Add windshear plugin

This commit adds SITL targets for the dynamic soaring aircraft and additional plugins in the sitl_gazebo submodule

.github/workflows/checks.yml

@@ -18,7 +18,7 @@ jobs:
           "check_format",
           "tests",
           "tests_coverage",
-          "px4_fmu-v2_default stack_check",
+          # "px4_fmu-v2_default stack_check",
           "validate_module_configs",
           "shellcheck_all",
           "NO_NINJA_BUILD=1 px4_fmu-v5_default",

.github/workflows/compile_nuttx.yml

@@ -15,69 +15,75 @@ jobs:
     strategy:
       matrix:
         config: [
-          airmind_mindpx-v2_default,
-          ark_can-flow_canbootloader,
-          ark_can-flow_default,
-          av_x-v1_default,
-          bitcraze_crazyflie21_default,
-          bitcraze_crazyflie_default,
-          cuav_can-gps-v1_canbootloader,
-          cuav_can-gps-v1_default,
-          cuav_nora_default,
-          cuav_x7pro_default,
-          cubepilot_cubeorange_console,
-          cubepilot_cubeorange_default,
-          cubepilot_cubeyellow_console,
-          cubepilot_cubeyellow_default,
+          # airmind_mindpx-v2_default,
+          # ark_can-flow_canbootloader,
+          # ark_can-flow_debug,
+          # ark_can-flow_default,
+          # av_x-v1_default,
+          # bitcraze_crazyflie21_default,
+          # bitcraze_crazyflie_default,
+          # cuav_can-gps-v1_canbootloader,
+          # cuav_can-gps-v1_debug,
+          # cuav_can-gps-v1_default,
+          # cuav_nora_default,
+          # cuav_x7pro_default,
+          # cubepilot_cubeorange_console,
+          # cubepilot_cubeorange_default,
+          # cubepilot_cubeyellow_console,
+          # cubepilot_cubeyellow_default,
+          # cubepilot_io-v2_default,
           holybro_can-gps-v1_canbootloader,
+          holybro_can-gps-v1_debug,
           holybro_can-gps-v1_default,
           holybro_durandal-v1_default,
           holybro_kakutef7_default,
           holybro_pix32v5_default,
           modalai_fc-v1_default,
-          mro_ctrl-zero-f7_default,
-          mro_ctrl-zero-f7-oem_default,
-          mro_ctrl-zero-h7_default,
-          mro_ctrl-zero-h7-oem_default,
-          mro_pixracerpro_default,
-          mro_x21-777_default,
-          mro_x21_default,
-          nxp_fmuk66-e_default,
-          nxp_fmuk66-e_rtps,
-          nxp_fmuk66-e_socketcan,
-          nxp_fmuk66-v3_default,
-          nxp_fmuk66-v3_rtps,
-          nxp_fmuk66-v3_socketcan,
-          nxp_fmurt1062-v1_default,
-          nxp_ucans32k146_default,
-          nxp_ucans32k146_canbootloader,
+          # mro_ctrl-zero-f7-oem_default,
+          # mro_ctrl-zero-f7_default,
+          # mro_ctrl-zero-h7-oem_default,
+          # mro_ctrl-zero-h7_default,
+          # mro_pixracerpro_default,
+          # mro_x21-777_default,
+          # mro_x21_default,
+          # nxp_fmuk66-e_default,
+          # nxp_fmuk66-e_rtps,
+          # nxp_fmuk66-e_socketcan,
+          # nxp_fmuk66-v3_default,
+          # nxp_fmuk66-v3_rtps,
+          # nxp_fmuk66-v3_socketcan,
+          # nxp_fmurt1062-v1_default,
+          # nxp_ucans32k146_canbootloader,
+          # nxp_ucans32k146_default,
           omnibus_f4sd_default,
-          px4_fmu-v2_default,
-          px4_fmu-v2_fixedwing,
-          px4_fmu-v2_multicopter,
-          px4_fmu-v2_rover,
-          px4_fmu-v2_test,
+          # px4_fmu-v2_default,
+          # px4_fmu-v2_fixedwing,
+          # px4_fmu-v2_multicopter,
+          # px4_fmu-v2_rover,
+          # px4_fmu-v2_test,
           px4_fmu-v3_default,
           px4_fmu-v4_cannode,
           px4_fmu-v4_default,
           px4_fmu-v4pro_default,
           px4_fmu-v5_ctrlalloc,
+          px4_fmu-v5_debug,
           px4_fmu-v5_default,
           px4_fmu-v5_fixedwing,
           px4_fmu-v5_multicopter,
           px4_fmu-v5_optimized,
           px4_fmu-v5_rover,
           px4_fmu-v5_rtps,
+          px4_fmu-v5_stackcheck,
           px4_fmu-v5_uavcanv0periph,
           px4_fmu-v5_uavcanv1,
-          px4_fmu-v5x_base_phy_DP83848C,
-          px4_fmu-v5x_default,
+          # px4_fmu-v5x_base_phy_DP83848C,
+          # px4_fmu-v5x_default,
           px4_fmu-v6u_default,
           px4_fmu-v6u_test,
           px4_fmu-v6x_default,
           px4_io-v2_default,
           spracing_h7extreme_default,
-          uvify_core_default
+          # uvify_core_default
           ]
     steps:
     - uses: actions/checkout@v1

.github/workflows/python_checks.yml

@@ -18,7 +18,7 @@ jobs:
     - name: Install Python3
       run: sudo apt-get install python3 python3-setuptools python3-pip -y
     - name: Install tools
-      run: pip3 install --user mypy flake8
+      run: pip3 install --user mypy types-requests flake8
     - name: Check MAVSDK test scripts with mypy
       run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
     - name: Check MAVSDK test scripts with flake8

.github/workflows/rotors_tests.yml

@@ -0,0 +1,55 @@
+name: RotorS PX4 Build Test
+
+on:
+  push:
+    branches:
+    - 'master'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+      matrix:
+        container:
+        - 'px4io/px4-dev-simulation-bionic:2020-11-18' # Gazebo 9
+    container:
+      image: ${{ matrix.container }}
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: rotors_tests-RelWithDebInfo-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: rotors_tests-RelWithDebInfo-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+    - name: Install glog
+      run: apt update && apt install -y libgoogle-glog-dev libyaml-cpp-dev
+    - name: Build PX4 RotorS
+      env:
+        PX4_CMAKE_BUILD_TYPE: RelWithDebInfo
+        DONT_RUN: 1
+      run: make px4_sitl rotors
+    - name: ccache post-run px4/firmware
+      run: ccache -s

.github/workflows/upstream_sync.yml

@@ -0,0 +1,22 @@
+# This pipeline keeps the master branch up to date with upstream master
+name: Upstream Synchronization
+
+on:
+  schedule:
+  - cron:  "*/15 * * * *"
+  workflow_dispatch:
+
+jobs:
+  repo-sync:
+    runs-on: ubuntu-latest
+    steps:
+    - uses: actions/checkout@v2
+      with:
+        persist-credentials: false
+    - name: repo-sync
+      uses: repo-sync/github-sync@v2
+      with:
+        source_repo: "https://github.com/PX4/PX4-Autopilot.git"
+        source_branch: "master"
+        destination_branch: "master"
+        github_token: ${{ secrets.PAT }}

.gitmodules

@@ -1,6 +1,6 @@
 [submodule "mavlink/include/mavlink/v2.0"]
 	path = mavlink/include/mavlink/v2.0
-	url = https://github.com/mavlink/c_library_v2.git
+	url = https://github.com/ethz-asl/fw_mavlink_c_library_v2.git
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
@@ -63,3 +63,6 @@
 [submodule "src/drivers/uavcannode_gps_demo/libcanard"]
 	path = src/drivers/uavcannode_gps_demo/libcanard
 	url = https://github.com/UAVCAN/libcanard
+[submodule "Tools/rotors_simulator"]
+	path = Tools/rotors_simulator
+	url = https://github.com/ethz-asl/rotors_simulator.git

.vscode/cmake-variants.yaml

@@ -111,6 +111,16 @@ CONFIG:
       buildType: MinSizeRel
       settings:
         CONFIG: emlid_navio2_default
+    holybro_can-gps-v1_canbootloader:
+      short: holybro_can-gps-v1_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_can-gps-v1_canbootloader
+    holybro_can-gps-v1_default:
+      short: holybro_can-gps-v1_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: holybro_can-gps-v1_default
     holybro_durandal-v1_default:
       short: holybro_durandal-v1
       buildType: MinSizeRel

Jenkinsfile

@@ -110,8 +110,8 @@ pipeline {
             sh 'make distclean'
             sh 'make parameters_metadata'
             dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, params.json.xz')
-              stash includes: 'parameters.md, parameters.xml, params.json.xz', name: 'metadata_parameters'
+              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
+              stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters'
             }
           }
           post {
@@ -342,7 +342,7 @@ pipeline {
             withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
               s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
               s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
-              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'params.json.xz', path: 'Firmware/master/')
+              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.json.xz', path: 'Firmware/master/')
             }
           }
           when {

README.md

@@ -85,23 +85,24 @@ See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and
 This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
 
 ### Pixhawk Standard Boards
-  * FMUv2
-    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
-    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
-  * FMUv3
+  * FMUv6X and FMUv6U (STM32H7, 2021)
+    * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
+  * FMUv5 and FMUv5X (STM32F7, 2019/20)
+    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
+    * [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
+    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
+    * [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
+  * FMUv4 (STM32F4, 2015)
+    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
+  * FMUv3 (STM32F4, 2014)
     * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
     * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
     * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
-  * FMUv4 (STM32F4)
-    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
-    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
-  * FMUv5 (STM32F7)
-    * [Pixhawk 4](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
-    * [Pixhawk 4 mini](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
-    * [CUAV V5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
-    * [CUAV V5 nano](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
-  * FMUv6X and FMUv6U (STM32H7)
-    * Various vendors will provide FMUv6X and FMUv6U based designs Q2/2021
+  * FMUv2 (STM32F4, 2013)
+    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
+    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
 
 ### Manufacturer and Community supported
   * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)

ROMFS/cannode/init.d/rcS

@@ -76,15 +76,6 @@ unset BOARD_RC_DEFAULTS
 #
 rgbled start -X -q
 rgbled_ncp5623c start -X -q
-rgbled_pwm start
-
-if param greater -s LIGHT_EN_BLINKM 0
-then
-	if blinkm start -X
-	then
-		blinkm systemstate
-	fi
-fi
 
