ -143,7 +142,7 @@ else
 				echo "[init] importing from parameter backup"

 				# dump current backup file contents for comparison
-				param dump $PARAM_BACKUP_FILE
+				bsondump $PARAM_BACKUP_FILE

 				param import $PARAM_BACKUP_FILE

@@ -411,8 +410,10 @@ else
 	#
 	. ${R}etc/init.d/rc.serial

-	# Must be started after the serial config is read
-	rc_input start $RC_INPUT_ARGS
+	if param compare -s RC_PPM_EN 1
+	then
+		ppm_in start
+	fi

 	#
 	# Play the startup tune (if not disabled or there is an error)
@@ -544,7 +545,6 @@ unset LOGGER_ARGS
 unset LOGGER_BUF
 unset PARAM_FILE
 unset PARAM_BACKUP_FILE
-unset RC_INPUT_ARGS
 unset SDCARD_AVAILABLE
 unset SDCARD_EXT_PATH
 unset SDCARD_FORMAT
@@ -43,13 +43,13 @@ do
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/mtd_params'

 	${DIR}/reboot.py --device ${SERIAL_DEVICE}

 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/mtd_params' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/microsd/parameters_backup.bson' || true

 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'
@@ -4,6 +4,7 @@ CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS0"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -28,7 +29,8 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_RC_PPM_IN=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -79,8 +81,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -7,9 +7,9 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
@@ -28,7 +28,8 @@ CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_RC_PPM_IN=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
@@ -66,10 +67,10 @@ CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -16,6 +16,13 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1

+param set-default SENS_EN_THERMAL 1
+param set-default SENS_TEMP_ID 2818058
+param set-default SENS_IMU_TEMP 10.0
+#param set-default SENS_IMU_TEMP_FF 0.0
+#param set-default SENS_IMU_TEMP_I 0.025
+#param set-default SENS_IMU_TEMP_P 1.0
+
 if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007
 then
 	param set-default SYS_USE_IO 0
@@ -8,6 +8,7 @@ if ver hwtypecmp ARKV6X005000 ARKV6X005001 ARKV6X005002 ARKV6X005003 ARKV6X00500
 then
 	set HAVE_PM2 no
 fi
+
 if param compare -s ADC_ADS1115_EN 1
 then
 	ads1115 start -X
@@ -15,7 +16,6 @@ else
 	board_adc start
 fi

-
 if param compare SENS_EN_INA226 1
 then
 	# Start Digital power monitors
@@ -56,16 +56,10 @@ icm42688p -R 9 -s -b 2 start
 # Internal SPI bus ICM42688p
 icm42688p -R 6 -s -b 3 start

-# Internal magnetometer on I2c
+# Internal magnetometer on I2C
 bmm150 -I start

-# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
-ist8310 -X -b 1 -R 10 start
-
-# Possible internal Baro
+# Internal Baro on I2C
 bmp388 -I start

-# Baro on I2C3
-ms5611 -X start
-
 unset HAVE_PM2
@@ -323,7 +323,6 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
-
 #define RC_SERIAL_PORT                     "/dev/ttyS5"

 /* Input Capture Channels. */
@@ -145,10 +145,6 @@
 #define HRT_TIMER               8  /* use timer8 for the HRT */
 #define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */

-/* RC Serial port */
-#define RC_SERIAL_PORT                     "/dev/ttyS5"
-#define RC_SERIAL_SINGLEWIRE
-
 /* power on/off */
 #define MS_PWR_BUTTON_DOWN 750
 #define KEY_AD_GPIO    (GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTC|GPIO_PIN4)
@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -22,14 +23,12 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_UAVCAN=y
@@ -38,6 +37,7 @@ 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
@@ -46,6 +46,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -61,7 +62,6 @@ 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
@@ -74,10 +74,10 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -103,7 +103,6 @@
 #define HRT_TIMER_CHANNEL    1  /* use capture/compare channel 3 */

 /* RC Serial port */
-
 #define RC_SERIAL_PORT                     "/dev/ttyS4"

