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2026-06-03 06:40:04 +08:00 · 2026-02-09 00:59:00 -09:00 · 2026-02-09 00:58:42 -09:00 · 2026-02-09 00:58:02 -09:00 · 2026-02-09 00:57:34 -09:00 · 2026-02-08 20:51:31 -07:00
410 changed files with 16155 additions and 3606 deletions
@@ -3,92 +3,45 @@ description: Create a report to help us improve
 title: "[Bug] "
 labels: ["bug-report"]
 body:
+  - type: markdown
+    attributes:
+      value: |
+        **Tips for a great bug report:**
+        - Describe what went wrong and what you expected
+        - Include a flight log link from [logs.px4.io](http://logs.px4.io/) if possible
+        - Mention your PX4 version, flight controller, and vehicle type if relevant
+
  - type: textarea
    attributes:
      label: Describe the bug
-      description: A clear and concise description of the bug.
+      description: A clear description of the bug and what you expected to happen.
+      placeholder: |
+        What happened and what did you expect instead?
+
+        Steps to reproduce (if applicable):
+        1.
+        2.
+        3.
    validations:
      required: true

  - type: textarea
    attributes:
-      label: To Reproduce
+      label: Flight Log / Additional Information
      description: |
-          Steps to reproduce the behavior.
-          1. Drone switched on '...'
-          2. Uploaded mission '....' (attach QGC mission file)
-          3. Took off '....'
-          4. See error
-    validations:
-      required: false
+        **Flight log** (highly recommended for flight-related issues):
+        - Upload to [PX4 Flight Review](http://logs.px4.io/) and paste the link

-  - type: textarea
-    attributes:
-      label: Expected behavior
-      description: A clear and concise description of what you expected to happen.
-    validations:
-      required: false
-
-  - type: textarea
-    attributes:
-      label: Screenshot / Media
-      description: Add screenshot / media if you have them
-
-  - type: textarea
-    attributes:
-      label: Flight Log
-      description: |
-          *Always* provide a link to the flight log file:
-          - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
-          - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
-          - Share the link to the log (Copy and paste the URL of the log)
+        **Additional details** (if relevant):
+        - PX4 version (output of `ver all` in MAVLink Shell)
+        - Flight controller model
+        - Vehicle type (multicopter, fixed-wing, VTOL, etc.)
+        - Screenshots or media
      placeholder: |
-          # PASTE HERE THE LINK TO THE LOG
+        Flight log link:
+
+        Version:
+
+        Hardware:
    validations:
      required: false
-
-  - type: markdown
-    attributes:
-      value: |
-        ## Setup
-
-  - type: textarea
-    attributes:
-      label: Software Version
-      description: |
-          Which version of PX4 are you using?
-      placeholder: |
-          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
-    validations:
-      required: false
-
-  - type: input
-    attributes:
-      label: Flight controller
-      description: Specify your flight controller model (what type is it, where was it bought from, ...).
-    validations:
-      required: false
-
-  - type: dropdown
-    attributes:
-      label: Vehicle type
-      options:
-        - Multicopter
-        - Helicopter
-        - Fixed Wing
-        - Hybrid VTOL
-        - Airship/Balloon
-        - Rover
-        - Boat
-        - Submarine
-        - Other
-
-  - type: textarea
-    attributes:
-      label: How are the different components wired up (including port information)
-      description: Details about how all is wired.
-
-  - type: textarea
-    attributes:
-      label: Additional context
-      description: Add any other context about the problem here.
@@ -1,4 +1,4 @@
-blank_issues_enabled: false
+blank_issues_enabled: true
 contact_links:
  - name: Support Question
    url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
@@ -90,6 +90,9 @@ jobs:
        mkdir -p /opt/px4_ws/src
        cd /opt/px4_ws/src
        git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
+        # Ignore python packages due to compilation issue (can be enabled when updating ROS)
+        touch px4-ros2-interface-lib/px4_ros2_py/COLCON_IGNORE || true
+        touch px4-ros2-interface-lib/examples/python/COLCON_IGNORE || true
        cd ..
        # Copy messages to ROS workspace
        "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"
@@ -103,3 +103,9 @@
 [submodule "src/drivers/ins/sbgecom/sbgECom"]
 	path = src/drivers/ins/sbgecom/sbgECom
 	url = https://github.com/PX4/sbgECom.git
+[submodule "src/modules/mc_raptor/blob"]
+	path = src/modules/mc_raptor/blob
+	url = https://github.com/rl-tools/px4-blob
+[submodule "src/lib/rl_tools/rl_tools"]
+	path = src/lib/rl_tools/rl_tools
+	url = https://github.com/rl-tools/rl-tools.git
@@ -6,6 +6,16 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_default
+    px4_sitl_raptor:
+      short: px4_sitl_raptor
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_sitl_raptor
+    px4_sitl_raptor_debug:
+      short: px4_sitl_raptor_debug
+      buildType: Debug
+      settings:
+        CONFIG: px4_sitl_raptor
    px4_sitl_spacecraft:
      short: px4_sitl_spacecraft
      buildType: RelWithDebInfo
@@ -1,15 +0,0 @@
-## This file should be placed in the root directory of your project.
-## Then modify the CMakeLists.txt file in the root directory of your
-## project to incorporate the testing dashboard.
-##
-## # The following are required to submit to the CDash dashboard:
-##   ENABLE_TESTING()
-##   INCLUDE(CTest)
-
-set(CTEST_PROJECT_NAME "PX4 Firmware")
-set(CTEST_NIGHTLY_START_TIME "00:00:00 EST")
-
-set(CTEST_DROP_METHOD "http")
-set(CTEST_DROP_SITE "my.cdash.org")
-set(CTEST_DROP_LOCATION "/submit.php?project=PX4+Firmware")
-set(CTEST_DROP_SITE_CDASH TRUE)
@@ -101,6 +101,7 @@ pipeline {
            echo $0;
            git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
            cd _emscripten_sdk;
+            git checkout 4.0.15;
            ./emsdk install latest;
            ./emsdk activate latest;
            cd ..;
@@ -101,6 +101,6 @@ param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2