 #
 # board sensors: rc.sensors

ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer

@@ -0,0 +1,54 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default EKF2_ARSP_THR 8
+param set-default EKF2_FUSE_BETA 1
+param set-default EKF2_MAG_ACCLIM 0
+param set-default EKF2_MAG_YAWLIM 0
+
+param set-default FW_LND_AIRSPD_SC 1
+param set-default FW_LND_ANG 8
+param set-default FW_THR_LND_MAX 0
+
+param set-default FW_L1_PERIOD 12
+
+param set-default FW_MAN_P_MAX 30
+
+param set-default FW_PR_I 0.4
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.2
+param set-default FW_PSP_OFF 2
+param set-default FW_P_LIM_MAX 32
+param set-default FW_P_LIM_MIN -15
+
+param set-default FW_RR_FF 0.1
+param set-default FW_RR_P 0.3
+
+param set-default FW_THR_MAX 0.6
+param set-default FW_THR_MIN 0.05
+param set-default FW_THR_CRUISE 0.25
+
+param set-default FW_T_ALT_TC 2
+param set-default FW_T_CLMB_MAX 8
+param set-default FW_T_HRATE_FF 0.5
+param set-default FW_T_SINK_MAX 2.7
+param set-default FW_T_SINK_MIN 2.2
+param set-default FW_T_TAS_TC 2
+
+param set-default FW_W_EN 1
+
+param set-default MIS_LTRMIN_ALT 30
+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
+param set-default NAV_DLL_ACT 2
+param set-default NAV_LOITER_RAD 50
+
+param set-default RWTO_TKOFF 1
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/1038_plane_dynamicsoaring

@@ -0,0 +1,58 @@
+#!/bin/sh
+#
+# @name Plane SITL
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set EKF2_MAG_ACCLIM 0
+	param set EKF2_MAG_YAWLIM 0
+
+	param set FW_LND_AIRSPD_SC 1
+	param set FW_LND_ANG 8
+	param set FW_THR_LND_MAX 0
+
+	param set FW_L1_PERIOD 12
+
+	param set FW_MAN_P_MAX 30
+
+	param set FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PR_FF 0.2
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
+
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.3
+
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_THR_CRUISE 0.25
+
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2
+
+	param set FW_W_EN 1
+
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 30
+
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50
+
+	param set RWTO_TKOFF 1
+
+fi
+
+set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
+set MIXER custom

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -62,6 +62,8 @@ px4_add_romfs_files(
 	1034_rascal-electric
 	1035_techpod
 	1036_malolo
+	1037_believer
+	1038_plane_dynamicsoaring
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -98,7 +98,7 @@ then
 	set AUTOCNF yes
 
 	# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
-	param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
+	param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
 fi
 
 # multi-instance setup
@@ -177,6 +177,10 @@ if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
 	echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
 	param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
+
+	COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
+	echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
+	param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
 fi
 
 # Autostart ID
@@ -216,7 +220,21 @@ dataman start
 # only start the simulator if not in replay mode, as both control the lockstep time
 if ! replay tryapplyparams
 then
-	simulator start -c $simulator_tcp_port
+  # Check if PX4_SIM_HOSTNAME environment variable is empty
+  # If empty check if PX4_SIM_HOST_ADDR environment variable is empty
+  # If both are empty use localhost for simulator
+  if [ -z "${PX4_SIM_HOSTNAME}" ]; then
+    if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
+      echo "PX4 SIM HOST: localhost"
+      simulator start -c $simulator_tcp_port
+    else
+      echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
+      simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port 
+    fi
+  else
+    echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
+    simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port 
+  fi
 fi
 load_mon start
 battery_simulator start
@@ -257,7 +275,7 @@ fi
 if [ -e etc/init.d-posix/rc.mavlink_override ]
 then
 	echo "Running non-default mavlink config rc.mavlink_override"
-	sh etc/init.d-posix/rc.mavlink_override
+	. ${R}etc/init.d-posix/rc.mavlink_override
 else
 	# GCS link
 	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f

ROMFS/px4fmu_common/init.d/airframes/22000_asl_easyglider

@@ -0,0 +1,54 @@
+#!/bin/sh
+#
+# @name ASL_EasyGlider
+#
+# @type Standard Plane
+# @class Plane
+#
+# @output MAIN1 aileron
+# @output MAIN2 aileron
+# @output MAIN3 elevator
+# @output MAIN4 rudder
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Philipp Oettershagen <philipp.oettershagen@mavt.ethz.ch>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set FW_AIRSPD_MIN 10
+    param set FW_AIRSPD_TRIM 15
+    param set FW_AIRSPD_MAX 20
+
+    param set FW_MAN_P_MAX 45
+    param set FW_MAN_R_MAX 45
+    param set FW_R_LIM 45
+
+    param set FW_WR_FF 0.2
+    param set FW_WR_I 0.2
+    param set FW_WR_IMAX 0.8
+    param set FW_WR_P 1
+    param set FW_W_RMAX 0
+
+    # set disarmed value for the ESC
+    param set PWM_DISARMED 1000
+
+    param set-default SENS_EN_ADIS164X 1
+    param set SENS_EN_ADIS164X 4
+fi
+
+set MIXER asl_easyglider
+
+# use PWM parameters for throttle channel
+set PWM_OUT 5

ROMFS/px4fmu_common/init.d/airframes/22001_asl_techpod

@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name ASL_Techpod
+#
+# @type Plane A-Tail
+# @class Plane
+#
+# @output MAIN1 aileron right
+# @output MAIN2 aileron left
+# @output MAIN3 v-tail right
+# @output MAIN4 v-tail left
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps right
+# @output MAIN8 flaps left
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Philipp Oettershagen <philipp.oettershagen@mavt.ethz.ch>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set FW_AIRSPD_MIN 10
+    param set FW_AIRSPD_TRIM 15
+    param set FW_AIRSPD_MAX 20
+
+    param set FW_MAN_P_MAX 55
+    param set FW_MAN_R_MAX 55
+    param set FW_R_LIM 55
+
+    param set FW_WR_FF 0.2
+    param set FW_WR_I 0.2
+    param set FW_WR_IMAX 0.8
+    param set FW_WR_P 1
+    param set FW_W_RMAX 0
+
+    # set disarmed value for the ESC
+    param set PWM_DISARMED 1000
+fi
+
+set MIXER asl_techpod
+
+# use PWM parameters for throttle channel
+set PWM_OUT 5

ROMFS/px4fmu_common/init.d/airframes/22002_asl_sensesoar2

@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name ASL_SenseSoar2
+#
+# @type Plane A-Tail
+# @class Plane
+#
+# @output MAIN1 aileron right
+# @output MAIN2 aileron left
+# @output MAIN3 v-tail right
+# @output MAIN4 v-tail left
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps right
+# @output MAIN8 flaps left
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Philipp Oettershagen <philipp.oettershagen@mavt.ethz.ch>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+if [ $AUTOCNF == yes ]
+then
+    param set FW_AIRSPD_MIN 12
+    param set FW_AIRSPD_TRIM 15
+    param set FW_AIRSPD_MAX 20
+
+    param set FW_MAN_P_MAX 45
+    param set FW_MAN_R_MAX 45
+    param set FW_R_LIM 55
+
+    param set FW_WR_FF 0.2
+    param set FW_WR_I 0.2
+    param set FW_WR_IMAX 0.8
+    param set FW_WR_P 1
+    param set FW_W_RMAX 0
+
+    # set disarmed value for the ESC
+    param set PWM_DISARMED 1000
+fi
+
+set MIXER asl_sensoar2
+
+# use PWM parameters for throttle channel
+set PWM_OUT 5

ROMFS/px4fmu_common/init.d/airframes/22003_asl_believer

@@ -0,0 +1,54 @@
+#!/bin/sh
+#
+# @name Autonomous Systems Lab, ETH Zurich Believer
+#
+# @type Plane V-Tail
+# @class Plane
+#
+# @output MAIN1 aileron right
+# @output MAIN2 aileron left
+# @output MAIN3 v-tail right
+# @output MAIN4 v-tail left
+# @output MAIN5 throttle
+# @output MAIN6 wheel
+# @output MAIN7 flaps right
+# @output MAIN8 flaps left
+#
+# @output AUX1 feed-through of RC AUX1 channel
+# @output AUX2 feed-through of RC AUX2 channel
+# @output AUX3 feed-through of RC AUX3 channel
+#
+# @maintainer Jaeyoung Lim <jalim@ethz.ch>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.fw_defaults
+
+param set-default FW_AIRSPD_MIN 10
+param set-default FW_AIRSPD_TRIM 15
+param set-default FW_AIRSPD_MAX 20
+
+param set-default FW_MAN_P_MAX 55
+param set-default FW_MAN_R_MAX 55
+param set-default FW_R_LIM 55
+
+param set-default FW_WR_FF 0.2
+param set-default FW_WR_I 0.2
+param set-default FW_WR_IMAX 0.8
+param set-default FW_WR_P 1
+param set-default FW_W_RMAX 0
+
+# set disarmed value for the ESC
+param set-default PWM_MAIN_DISARM 1500
+param set-default PWM_MAIN_DIS5 900
+param set-default PWM_MAIN_DIS6 900
+
+# The Mini Talon does not have a wheel and
+# no flaps. I leave them here because the mixer
+# computes also wheel and flap controls.
+set MIXER AAVVTTFF_vtail
+
+# use PWM parameters for throttle channel
+set PWM_OUT 56

ROMFS/px4fmu_common/init.d/airframes/4053_holybro_kopis2

@@ -16,8 +16,6 @@
 set MIXER quad_x
 set PWM_OUT 1234
 
-set PARAM_DEFAULTS_VER 2
-
 
 param set-default BAT_N_CELLS 4
 

ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover

@@ -7,8 +7,6 @@
 # @type Rover
 # @class Rover
 #
-# @board px4_fmu-v2 exclude
-#
 # @output MAIN0 Speed of left wheels
 # @output MAIN1 Speed of right wheels
 #

ROMFS/px4fmu_common/init.d/airframes/CMakeLists.txt

@@ -157,6 +157,11 @@ px4_add_romfs_files(
 	18001_TF-B1
 
 	# [22000, 22999] Reserve for custom models
+	# ETHZ ASL Vehicles
+	22000_asl_easyglider
+	22001_asl_techpod
+	22002_asl_sensesoar2
+	22003_asl_believer
 
 	24001_dodeca_cox
 

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -21,6 +21,23 @@ fi
 #                           Begin Optional drivers                            #
 ###############################################################################
 
+# ADIS16448 spi external IMU
+if param compare -s SENS_EN_ADIS164X 1
+then
+	if param compare -s SENS_OR_ADIS164X 0
+	then
+		adis16448 -S start
+	fi
+	if param compare -s SENS_OR_ADIS164X 4
+	then
+		adis16448 -S start -R 4
+	fi
+
+	# add a sleep to make sure the mag is the priority one
+	usleep 1000000
+fi
+
+
 if param compare -s SENS_EN_BATT 1
 then
 	batt_smbus start -X
@@ -108,6 +125,57 @@ then
 	vl53l1x start -X
 fi
 
