Commander: Increase auto-disarm timeout to 25 seconds after arming

This adds support for filling up the 3D thrust setpoint using SET_ATTITUDE_TARGET message
Update mavlink submodule

.github/workflows/compile_nuttx.yml

@@ -17,11 +17,13 @@ jobs:
         config: [
           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,
@@ -29,16 +31,18 @@ jobs:
           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-f7_default,
           mro_ctrl-zero-h7-oem_default,
+          mro_ctrl-zero-h7_default,
           mro_pixracerpro_default,
           mro_x21-777_default,
           mro_x21_default,
@@ -49,8 +53,8 @@ jobs:
           nxp_fmuk66-v3_rtps,
           nxp_fmuk66-v3_socketcan,
           nxp_fmurt1062-v1_default,
-          nxp_ucans32k146_default,
           nxp_ucans32k146_canbootloader,
+          nxp_ucans32k146_default,
           omnibus_f4sd_default,
           px4_fmu-v2_default,
           px4_fmu-v2_fixedwing,
@@ -62,12 +66,14 @@ jobs:
           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,

.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 {

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/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/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/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.
 	#
@@ -570,15 +552,6 @@ 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 +576,6 @@ 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

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

@@ -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/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

@@ -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/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

@@ -53,6 +53,7 @@ CONFIG_CDCACM_VENDORSTR="CubePilot"
 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
@@ -89,7 +90,6 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -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
@@ -140,7 +141,7 @@ 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
@@ -204,7 +205,6 @@ 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

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

@@ -54,6 +54,7 @@ CONFIG_CDCACM_VENDORSTR="CubePilot"
 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
@@ -90,7 +91,6 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
 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

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
@@ -33,21 +34,19 @@ 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
@@ -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
@@ -104,6 +108,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -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/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/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

@@ -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

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 +90,6 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
 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

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

@@ -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/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

boards/nxp/fmuk66-e/default.cmake

@@ -15,6 +15,7 @@ px4_add_board(
 		TEL1:/dev/ttyS4
 		TEL2:/dev/ttyS1
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		barometer/mpl3115a2
@@ -25,26 +26,24 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		distance_sensor/srf05 # Specific driver
 		gps
-		#heater
 		#imu # all available imu drivers
 		imu/bosch/bmi088
 		imu/invensense/icm42688p
 		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
-		optical_flow/px4flow
-		#osd
+		optical_flow # all available optical flow drivers
+		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 # NOT Portable YET
@@ -58,6 +57,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -74,12 +74,15 @@ 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
@@ -87,7 +90,7 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
-		#hardfault_log # Needs bbsrm
+		#gpio
 		i2cdetect
 		led_control
 		mft
@@ -102,6 +105,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -113,6 +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/nxp/fmuk66-e/nuttx-config/nsh/defconfig

@@ -34,6 +34,7 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=8000
 CONFIG_CDCACM_VENDORID=0x1FC9
 CONFIG_CDCACM_VENDORSTR="NXP SEMICONDUCTORS"
+CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
@@ -145,6 +146,7 @@ CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
 CONFIG_NSH_DISABLE_MKFIFO=y
 CONFIG_NSH_DISABLE_MKRD=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_PUT=y
 CONFIG_NSH_DISABLE_REBOOT=y
 CONFIG_NSH_DISABLE_TELNETD=y

boards/nxp/fmuk66-e/nuttx-config/socketcan/defconfig

@@ -145,6 +145,7 @@ CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
 CONFIG_NSH_DISABLE_MKFIFO=y
 CONFIG_NSH_DISABLE_MKRD=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_PUT=y
 CONFIG_NSH_DISABLE_REBOOT=y
 CONFIG_NSH_DISABLE_TELNETD=y

boards/nxp/fmuk66-e/rtps.cmake

@@ -15,6 +15,7 @@ px4_add_board(
 		TEL1:/dev/ttyS4
 		TEL2:/dev/ttyS1
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		barometer/mpl3115a2
@@ -25,26 +26,24 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		distance_sensor/srf05 # Specific driver
 		gps
-		#heater
 		#imu # all available imu drivers
 		imu/bosch/bmi088
 		imu/invensense/icm42688p
 		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
-		optical_flow/px4flow
-		#osd
+		optical_flow # all available optical flow drivers
+		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 # NOT Portable YET
@@ -58,10 +57,13 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
+		gyro_fft
 		land_detector
 		landing_target_estimator
 		load_mon
@@ -79,14 +81,16 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
-		bl_update
+		#bl_update
 		#dmesg
 		dumpfile
 		esc_calib
-		#hardfault_log # Needs bbsrm
+		#gpio
 		i2cdetect
 		led_control
 		mft
@@ -101,6 +105,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -112,6 +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/nxp/fmuk66-e/socketcan.cmake