 param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.3
+param set-default VT_F_TRANS_THR 1
 param set-default VT_TYPE 2
 param set-default FD_ESCS_EN 0
@@ -19,5 +19,6 @@ param set-default MNT_MAN_PITCH 2
 param set-default MNT_MAN_YAW 3

 param set-default MNT_RANGE_ROLL 180
-param set-default MNT_RANGE_PITCH 180
+param set-default MNT_MAX_PITCH 45
+param set-default MNT_MIN_PITCH -135
 param set-default MNT_RANGE_YAW 720
@@ -123,3 +123,9 @@ if(CONFIG_MODULES_TEMPERATURE_COMPENSATION)
 		rc.thermal_cal
 	)
 endif()
+
+if(CONFIG_DRIVERS_VTXTABLE)
+	px4_add_romfs_files(
+		rc.vtxtable
+	)
+endif()
@@ -41,3 +41,9 @@ if param compare -s MC_NN_EN 1
 then
 	mc_nn_control start
 fi
+
+
+if param compare -s MC_RAPTOR_ENABLE 1
+then
+	mc_raptor start
+fi
@@ -237,6 +237,12 @@ then
 	tla2528 start -X
 fi

+# Start TMP102 temperature sensor
+if param compare SENS_EN_TMP102 1
+then
+	tmp102 start -X
+fi
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# VTX table loading script.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+vtxtable load
@@ -479,6 +479,19 @@ else
 		pwm_out start
 	fi

+	#
+	# Optional UAVCAN/DroneCAN or Cyphal
+	#
+	if param greater -s UAVCAN_ENABLE 0
+	then
+		uavcan start
+	else
+		if param greater -s CYPHAL_ENABLE 0
+		then
+			cyphal start
+		fi
+	fi
+
 	#
 	# Configure vehicle type specific parameters.
 	# Note: rc.vehicle_setup is the entry point for all vehicle type specific setup.
@@ -507,6 +520,11 @@ else
 	#
 	. ${R}etc/init.d/rc.serial

+	if param greater -s ZENOH_ENABLE 0
+	then
+		zenoh start
+	fi
+
 	# Must be started after the serial config is read
 	rc_input start $RC_INPUT_ARGS

@@ -612,6 +630,16 @@ else
 	fi
 	unset RC_LOGGING

+	#
+	# Start the VTX services.
+	#
+	set RC_VTXTABLE ${R}etc/init.d/rc.vtxtable
+	if [ -f ${RC_VTXTABLE} ]
+	then
+		. ${RC_VTXTABLE}
+	fi
+	unset RC_VTXTABLE
+
 	#
 	# Set additional parameters and env variables for selected AUTOSTART.
 	#
@@ -628,27 +656,6 @@ else
 	fi
 	unset BOARD_BOOTLOADER_UPGRADE