+# Hall effect sensors si7210
+# Potentially remove the -k option if possible and improve the startup if possible
+if param greater CAL_AV_AOA_ID -1
+then
+	set AOA_I2C_ID 0
+	if param compare CAL_AV_AOA_ID 48
+	then
+		set AOA_I2C_ID 48
+	fi
+	if param compare CAL_AV_AOA_ID 49
+	then
+		set AOA_I2C_ID 49
+	fi
+	if param compare CAL_AV_AOA_ID 50
+	then
+		set AOA_I2C_ID 50
+	fi
+	if param compare CAL_AV_AOA_ID 51
+	then
+		set AOA_I2C_ID 51
+	fi
+
+	si7210 start -X -k -a ${AOA_I2C_ID}
+	unset AOA_I2C_ID
+fi
+
+if param greater CAL_AV_SLIP_ID -1
+then
+	set SLIP_I2C_ID 0
+	if param compare CAL_AV_SLIP_ID 48
+	then
+		set SLIP_I2C_ID 48
+	fi
+	if param compare CAL_AV_SLIP_ID 49
+	then
+		set SLIP_I2C_ID 49
+	fi
+	if param compare CAL_AV_SLIP_ID 50
+	then
+		set SLIP_I2C_ID 50
+	fi
+	if param compare CAL_AV_SLIP_ID 51
+	then
+		set SLIP_I2C_ID 51
+	fi
+
+	si7210 start -X -k -a ${SLIP_I2C_ID}
+	unset SLIP_I2C_ID
+fi
+
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -149,5 +217,3 @@ fi
 ###############################################################################
 #                            End Optional drivers                             #
 ###############################################################################
-
-sensors start

ROMFS/px4fmu_common/init.d/rcS

@@ -51,12 +51,6 @@ set STARTUP_TUNE 1
 set USE_IO no
 set VEHICLE_TYPE none
 
-# Airframe parameter versioning: airframe maintainers can set this in the
-# airframe startup script, and then increase it by one whenever an airframe
-# parameter is updated - it will ensure that these parameters will be updated
-# when the firmware is flashed.
-set PARAM_DEFAULTS_VER 1
-
 #
 # Mount the procfs.
 #
@@ -171,12 +165,8 @@ else
 	#
 	if param greater SYS_AUTOCONFIG 0
 	then
-		if param compare SYS_AUTOCONFIG 1
-		then
-			# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
-			param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT* SYS_PARAM_VER
-		fi
-
+		# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
+		param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
 		set AUTOCNF yes
 	fi
 
@@ -239,14 +229,6 @@ else
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q
 
-	if param greater -s LIGHT_EN_BLINKM 0
-	then
-		if blinkm start -X
-		then
-			blinkm systemstate
-		fi
-	fi
-
 	#
 	# Set parameters and env variables for selected AUTOSTART.
 	#
@@ -350,6 +332,8 @@ else
 		#
 		# board sensors: rc.sensors
 		#
+		. ${R}etc/init.d/rc.sensors
+
 		set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
 		if [ -f $BOARD_RC_SENSORS ]
 		then
@@ -358,7 +342,7 @@ else
 		fi
 		unset BOARD_RC_SENSORS
 
-		. ${R}etc/init.d/rc.sensors
+		sensors start
 
 		if param compare -s BAT1_SOURCE 2
 		then
@@ -570,15 +554,6 @@ else
 		fi
 	fi
 
-	if ! param compare SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
-	then
-		echo "Switched to different parameter version. Resetting parameters."
-		param set SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
-		param set SYS_AUTOCONFIG 2
-		param save
-		reboot
-	fi
-
 #
 # End of autostart.
 #
@@ -603,7 +578,6 @@ unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE
 unset OUTPUT_MODE
-unset PARAM_DEFAULTS_VER
 unset PARAM_FILE
 unset PWM_AUX_OUT
 unset PWM_AUX_RATE

ROMFS/px4fmu_common/mixers/AAVVTTFF_vtail.main.mix

@@ -0,0 +1,61 @@
+Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
+=======================================================
+
+This file defines mixers suitable for controlling a fixed wing aircraft with
+aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps
+using PX4FMU.
+The configuration assumes the aileron servos are connected to PX4FMU servo
+output 0 and 1, the tail servos to output 2 and 3, the throttle
+to output 4, the wheel to output 5 and the flaps to output 6 and 7.
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
+
+Aileron mixer (roll + flaperon)
+---------------------------------
+
+This mixer assumes that the aileron servos are set up mechanically reversed.
+
+M: 2
+S: 0 0 -10000 -10000      0 -10000  10000
+S: 0 6  10000  10000      0 -10000  10000
+
+M: 2
+S: 0 0 -10000 -10000      0 -10000  10000
+S: 0 6 -10000 -10000      0 -10000  10000
+
+V-tail mixers
+-------------
+Three scalers total (output, roll, pitch).
+
+M: 2
+S: 0 2   7000   7000      0 -10000  10000
+S: 0 1  -8000  -8000      0 -10000  10000
+
+M: 2
+S: 0 2   7000   7000      0 -10000  10000
+S: 0 1   8000   8000      0 -10000  10000
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
+
+M: 1
+S: 0 3      0  20000 -10000 -10000  10000
+
+Flaps mixer
+------------
+Flap servos are physically reversed.
+
+M: 1
+S: 0 4      0   5000 -10000 -10000  10000
+
+M: 1
+S: 0 4      0  -5000  10000 -10000  10000
+

ROMFS/px4fmu_common/mixers/CMakeLists.txt

@@ -35,6 +35,7 @@ px4_add_romfs_files(
 	AAERTWF.main.mix
 	AAVVTWFF.main.mix
 	AAVVTWFF_vtail.main.mix
+	AAVVTTFF_vtail.main.mix
 	AERT.main.mix
 	AETRFG.main.mix
 	babyshark.main.mix
@@ -95,4 +96,8 @@ px4_add_romfs_files(
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
 	wingwing.main.mix
+	#ETHZ ASL Custom Mixers
+	asl_easyglider.main.mix
+	asl_sensesoar2.main.mix
+	asl_techpod.main.mix
 )

ROMFS/px4fmu_common/mixers/asl_easyglider.main.mix

@@ -0,0 +1,70 @@
+ASL EasyGlider mixer
+=============================
+
+Documentation: https://dev.px4.io/en/concept/mixing.html
+
+Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
+
+Motor speed mixer
+-----------------
+Two scalers total (output, thrust).
+
+This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
+range.  Inputs below zero are treated as zero.
+
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+Right Aileron mixer
+---------------------------------
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0   6000  10000      0 -10000  10000
+S: 0 4      0 -10000      0 -10000  10000
+
+Elevator mixer
+------------
+Two scalers total (output, roll).
+
+This mixer assumes that the elevator servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:       10000   10000      0 -10000  10000
+S: 0 1  -10000  -10000      0 -10000  10000
+
+Rudder mixer
+------------
+Two scalers total (output, yaw).
+
+This mixer assumes that the rudder servo is set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 1
+O:     -10000 -10000      0 -10000  10000
+S: 0 2  10000  10000      0 -10000  10000
+
+Left Aileron mixer
+---------------------------------
+
+This mixer assumes that the aileron servos are set up correctly mechanically;
+depending on the actual configuration it may be necessary to reverse the scaling
+factors (to reverse the servo movement) and adjust the offset, scaling and
+endpoints to suit.
+
+M: 2
+O:      10000  10000      0 -10000  10000
+S: 0 0 -10000  -6000      0 -10000  10000
+S: 0 4      0 -10000      0 -10000  10000

ROMFS/px4fmu_common/mixers/asl_sensesoar2.main.mix

@@ -0,0 +1,61 @@
+ASL SenseSoar2 mixer for PX4IO
+=============================
+
+Documentation: https://dev.px4.io/en/concept/mixing.html
+
+Note1: CH2 AilR is down for pos PWM signal change, CH5 Ail L the other way around.
+Note2: The mixer defines a certain aileron differential, but the phyiscal differential
+       is stronger because of the servo mechanics (70% mixer diff -> ca. 60% physical).
+Note3: In the extras.txt on the sd-card, set pwm min/max such that the ailerons have
+       2.5cm upwards and 2.0cm downwards travel at FULL (u=+/- 1.0) mixer output. The
+       downwards travel with the mixer differential is then obviously less.
+
+=============================
+
+### Motor
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+
+### Right aileron (with differential)
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0  -7000 -10000      0 -10000  10000
+
+
+### Right ruddervator
+M: 2
+O:       6000   6000      0 -10000  10000
+S: 0 1  -6500  -6500      0 -10000  10000
+S: 0 2   7500   7500      0 -10000  10000
+
+
+### Left ruddervator
+M: 2
+O:       6000   6000      0 -10000  10000
+S: 0 1   6500   6500      0 -10000  10000
+S: 0 2   7500   7500      0 -10000  10000
+
+
+### Left aileron (with differential)
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0 -10000  -7000      0 -10000  10000
+
+
+### Right flap
+#M: 1
+#O:      10000  10000      0 -10000   4000
+#S: 3 4  10000  10000      0 -10000  10000
+
+### Right flap
+M: 1
+O:      10000  10000      0 -10000   4000
+S: 0 4      0  20000 -10000 -10000  10000
+
+
+### Left flap
+M: 1
+O:      10000  10000      0  -4000  10000
+S: 0 4      0 -20000  10000 -10000  10000

ROMFS/px4fmu_common/mixers/asl_techpod.main.mix

@@ -0,0 +1,47 @@
+ASL Techpod mixer for PX4IO
+=============================
+
+Documentation: https://dev.px4.io/en/concept/mixing.html
+
+=============================
+
+### Motor
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 3      0  20000 -10000 -10000  10000
+
+
+### Right aileron (with differential)
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0 -7500  -10000      0 -10000  10000
+
+
+### Elevator
+M: 1
+O:       6000   6000      0 -10000  10000
+S: 0 1   6000   6000      0  -6000   6000
+
+
+### Rudder
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 2  -6000  -6000      0  -6000   6000
+
+
+### Left aileron (with differential)
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 0 -10000  -7500      0 -10000  10000
+
+
+### Right flap
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0  -4000   4000
+
+
+### Left flap
+M: 1
+O:      10000  10000      0 -10000  10000
+S: 0 4  10000  10000      0  -4000   4000

Tools/uorb_graph/create.py

@@ -44,7 +44,7 @@ parser.add_argument('-m', '--modules', action='store',
                     default='')
 
 
-logging.basicConfig(level=logging.WARNING)
+logging.basicConfig(level=logging.WARNING,format='%(message)s')
 log = logging.getLogger()
 
 def get_N_colors(N, s=0.8, v=0.9):
@@ -61,6 +61,9 @@ class PubSub(object):
     """ Collects either publication or subscription information for nodes
     (modules and topics) & edges """
 