@@ -15,6 +15,7 @@ px4_add_board(
 		TEL1:/dev/ttyS4
 		TEL2:/dev/ttyS1
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		barometer/mpl3115a2
@@ -23,27 +24,26 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
+		distance_sensor/srf05 # Specific driver
 		gps
-		#heater
 		#imu # all available imu drivers
 		imu/bosch/bmi088
 		imu/invensense/icm42688p
 		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
-		optical_flow/px4flow
-		#osd
+		optical_flow # all available optical flow drivers
+		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 # NOT Portable YET
@@ -57,6 +57,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -73,20 +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
-		#hardfault_log # Needs bbsrm
+		#gpio
 		i2cdetect
 		led_control
 		mft
@@ -101,6 +105,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -112,6 +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/nxp/fmuk66-v3/default.cmake

@@ -15,6 +15,7 @@ px4_add_board(
 		TEL1:/dev/ttyS4
 		TEL2:/dev/ttyS1
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		barometer/mpl3115a2
@@ -25,29 +26,26 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		distance_sensor/srf05 # Specific driver
 		gps
-		#heater
 		#imu # all available imu drivers
 		imu/fxas21002c
 		imu/fxos8701cq
 		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
-		optical_flow/px4flow
-		#osd
+		optical_flow # all available optical flow drivers
+		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 # NOT Portable YET
 		tone_alarm
 		uavcan
 	MODULES
@@ -58,6 +56,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -74,12 +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
@@ -87,7 +89,7 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
-		#hardfault_log # Needs bbsrm
+		#gpio
 		i2cdetect
 		led_control
 		mft
@@ -102,6 +104,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -113,6 +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/nxp/fmuk66-v3/nuttx-config/nsh/defconfig

@@ -33,6 +33,7 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=8000
 CONFIG_CDCACM_VENDORID=0x1FC9
 CONFIG_CDCACM_VENDORSTR="NXP SEMICONDUCTORS"
+CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
@@ -146,6 +147,7 @@ CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
 CONFIG_NSH_DISABLE_MKFIFO=y
 CONFIG_NSH_DISABLE_MKRD=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_PUT=y
 CONFIG_NSH_DISABLE_REBOOT=y
 CONFIG_NSH_DISABLE_TELNETD=y

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

@@ -144,6 +144,7 @@ CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
 CONFIG_NSH_DISABLE_MKFIFO=y
 CONFIG_NSH_DISABLE_MKRD=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_PUT=y
 CONFIG_NSH_DISABLE_REBOOT=y
 CONFIG_NSH_DISABLE_TELNETD=y

boards/nxp/fmuk66-v3/rtps.cmake

@@ -15,6 +15,7 @@ px4_add_board(
 		TEL1:/dev/ttyS4
 		TEL2:/dev/ttyS1
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		barometer/mpl3115a2
@@ -23,30 +24,28 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
+		distance_sensor/srf05 # Specific driver
 		gps
-		#heater
 		#imu # all available imu drivers
 		imu/fxas21002c
 		imu/fxos8701cq
 		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
-		optical_flow/px4flow
-		#osd
+		optical_flow # all available optical flow drivers
+		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 # NOT Portable YET
 		tone_alarm
 		uavcan
 	MODULES
@@ -57,6 +56,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -80,14 +80,16 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
-		bl_update
+		#bl_update
 		#dmesg
 		dumpfile
 		esc_calib
-		#hardfault_log # Needs bbsrm
+		#gpio
 		i2cdetect
 		led_control
 		mft
@@ -102,6 +104,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -113,6 +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/nxp/fmuk66-v3/socketcan.cmake