-	#
-	# Check if UAVCAN is enabled, default to it for ESCs.
-	#
-	if param greater -s UAVCAN_ENABLE 0
-	then
-		# Start core UAVCAN module.
-		if ! uavcan start
-		then
-			tune_control play error
-		fi
-	else
-		if param greater -s CYPHAL_ENABLE 0
-		then
-			cyphal start
-		fi
-	fi
-	if param greater -s ZENOH_ENABLE 0
-	then
-		zenoh start
-	fi
-
 #
 # End of autostart.
 #
@@ -21,11 +21,13 @@ exec find boards msg src platforms test \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/events/libevents -prune -o \
    -path src/lib/parameters/uthash -prune -o \
+    -path src/lib/rl_tools/rl_tools -prune -o \
    -path src/lib/wind_estimator/python/generated -prune -o \
    -path src/modules/ekf2/EKF/python/ekf_derivation/generated -prune -o \
    -path src/modules/ekf2/EKF/yaw_estimator/derivation/generated -prune -o \
    -path src/modules/gyro_fft/CMSIS_5 -prune -o \
    -path src/modules/mavlink/mavlink -prune -o \
+    -path src/modules/mc_raptor/blob -prune -o \
    -path test/fuzztest -prune -o \
    -path test/mavsdk_tests/catch2 -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
@@ -8,6 +8,803 @@ Also generates docs/en/middleware/dds_topics.md from dds_topics.yaml
 import os
 import argparse
 import sys
+import re
+
+VALID_FIELDS = { #Note, also have to add the message types as those can be fields
+    'uint64',
+    'uint16',
+    'uint8',
+    'uint32'
+}
+
+ALLOWED_UNITS = set(["m", "m/s", "m/s^2", "(m/s)^2", "deg", "deg/s", "rad", "rad/s", "rad^2", "rpm" ,"V", "A", "mA", "mAh", "W", "dBm", "h", "s", "ms", "us", "Ohm", "MB", "Kb/s", "degC","Pa","%","-"])
+invalid_units = set()
+ALLOWED_FRAMES = set(["NED","Body"])
+ALLOWED_INVALID_VALUES = set(["NaN", "0"])
+ALLOWED_CONSTANTS_NOT_IN_ENUM = set(["ORB_QUEUE_LENGTH","MESSAGE_VERSION"])
+
+class Error:
+    def __init__(self, type, message, linenumber=None, issueString = None, field = None):
+        self.type = type
+        self.message = message
+        self.linenumber = linenumber
+        self.issueString = issueString
+        self.field = field
+
+    def display_error(self):
+        #print(f"Debug: Error: display_error")
+
+
+        if 'trailing_whitespace' == self.type:
+            if self.issueString.strip():    
+                print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber}): {self.issueString}")
+            else:
+                print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber})")
+        elif 'leading_whitespace_field_or_constant' == self.type:
+            print(f"NOTE: Whitespace before field or constant ({self.message}: {self.linenumber}): {self.issueString}")             
+        elif 'field_or_constant_has_multiple_whitepsace' == self.type:
+            print(f"NOTE: Field/constant has more than one sequential whitespace character ({self.message}: {self.linenumber}): {self.issueString}") 
+        elif 'empty_start_line' == self.type:
+            print(f"NOTE: Empty line at start of file ({self.message}: {self.linenumber})")
+        elif 'internal_comment' == self.type:
+            print(f"NOTE: Internal Comment ({self.message}: {self.linenumber})\n {self.issueString}")
+        elif 'internal_comment_empty' == self.type:
+            print(f"NOTE: Empty Internal Comment ({self.message}: {self.linenumber})")
+        elif 'summary_missing' == self.type:
+            print(f"WARNING: No message description ({self.message})")
+        elif 'topic_error' == self.type:
+            print(f"NOTE: TOPIC ISSUE: {self.issueString}")
+        elif 'unknown_unit' == self.type:
+            print(f"WARNING: Unknown Unit: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
+        elif 'constant_not_in_assigned_enum' == self.type:
+            print(f"WARNING: `{self.issueString}` constant: Prefix not in `@enum` field metadata ({self.message}: {self.linenumber})")
+        elif 'unknown_invalid_value' == self.type:
+            print(f"WARNING: Unknown @invalid value: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
+        elif 'unknown_frame' == self.type:
+            print(f"WARNING: Unknown @frame: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
+        elif 'command_no_params_pipes' == self.type:
+            print(f"WARNING: `{self.field}` command has no parameters (pipes): [{self.issueString}] ({self.message}: {self.linenumber})")
+        elif 'command_missing_params' == self.type:
+            print(f"WARNING: `{self.field}` command missing params - should be 7 params surrounded by 8 pipes: [{self.issueString}] ({self.message}: {self.linenumber})")
+        elif 'command_too_many_params' == self.type:
+            print(f"WARNING: `{self.field}` command too many params (should be 7). Extras: [{self.issueString}] ({self.message}: {self.linenumber})")
+
+
+        else:
+            self.display_info()
+
+    def display_info(self):
+        """
+        Display info about an error.
+        Used as a fallback if error does not have specific printout in display_error()
+        """
+        #print(f"Debug: Error: display_info")
+        print(f" type: {self.type}, message: {self.message}, linenumber: {self.linenumber}, issueString: {self.issueString}, field: {self.field}")
+
+class Enum:
+    def __init__(self, name, parentMessage):
+        self.name = name
+        self.parent = parentMessage
+        self.enumValues = dict()
+
+    def display_info(self):
+        """
+        Display info about an enum
+        """
+        print(f"Debug: Enum: display_info")
+        print(f" name: {self.name}")
+        for key, value in self.enumValues.items():
+            value.display_info()
+
+class ConstantValue:
+    def __init__(self, name, type, value, comment, line_number):
+        self.name = name.strip()
+        self.type = type.strip()
+        self.value = value.strip()
+        self.comment = comment
+        self.line_number = line_number
+
+        if not self.value:
+            print(f"Debug WARNING: NO VALUE in ConstantValue: {self.name}")  ## TODO make into ERROR
+            exit()
+
+        # TODO if value or name are empty, error
+
+    def display_info(self):
+        print(f"Debug: ConstantValue: display_info")
+        print(f" name: {self.name}, type: {self.type}, value: {self.value}, comment: {self.comment}, line: {self.line_number}")
+
+
+class CommandParam:
+    """
+    Represents an individual param in a command constant
+    Encapsulates parsing of the param to extract units etc.
+    """
+
+    def __init__(self, num, paramText, line_number, parentCommand):
+        self.paramNum = num
+        self.paramText = paramText.strip()
+        self.enum = None
+        self.range = None
+        #self.type = type
+        self.units = []
+        self.enums = []
+        self.minValue = None
+        self.maxValue = None
+        self.invalidValue = None
+        self.frameValue = None
+        self.lineNumber = line_number
+        self.parent = parentCommand
+        self.parentMessage = self.parent.parent
+
+        match = None
+        if self.paramText:
+            match = re.match(r'^((?:\[[^\]]*\]\s*)+)(.*)$', paramText)
+        self.description = paramText
+        bracketed_part = None
+        if match:
+            bracketed_part = match.group(1).strip() # .strip() removes trailing whitespace from the bracketed part
+            self.description = match.group(2).strip()
+        if bracketed_part:
+          # get units
+            bracket_content_matches = re.findall(r'\[(.*?)\]', bracketed_part)
+            #print(f"DEBUG: bracket_content_matches: {bracket_content_matches}")
+            for item in bracket_content_matches:
+                item = item.strip()
+                if item.startswith('@'): # Not a unit:
+                    if item.startswith('@enum'):
+                        item = item.split(" ")
+                        enum = item[1].strip()