+    # special value to signal an ambiguous was found -- don't record this topic, and stop processing.
+    AMBIGUOUS_SITE_TOPIC = "AMBIGUOUS"
+
     def __init__(self, name, topic_blacklist, regexes):
         """
             :param is_publication: if True, publications, False for
@@ -74,13 +77,12 @@ class PubSub(object):
         self._topic_blacklist = topic_blacklist
         self._regexes = set([ re.compile(regex) for regex in regexes])
 
-    def match(self, source_line: str) -> Set[str]:
+    def match(self, source_line: str) -> str:
         """ Extract subscribed/published topics from a source string
         :param src_str: string of C/C++ code with comments and whitespace removed
-        :return: if any topic was found, it is returned as a str.  Otherwise, None
+        :return: if any topic was found, returned as a str.   On error, raise on exception.  On ambiguous line, return `AMBIGUOUS_SITE_TOPIC`.  Otherwise, return `None`
         """
 
-        matches = set()
         for regex in self._regexes:
             # just the matches for this particular pattern:
             match = regex.search(source_line)
@@ -88,11 +90,10 @@ class PubSub(object):
             if match is None:
                 continue
 
-            # all regexes should contain 2 capture groups
-            # total_match = match.group(0)
+            # # all regexes should contain 2 capture groups  (or else this code block crashes)
             route_group, topic_group = match.groups()
 
-            log.debug(f"          ####:{self._name}:  {route_group}, {topic_group}")
+            log.debug("          ####:{}:  {}, {}".format( self._name, route_group, topic_group))
 
             # # TODO: handle this case... but not sure where, yet
             # if match == 'ORB_ID_VEHICLE_ATTITUDE_CONTROLS': # special case
@@ -102,49 +103,31 @@ class PubSub(object):
             if route_group:
                 if route_group == 'ORB_ID':
                     log.debug("            >>> Found ORB_ID topic: " + topic_group +  "    w/regex: " + str(regex.pattern))
-                    self._add_topic(matches, topic_group)
-                    break
-                elif route_group == '<' and topic_group.endswith('_s'):
-                    topic_group = topic_group[:-2]
-                    log.debug("            >>> Found C++ template-declaration: " + topic_group +  "    w/regex: " + str(regex.pattern))
-                    self._add_topic(matches, topic_group)
-                    # continue processing
-                elif route_group in ['{','('] and topic_group.endswith('_s'):
-                    topic_group = topic_group[:-2]
-                    log.debug("            >>> Found standard declaration: " + topic_group +  "    w/regex: " + str(regex.pattern))
-                    self._add_topic(matches, topic_group)
-                    break
+                    return self._filter_topic(topic_group)
                 elif route_group == '[':
-                    if topic_group.endswith('_s'):
-                        topic_group = topic_group[:-2]
-                        log.debug("            >>> Found array declaration: " + topic_group +  "    w/regex: " + str(regex.pattern))
-                        self._add_topic(matches, topic_group)
-                        break
-                    else:
-                        # no topic found -- ambiguity -- return an empty set
-                        return set()
-                elif 'Multi' in route_group and topic_group.endswith('_s'):
-                        topic_group = topic_group[:-2]
-                        log.debug("            >>> Found 'multi' declaration: " + topic_group +  "    w/regex: " + str(regex.pattern))
-                        self._add_topic(matches, topic_group)
-                        break
+                    if not topic_group:
+                        log.debug("            !! found an ambiguous site => return an empty set")
+                        return PubSub.AMBIGUOUS_SITE_TOPIC
                 else:
                     raise SyntaxError('!!! Encountered regex case:  `route_group` contains unrecognized value!: '+ route_group+'  (::'+str(regex.pattern)+')\n'
                                         + "        ("+ route_group+', '+topic_group +")\n"
                                         + "        " + source_line)
+            elif route_group.empty() and topic_group.empty():
+                log.debug('!!! Found ambiguous site, without `ORB_ID` or topic (::'+str(regex.pattern))
+                return PubSub.AMBIGUOUS_SITE_TOPIC
 
             else:
                 raise SyntaxError("            !!! unhandled case:  unknown-variant: "+route_group+", " + topic_group + " ....from regex: " + str(regex.pattern))
 
-        return matches
+        return None
 
-    def _add_topic(self, topic_set: Set[str], topic_name: str):
+    def _filter_topic(self, topic_name: str) -> str:
         """ add topic to set, unless the topic is ignored """
         if topic_name in self._topic_blacklist:
             log.debug("                    XX Ignoring blacklisted topic " + topic_name)
-            return
+            return None
         else:
-            return topic_set.add(topic_name)
+            return topic_name
 
 class Publications(PubSub):
     """ Collects topic publication information for scopes """
@@ -189,7 +172,7 @@ class Scope(object):
         return self._name
 
     def reduce_ambiguities(self) -> Set[str]:
-        self.ambiguities = self.ambiguities - self.subscriptions - self.ambiguities
+        self.ambiguities = self.ambiguities - self.subscriptions - self.publications
         return self.dependencies
 
     @property
@@ -225,8 +208,8 @@ class Graph(object):
             - topic_blacklist
         """
 
-        self._comment_remove_pattern = re.compile( r'//.*?$|/\*.*?\*/|\'(?:\\.|[^\\\'])*\'|"(?:\\.|[^\\"])*"', re.DOTALL | re.MULTILINE)
         self._whitespace_pattern = re.compile(r'\s+')
+
         self._scope_blacklist = set(kwargs.get('scope_blacklist',set()))
         self._scope_whitelist = set(kwargs.get('scope_whitelist',set()))
 
@@ -249,28 +232,27 @@ class Graph(object):
         self._topic_colors = {} # key = topic, value = color (html string)
 
         # note: the source-file-string is pre-processed to remove whitespace -- regexes should ignore whitespace
-        # note:  the regexes should have at least 3 capture groups '()'; otherwise they break downstream code
-        capture_cases_sub = [r"\borb_subscribe(?:_multi|)\b\s*\(\s*(ORB_ID)\s*\(\s*(\w+)",
-                             r"(?:uORB::)Subscription(?:Interval|)\s+\w+\s*[\{\(]\s*(ORB_ID)\s*\(\s*(\w+)",
-                             r"(?:uORB::)Subscription(?:Data|MultiArray|Blocking|)\s*(<)\s*(\w+)",
-                             r"(?:uORB::)SubscriptionCallbackWorkItem\s+\w+\s*\{\s*this,\s*(ORB_ID)\((\w+)",
+        # note: the regexes should 2 capture groups '()' to correctly register with downstream code
+        capture_cases_sub = [r"orb_subscribe\w*\((ORB_ID)(?:\(|::)(\w+)",
+                             r"orb_copy\((ORB_ID)(?:\(|::)(\w+)",
+                             r"Subscription\w*(?:<[^>]+>|)\w*(?:\[[^]]+\]|)[\{\(](ORB_ID)(?:\(|::)(\w+)",
+                             r"SubscriptionCallbackWorkItem\w+\{this,(ORB_ID)(?:\(|::)(\w+)",
                             ]
         self._subscriptions = Subscriptions( self._topic_blacklist, capture_cases_sub)
 
         # note: the source-file-string is pre-processed to remove whitespace -- regexes should ignore whitespace
-        # note: the regexes should have at least 3 capture groups '()'; otherwise they break downstream code
-        capture_cases_pub = [r"(?:uORB::)Publication(?:Data|Multi|)\s*(<)(\w+)>",
-                             r"orb_advertise(?:_multi|_queue|_multi_queue|)\s*\(\s*(ORB_ID)\s*\(\s*(\w+)",
-                             r"orb_publish(?:_auto|)\s*\(\s*(ORB_ID)\s*\(\s*(\w+)",
-                             r"(?:uORB::)Publication(?:Data|Multi|)\s*<\w+>\s+\w+\s*[\(\{](ORB_ID)\((\w+)"
+        # note: the regexes should 2 capture groups '()' to correctly register with downstream code
+        capture_cases_pub = [r"orb_advertise(?:_multi|_queue|_multi_queue|)\((ORB_ID)(?:\(|::)(\w+)",
+                             r"orb_publish(?:_auto|)\((ORB_ID)(?:\(|::)(\w+)",
+                             r"Publication\w*<\w+>\w+(?:\[[^]]+\]|)[\(\{]*(ORB_ID)(?:\(|::)(\w+)",
                             ]
         self._publications = Publications( self._topic_blacklist, capture_cases_pub)
 
         # note: the source-file-string is pre-processed to remove whitespace -- regexes should ignore whitespace
-        # note: the regexes should have at least 3 capture groups '()'; otherwise they break downstream code
-        capture_cases_ambiguous = [ r"orb_copy\s*\(\s*(ORB_ID)\s*\(\s*(\w+)",
-                                    r"(?:uORB::)Subscription[^\s]*\s+\w+\s*(\[)\s*\w+\s*\]()",
-                                    r"(ORB_ID)\s*\(\s*(\w+)",
+        # note: the regexes should 2 capture groups '()' to correctly register with downstream code
+        capture_cases_ambiguous = [ r"Publication\w*(?:\<\w+\>|)\w+(\[)()",
+                                    r"Subscription\w*(?:\<\w+\>|)\w+(\[)()",
+                                    r"(ORB_ID)(?:\(|::)(\w+)",
                                   ]
         self._ambiguities = Ambiguities( self._topic_blacklist, capture_cases_ambiguous)
 
@@ -279,7 +261,7 @@ class Graph(object):
             return None
         return self._current_scope[-1]
 
-    def build(self, src_path_list, path_blacklist=[], **kwargs):
+    def build(self, src_path_list, **kwargs):
         """ parse the source tree & extract pub/sub information.
             :param use_topic_pubsub_union: if true, use all topics that have a
             publisher or subscriber. If false, use only topics with at least one
@@ -288,7 +270,8 @@ class Graph(object):
             fill in self._module_subsciptions & self._module_publications
         """
 
-        self._path_blacklist = [os.path.normpath(p) for p in path_blacklist]
+
+        self._path_blacklist =  set([ os.path.normpath(p) for p in kwargs.get('path_blacklist',[]) ])
 
         for path in src_path_list:
             log.info("## Add src path: " + path )
@@ -296,9 +279,9 @@ class Graph(object):
 
         # Summarize the found counts: (all topics are defined in 'dependency' library)
         log.info('### Summary: Total Scanned:')
-        log.info('    Libraries Count:    '+str(len(self._found_libraries)))
-        log.info('    Modules Count:      '+str(len(self._found_modules)))
-        log.info('    Warnings Count:     '+str(len(self._warnings)))
+        log.info('    Library Count:      '+str(len(self._found_libraries)))
+        log.info('    Module Count:       '+str(len(self._found_modules)))
+        log.info('    Warning Count:      '+str(len(self._warnings)))
 
         if kwargs['merge_depends']:
             graph.merge_depends()
@@ -307,18 +290,21 @@ class Graph(object):
         self._generate_print_lists(use_topic_pubsub_union=kwargs['use_topic_pubsub_union'], merge_depends=kwargs['merge_depends'])
 