@@ -15,6 +15,7 @@ px4_add_board(
 		TEL1:/dev/ttyS4
 		TEL2:/dev/ttyS1
 	DRIVERS
+		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		barometer/mpl3115a2
@@ -23,30 +24,28 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
+		distance_sensor/srf05 # Specific driver
 		gps
-		#heater
 		#imu # all available imu drivers
 		imu/fxas21002c
 		imu/fxos8701cq
 		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
-		optical_flow/px4flow
-		#osd
+		optical_flow # all available optical flow drivers
+		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 # NOT Portable YET
 		tone_alarm
 		uavcan_v1
 	MODULES
@@ -57,6 +56,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -73,20 +73,23 @@ 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
-		#hardfault_log # Needs bbsrm
+		#gpio
 		i2cdetect
 		led_control
 		mft
@@ -101,6 +104,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -112,6 +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/nxp/fmurt1062-v1/default.cmake

@@ -14,48 +14,53 @@ px4_add_board(
 		TEL1:/dev/ttyS2
 		TEL2:/dev/ttyS3
 		GPS2:/dev/ttyS4
-
 	DRIVERS
+		#adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
 		camera_capture
 		camera_trigger
+		#differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
-#		dshot not ported
+		#dshot # not ported
 		gps
-		#imu/analog_devices/adis16448
-		#imu/adis16477
-		#imu/adis16497
 		#imu # all available imu drivers
 		imu/bosch/bmi055
 		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
-#		pwm_input - not ptorable
+		#optical_flow # all available optical flow drivers
+		#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
 		tone_alarm
-#		uavcan
+		#uavcan
 	MODULES
+		#airspeed_selector
 		attitude_estimator_q
 		battery_status
 		camera_feedback
 		commander
 		dataman
 		ekf2
+		#esc_battery
 		events
 		flight_mode_manager
+		#fw_att_control
+		#fw_pos_control_l1
 		#gyro_calibration
 		#gyro_fft
 		land_detector
@@ -68,24 +73,30 @@ 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
-		#vmount
+		#temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
+		vmount
+		#vtol_att_control
 	SYSTEMCMDS
-#		bl_update
+		#bl_update # not ported
 		dmesg
 		dumpfile
 		esc_calib
-		#hardfault_log # Needs bbsrm
+		#gpio
+		#hardfault_log # not ported
 		i2cdetect
 		led_control
+		mft
 		mixer
 		motor_ramp
 		motor_test
-		mft
 		mtd
 		nshterm
 		param
@@ -104,12 +115,16 @@ px4_add_board(
 		ver
 		work_queue
 	EXAMPLES
-##		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
+		#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/omnibus/f4sd/default.cmake

@@ -3,6 +3,7 @@ px4_add_board(
 	PLATFORM nuttx
 	VENDOR omnibus
 	MODEL f4sd
+	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
@@ -24,11 +25,10 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/mpu6000
 		#irlock
-		#lights/blinkm
 		lights/rgbled
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883
-		optical_flow/px4flow
+		#optical_flow # all available optical flow drivers
 		osd
 		#pca9685
 		#pwm_input
@@ -46,6 +46,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		#esc_battery
 		events
 		flight_mode_manager
 		#fw_att_control
@@ -62,12 +63,15 @@ 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
@@ -75,6 +79,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		#gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -90,6 +95,8 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		#serial_test
+		#system_time
 		#tests # tests and test runner
 		top
 		#topic_listener
@@ -100,6 +107,8 @@ 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/omnibus/f4sd/nuttx-config/nsh/defconfig

@@ -82,6 +82,7 @@ CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
 CONFIG_NSH_DISABLE_MKFIFO=y
 CONFIG_NSH_DISABLE_MKRD=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_PUT=y
 CONFIG_NSH_DISABLE_REBOOT=y
 CONFIG_NSH_DISABLE_TELNETD=y