+                        if enum and enum not in self.enums:
+                            self.enums.append(enum)
+
+                        # Create parent enum objects for any enums created in this step
+                        for enumName in self.enums:
+                            if not enumName in self.parentMessage.enums:
+                                self.parentMessage.enums[enumName]=Enum(enumName,self.parentMessage)
+
+                    elif item.startswith('@range'):
+                        item = item[6:].strip().split(",")
+                        self.range = item
+                        self.minValue = item[0].strip()
+                        self.maxValue = item[1].strip()
+                    elif item.startswith('@invalid'):
+                        self.invalidValue = item[8:].strip()
+                        #TODO: Do we require a description? (not currently)
+                        if self.invalidValue.split(" ")[0] not in ALLOWED_INVALID_VALUES:
+                            print(f"TODO: Command param do not support @invalid: {self.invalidValue}")
+                            """
+                            error = Error("unknown_invalid_value", self.parent.filename, self.lineNumber, self.invalidValue, self.name)
+                            #error.display_error()
+                            if not "unknown_invalid_value" in self.parent.errors:
+                                self.parent.errors["unknown_invalid_value"] = []
+                            self.parent.errors["unknown_invalid_value"].append(error)
+                            """
+
+                    elif item.startswith('@frame'):
+                        self.frameValue = item[6:].strip()
+                        print(f"TODO: Command param do not support @frame: {self.frameValue}")
+                        """
+                        if self.frameValue not in ALLOWED_FRAMES:
+                            error = Error("unknown_frame", self.parent.filename, self.lineNumber, self.frameValue, self.name)
+                            #error.display_error()
+                            if not "unknown_frame" in self.parent.errors:
+                                self.parent.errors["unknown_frame"] = []
+                            self.parent.errors["unknown_frame"].append(error)
+                        """    
+                    else:
+                        print(f"WARNING: Unhandled metadata in message comment: {item}")
+                        # TODO - report errors for different kinds of metadata
+                        exit()
+
+                else: # bracket is a unit
+                    unit = item.strip()
+
+                    if item == "-":
+                        unit = ""
+                    
+                    if unit and unit not in self.units:
+                        self.units.append(unit) 
+
+                    if unit not in ALLOWED_UNITS:
+                        invalid_units.add(unit)
+                        error = Error("unknown_unit", self.parentMessage.filename, self.lineNumber, unit, self.parent.name)
+                        #error.display_error()
+                        if not "unknown_unit" in self.parentMessage.errors:
+                            self.parentMessage.errors["unknown_unit"] = []
+                        self.parentMessage.errors["unknown_unit"].append(error)
+
+
+    def display_info(self):
+        print(f"Debug: CommandParam: display_info")
+        print(f" id: {self.paramNum}")
+        print(f"   paramText: {self.paramText}\n  unit:  {self.units}\n  enums: {self.enums}\n  lineNumber: {self.lineNumber}\n  range: {self.range}\n  minValue: {self.minValue}\n  maxValue: {self.maxValue}\n  invalidValue: {self.invalidValue}\n  frameValue: {self.frameValue}\n  parent: {self.parent}\n  ")
+
+
+        
+class CommandConstant:
+    """
+    Represents a constant that is a command definition.
+    Encapsulates parsing of the command format.
+    The individual params are further parsed in CommandParam
+    """
+    def __init__(self, name, type, value, comment, line_number, parentMessage):
+        self.name = name.strip()
+        self.type = type.strip()
+        self.value = value.strip()
+        self.comment = comment
+        self.line_number = line_number
+        self.parent = parentMessage
+
+        self.description = self.comment
+        self.param1 = None
+        self.param2 = None
+        self.param3 = None
+        self.param4 = None
+        self.param5 = None
+        self.param6 = None
+        self.param7 = None
+
+        if not self.value:
+            print(f"Debug WARNING: NO VALUE in CommandConstant: {self.name}")  ## TODO make into ERROR
+            exit()
+
+        if not self.comment: # This is an bug for a command
+            #print(f"Debug WARNING: NO COMMENT in CommandConstant: {self.name}")  ## TODO make into ERROR
+            return
+            
+        # Parse command comment to get the description and parameters.
+        # print(f"Debug CommandConstant: {self.comment}") 
+        if not "|" in self.comment:
+            # This is an error for a command constant
+            error = Error("command_no_params_pipes", self.parent.filename, self.line_number, self.comment, self.name)
+            #error.display_error()
+            if not "command_no_params_pipes" in self.parent.errors:
+                self.parent.errors["command_no_params_pipes"] = []
+            self.parent.errors["command_no_params_pipes"].append(error)
+            return
+        
+        # Split on pipes
+        commandSplit = self.comment.split("|")
+        if len(commandSplit) < 9:
+            # Should 7 pipes, so each command is fully surrounded
+            error = Error("command_missing_params", self.parent.filename, self.line_number, self.comment, self.name)
+            #error.display_error()
+            if not "command_missing_params" in self.parent.errors:
+                self.parent.errors["command_missing_params"] = []
+            self.parent.errors["command_missing_params"].append(error)
+
+        self.description = commandSplit[0].strip()
+        self.description = self.description if self.description else None
+
+        params_to_update = commandSplit[1:8]
+
+        for i, value in enumerate(params_to_update, start=1):
+            if value.strip():
+                # parse the param
+                param = CommandParam(i, value, self.line_number, self)
+                #param.display_info() # DEBUG CODE XXX
+                setattr(self, f"param{i}", param)
+                # parse the param
+
+        if len(commandSplit) > 8:
+            extras = commandSplit[8:]
+            error = Error("command_too_many_params", self.parent.filename, self.line_number, extras, self.name)
+            if not "command_too_many_params" in self.parent.errors:
+                self.parent.errors["command_too_many_params"] = []
+            self.parent.errors["command_too_many_params"].append(error)
+
+
+        # TODO if value or name are empty, error
+
+    def markdown_out(self):
+        #print("DEBUG: CommandConstant.markdown_out")
+        output = f"""### {self.name} ({self.value})
+
+{self.description}
+
+Param | Units | Range/Enum | Description
+--- | --- | --- | ---
+"""
+        for i in range(1, 8):
+            attr_name = f"param{i}"
+            # getattr returns None if the attribute doesn't exist
+            val = getattr(self, attr_name, None)
+
+            if val is not None:
+                rangeVal = ""
+                if val.minValue or val.maxValue:
+                    rangeVal = f"[{val.minValue if val.minValue else '-'} : {val.maxValue if val.maxValue else '-' }]"
+
+                output+=f"{i} | {", ".join(val.units)}|{', '.join(f"[{e}](#{e})" for e in val.enums)}{rangeVal} | {val.description}\n"
+            else:
+                output+=f"{i} | | | ?\n"                