 /* Power switch controls ******************************************************/
@@ -3,6 +3,7 @@ CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
 CONFIG_BOARD_ARCHITECTURE="cortex-a8"
 CONFIG_BOARD_TESTING=y
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
@@ -16,7 +17,7 @@ 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_RC_INPUT=y
+CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
@@ -63,6 +64,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
@@ -31,7 +31,9 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
+CONFIG_DRIVERS_RC_PPM_IN=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
@@ -81,8 +83,9 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -4,6 +4,7 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -27,14 +28,13 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_RC_PPM_IN=y
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -46,6 +46,7 @@ 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
@@ -54,6 +55,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -69,7 +71,6 @@ 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
@@ -80,10 +81,10 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -106,4 +107,3 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
-#CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
@@ -75,6 +75,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -1,12 +1,8 @@
 CONFIG_DRIVERS_ADC_ADS1115=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
-CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
-CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_UAVCAN=n
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
-CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_BOARD_TESTING=y
@@ -80,8 +80,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -16,7 +16,9 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS0"
+CONFIG_DRIVERS_RC_PPM_IN=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
@@ -132,7 +132,6 @@
 #define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)

 #define RC_SERIAL_PORT               "/dev/ttyS0"
-#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /*
 * One RC_IN
@@ -3,6 +3,7 @@ CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
 CONFIG_BOARD_ARCHITECTURE="cortex-a53"
 CONFIG_BOARD_TESTING=y
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
@@ -18,7 +19,7 @@ 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_RC_INPUT=y
+CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
@@ -66,6 +67,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
@@ -5,6 +5,7 @@ CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS0"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_DSHOT=y
@@ -135,7 +135,6 @@
 #define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)

 #define RC_SERIAL_PORT               "/dev/ttyS0"
-#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /*
 * One RC_IN
@@ -28,10 +28,8 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -40,6 +38,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=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 +47,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -62,7 +62,6 @@ 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
@@ -73,10 +72,10 @@ CONFIG_MODULES_SIMULATION_SENSOR_GPS_SIM=y
 CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -12,9 +12,8 @@ CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
@@ -111,7 +111,6 @@
 #define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 1 */

 /* RC Serial port */
-
 #define RC_SERIAL_PORT                     "/dev/ttyS4"

 #define GPIO_RSSI_IN                       /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
@@ -18,12 +18,10 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -71,6 +69,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -34,7 +34,9 @@ CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_PX4IO=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_DRIVERS_RC_PPM_IN=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
@@ -85,8 +87,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -283,7 +283,6 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
-
 #define RC_SERIAL_PORT                     "/dev/ttyS4"
 #define RC_SERIAL_SINGLEWIRE

@@ -22,7 +22,8 @@ CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT_SIM=n
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_RPM=n
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -159,7 +159,6 @@

 /* RC Serial port */
 #define RC_SERIAL_PORT          "/dev/ttyS4"
-#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 // #define GPIO_RSSI_IN            /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)

@@ -21,7 +21,8 @@ CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT_SIM=n
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_RPM=n
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -150,7 +150,6 @@

 /* RC Serial port */
 #define RC_SERIAL_PORT          "/dev/ttyS4"
-#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 // #define GPIO_RSSI_IN            /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)

@@ -22,7 +22,8 @@ CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT_SIM=n
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_RPM=n
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -159,7 +159,6 @@

 /* RC Serial port */
 #define RC_SERIAL_PORT          "/dev/ttyS4"
-#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 // #define GPIO_RSSI_IN            /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)

@@ -30,7 +30,9 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
+CONFIG_DRIVERS_RC_PPM_IN=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -82,6 +84,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -182,9 +182,7 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
-
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
-#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /* Safety Switch: Enable the FMU to control it as there is no px4io in ModalAI FC-v1 */
 #define GPIO_SAFETY_SWITCH_IN              /* PF3 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTF|GPIO_PIN3)
@@ -3,6 +3,7 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ACTUATORS_MODALAI_ESC=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
@@ -29,7 +30,7 @@ CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_UAVCAN=y
@@ -76,6 +77,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -237,7 +237,6 @@
 //#define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
-
 #define RC_SERIAL_PORT                     "/dev/ttyS5"

 /* Input Capture Channels. */
@@ -5,3 +5,11 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_ORB_COMMUNICATOR=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
+CONFIG_DRIVERS_ACTUATORS_MODALAI_ESC=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_LAND_DETECTOR=y
@@ -31,6 +31,11 @@
 #
 ############################################################################