         # Summarize the found counts:
-        print('          ### Summary (in-scope):')
-        print('              Ambiguous Count:    '+str(len(self._print_ambiguities)))
-        print('              Scope Count:        '+str(len(self._print_scopes)))
-        print('              Topics Count:       '+str(len(self._print_topics)))
-        print('              Warnings Count:     '+str(len(self._warnings)))
+        log.info('### Summary (in-scope):')
+        log.info('    Scope Count:        '+str(len(self._print_scopes)))
+        log.info('    Ambiguous Topics:   '+str(len(self._print_ambiguities)))
+        log.info('    Linked Topics:      '+str(len(self._print_topics)))
+        log.info('    Warnings:           '+str(len(self._warnings)))
 
         if 0 < len(self._warnings):
             # print out the list of warning-sites:
             log.info('## Warning Sites:')
             for w in self._warnings:
+                scope_name = 'no-scope'
+                if None is not w[0]:
+                    scope_name = w[0].name
                 # warnings tuple contains: (current_scope, file_name, line_number, line)
-                log.info("    -['{}']:{:<64s}:{} = {}".format(w[0].name, w[1].lstrip('/.'), w[2], w[3] ))
+                log.info("    -['{}']:{:<64s}:{} = {}".format(scope_name, w[1].lstrip('/.'), w[2], w[3] ))
 
         # initialize colors
         color_list = get_N_colors(len(self._print_topics), 0.7, 0.85)
@@ -334,9 +320,8 @@ class Graph(object):
         published_topics = set()
         ambiguous_topics = set()
 
-        # gather all possible modules...
-        # all_scopes = self._found_libraries | self._found_modules         # Python 3.9 or greater
-        all_scopes = { **self._found_libraries, **self._found_modules }    # Python 3.5 or greater
+        # gather all found scopes:
+        all_scopes = { **self._found_libraries, **self._found_modules }
 
         if 0 == len(self._scope_whitelist):
             select_scopes = self._found_modules
@@ -346,27 +331,28 @@ class Graph(object):
                 if scope_name in all_scopes:
                     select_scopes[scope_name] = all_scopes[scope_name]
         if not isinstance(select_scopes, dict) or 0 == len(select_scopes):
-            raise TypeError("'select_scopes' should be a set!! aborting.")
+            log.error("!! No requested modules not found -- exiting.")
+            sys.exit(0)
 
-        log.debug(f'    >> Condensing found topics: scope -> total')
+        log.debug('### Condensing found topics: scope -> total')
         for name,scope in select_scopes.items():
-            log.debug(f'        @@ Scope: {name}')
+            log.debug('    # Scope: '+ name )
 
-            log.debug(f'          ## Subs: {name}')
-            for topic in scope.subscriptions:
-                log.debug(f'            - {topic}')
+            log.debug('        ## Subs: ' + str(len(scope.subscriptions)))
+            for topic in sorted(scope.subscriptions):
+                log.debug('            - ' + topic)
                 subscribed_topics.add(topic)
 
-            log.debug(f'          ## Pubs: {name}')
-            for topic in scope.publications:
-                log.debug(f'            - {topic}')
+            log.debug('        ## Pubs: ' + str(len(scope.publications)))
+            for topic in sorted(scope.publications):
+                log.debug('            - ' + topic )
                 published_topics.add(topic)
 
             scope.reduce_ambiguities()
 
-            log.debug(f'          ## Ambiguities: {name}')
-            for topic in scope.ambiguities:
-                log.debug(f'            - {topic}')
+            log.debug('        ## Ambiguities: ' + str(len(scope.ambiguities)))
+            for topic in sorted(scope.ambiguities):
+                log.debug('            - ' + topic )
                 ambiguous_topics.add(topic)
 
         # filter modules iff they have at least a subscription or a publication
@@ -400,11 +386,11 @@ class Graph(object):
 
         entries = os.listdir(path)
 
-        # check if entering a new module
+        # check if entering a new scope
         cmake_file = 'CMakeLists.txt'
-        new_module = False
+        new_scope = False
         if cmake_file in entries:
-            new_module = self._extract_build_information(os.path.join(path, cmake_file), **kwargs)
+            new_scope = self._extract_build_information(os.path.join(path, cmake_file), **kwargs)
 
         # iterate directories recursively
         for entry in entries:
@@ -414,23 +400,23 @@ class Graph(object):
 
 
         # iterate source files
-        # Note: Skip all entries if we're not in a module -- both finding known pubs/subs and emitting warnings
-        if (0 == len(self._scope_whitelist)) or (0 < len(self._current_scope)) and (self._current_scope[-1].name in self._scope_whitelist):
-            for entry in entries:
-                file_name = os.path.join(path, entry)
-                if os.path.isfile(file_name):
-                    _, ext = os.path.splitext(file_name)
-                    if ext in ['.cpp', '.c', '.h', '.hpp']:
-                        self._process_source_file(file_name)
+        # Note: Skip all entries if we're not in a scope -- both finding known pubs/subs and emitting warnings
+        for entry in entries:
+            file_name = os.path.join(path, entry)
+            if os.path.isfile(file_name):
+                _, ext = os.path.splitext(file_name)
+                if ext in ['.cpp', '.c', '.h', '.hpp']:
+                    self._process_source_file(file_name)
 
-
-        if new_module:
+        if new_scope:
             self._current_scope.pop()
 
 
     def _extract_build_information(self, file_name, **kwargs):
-        """ extract the module name from a CMakeLists.txt file and store
-            in self._current_scope if there is any """
+        """ extract the module or library name from a CMakeLists.txt file and store
+            in self._current_scope if there is any
+            Also records dependencies, if any are specified.
+        """
 
         datafile = open(file_name)
         found_module_def = False
@@ -496,52 +482,59 @@ class Graph(object):
 
 
             current_scope = self._get_current_scope()
+            if current_scope:
+                if current_scope.name in self._scope_blacklist:
+                    return
+                elif current_scope.name == 'uorb_tests': # skip this
+                    return
+                elif current_scope.name == 'uorb':
 
-            if current_scope is None:
-                return  # ignore declarations outside of a declared module
-            elif current_scope.name in self._scope_blacklist:
-                return
-            elif current_scope.name == 'uorb_tests': # skip this
-                return
-            elif current_scope.name == 'uorb':
+                    # search and validate the ORB_ID_VEHICLE_ATTITUDE_CONTROLS define
+                    matches = self._orb_id_vehicle_attitude_controls_re.findall(content)
+                    for match in matches:
+                        if match != 'ORB_ID('+self._orb_id_vehicle_attitude_controls_topic:
+                            # if we land here, you need to change _orb_id_vehicle_attitude_controls_topic
+                            raise Exception(
+                                'The extracted define for ORB_ID_VEHICLE_ATTITUDE_CONTROLS '
+                                'is '+match+' but expected ORB_ID('+
+                                self._orb_id_vehicle_attitude_controls_topic)
 
-                # search and validate the ORB_ID_VEHICLE_ATTITUDE_CONTROLS define
-                matches = self._orb_id_vehicle_attitude_controls_re.findall(content)
-                for match in matches:
-                    if match != 'ORB_ID('+self._orb_id_vehicle_attitude_controls_topic:
-                        # if we land here, you need to change _orb_id_vehicle_attitude_controls_topic
-                        raise Exception(
-                            'The extracted define for ORB_ID_VEHICLE_ATTITUDE_CONTROLS '
-                            'is '+match+' but expected ORB_ID('+
-                            self._orb_id_vehicle_attitude_controls_topic)
-
-                return # skip uorb module for the rest
+                    return # skip uorb module for the rest
 
             line_number = 0
-            for line in content.splitlines():
+            for full_line in content.splitlines():
                 line_number += 1
 
-                pub_topics = self._publications.match(line)
-                for each_topic in pub_topics:
-                    current_scope.publications.add(each_topic)
-                if pub_topics:
-                    continue
+                short_line = re.sub(self._whitespace_pattern, '', full_line)
 
-                sub_topics = self._subscriptions.match(line)
-                for each_topic in sub_topics:
-                    current_scope.subscriptions.add(each_topic)
-                if sub_topics:
-                    continue
+                topic = self._publications.match(short_line)
+                if topic:
+                    if current_scope:
+                        current_scope.publications.add(topic)
+                        continue
+                    else:
+                        raise AssertionError("Encountered Publication topic outside of any scope! " + file_name + " Aborting!")
 
-                ambi_topics = self._ambiguities.match(line)
-                for each_topic in ambi_topics:
-                    current_scope.ambiguities.add(each_topic)
-                    self._warnings.append((current_scope, file_name, line_number, line))
+                topic = self._subscriptions.match(short_line)
+                if topic:
+                    if current_scope:
+                        current_scope.subscriptions.add(topic)
+                        continue
+                    else:
+                        raise AssertionError("Encountered Subscription topic outside of any scope! " + file_name + " Aborting!")
+
+                topic = self._ambiguities.match(short_line)
+                if topic:
+                    if current_scope:
+                        if topic != PubSub.AMBIGUOUS_SITE_TOPIC:
+                            current_scope.ambiguities.add(topic)
+                        self._warnings.append((current_scope, file_name, line_number, full_line))
+                        continue
+                    else:
+                        raise AssertionError("Encountered Ambiguous topic outside of any scope! " + file_name + " Aborting!")
 
     def _in_scope(self, scope_name = None):
-        if 0 == len(self._scope_whitelist):
-            return True
-        elif 0 < len(self._current_scope):
+        if 0 < len(self._current_scope):
             if None is scope_name:
                 scope_name = self._current_scope[-1].name
             if scope_name in self._scope_whitelist:
@@ -550,8 +543,10 @@ class Graph(object):
         return False
 
     def merge_depends(self):
+        log.info('### Merge Depends:')
+
         for modname,module in self._found_modules.items():
-            if self._in_scope(modname):
+            if modname in self._scope_whitelist or 0==len(self._scope_whitelist):
                 for depname in module.dependencies:
                     if depname in self._found_libraries:
                         dep = self._found_libraries[depname]
@@ -730,33 +725,38 @@ if "__main__" == __name__:
     topic_blacklist = [ 'parameter_update', 'mavlink_log', 'log_message' ]
     print('Excluded topics: '+str(topic_blacklist))
 
-    # ignore certain modules; for any reason
-    scope_blacklist = []
-    if scope_blacklist:
-        print('Excluded Modules: '+str(topic_blacklist))
-
     if len(args.modules) == 0:
         scope_whitelist = []
     else:
         scope_whitelist = [ m.strip() for m in args.modules.split(',')]
         scope_whitelist = set(scope_whitelist)
 