+
+        output+=f"\n"
+        return output
+
+
+    def display_info(self):
+        print(f"Debug: CommandConstant: display_info")
+        print(f" name: {self.name}, type: {self.type}, value: {self.value}, comment: {self.comment}, line: {self.line_number}")
+        print(f"   description: {self.description}\n  param1: {self.param1}\n  param2: {self.param2}\n  param3: {self.param3}\n  param4: {self.param4}\n  param5: {self.param5}\n  param6: {self.param6}\n  param7: {self.param7}")
+
+class MessageField:
+    """
+    Represents a field.
+    Encapsulates parsing of the field information.
+    """
+    def __init__(self, name, type, comment, line_number, parentMessage):
+        self.name = name
+        self.type = type
+        self.comment = comment
+        self.unit = None
+        self.enums = None
+        self.minValue = None
+        self.maxValue = None
+        self.invalidValue = None
+        self.frameValue = None
+        self.lineNumber = line_number
+        self.parent = parentMessage
+
+        #print(f"MessageComment: {comment}")
+        match = None
+        if self.comment:
+            match = re.match(r'^((?:\[[^\]]*\]\s*)+)(.*)$', comment)
+        self.description = comment
+        bracketed_part = None
+        if match:
+            bracketed_part = match.group(1).strip() # .strip() removes trailing whitespace from the bracketed part
+            self.description = match.group(2).strip()
+        if bracketed_part:
+          # get units
+            bracket_content_matches = re.findall(r'\[(.*?)\]', bracketed_part)
+            #print(f"bracket_content_matches: {bracket_content_matches}")
+            for item in bracket_content_matches:
+                item = item.strip()
+                if item.startswith('@'): # Not a unit:
+                    if item.startswith('@enum'):
+                        item = item.split(" ")
+                        self.enums = item[1:]
+                        # Create parent enum objects
+                        for enumName in self.enums:
+                            if not enumName in parentMessage.enums:
+                                parentMessage.enums[enumName]=Enum(enumName,parentMessage)
+                    elif item.startswith('@range'):
+                        item = item[6:].strip().split(",")
+                        self.minValue = item[0].strip()
+                        self.maxValue = item[1].strip()
+                    elif item.startswith('@invalid'):
+                        self.invalidValue = item[8:].strip()
+                        #TODO: Do we require a description? (not currently)
+                        if self.invalidValue.split(" ")[0] not in ALLOWED_INVALID_VALUES:
+                            error = Error("unknown_invalid_value", self.parent.filename, self.lineNumber, self.invalidValue, self.name)
+                            #error.display_error()
+                            if not "unknown_invalid_value" in self.parent.errors:
+                                self.parent.errors["unknown_invalid_value"] = []
+                            self.parent.errors["unknown_invalid_value"].append(error)
+                    elif item.startswith('@frame'):
+                        self.frameValue = item[6:].strip()
+                        if self.frameValue not in ALLOWED_FRAMES:
+                            error = Error("unknown_frame", self.parent.filename, self.lineNumber, self.frameValue, self.name)
+                            #error.display_error()
+                            if not "unknown_frame" in self.parent.errors:
+                                self.parent.errors["unknown_frame"] = []
+                            self.parent.errors["unknown_frame"].append(error)
+                    else:
+                        print(f"WARNING: Unhandled metadata in message comment: {item}")
+                        # TODO - report errors for different kinds of metadata
+                        exit()
+
+                else: # bracket is a unit
+                    self.unit = item
+
+                    if self.unit not in ALLOWED_UNITS:
+                        invalid_units.add(self.unit)
+                        error = Error("unknown_unit", self.parent.filename, self.lineNumber, self.unit, self.name)
+                        #error.display_error()
+                        if not "unknown_unit" in self.parent.errors:
+                            self.parent.errors["unknown_unit"] = []
+                        self.parent.errors["unknown_unit"].append(error)
+
+                    if item == "-":
+                        self.unit = ""
+
+
+    def display_info(self):
+        print(f"Debug: MessageField: display_info")
+        print(f" name: {self.name}, type: {self.type}, description: {self.description}, enums: {self.enums}, minValue: {self.minValue}, maxValue: {self.maxValue}, invalidValue: {self.invalidValue}, frameValue: {self.frameValue}")
+
+
+class UORBMessage:
+    """
+    Represents a whole message, including fields, enums, commands, constants.
+    The parser function delegates the parsing of each part of the message to 
+    more appropriate classes, once the specific type of line has been identified.
+    """
+
+    def __init__(self, filename):
+
+        self.filename = filename
+        msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
+        self.msg_filename = os.path.join(msg_path, self.filename)
+        self.name = os.path.splitext(os.path.basename(msg_file))[0]
+        self.shortDescription = ""
+        self.longDescription = ""
+        self.fields = []
+        self.constantFields = dict()
+        self.commandConstants = dict()
+        self.enums = dict()
+        self.output_file = os.path.join(output_dir, f"{self.name}.md")
+        self.topics = []
+        self.errors = dict()
+
+        self.parseFile()
+
+        if args.errors:
+            #print(f"DEBUG: args.errors: {args.errors}")
+            if args.error_messages:
+                messages = args.error_messages.split(" ")
+                #print(f"DEBUG: args.errors: {messages},self.name: {self.name}")
+                if self.name in messages:
+                    self.reportErrors()
+                    #print(f"Debug: {self.name} in {messages}")
+            else:
+              self.reportErrors()
+
+    def reportErrors(self):
+        #print(f"Debug: UORBMessage: reportErrors()")
+        for errorType, errors in self.errors.items():
+            for error in errors:
+               error.display_error()
+
+    def markdown_out(self):
+        #print(f"Debug: UORBMessage: markdown_out()")
+
+        # Add page header (forces wide pages)
+        markdown = f"""---
+pageClass: is-wide-page
+---
+
+# {self.name} (UORB message)
+
+"""
+        ## Append description info if present
+        markdown += f"{self.shortDescription}\n\n" if self.shortDescription else ""
+        markdown += f"{self.longDescription}\n\n" if self.longDescription else ""
+
+        topicList = " ".join(self.topics)
+        markdown += f"**TOPICS:** {topicList}\n\n"
+
+        # Generate field docs
+        markdown += f"## Fields\n\n"
+        markdown += "Name | Type | Unit [Frame] | Range/Enum | Description\n"
+        markdown += "--- | --- | --- | --- | ---\n"
+        for field in self.fields:
+            unit = f"{field.unit}" if field.unit else ""
+            frame = f"[{field.frameValue}]" if field.frameValue else ""
+            unit = f"{unit} {frame}"
+            unit.strip()
+            unit = f" {unit}"
+
+            value = " "
+            if field.enums:
+                value = ""
+                for enum in field.enums:
+                    value += f"[{enum}](#{enum})"
+                value = value.strip()
+                value = f"{value}"
+            elif field.minValue or field.maxValue:
+                value = f"[{field.minValue if field.minValue else '-'} : {field.maxValue if field.maxValue else '-' }]"
+
+            description = f" {field.description}" if field.description else ""
+            invalid = f" (Invalid: {field.invalidValue}) " if field.invalidValue else ""
+            markdown += f"{field.name} | `{field.type}` |{unit}|{value}|{description}{invalid}\n"
+
+        # Generate table for command docs
+        if len(self.commandConstants) > 0:
+            #print("DEBUGCOMMAND")
+            markdown += f"\n## Commands\n\n"
+
+            """
+            markdown += "Name | Type | Value | Description\n"
+            markdown += "--- | --- | --- |---\n"
+            for name, command in self.commandConstants.items():
+                description = f" {command.comment} " if enum.comment else " "
+                markdown += f'<a href="#{name}"></a> {name} | `{command.type}` | {command.value} |{description}\n'            
+            """
+            for commandConstant in self.commandConstants.values():
+                #print(commandConstant)
+                markdown += commandConstant.markdown_out()     
+
+        # Generate enum docs
+        if len(self.enums) > 0:
+            markdown += f"\n## Enums\n"
+
+            for name, enum in self.enums.items():
+                markdown += f"\n### {name} {{#{name}}}\n\n"
+
+                markdown += "Name | Type | Value | Description\n"
+                markdown += "--- | --- | --- | ---\n"
+
+                for enumValueName, enumValue in enum.enumValues.items():
+                    description = f" {enumValue.comment} " if enumValue.comment else " "
+                    markdown += f'<a href="#{enumValueName}"></a> {enumValueName} | `{enumValue.type}` | {enumValue.value} |{description}\n'
+
+        # Generate table for constants docs
+        if len(self.constantFields) > 0:
+            markdown += f"\n## Constants\n\n"
+            markdown += "Name | Type | Value | Description\n"
+            markdown += "--- | --- | --- |---\n"
+            for name, enum in self.constantFields.items():
+                description = f" {enum.comment} " if enum.comment else " "
+                markdown += f'<a href="#{name}"></a> {name} | `{enum.type}` | {enum.value} |{description}\n'
+
+
+
+        # Append msg contents to the end
+        with open(self.msg_filename, 'r') as source_file:
+            msg_contents = source_file.read()
+            msg_contents = msg_contents.strip()
+
+        #Format markdown using msg name, comment, url, contents.
+        markdown += f"""
+
+## Source Message
+
+[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/{self.filename})
+
+::: details Click here to see original file
+
+```c
+{msg_contents}
+```
+
+:::
+"""
+
+        with open(self.output_file, 'w') as content_file:
+            content_file.write(markdown)
+
+        #exit()
+
+
+    def display_info(self):
+        print(f"UORBMessage: display_info")
+        print(f" name: {self.name}")
+        print(f" filename: {self.filename}, ")
+        print(f" msg_filename: {self.msg_filename}, ")
+        print(f"self.shortDescription: {self.shortDescription}")
+        print(f"self.longDescription: {self.longDescription}")
+        print(f"self.enums: {self.enums}")
+
+        for enum, enumObject in self.enums.items():
+            enumObject.display_info()
+
+        # Output our data so far
+        for field in self.fields:
+            field.display_info()
+
+        for enumvalue in self.constantFields:
+            print(enumvalue)
+            self.constantFields[enumvalue].display_info()
+
+    def handleField(self, line, line_number, parentMessage):
+        #print(f"debug: handleField: (line): \n {line}")
+        # Note, here we know we don't have a comment or a topic.
+        # We expect it to be a field.
+
+        # Check field doesn't have leading whitespace (trailing spaces already checked)
+        if line[:1].isspace(): # Returns True for ' ', '\t', '\n', '\r', etc.
+            #print("First character is whitespace")
+            error = Error("leading_whitespace_field_or_constant", self.filename, line_number, line)
+            if not "leading_whitespace_field_or_constant" in self.errors:
+                self.errors["leading_whitespace_field_or_constant"] = []
+                self.errors["leading_whitespace_field_or_constant"].append(error)
+
+        # Now we can parse the stripped line
+        fieldOrConstant = line.strip()
+
+        # Check that the field or constant has only single whitespace separators
+        stripped_fieldOrConstant = re.sub(r'\s+', ' ', fieldOrConstant) # Collapse all spaces to a single space (LHS already stripped).
+        if stripped_fieldOrConstant != fieldOrConstant:
+            #print("Field/Constant has multiple whitespace characters") # Since the collapsed version shows them.
+            error = Error("field_or_constant_has_multiple_whitepsace", self.filename, line_number, line)
+            if not "field_or_constant_has_multiple_whitepsace" in self.errors:
+                self.errors["field_or_constant_has_multiple_whitepsace"] = []
+                self.errors["field_or_constant_has_multiple_whitepsace"].append(error)
+
+        fieldOrConstant = stripped_fieldOrConstant
+
+
+
+        comment = None
+        if "#" in line:
+            commentExtract = line.split("#", 1) # Split once on left-most '#'
+            fieldOrConstant = commentExtract[0].strip()
+            comment = commentExtract[-1].strip()
+
+        if "=" not in fieldOrConstant:
+            # Is a field:
+            field = fieldOrConstant.split(" ")
+            type = field[0].strip()
+            name = field[1].strip()
+            field = MessageField(name, type, comment, line_number, parentMessage)
+            self.fields.append(field)
+        else:
+            temp = fieldOrConstant.split("=")
+            value = temp[-1]
+            typeAndName = temp[0].split(" ")
+            type = typeAndName[0]
+            name = typeAndName[1]
+            if name.startswith("VEHICLE_CMD_") and parentMessage.name == 'VehicleCommand': #it's a command.
+                #print(f"DEBUG: startswith VEHICLE_CMD_ {name}")
+                commandConstant = CommandConstant(name, type, value, comment, line_number, parentMessage)
+                #commandConstant.display_info()
+                self.commandConstants[name]=commandConstant
+            else: #it's a constant (or part of an enum)
+                constantField = ConstantValue(name, type, value, comment, line_number)
+                self.constantFields[name]=constantField
+
+
+    def parseFile(self):
+        initial_block_lines = []
+        #stopping_token = None
+        found_first_relevant_content = False
+        gettingInitialComments = False
+        gettingFields = False
+
+        with open(self.msg_filename, 'r', encoding='utf-8') as uorbfile:
+            lines = uorbfile.read().splitlines()
+            for line_number, line in enumerate(lines, 1):
+
+                if line != line.rstrip():
+                    #print(f"[{self.filename}] Trailing whitespace on line {line_number}: XX{line}YY")
+                    error = Error("trailing_whitespace", self.filename, line_number, line)
+                    if not "trailing_whitespace" in self.errors:
+                        self.errors["trailing_whitespace"] = []
+                    self.errors["trailing_whitespace"].append(error)
+
+                #print(f"line: {line}")
+                stripped_line = re.sub(r'\s+', ' ', line).strip() # Collapse all spaces to a single space and strip stuff off end.
+                #print(f"stripped_line: {stripped_line}")
+                # TODO? Perhaps report whitespace if the size of those two is different and it is empty
+                # Or perhaps we just fix it on request
+
+                isEmptyLine = False if line.strip() else True