+# Need to make sure that the DSP processor on VOXL2
+# knows about all parameters since some modules need parameters
+# from other modules that are not running on the DSP.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)
+
 add_library(drivers_board
 	board_config.h
 	init.c
@@ -57,3 +57,8 @@
 */
 #include <system_config.h>
 #include <px4_platform_common/board_common.h>
+
+/*
+ *  Default port for the ESC
+ */
+#define MODALAI_ESC_DEFAULT_PORT 	"2"
@@ -8,3 +8,11 @@ CONFIG_ORB_COMMUNICATOR=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_DRIVERS_QSHELL_POSIX=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_MAVLINK=y
@@ -31,6 +31,12 @@
 #
 ############################################################################

+# Need to make sure that the Linux processor on VOXL2
+# knows about all parameters since it is acting as the
+# parameter server for other processors that may define
+# parameters that it doesn't normally know about.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE PARENT_SCOPE)
+
 add_library(drivers_board
 	board_config.h
 	init.c
@@ -47,3 +47,6 @@

 #include <system_config.h>
 #include <px4_platform_common/board_common.h>
+
+#define BOARD_OVERRIDE_UUID "MODALAIVOXL20000" // must be of length 16
+#define PX4_SOC_ARCH_ID PX4_SOC_ARCH_ID_VOXL2
@@ -19,3 +19,5 @@ fi
 muorb start

 qshell icm42688p start -s
+
+qshell modalai_esc start
@@ -26,7 +26,9 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
+CONFIG_DRIVERS_RC_PPM_IN=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -79,6 +81,7 @@ CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -26,7 +26,9 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
+CONFIG_DRIVERS_RC_PPM_IN=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
@@ -77,8 +79,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -25,7 +25,9 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
+CONFIG_DRIVERS_RC_PPM_IN=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
@@ -77,8 +79,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -26,7 +26,9 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
+CONFIG_DRIVERS_RC_PPM_IN=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -78,6 +80,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -21,12 +21,13 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS3"
+CONFIG_DRIVERS_RC_PPM_IN=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -79,6 +80,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -26,7 +26,9 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_DRIVERS_RC_PPM_IN=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -78,6 +80,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -118,7 +118,6 @@

 /* RC Serial port */
 #define RC_SERIAL_PORT          "/dev/ttyS4"
-#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 #define GPIO_RSSI_IN            /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)

@@ -79,8 +79,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -80,8 +80,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -23,14 +23,14 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS2"
+CONFIG_DRIVERS_RC_PPM_IN=y
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -78,6 +78,7 @@ CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
@@ -131,7 +131,6 @@ __END_DECLS
 #define SPEKTRUM_OUT(_one_true)      px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))

 /* RC input */
-
 #define RC_SERIAL_PORT          "/dev/ttyS2"      /* UART1 */
 #define GPIO_RSSI_IN            PIN_ADC1_SE13

@@ -4,6 +4,7 @@ CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS2"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -24,14 +25,13 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_RC_PPM_IN=y
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -80,6 +80,7 @@ CONFIG_MODULES_SIMULATION_SENSOR_MAG_SIM=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
@@ -131,7 +131,6 @@ __END_DECLS
 #define SPEKTRUM_OUT(_one_true)      px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))

 /* RC input */
-
 #define RC_SERIAL_PORT          "/dev/ttyS2"      /* UART1 */
 #define GPIO_RSSI_IN            PIN_ADC1_SE13

@@ -19,7 +19,9 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
+CONFIG_DRIVERS_RC_PPM_IN=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_COMMON_UWB=y
@@ -31,6 +33,7 @@ CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -49,7 +52,7 @@ CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_GIMBAL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -141,7 +141,7 @@
 /* LPUART0   P2 UART (with flow control) connector */

 #define PIN_LPUART0_CTS   PIN_LPUART0_CTS_1  /* PTA0 */
-#define PIN_LPUART0_RTS   PIN_LPUART0_RTS_1  /* PTA1 */
+#define PIN_LPUART0_RTS   (PIN_PTA1 | GPIO_OUTPUT) /* PIN_LPUART0_RTS_1 PTA1 */
 #define PIN_LPUART0_RX    (PIN_LPUART0_RX_1 | PIN_INPUT_PULLUP)   /* PTA2 */
 #define PIN_LPUART0_TX    PIN_LPUART0_TX_1   /* PTA3 */