boards/px4/fmu-v2/default.cmake

@@ -34,24 +34,21 @@ px4_add_board(
 		#heater
 		#imu # all available imu drivers
 		#imu/analog_devices/adis16448
-		#imu/adis16477
-		#imu/adis16497
 		imu/l3gd20
 		imu/lsm303d
 		#imu/invensense/icm20608g
 		#imu/invensense/icm20948
 		imu/invensense/mpu6000
 		#imu/invensense/mpu9250
-		#iridiumsbd
 		#irlock
-		#lights/blinkm
+		#lights # all available light drivers
 		lights/rgbled
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883
 		#optical_flow # all available optical flow drivers
-		#optical_flow/px4flow
 		#osd
 		#pca9685
+		#pca9685_pwm_out
 		#power_monitor/ina226
 		#protocol_splitter
 		#pwm_input
@@ -59,6 +56,7 @@ px4_add_board(
 		pwm_out
 		px4io
 		#roboclaw
+		#rpm
 		#telemetry # all available telemetry drivers
 		#test_ppm
 		tone_alarm
@@ -95,6 +93,8 @@ px4_add_board(
 		sensors
 		#sih
 		#temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		#vmount
 		#vtol_att_control
 	SYSTEMCMDS
@@ -102,6 +102,7 @@ px4_add_board(
 		#dmesg
 		#dumpfile
 		#esc_calib
+		#gpio
 		hardfault_log
 		#i2cdetect
 		#led_control
@@ -117,7 +118,8 @@ px4_add_board(
 		reboot
 		#reflect
 		#sd_bench
-		#shutdown
+		#serial_test
+		#system_time
 		#tests # tests and test runner
 		top
 		#topic_listener
@@ -128,6 +130,8 @@ 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/px4/fmu-v2/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_PSSTACKUSAGE=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128

boards/px4/fmu-v2/test.cmake

@@ -42,7 +42,6 @@ px4_add_board(
 		#imu/invensense/mpu9250
 		#iridiumsbd
 		#irlock
-		#lights/blinkm
 		lights/rgbled
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883

boards/px4/fmu-v3/default.cmake

@@ -1,6 +1,4 @@
 
-# FMUv3 is FMUv2 with access to the full 2MB flash
-
 px4_add_board(
 	PLATFORM nuttx
 	VENDOR px4
@@ -19,8 +17,8 @@ px4_add_board(
 		TEL2:/dev/ttyS2
 		TEL4:/dev/ttyS6
 	DRIVERS
-		adc/board_adc
 		adc/ads1115
+		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
 		camera_capture
@@ -39,13 +37,10 @@ px4_add_board(
 		imu/invensense/mpu6000
 		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
 		pca9685_pwm_out
 		#power_monitor/ina226
@@ -55,6 +50,7 @@ px4_add_board(
 		pwm_out
 		px4io
 		roboclaw
+		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -91,6 +87,8 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
+		uuv_att_control
+		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -114,6 +112,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -125,6 +124,8 @@ 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/px4/fmu-v3/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/px4/fmu-v4/default.cmake

@@ -15,10 +15,9 @@ px4_add_board(
 		TEL1:/dev/ttyS1
 		TEL2:/dev/ttyS2
 		WIFI:/dev/ttyS0
-
 	DRIVERS
-		adc/board_adc
 		adc/ads1115
+		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
 		camera_capture
@@ -32,24 +31,22 @@ px4_add_board(
 		imu/analog_devices/adis16448
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
-		imu/invensense/icm40609d
-		imu/invensense/mpu6500
 		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
+		osd
 		pca9685
 		pca9685_pwm_out
+		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
 		pwm_out_sim
 		pwm_out
 		rc_input
 		roboclaw
+		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -112,6 +109,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top

boards/px4/fmu-v4/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/px4/fmu-v4/uavcanv1.cmake

@@ -1,135 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR px4
-	MODEL fmu-v4
-	LABEL uavcanv1
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	ROMFSROOT px4fmu_common
-	TESTING
-	UAVCAN_INTERFACES 1
-	SERIAL_PORTS
-		GPS1:/dev/ttyS3
-		TEL1:/dev/ttyS1
-		TEL2:/dev/ttyS2
-		WIFI:/dev/ttyS0
-
-	DRIVERS
-		adc/board_adc
-		adc/ads1115
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		heater
-		#imu # all available imu drivers
-		imu/analog_devices/adis16448
-		imu/invensense/icm20602
-		imu/invensense/icm20608g
-		imu/invensense/icm40609d
-		imu/invensense/mpu6500
-		imu/invensense/mpu9250
-		irlock
-		lights/blinkm
-		lights/rgbled
-		lights/rgbled_ncp5623c
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		#osd
-		pca9685
-		pca9685_pwm_out
-		#protocol_splitter
-		pwm_input
-		pwm_out_sim
-		pwm_out
-		rc_input
-		roboclaw
-		safety_button
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		#uavcan
-		uavcan_v1
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		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
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		#dmesg
-		dumpfile
-		esc_calib
-		gpio
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		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
-	)