+                if not found_first_relevant_content and isEmptyLine: #Empty line
+                    #print(f"{self.filename}: Empty line at start of file: [{line_number}]\n {line}")
+                    error = Error("empty_start_line", self.filename, line_number, line)
+                    if not "empty_start_line" in self.errors:
+                        self.errors["empty_start_line"] = []
+                    self.errors["empty_start_line"].append(error)
+                    #error.display_error()
+                    continue
+                if not found_first_relevant_content and not isEmptyLine:
+                    found_first_relevant_content = True
+
+                    if stripped_line.startswith("#"):
+                        gettingInitialComments = True
+                    else:
+                        gettingInitialComments = False
+                        gettingFields = True
+
+                if gettingInitialComments and stripped_line.startswith("#"):
+                    stripped_line=stripped_line[1:].strip()
+                    #print(f"DEBUG: gettingInitialComments: comment line: {stripped_line}")
+                    initial_block_lines.append(stripped_line)
+                else:
+                    gettingInitialComments = False
+                    gettingFields = True #Getting fields and constants
+                if gettingFields:
+                    if isEmptyLine:
+                        continue # empty line
+                    if stripped_line.startswith("# TOPICS "):
+                        stripped_line = stripped_line[9:]
+                        stripped_line = stripped_line.split(" ")
+                        self.topics+= stripped_line
+                        # Note, default topic and topic errors handled after all lines parsed
+                        continue
+                    if stripped_line.startswith("#"):
+                        # Its an internal comment
+                        stripped_line=stripped_line[1:].strip()
+                        
+                        if stripped_line:
+                            #print(f"{self.filename}: Internal comment: [{line_number}]\n {line}")
+                            error = Error("internal_comment", self.filename, line_number, line)
+                            if not "internal_comment" in self.errors:
+                                self.errors["internal_comment"] = []
+                            self.errors["internal_comment"].append(error)
+                        else:
+                            #print(f"{self.filename}: Empty internal comment: [{line_number}]\n {line}")
+                            error = Error("internal_comment_empty", self.filename, line_number, line)
+                            if not "internal_comment_empty" in self.errors:
+                                self.errors["internal_comment_empty"] = []
+                            self.errors["internal_comment_empty"].append(error)
+                            #pass # Empty comment
+                        continue
+                    
+                    # Must be a field or a comment.
+                    self.handleField(line, line_number, parentMessage=self)
+
+            # Fix up topics if the topic is empty
+            def camel_to_snake(name):
+                # Match upper case not at start of string
+                s1 = re.sub('(.)([A-Z][a-z]+)', r'\1_\2', name)
+                # Handle cases with multiple capital first letter
+                return re.sub('([A-Z]+)([A-Z][a-z]*)', r'\1_\2', s1).lower()
+
+            defaultTopic = camel_to_snake(self.name)
+            if len(self.topics) == 0:
+                # We have no topic declared, so set the default topic
+                self.topics.append(defaultTopic)
+            elif len(self.topics) == 1:
+                # We have 1 topic declared - either it is default or there is some issue.
+                if defaultTopic in self.topics:
+                    # Declared topic is default topic
+                    error = Error("topic_error", self.filename, "", f"WARNING: TOPIC {defaultTopic} unnecessarily declared for {self.name}")
+                else:
+                    # Declared topic is not default topic
+                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC {self.topics[1]}: Only Declared topic is not default topic {defaultTopic} for {self.name}")
+                if not "topic_error" in self.errors:
+                    self.errors["topic_error"] = []
+                    self.errors["topic_error"].append(error)
+            elif len(self.topics) > 1:
+                if defaultTopic not in self.topics:
+                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC - Default topic {defaultTopic} for {self.name} not in {self.topics}")
+
+            # Parse our short and long description
+            #print(f"DEBUG: initial_block_lines: {initial_block_lines}")
+            doingLongDescription = False
+            for summaryline in initial_block_lines:
+                if not self.shortDescription and summaryline.strip() == '':
+                    continue
+                if not doingLongDescription and not summaryline.strip() == '':
+                   self.shortDescription += f" {summaryline}"
+                   self.shortDescription = self.shortDescription.strip()
+                   if not self.shortDescription[-1:] == ".": # Add terminating fullstop if not present.
+                       self.shortDescription += "."
+                if not doingLongDescription and summaryline.strip() == '':
+                   doingLongDescription = True
+                   continue
+                if doingLongDescription:
+                    self.longDescription += f"{summaryline}\n"
+
+            if self.longDescription:
+                self.longDescription.strip()
+
+            if not self.shortDescription:
+                # Summary has not been defined
+                error = Error("summary_missing", self.filename)
+                if not "summary_missing" in self.errors:
+                    self.errors["summary_missing"] = []
+                self.errors["summary_missing"].append(error)
+
+
+            # TODO Parse our constantValues into enums, leaving only constants
+            constantValuesToRemove = []
+            #print(f"DEBUG: Self.enums: {self.enums}")
+            for enumName, enumObject in self.enums.items():
+                for enumValueName, enumValueObject in self.constantFields.items():
+                    if enumValueName.startswith(enumName):
+                        # Copy this value into the object (cant be duplicate because parent is dict)
+                        enumObject.enumValues[enumValueName]=enumValueObject
+                        constantValuesToRemove.append(enumValueName)
+            # Now delete the original enumvalues
+            for enumValName in constantValuesToRemove:
+                del self.constantFields[enumValName]
+            constantsNotAssignedToEnums = len(self.constantFields)
+            if constantsNotAssignedToEnums > 0:
+                #print(f"Debug: WARNING constantsNotAssignedToEnums: {constantsNotAssignedToEnums}")
+                for enumValueName, enumValue in self.constantFields.items():
+                    if enumValueName in ALLOWED_CONSTANTS_NOT_IN_ENUM: # Ignore constants
+                        pass
+                    else:
+                        error = Error("constant_not_in_assigned_enum", self.filename, enumValue.line_number, enumValueName)
+                        if not "constant_not_in_assigned_enum" in self.errors:
+                            self.errors["constant_not_in_assigned_enum"] = []
+                        self.errors["constant_not_in_assigned_enum"].append(error)
+                # TODO Maybe present as list of possible enums.