@@ -118,7 +118,20 @@ CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_LPI2C0_DMA=y
 CONFIG_LPI2C1_DMA=y
+CONFIG_LPUART0_IFLOWCONTROL=y
+CONFIG_LPUART0_OFLOWCONTROL=y
+CONFIG_LPUART0_RXBUFSIZE=640
+CONFIG_LPUART0_RXDMA=y
+CONFIG_LPUART0_TXDMA=y
+CONFIG_LPUART13_RXDMA=y
+CONFIG_LPUART13_TXDMA=y
+CONFIG_LPUART14_RXDMA=y
+CONFIG_LPUART14_TXDMA=y
+CONFIG_LPUART1_RXDMA=y
+CONFIG_LPUART1_TXDMA=y
+CONFIG_LPUART2_RXDMA=y
 CONFIG_LPUART2_SERIAL_CONSOLE=y
+CONFIG_LPUART2_TXDMA=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
@@ -241,6 +254,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1768
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -6,12 +6,14 @@ config BOARD_HAS_PROBES
 	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
 	default y
 	---help---
-		This board provides GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers.
+		This board provides GPIO 6-wr-SPI_INT_N, 6-wr-SPI_CS_N, 6-wr-SPI_RDY_N as
+		PROBE_1-3 to provide timing signals from selected drivers.

 config BOARD_USE_PROBES
-	bool "Enable the use the board provided GPIO FMU-CH1-6 as PROBE_1-6 to provide timing signals from selected drivers"
+	bool "Enable the use of the board provided GPIO Probes"
 	default n
 	depends on BOARD_HAS_PROBES

 	---help---
-		Select to use GPIO FMU-CH1-6 to provide timing signals from selected drivers.
+		Select to use GPIO GPIO 6-wr-SPI_INT_N, 6-wr-SPI_CS_N, 6-wr-SPI_RDY_N as PROBE_1-3
+		to provide timing signals from selected drivers.
@@ -136,7 +136,7 @@
 */

 #define PIN_LPUART0_CTS   PIN_LPUART0_CTS_2 /* PTC8 */
-#define PIN_LPUART0_RTS   PIN_LPUART0_RTS_2 /* PTC9 */
+#define PIN_LPUART0_RTS   (GPIO_OUTPUT | PIN_PORTC | PIN9 ) // PIN_LPUART0_RTS_2 /* PTC9 */
 #define PIN_LPUART0_RX    PIN_LPUART0_RX_1  /* PTB0 */
 #define PIN_LPUART0_TX    PIN_LPUART0_TX_1  /* PTB1 */

@@ -167,4 +167,29 @@
 #define PIN_CAN1_ERRN    (GPIO_PULLDOWN  | PIN_PORTE | PIN6 )
 #define PIN_CAN1_EN      (GPIO_OUTPUT  | PIN_PORTE | PIN2 )