-    graph = Graph(scope_whitelist=scope_whitelist, scope_blacklist=scope_blacklist, topic_blacklist=topic_blacklist)
+    graph = Graph(scope_whitelist=scope_whitelist, topic_blacklist=topic_blacklist)
+
+    # if no source paths are supplied, guess that we're in the project root, and apply it to the entire 'src/' tree
     if len(args.src_path) == 0:
         args.src_path = ['src']
 
-        if not os.path.exists(args.src_path[0]):
-            print(f"    !?could not find source directory: {args.src_path[0]}")
-            script_path = os.path.dirname(os.path.realpath(__file__))
-            args.src_path[0] = os.path.realpath(os.path.join( script_path, '..', '..', 'src' ))
-            print(f"        >> guessing at path: {args.src_path[0]}")
-
+    # transcribe only the source paths that actually exist:
+    source_paths = []
     for path in args.src_path:
-        if not os.path.exists(path):
-            print(f"    !?could not find source directory: {path} -- please check path!")
-            print(f"    Exiting.")
+        if os.path.exists(path):
+            source_paths.append(path)
+        else:
+            log.warn("Could not find path: " + path)
 
-    graph.build(args.src_path, args.exclude_path, use_topic_pubsub_union=args.use_topic_union, merge_depends=args.merge_depends)
+    if 0 == len(source_paths):
+        print("!! None of the source directories were valid -- Exiting.")
+        sys.exit(-1)
+
+    # ignore certain paths
+    path_blacklist = ['src/lib/parameters/']
+    if 0 < len(args.exclude_path):
+        path_blacklist = args.exclude_path
+    if path_blacklist:
+        print('Excluded Path: '+str(path_blacklist))
+
+    graph.build(source_paths, path_blacklist=path_blacklist, use_topic_pubsub_union=args.use_topic_union, merge_depends=args.merge_depends)
 
     if args.output == 'json':
         output_json = OutputJSON(graph)

boards/airmind/mindpx-v2/default.cmake

@@ -15,6 +15,7 @@ px4_add_board(
 		TEL1:/dev/ttyS1
 		TEL2:/dev/ttyS2
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -31,13 +32,12 @@ px4_add_board(
 		imu/invensense/mpu6000
 		imu/invensense/mpu6500
 		irlock
-		lights/blinkm
-		lights/rgbled
-		#lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -45,6 +45,7 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -57,6 +58,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -73,12 +75,15 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -86,6 +91,7 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -101,6 +107,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -112,6 +119,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test

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

@@ -101,6 +101,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15

boards/ark/can-flow/nuttx-config/nsh/defconfig

@@ -81,6 +81,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15

boards/av/x-v1/default.cmake

@@ -17,6 +17,7 @@ px4_add_board(
 		TEL3:/dev/ttyS2
 		TEL4:/dev/ttyS3
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -26,18 +27,16 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		#dshot
 		gps
-		#heater
 		#imu # all available imu drivers
 		imu/adis16477
 		imu/adis16497
 		irlock
-		lights/blinkm
-		#lights/rgbled
-		#lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		#pwm_input
@@ -45,6 +44,7 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		#tone_alarm
@@ -57,6 +57,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -73,19 +74,23 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
-		#bl_update
+		bl_update
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -93,12 +98,14 @@ px4_add_board(
 		motor_ramp
 		motor_test
 		nshterm
+		netman
 		param
 		perf
 		pwm
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -109,6 +116,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test

boards/av/x-v1/nuttx-config/nsh/defconfig

@@ -14,12 +14,10 @@
 # CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_ADDROUTE is not set
 # CONFIG_NSH_DISABLE_ARP is not set
 # CONFIG_NSH_DISABLE_BASENAME is not set
 # CONFIG_NSH_DISABLE_CMP is not set
 # CONFIG_NSH_DISABLE_DD is not set
-# CONFIG_NSH_DISABLE_DELROUTE is not set
 # CONFIG_NSH_DISABLE_DF is not set
 # CONFIG_NSH_DISABLE_DIRNAME is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
@@ -32,7 +30,6 @@
 # CONFIG_NSH_DISABLE_MKRD is not set
 # CONFIG_NSH_DISABLE_PRINTF is not set
 # CONFIG_NSH_DISABLE_PUT is not set
-# CONFIG_NSH_DISABLE_ROUTE is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_NSH_DISABLE_UNAME is not set
@@ -74,15 +71,13 @@ CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
 CONFIG_FAT_LFN_ALIAS_HASH=y
 CONFIG_FDCLONE_STDIO=y
+CONFIG_FSUTILS_IPCFG=y
 CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y
-CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -108,12 +103,18 @@ CONFIG_NETDB_DNSCLIENT=y
 CONFIG_NETDB_DNSCLIENT_ENTRIES=8
 CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
+CONFIG_NETINIT_DHCPC=y
+CONFIG_NETINIT_DNS=y
+CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
+CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_THREAD=y
+CONFIG_NETINIT_THREAD_PRIORITY=49
 CONFIG_NETUTILS_TELNETD=y
 CONFIG_NET_ARP_IPIN=y
 CONFIG_NET_ARP_SEND=y
 CONFIG_NET_BROADCAST=y
 CONFIG_NET_ICMP=y
-CONFIG_NET_ROUTE=y
+CONFIG_NET_ICMP_SOCKET=y
 CONFIG_NET_SOCKOPTS=y
 CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
@@ -121,6 +122,7 @@ CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
+CONFIG_NET_UDP_WRITE_BUFFERS=y
 CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
@@ -128,9 +130,10 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_MB=y
+CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_LINELEN=128
-CONFIG_NSH_LOGIN_PASSWORD="px4"
-CONFIG_NSH_LOGIN_USERNAME="px4"
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
@@ -195,6 +198,7 @@ CONFIG_STM32F7_PHYSR_10FD=0x14
 CONFIG_STM32F7_PHYSR_10HD=0x4
 CONFIG_STM32F7_PHYSR_ALTCONFIG=y
 CONFIG_STM32F7_PHYSR_ALTMODE=0x1C
+CONFIG_STM32F7_PROGMEM=y
 CONFIG_STM32F7_PWR=y
 CONFIG_STM32F7_RTC=y
 CONFIG_STM32F7_RTC_HSECLOCK=y
@@ -229,6 +233,7 @@ CONFIG_STM32F7_USART_INVERT=y
 CONFIG_STM32F7_USART_SINGLEWIRE=y
 CONFIG_STM32F7_USART_SWAP=y
 CONFIG_STM32F7_WWDG=y
+CONFIG_SYSTEM_DHCPC_RENEW=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
 CONFIG_TASK_NAME_SIZE=24

boards/beaglebone/blue/default.cmake

@@ -14,6 +14,7 @@ px4_add_board(
 	TOOLCHAIN arm-linux-gnueabihf
 	TESTING
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/bmp280
@@ -24,6 +25,7 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		gps
 		#imu # all available imu drivers
+		imu/analog_devices/adis16448
 		imu/invensense/mpu9250
 		linux_pwm_out
 		#magnetometer # all available magnetometer drivers
@@ -39,6 +41,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -63,6 +66,8 @@ px4_add_board(
 		sih
 		#simulator
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -76,8 +81,9 @@ px4_add_board(
 		perf
 		pwm
 		sd_bench
-		shutdown
+		#serial_test
 		system_time
+		shutdown
 		tests # tests and test runner
 		#top
 		topic_listener
@@ -86,8 +92,10 @@ px4_add_board(
 		ver
 		work_queue
 	EXAMPLES
-		fake_gps
 		dyn_hello # dynamically loading modules example
+		fake_gps
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		#hwtest # Hardware test

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

@@ -97,6 +97,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_FATDEVNO=0
 CONFIG_NSH_LINELEN=128

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

@@ -96,6 +96,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_FATDEVNO=0
 CONFIG_NSH_LINELEN=128

boards/cuav/can-gps-v1/nuttx-config/nsh/defconfig

@@ -81,6 +81,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15

boards/cuav/nora/default.cmake

@@ -19,6 +19,7 @@ px4_add_board(
 		# CONSOLE: /dev/ttyS4
 		# RC: /dev/ttyS5
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -30,24 +31,25 @@ px4_add_board(
 		gps
 		heater
 		#imu # all available imu drivers
+		imu/analog_devices/adis16448
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -61,6 +63,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -77,12 +80,15 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -90,6 +96,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -105,6 +112,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -116,7 +124,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_magnetometer
+		#fake_gyro
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

boards/cuav/nora/init/rc.board_mavlink

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# board specific board MAVLink startup script.
+# board specific MAVLink startup script.
 #------------------------------------------------------------------------------
 
 # Start MAVLink on the USB port

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

@@ -54,7 +54,6 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512

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

@@ -88,6 +88,7 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_REGIONS=4
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -105,6 +106,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -161,8 +163,6 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_DTCMEXCLUDE=y
-CONFIG_STM32H7_DTCM_PROCFS=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y

boards/cuav/nora/nuttx-config/scripts/script.ld

@@ -199,11 +199,13 @@ SECTIONS
 
 	/* Emit the the D3 power domain section for locating BDMA data */
 
-	.sram4 (NOLOAD) :
+	.sram4_reserve (NOLOAD) :
 	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
 	} > SRAM4
 
-
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }

boards/cuav/x7pro/default.cmake

@@ -19,6 +19,7 @@ px4_add_board(
 		# CONSOLE: /dev/ttyS4
 		# RC: /dev/ttyS5
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -29,24 +30,26 @@ px4_add_board(
 		dshot
 		gps
 		heater
-		#imu # all relevant IMU drivers
+		#imu # all available imu drivers
 		imu/analog_devices/adis16470
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		irlock
-		lights/rgbled
-		#lights/rgbled_ncp5623c
-		#lights/rgbled_pwm
+		lights # all available light drivers
+		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
 		pwm_out
 		rc_input
+		roboclaw
+		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -60,6 +63,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -76,12 +80,15 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -89,6 +96,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -104,6 +112,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -115,8 +124,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
-		fake_magnetometer
+		#fake_gyro
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

boards/cuav/x7pro/init/rc.board_mavlink

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# board specific board MAVLink startup script.
+# board specific MAVLink startup script.
 #------------------------------------------------------------------------------
 
 # Start MAVLink on the USB port

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

@@ -54,7 +54,6 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512

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

@@ -88,6 +88,7 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_REGIONS=4
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -105,6 +106,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -161,8 +163,6 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_DTCMEXCLUDE=y
-CONFIG_STM32H7_DTCM_PROCFS=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y

boards/cuav/x7pro/nuttx-config/scripts/script.ld

@@ -199,11 +199,13 @@ SECTIONS
 
 	/* Emit the the D3 power domain section for locating BDMA data */
 
-	.sram4 (NOLOAD) :
+	.sram4_reserve (NOLOAD) :
 	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
 	} > SRAM4
 