boards/px4/fmu-v4pro/default.cmake

@@ -18,8 +18,8 @@ px4_add_board(
 		TEL3:/dev/ttyS0
 		TEL4:/dev/ttyS6
 	DRIVERS
-		adc/board_adc
 		adc/ads1115
+		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
 		camera_capture
@@ -30,26 +30,25 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
+		imu/analog_devices/adis16448
 		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
 		pca9685_pwm_out
-		power_monitor/ina226
+		#power_monitor/ina226
 		#protocol_splitter
 		pwm_input
 		pwm_out_sim
 		pwm_out
 		px4io
 		roboclaw
+		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -95,6 +94,7 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -121,6 +121,8 @@ 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/px4/fmu-v4pro/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/px4/fmu-v5/ctrlalloc.cmake

@@ -16,8 +16,8 @@ px4_add_board(
 		TEL2:/dev/ttyS2
 		TEL4:/dev/ttyS3
 	DRIVERS
-		adc/board_adc
 		adc/ads1115
+		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
 		camera_capture
@@ -33,13 +33,11 @@ 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
@@ -115,6 +113,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top

boards/px4/fmu-v5/debug.cmake

@@ -17,6 +17,7 @@ px4_add_board(
 		TEL2:/dev/ttyS2
 		TEL4:/dev/ttyS3
 	DRIVERS
+		#adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/ms5611
@@ -29,30 +30,26 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
-		#imu/analog_devices/adis16448
-		#imu/adis16477
-		#imu/adis16497
 		#imu/bosch/bmi055
 		#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
 		#pca9685
+		#pca9685_pwm_out
 		#power_monitor/ina226
 		#protocol_splitter
-		pwm_input
+		#pwm_input
 		pwm_out_sim
 		pwm_out
 		px4io
 		rc_input
 		#roboclaw
-		rpm
+		#rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -90,6 +87,8 @@ px4_add_board(
 		sensors
 		#sih
 		#temperature_compensation
+		#uuv_att_control
+		#uuv_pos_control
 		#vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -113,6 +112,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		#serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -124,6 +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/px4/fmu-v5/default.cmake

@@ -16,8 +16,8 @@ px4_add_board(
 		TEL2:/dev/ttyS2
 		TEL4:/dev/ttyS3
 	DRIVERS
-		adc/board_adc
 		adc/ads1115
+		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
 		camera_capture
@@ -33,13 +33,11 @@ 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
@@ -113,6 +111,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top

boards/px4/fmu-v5/fixedwing.cmake

@@ -23,20 +23,28 @@ px4_add_board(
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
 		gps
-		imu/analog_devices/adis16448
+		#heater
 		#imu # all available imu drivers
+		imu/analog_devices/adis16448
 		imu/bosch/bmi055
 		imu/invensense/icm20602
 		imu/invensense/icm20689
-		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
+		pca9685
+		pca9685_pwm_out
+		power_monitor/ina226
+		#protocol_splitter
 		pwm_input
 		pwm_out_sim
 		pwm_out
 		px4io
 		rc_input
+		roboclaw
+		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		tone_alarm
@@ -48,6 +56,7 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		fw_att_control
 		fw_pos_control_l1
@@ -67,6 +76,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -82,6 +92,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		top
 		topic_listener

boards/px4/fmu-v5/multicopter.cmake

@@ -24,24 +24,29 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		dshot
 		gps
-		imu/analog_devices/adis16448
+		#heater
 		#imu # all available imu drivers
+		imu/analog_devices/adis16448
 		imu/bosch/bmi055
 		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
+		pca9685
+		pca9685_pwm_out
+		power_monitor/ina226
+		#protocol_splitter
 		pwm_input
 		pwm_out_sim
 		pwm_out
 		px4io
 		rc_input
 		roboclaw
+		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		tone_alarm
@@ -53,8 +58,10 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
+		esc_battery
 		events
 		flight_mode_manager
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -77,6 +84,7 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
+		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -92,6 +100,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		top
 		topic_listener

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

@@ -150,6 +150,7 @@ 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/px4/fmu-v5/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/px4/fmu-v5/nuttx-config/optimized/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