+/* Board provides GPIO or other Hardware for signaling to timing analyzer */
+
+#if defined(CONFIG_BOARD_USE_PROBES)
+# include "s32k1xx_pin.h"
+# include "hardware/s32k1xx_pinmux.h"
+# define PROBE_N(n) (1<<((n)-1))
+# define PROBE_1    (PIN_PTE0  | GPIO_OUTPUT)  /* 6-wr-SPI_RDY_N */
+# define PROBE_2    (PIN_PTE9  | GPIO_OUTPUT)  /* 6-wr-SPI_INT_N */
+# define PROBE_3    (PIN_PTB5  | GPIO_OUTPUT)  /* 6-wr-SPI_CS_N */
+
+# define PROBE_INIT(mask) \
+	do { \
+		if ((mask)& PROBE_N(1)) { s32k1xx_pinconfig(PROBE_1); } \
+		if ((mask)& PROBE_N(2)) { s32k1xx_pinconfig(PROBE_2); } \
+		if ((mask)& PROBE_N(3)) { s32k1xx_pinconfig(PROBE_3); } \
+	} while(0)
+
+# define PROBE(n,s)  do {s32k1xx_gpiowrite(PROBE_##n,(s));}while(0)
+# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
+#else
+# define PROBE_INIT(mask)
+# define PROBE(n,s)
+# define PROBE_MARK(n)
+#endif
+
 #endif  /* __BOARDS_ARM_RDDRONE_UAVCAN146_INCLUDE_BOARD_H */
@@ -46,18 +46,22 @@ CONFIG_I2CTOOL_MAXADDR=0x7f
 CONFIG_I2CTOOL_MAXBUS=0
 CONFIG_I2CTOOL_MINADDR=0x00
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2276
+CONFIG_INIT_STACKSIZE=3500
 CONFIG_INTELHEX_BINARY=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LPI2C0_DMA=y
 CONFIG_LPUART0_BAUD=38400
+CONFIG_LPUART0_IFLOWCONTROL=y
+CONFIG_LPUART0_OFLOWCONTROL=y
 CONFIG_LPUART0_RXBUFSIZE=600
 CONFIG_LPUART0_RXDMA=y
 CONFIG_LPUART0_TXBUFSIZE=1100
 CONFIG_LPUART0_TXDMA=y
 CONFIG_LPUART1_RXBUFSIZE=128
+CONFIG_LPUART1_RXDMA=y
 CONFIG_LPUART1_SERIAL_CONSOLE=y
 CONFIG_LPUART1_TXBUFSIZE=128
+CONFIG_LPUART1_TXDMA=y
 CONFIG_MOTOROLA_SREC=y
 CONFIG_MTD=y
 CONFIG_MTD_PARTITION=y
@@ -96,12 +100,20 @@ CONFIG_S32K1XX_EDMA_NTCD=64
 CONFIG_S32K1XX_EEEPROM=y
 CONFIG_S32K1XX_FLEXCAN0=y
 CONFIG_S32K1XX_FLEXCAN1=y
+CONFIG_S32K1XX_GPIOIRQ=y
 CONFIG_S32K1XX_LPI2C0=y
 CONFIG_S32K1XX_LPI2C_DMA=y
 CONFIG_S32K1XX_LPI2C_DYNTIMEO=y
 CONFIG_S32K1XX_LPSPI0=y
+CONFIG_S32K1XX_LPSPI0_DMA=y
+CONFIG_S32K1XX_LPSPI_DMA=y
 CONFIG_S32K1XX_LPUART0=y
 CONFIG_S32K1XX_LPUART1=y
+CONFIG_S32K1XX_PORTAINTS=y
+CONFIG_S32K1XX_PORTBINTS=y
+CONFIG_S32K1XX_PORTCINTS=y
+CONFIG_S32K1XX_PORTDINTS=y
+CONFIG_S32K1XX_PORTEINTS=y
 CONFIG_S32K1XX_RTC=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
@@ -113,6 +125,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SPITOOL_MAXBUS=2
@@ -63,7 +63,7 @@
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBusExternal(SPI::Bus::SPI0, {
 		// Going to assume PTB5 means PortB, Pin5
-		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin5})
+		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin5}, SPI::DRDY{GPIO::PortE, GPIO::Pin0}),
 	}),
 };

@@ -14,7 +14,9 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS0"
+CONFIG_DRIVERS_RC_PPM_IN=y
 CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
@@ -123,7 +123,6 @@
 #define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN8)

 #define RC_SERIAL_PORT               "/dev/ttyS0"
-#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /*
 * One RC_IN
@@ -83,6 +83,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -4,6 +4,7 @@ CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_WIFI="/dev/ttyS0"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
@@ -25,13 +26,13 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_RC_PPM_IN=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -84,6 +85,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -114,7 +114,6 @@
 #define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)

 /* RC Serial port */
-
 #define RC_SERIAL_PORT               "/dev/ttyS4"

 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2. */
@@ -25,15 +25,12 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_ROBOCLAW=y
-CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -43,6 +40,7 @@ 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
@@ -51,6 +49,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -66,7 +65,6 @@ 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
@@ -79,10 +77,10 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -11,28 +11,25 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI055=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=n
 CONFIG_DRIVERS_IRLOCK=n
-CONFIG_DRIVERS_OSD=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_POWER_MONITOR_INA226=n
 CONFIG_DRIVERS_PWM_INPUT=n
 CONFIG_DRIVERS_ROBOCLAW=n
-CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=n
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_CAMERA_FEEDBACK=n
 CONFIG_MODULES_ESC_BATTERY=n
+CONFIG_MODULES_GIMBAL=n
 CONFIG_MODULES_GYRO_CALIBRATION=n
 CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
-CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
-CONFIG_MODULES_GIMBAL=n
 CONFIG_SYSTEMCMDS_SERIAL_TEST=n
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_TESTING=y
@@ -4,6 +4,7 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -35,7 +36,8 @@ CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_RC=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_RC_PPM_IN=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -59,7 +61,7 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -86,6 +88,7 @@ CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -297,10 +297,8 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
-
 #define RC_SERIAL_PORT                     "/dev/ttyS4"
 #define RC_SERIAL_SINGLEWIRE
-#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT

 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
 #define PWMIN_TIMER                       4
@@ -3,7 +3,6 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
-CONFIG_DRIVERS_RPM=n
 CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_GYRO_FFT=n
@@ -18,8 +18,10 @@ CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_CAMERA_FEEDBACK=n
 CONFIG_MODULES_ESC_BATTERY=n
-CONFIG_MODULES_GYRO_FFT=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+# CONFIG_MODULES_GYRO_FFT is not set
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MICRODDS_CLIENT=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
@@ -6,7 +6,7 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
@@ -37,7 +37,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_RC=y
-CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -60,7 +59,6 @@ CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -86,6 +84,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -301,7 +301,6 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
-
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE

@@ -68,6 +68,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -29,7 +29,9 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
+CONFIG_DRIVERS_RC_PPM_IN=y
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -78,6 +80,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -257,7 +257,6 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
-
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE
 #define RC_SERIAL_SWAP_RXTX
@@ -6,7 +6,7 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
@@ -28,13 +28,13 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_RC_PPM_IN=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
@@ -74,6 +74,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -333,7 +333,6 @@
 #define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2

 /* RC Serial port */
-
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
 #define RC_SERIAL_SINGLEWIRE

@@ -3,6 +3,7 @@ CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
 CONFIG_BOARD_ARCHITECTURE="cortex-a53"
 CONFIG_BOARD_TESTING=y
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
@@ -14,7 +15,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_RPI_RC_IN=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
@@ -62,6 +63,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	ad7b74847e	split drivers/rc_input per protocol	2022-12-23 18:49:16 -05:00
Julian Oes	bb591c6c29	mavlink_shell: fix stall on CubeOrange On CubeOrange where no console is configured by default, starting MAVLink shell just stalls, and doesn't work. Also, logfile download has been reported not to work, and again, seems to work with this change. Signed-off-by: Julian Oes <julian@oes.ch>	2022-12-23 11:00:20 -05:00
bresch	86a3d2459a	ekf2: remove old yaw estimator generated code	2022-12-23 10:28:19 -05:00
bresch	0388c161e7	ekf2: compare yaw estimator sympy vs symforce	2022-12-23 10:28:19 -05:00
bresch	7c33019510	EKF2: move yaw estimator to symforce	2022-12-23 10:28:19 -05:00
alexklimaj	2f1b3142a6	Decrease PAW3902 and PAA3905 backup schedule to 200ms	2022-12-22 20:46:19 -05:00
Eric Katzfey	c3e70b03aa	Add more to Voxl2 build and fix associated build errors (#20821 ) - Do not pull in PWM parameters when DISABLE_PARAMS_MODULE_SCOPING is TRUE since VOXL2 has no PWM nor any of the required timer_config files that go along with that - Replace non-standard M_PI constants with PX4 defined M_PI_F constants - Include missing header file for function hrt_absolute_time declaration - Add new PX4_SOC_ARCH_ID for the VOXL2 board	2022-12-22 15:44:19 -05:00
alexklimaj	35a9dba6e6	Enable ARKV6X heater	2022-12-22 15:12:32 -05:00
Daniel Agar	03c0808ae6	vscode/settings.json: add .sdf and Jenkinsfile associations	2022-12-21 16:46:25 -05:00
Silvan Fuhrer	aff3f2e77f	boards: disable gyro fft module for v5 and v5x to safe flash Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-12-21 10:17:59 -05:00