-
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }

boards/cubepilot/cubeorange/console.cmake

@@ -19,6 +19,7 @@ px4_add_board(
 		# CONSOLE:/dev/ttyS4
 		GPS2:/dev/ttyS5
 	DRIVERS
+		#adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -30,20 +31,16 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
-		#imu/analog_devices/adis16448
-		#imu/adis16477
-		#imu/adis16497
 		imu/invensense/icm20602
 		imu/invensense/icm20649
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		#pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -87,6 +84,8 @@ px4_add_board(
 		sensors
 		#sih
 		#temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -110,6 +109,8 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		#serial_test
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener
@@ -120,7 +121,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_magnetometer
+		#fake_gyro
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

boards/cubepilot/cubeorange/default.cmake

@@ -19,6 +19,7 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		GPS2:/dev/ttyS5
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -35,13 +36,12 @@ px4_add_board(
 		imu/invensense/icm20649
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -85,6 +85,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -108,6 +110,8 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		#serial_test
+		system_time
 		#tests # tests and test runner
 		top
 		topic_listener
@@ -118,7 +122,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_magnetometer
+		#fake_gyro
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

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

@@ -54,7 +54,6 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512

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

@@ -58,7 +58,6 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -89,7 +88,7 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
+CONFIG_MM_REGIONS=4
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -107,6 +106,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -140,7 +140,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDMMC1_SDIO_MODE=y
+CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -162,8 +162,6 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_DTCMEXCLUDE=y
-CONFIG_STM32H7_DTCM_PROCFS=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y
@@ -204,7 +202,6 @@ CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGINT_CHAR=0x03
 CONFIG_TTY_SIGSTP=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
@@ -235,3 +232,4 @@ CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
 CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_WATCHDOG=y

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

@@ -59,7 +59,6 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -90,7 +89,7 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
+CONFIG_MM_REGIONS=4
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -108,6 +107,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -163,8 +163,6 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_DTCMEXCLUDE=y
-CONFIG_STM32H7_DTCM_PROCFS=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y
@@ -235,3 +233,4 @@ CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
 CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_WATCHDOG=y

boards/cubepilot/cubeorange/nuttx-config/scripts/script.ld

@@ -198,6 +198,15 @@ SECTIONS
 		_ebss = ABSOLUTE(.);
 	} > AXI_SRAM
 
+	/* Emit the the D3 power domain section for locating BDMA data */
+
+	.sram4_reserve (NOLOAD) :
+	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
+	} > SRAM4
+
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }

boards/cubepilot/cubeyellow/console.cmake

@@ -18,6 +18,7 @@ px4_add_board(
 		# CONSOLE:/dev/ttyS4
 		GPS2:/dev/ttyS5
 	DRIVERS
+		#adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -29,18 +30,16 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
-		imu/analog_devices/adis16448
 		imu/invensense/icm20602
 		imu/invensense/icm20649
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		#pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -54,7 +53,7 @@ px4_add_board(
 		uavcan
 	MODULES
 		airspeed_selector
-		attitude_estimator_q
+		#attitude_estimator_q
 		battery_status
 		camera_feedback
 		commander
@@ -70,7 +69,7 @@ px4_add_board(
 		land_detector
 		landing_target_estimator
 		load_mon
-		local_position_estimator
+		#local_position_estimator
 		logger
 		mavlink
 		mc_att_control
@@ -80,10 +79,12 @@ px4_add_board(
 		#micrortps_bridge
 		navigator
 		rc_update
-		rover_pos_control
+		#rover_pos_control
 		sensors
-		sih
-		temperature_compensation
+		#sih
+		#temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -107,6 +108,8 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		#serial_test
+		system_time
 		tests # tests and test runner
 		top
 		topic_listener
@@ -117,7 +120,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_magnetometer
+		#fake_gyro
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

boards/cubepilot/cubeyellow/default.cmake

@@ -18,6 +18,7 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		GPS2:/dev/ttyS5
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -34,13 +35,12 @@ px4_add_board(
 		imu/invensense/icm20649
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -49,7 +49,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
-		test_ppm
+		#test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -84,6 +84,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -107,7 +109,9 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		tests # tests and test runner
+		#serial_test
+		system_time
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -117,7 +121,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_magnetometer
+		#fake_gyro
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

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

@@ -106,6 +106,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15

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

@@ -107,6 +107,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15

boards/emlid/navio2/default.cmake

@@ -12,6 +12,7 @@ px4_add_board(
 	TOOLCHAIN arm-linux-gnueabihf
 	TESTING
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/ms5611
@@ -40,6 +41,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -64,6 +66,8 @@ px4_add_board(
 		sih
 		#simulator
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -77,6 +81,7 @@ px4_add_board(
 		perf
 		pwm
 		sd_bench
+		#serial_test
 		system_time
 		shutdown
 		tests # tests and test runner
@@ -89,6 +94,8 @@ px4_add_board(
 	EXAMPLES
 		dyn_hello # dynamically loading modules example
 		fake_gps
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		#hwtest # Hardware test

boards/holybro/can-gps-v1/debug.cmake

@@ -0,0 +1,37 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR holybro
+	MODEL can-gps-v1
+	LABEL debug
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	CONSTRAINED_MEMORY
+	CONSTRAINED_FLASH
+	ROMFSROOT cannode
+	UAVCAN_INTERFACES 2
+	DRIVERS
+		adc/board_adc
+		barometer/bmp388
+		bootloaders
+		gps
+		imu/bosch/bmi088
+		lights/rgbled_ncp5623c
+		magnetometer/bosch/bmm150
+		uavcannode
+	MODULES
+		#ekf2
+		load_mon
+		sensors
+	SYSTEMCMDS
+		i2cdetect
+		param
+		perf
+		reboot
+		top
+		#topic_listener
+		uorb
+		ver
+		work_queue
+)

boards/holybro/can-gps-v1/default.cmake

@@ -8,6 +8,7 @@ px4_add_board(
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
+	CONSTRAINED_FLASH
 	ROMFSROOT cannode
 	UAVCAN_INTERFACES 2
 	DRIVERS
@@ -20,14 +21,15 @@ px4_add_board(
 		magnetometer/bosch/bmm150
 		uavcannode
 	MODULES
-		load_mon
+		#ekf2
+		sensors
 	SYSTEMCMDS
-		i2cdetect
+		#i2cdetect
 		param
-		perf
-		reboot
-		top
-		topic_listener
-		ver
-		work_queue
+		#perf
+		#top
+		#topic_listener
+		#uorb
+		#ver
+		#work_queue
 )

boards/holybro/can-gps-v1/nuttx-config/nsh/defconfig

@@ -86,6 +86,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15

boards/holybro/durandal-v1/default.cmake

@@ -10,7 +10,7 @@ px4_add_board(
 	BUILD_BOOTLOADER
 	IO px4_io-v2_default
 	TESTING
-#	UAVCAN_INTERFACES 2  - No H7 or FD can support in UAVCAN
+	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS1
@@ -18,6 +18,7 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		TEL4:/dev/ttyS3
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -33,25 +34,23 @@ px4_add_board(
 		imu/bosch/bmi088
 		imu/invensense/icm20689
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
 		#osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
-#		pwm_input  - Need to create arch/stm32 arch/stm32h7 arch/kinetis and reloacate
-#					   all arch dependant code there
 		pwm_out_sim
 		pwm_out
 		px4io
 		roboclaw
+		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
-#		uavcan - No H7 or FD can support in UAVCAN yet
+		uavcan
 	MODULES
 		airspeed_selector
 		attitude_estimator_q
@@ -60,6 +59,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -76,12 +76,15 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -89,6 +92,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -104,8 +108,9 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
-		tests # tests and test runner
+#		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -115,6 +120,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test

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

@@ -54,7 +54,6 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512

boards/holybro/durandal-v1/nuttx-config/include/board.h

@@ -250,6 +250,12 @@
 
 #define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
 
+/* FDCAN 1 2 clock source */
+
+#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
+
+#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
+
 /* FLASH wait states
  *
  *  ------------ ---------- -----------

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

@@ -89,6 +89,7 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_REGIONS=4
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -106,6 +107,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -160,8 +162,6 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_DTCMEXCLUDE=y
-CONFIG_STM32H7_DTCM_PROCFS=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y

boards/holybro/durandal-v1/nuttx-config/scripts/script.ld

@@ -199,8 +199,11 @@ SECTIONS
 
 	/* Emit the the D3 power domain section for locating BDMA data */
 
-	.sram4 (NOLOAD) :
+	.sram4_reserve (NOLOAD) :
 	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
 	} > sram4
 
 	/* Stabs debugging sections. */

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

@@ -107,6 +107,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_PSSTACKUSAGE=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128

boards/holybro/pix32v5/default.cmake

@@ -17,6 +17,7 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		TEL4:/dev/ttyS3
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -33,14 +34,13 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20689
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -87,6 +87,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -110,6 +112,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -121,6 +124,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
 		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello

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

@@ -106,6 +106,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15

boards/modalai/fc-v1/default.cmake

@@ -15,6 +15,7 @@ px4_add_board(
 		TEL2:/dev/ttyS4 # UART5  / J1
 		TEL3:/dev/ttyS1 # USART2 / J4
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -28,13 +29,12 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm42688p
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
-		#osd
+		optical_flow # all available optical flow drivers
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		power_monitor/voxlpm
 		#protocol_splitter
@@ -43,6 +43,7 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -72,12 +73,15 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
+		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -85,6 +89,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -100,6 +105,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -111,6 +117,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test

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

@@ -105,6 +105,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15

boards/mro/ctrl-zero-f7-oem/default.cmake

@@ -17,6 +17,7 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		#FRSKY:/dev/ttyS5
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/dps310
@@ -25,7 +26,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
-		#dshot
+		dshot
 		gps
 		#heater
 		#imu # all available imu drivers
@@ -33,13 +34,12 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
-		#osd
+		optical_flow # all available optical flow drivers
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		#pwm_input
@@ -47,6 +47,7 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -60,6 +61,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -83,6 +85,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -90,6 +94,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -105,6 +110,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -116,6 +122,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test

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

@@ -105,6 +105,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15

boards/mro/ctrl-zero-f7/default.cmake

@@ -17,6 +17,7 @@ px4_add_board(
 		#CONSOLE:/dev/ttyS4
 		#FRSKY:/dev/ttyS5
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/dps310
@@ -25,7 +26,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
-		#dshot
+		dshot
 		gps
 		#heater
 		#imu # all available imu drivers
@@ -33,13 +34,12 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
-		#osd
+		optical_flow # all available optical flow drivers
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		#pwm_input
@@ -47,6 +47,7 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -60,6 +61,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -83,6 +85,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -90,6 +94,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -105,6 +110,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -116,6 +122,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test