Daniel Agar	f2cd7667dc	systemcmds/bsondump: new command line utility (extracted from parameters)	2022-12-21 10:14:00 -05:00
Konrad	f5524fa605	TECS: Combine both airspeed and airspeed derivative filters in TECS into one MIMO filter using a steady state Kalman filter.	2022-12-21 09:04:19 +01:00
Konrad	08c36612b3	TECS: Updated throttle control for airspeed sensorless vehicles. It includes the P gain controller instead of feedforward only. I term is still disabled.	2022-12-21 09:04:19 +01:00
Konrad	77539d4dac	TECS: Rearrange setpoint input. If an altitude rate is given, use this as a feedforward term in the altitude control. If an altitude setpoint is given use a reference model to get a smooth altitude setpoint.	2022-12-21 09:04:19 +01:00
Konrad	8c6dfc840b	TECS: Fix bug to reset airspeed derivative and energy rate low pass filters at every time step.	2022-12-21 09:04:19 +01:00
Konrad	7a3e0f53c2	TECS: Replaced old tecs by cleaned up version.	2022-12-21 09:04:19 +01:00
Konrad	991689d3cd	TECS: Add new tecs library in parallel to old tecs in the position control library for comparison.	2022-12-21 09:04:19 +01:00
Konrad	c64e111d8e	TECS: Rearranged the TECS library into submodules.	2022-12-21 09:04:19 +01:00
Daniel Agar	54a32eb2f7	ekf2: EV overhaul yaw and position fusion (#20501 ) - move EV yaw and EV position to new state machines - EV yaw and EV pos now configured via EKF2_EV_CTRL (migrated from EKF2_AID_MASK) - new EV position offset estimator to enable EV position while GPS position is active (no more EV pos delta fusion) - yaw_align now strictly means north (no more rotate external vision aid mask) - automatic switching between EV yaw, and yaw align north based on GPS quality	2022-12-20 10:23:56 -05:00
Silvan Fuhrer	20342216e2	Airspeed Selector: use better density source and only save scale parameter if valid (#20764 ) * AirspeedSelector: use vehicle_air_data.rho for calculating groundspeed-wind CAS Previously the vehicle_air_data.temperature and pressure was used, instead of the density field directly. Only makes a difference if there is an airspeed sensor connected to provide the air temperature. * AirspeedSelector: only safe estimated scale in param if airspeed is valid * AirspeedSelector: remove 0.01 cliff for saving learned scale to param Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-12-20 15:52:54 +01:00
David Sidrane	efbb2cf2e3	nxp_ucans32k146:Add LPSPI DMA nxp_ucans32k146:Add Dready	2022-12-20 09:31:05 -05:00
David Sidrane	b7ea31ceed	s32k1xx:Add gpiosetevent	2022-12-20 09:31:05 -05:00
David Sidrane	da536b3a82	nxp_ucans32k146:Add PROBEs for debugging	2022-12-20 09:29:07 -05:00
David Sidrane	e8aa54e7bb	nxp_ucans32k146:Use GPIO based RTS (Buffer not character)	2022-12-20 09:29:07 -05:00
David Sidrane	fe7d761a11	nxp_ucans32k146:Use serial DMA	2022-12-20 09:29:07 -05:00
David Sidrane	39822ef5a1	nxp_mr-canhubk:lpuart0 use Serial HW flow control	2022-12-20 09:27:40 -05:00
David Sidrane	6a7f5a339b	nxp_mr-canhubk3:fmu use Serial DMA	2022-12-20 09:27:40 -05:00
David Sidrane	022e941ebe	NuttX with s32k3 Serial DMA	2022-12-20 09:27:40 -05:00
Igor Misic	52275923ad	adsb: add support for callsign	2022-12-20 08:18:09 +01:00
Eric Katzfey	678607117a	Qurt UART ESC driver support (#20784 )	2022-12-20 01:25:12 -05:00
PX4 BuildBot	da7d52e302	Update submodule libevents to latest Tue Dec 20 00:39:10 UTC 2022 - libevents in PX4/Firmware (26f3fea7ebb328ef58d4d592dae0559c91f13c1c): https://github.com/mavlink/libevents/commit/0c8bc543db2f8c78f59214d5bcf959bdadd96677 - libevents current upstream: https://github.com/mavlink/libevents/commit/8d9c5551273a52e22253ea6abf28d9e4b05e0ab7 - Changes: https://github.com/mavlink/libevents/compare/0c8bc543db2f8c78f59214d5bcf959bdadd96677...8d9c5551273a52e22253ea6abf28d9e4b05e0ab7 8d9c555 2022-12-13 Beat Küng - README: clarify use of component ID	2022-12-20 01:24:15 -05:00