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

@@ -105,6 +105,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15

boards/mro/ctrl-zero-h7-oem/default.cmake

@@ -8,7 +8,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
-	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		TEL1:/dev/ttyS0
@@ -18,6 +17,7 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		#FRSKY:/dev/ttyS5
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/dps310
@@ -33,24 +33,20 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
-		#pwm_input
 		pwm_out_sim
 		pwm_out
 		rc_input
 		roboclaw
 		rpm
-		#safety_button TODO
 		telemetry # all available telemetry drivers
-		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -85,6 +81,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -108,23 +106,27 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
-		tests # tests and test runner
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
 	EXAMPLES
-		fake_magnetometer
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		hello
-		hwtest # Hardware test
+		fake_gps
+		#fake_gyro
+		#fake_magnetometer
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hello
+		#hwtest # Hardware test
 		#matlab_csv_serial
-		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		rover_steering_control # Rover example app
-		uuv_example_app
-		work_item
+		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		#rover_steering_control # Rover example app
+		#uuv_example_app
+		#work_item
 	)

boards/mro/ctrl-zero-h7-oem/init/rc.board_mavlink

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# Board specific MAVLink startup script.
+# board specific MAVLink startup script.
 #------------------------------------------------------------------------------
 
 # Start MAVLink on the USB port

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

@@ -54,7 +54,6 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512

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

@@ -90,7 +90,7 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
+CONFIG_MM_REGIONS=4
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -108,6 +108,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -164,8 +165,6 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_DTCMEXCLUDE=y
-CONFIG_STM32H7_DTCM_PROCFS=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C3=y
@@ -218,8 +217,8 @@ CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_TXBUFSIZE=1500
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_UART8_SERIAL_CONSOLE=y
+CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_IFLOWCONTROL=y
 CONFIG_USART2_OFLOWCONTROL=y

boards/mro/ctrl-zero-h7-oem/nuttx-config/scripts/script.ld

@@ -199,8 +199,12 @@ SECTIONS
 	} > AXI_SRAM
 
 	/* Emit the the D3 power domain section for locating BDMA data */
-	.sram4 (NOLOAD) :
+
+	.sram4_reserve (NOLOAD) :
 	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
 	} > SRAM4
 
 

boards/mro/ctrl-zero-h7/default.cmake

@@ -8,7 +8,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
-	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
 		TEL1:/dev/ttyS0
@@ -18,6 +17,7 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		#FRSKY:/dev/ttyS5
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/dps310
@@ -33,24 +33,20 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
-		#pwm_input
 		pwm_out_sim
 		pwm_out
 		rc_input
 		roboclaw
 		rpm
-		#safety_button TODO
 		telemetry # all available telemetry drivers
-		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -85,6 +81,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -108,23 +106,27 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
-		tests # tests and test runner
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
+		uorb
 		usb_connected
 		ver
 		work_queue
 	EXAMPLES
-		fake_magnetometer
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		hello
-		hwtest # Hardware test
+		fake_gps
+		#fake_gyro
+		#fake_magnetometer
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hello
+		#hwtest # Hardware test
 		#matlab_csv_serial
-		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		rover_steering_control # Rover example app
-		uuv_example_app
-		work_item
+		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		#rover_steering_control # Rover example app
+		#uuv_example_app
+		#work_item
 	)

boards/mro/ctrl-zero-h7/init/rc.board_mavlink

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# Board specific MAVLink startup script.
+# board specific MAVLink startup script.
 #------------------------------------------------------------------------------
 
 # Start MAVLink on the USB port

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

@@ -54,7 +54,6 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512

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

@@ -90,7 +90,7 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
+CONFIG_MM_REGIONS=4
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -108,6 +108,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -163,8 +164,6 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_DTCMEXCLUDE=y
-CONFIG_STM32H7_DTCM_PROCFS=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C_DYNTIMEO=y
@@ -215,8 +214,8 @@ CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_TXBUFSIZE=1500
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_UART8_SERIAL_CONSOLE=y
+CONFIG_UART8_TXBUFSIZE=1500
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_IFLOWCONTROL=y
 CONFIG_USART2_OFLOWCONTROL=y

boards/mro/ctrl-zero-h7/nuttx-config/scripts/script.ld

@@ -199,8 +199,11 @@ SECTIONS
 	} > AXI_SRAM
 
 	/* Emit the the D3 power domain section for locating BDMA data */
-	.sram4 (NOLOAD) :
+	.sram4_reserve (NOLOAD) :
 	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
 	} > SRAM4
 
 

boards/mro/pixracerpro/default.cmake

@@ -8,7 +8,6 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
-	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		#SPARE:/dev/ttyS0
@@ -19,6 +18,7 @@ px4_add_board(
 		#CONSOLE:/dev/ttyS5
 		#FRSKY:/dev/ttyS6
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/dps310
@@ -34,23 +34,20 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20948
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		#osd
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
-		#pwm_input
 		pwm_out_sim
 		pwm_out
 		rc_input
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
-		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -85,6 +82,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -96,6 +95,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test
@@ -109,7 +109,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-		tests # tests and test runner
+		#tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -119,8 +119,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
-		fake_magnetometer
+		#fake_gyro
+		#fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test

boards/mro/pixracerpro/init/rc.board_mavlink

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# Board specific MAVLink startup script.
+# board specific MAVLink startup script.
 #------------------------------------------------------------------------------
 
 # Start MAVLink on the USB port

boards/mro/pixracerpro/init/rc.board_sensors

@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# Board specific sensors init
+# board specific sensors init
 #------------------------------------------------------------------------------
 board_adc start
 

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

@@ -25,7 +25,7 @@ CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_INITTHREAD_PRIORITY=254
 CONFIG_BOARD_LATE_INITIALIZE=y
-CONFIG_BOARD_LOOPSPERMSEC=22114
+CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
@@ -54,7 +54,6 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512

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

@@ -53,13 +53,11 @@ CONFIG_CDCACM_VENDORSTR="mRo"
 CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_MEMFAULT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -90,6 +88,7 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_REGIONS=4
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -107,6 +106,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -163,8 +163,6 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_DTCMEXCLUDE=y
-CONFIG_STM32H7_DTCM_PROCFS=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C_DYNTIMEO=y
@@ -237,3 +235,4 @@ CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
 CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_WATCHDOG=y

boards/mro/pixracerpro/nuttx-config/scripts/bootloader_script.ld

@@ -196,11 +196,6 @@ SECTIONS
 		_ebss = ABSOLUTE(.);
 	} > AXI_SRAM
 
-	/* Emit the the D3 power domain section for locating BDMA data */
-	.sram4 (NOLOAD) :
-	{
-	} > SRAM4
-
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }
@@ -214,13 +209,4 @@ SECTIONS
 	.debug_line 0 : { *(.debug_line) }
 	.debug_pubnames 0 : { *(.debug_pubnames) }
 	.debug_aranges 0 : { *(.debug_aranges) }
-
-	.ramfunc : {
-		_sramfuncs = .;
-		*(.ramfunc  .ramfunc.*)
-		. = ALIGN(4);
-		_eramfuncs = .;
-	} > ITCM_RAM AT > FLASH
-
-	_framfuncs = LOADADDR(.ramfunc);
 }

boards/mro/pixracerpro/nuttx-config/scripts/script.ld

@@ -167,6 +167,7 @@ SECTIONS
 		_einit = ABSOLUTE(.);
 	} > FLASH
 
+
 	.ARM.extab : {
 		*(.ARM.extab*)
 	} > FLASH
@@ -197,8 +198,12 @@ SECTIONS
 	} > AXI_SRAM
 
 	/* Emit the the D3 power domain section for locating BDMA data */
-	.sram4 (NOLOAD) :
+
+	.sram4_reserve (NOLOAD) :
 	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
 	} > SRAM4
 
 	/* Stabs debugging sections. */
@@ -214,13 +219,4 @@ SECTIONS
 	.debug_line 0 : { *(.debug_line) }
 	.debug_pubnames 0 : { *(.debug_pubnames) }
 	.debug_aranges 0 : { *(.debug_aranges) }
-
-	.ramfunc : {
-		_sramfuncs = .;
-		*(.ramfunc  .ramfunc.*)
-		. = ALIGN(4);
-		_eramfuncs = .;
-	} > ITCM_RAM AT > FLASH
-
-	_framfuncs = LOADADDR(.ramfunc);
 }

boards/mro/x21-777/default.cmake

@@ -16,9 +16,10 @@ px4_add_board(
 		TEL2:/dev/ttyS2
 		GPS1:/dev/ttyS3
 		# PX4IO:/dev/ttyS4
-		# CONSOLE:/dev/tty5
+		# CONSOLE:/dev/ttyS5
 		# OSD:/dev/tty6
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -33,13 +34,12 @@ px4_add_board(
 		imu/invensense/icm20608g
 		imu/invensense/mpu9250
 		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
-		#osd
+		optical_flow # all available optical flow drivers
+		osd
 		pca9685
+		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -84,6 +84,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -107,6 +109,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -118,6 +121,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
 		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello

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

@@ -105,6 +105,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15

boards/mro/x21/default.cmake

@@ -12,10 +12,15 @@ px4_add_board(
 	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
-		GPS1:/dev/ttyS3
+		# IO DEBUG:/dev/ttyS0
 		TEL1:/dev/ttyS1
 		TEL2:/dev/ttyS2
+		GPS1:/dev/ttyS3
+		# PX4IO:/dev/ttyS4
+		# CONSOLE:/dev/ttyS5
+		# OSD:/dev/tty6
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -23,29 +28,27 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
-		#dshot
+		dshot
 		gps
-		#heater
 		#imu # all available imu drivers
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
 		imu/invensense/mpu9250
 		irlock
-		lights/blinkm
-		lights/rgbled
-		#lights/rgbled_ncp5623c
+		lights # all available light drivers
 		magnetometer # all available magnetometer drivers
-		#optical_flow # all available optical flow drivers
-		optical_flow/px4flow
-		#osd
+		optical_flow # all available optical flow drivers
+		osd
 		pca9685
-		#power_monitor/ina226
+		pca9685_pwm_out
+		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
 		pwm_out_sim
 		pwm_out
 		px4io
 		roboclaw
+		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -58,6 +61,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -81,6 +85,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -88,6 +94,7 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -103,6 +110,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -114,6 +122,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
+		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test

boards/mro/x21/init/rc.board_sensors

@@ -1,18 +1,11 @@
 #!/bin/sh
 #
-# mRo x21 specific board sensors init
+# Board specific sensors init
 #------------------------------------------------------------------------------
-
 board_adc start
 
-# Internal SPI bus ICM-20608-G
-icm20608g -s -R 8 start
-
-# Internal SPI bus ICM-20602
-icm20602 -s -R 8 start
-
-# Internal SPI bus mpu9250
-mpu9250 -s -R 8 start
-
-# Internal SPI
-ms5611 -s start
+# SPI1
+ms5611 -s -b 1 start
+icm20608g -s -b 1 -R 8 start
+icm20602 -s -b 1 -R 8 start
+mpu9250 -s -b 1 -R 8 -M start

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

@@ -101,6 +101,7 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15