 import yaml
@@ -127,83 +924,50 @@ if __name__ == "__main__":

    parser = argparse.ArgumentParser(description='Generate docs from .msg files')
    parser.add_argument('-d', dest='dir', help='output directory', required=True)
+    parser.add_argument('-e', dest='errors', action='store_true', help='Report errors')
+    parser.add_argument('-m', dest='error_messages', help='Message to report errors against (by default all)')
    args = parser.parse_args()

    output_dir = args.dir
    if not os.path.isdir(output_dir):
+        print(f"making output_dir {output_dir}")
        os.mkdir(output_dir)

    msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
    msg_files = get_msgs_list(msg_path)
+
    msg_files.sort()

    versioned_msgs_list = ''
    unversioned_msgs_list = ''
+    msgTypes = set()

    for msg_file in msg_files:
+        # Add messages to set of allowed types (compound types)
+        #msg_type = msg_file.rsplit('/')[-1]
+        #msg_type = msg_type.rsplit('\\')[-1]
+        #msg_type = msg_type.rsplit('.')[0]
        msg_name = os.path.splitext(os.path.basename(msg_file))[0]
-        output_file = os.path.join(output_dir, msg_name+'.md')
-        msg_filename = os.path.join(msg_path, msg_file)
-        print("{:} -> {:}".format(msg_filename, output_file))
+        msgTypes.add(msg_name)

-        #Format msg url
-        msg_url="[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/%s)" % msg_file
-
-        msg_description = ""
-        summary_description = ""
-
-        #Get msg description (first non-empty comment line from top of msg)
-        with open(msg_filename, 'r') as lineparser:
-            line = lineparser.readline()
-            while line.startswith('#') or (line.strip() == ''):
-                print('DEBUG: line: %s' % line)
-                line=line[1:].strip()+'\n'
-                stripped_line=line.strip()
-                if msg_description and not summary_description and stripped_line=='':
-                    summary_description = msg_description.strip()
-
-                msg_description+=line
-                line = lineparser.readline()
-            msg_description=msg_description.strip()
-            if not summary_description and msg_description:
-                summary_description = msg_description
-            print('msg_description: Z%sZ' % msg_description)
-            print('summary_description: Z%sZ' % summary_description)
-            summary_description
-        msg_contents = ""
-        #Get msg contents (read the file)
-        with open(msg_filename, 'r') as source_file:
-            msg_contents = source_file.read()
-
-        #Format markdown using msg name, comment, url, contents.
-        markdown_output="""# %s (UORB message)
-
-%s
-
-%s
-
-```c
-%s
-```
-""" % (msg_name, msg_description, msg_url, msg_contents)
-
-        with open(output_file, 'w') as content_file:
-            content_file.write(markdown_output)
+    for msg_file in msg_files:
+        message = UORBMessage(msg_file)
+        # Any additional tests that can't be in UORBMessage parser go here.
+        message.markdown_out()

        # Categorize as versioned or unversioned
        if "versioned" in msg_file:
-            versioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
-            if summary_description:
-                versioned_msgs_list += " — %s" % summary_description
+            versioned_msgs_list += f"- [{message.name}]({message.name}.md)"
+            if message.shortDescription:
+                versioned_msgs_list += f" — {message.shortDescription}"
            versioned_msgs_list += "\n"
        else:
-            unversioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
-            if summary_description:
-                unversioned_msgs_list += " — %s" % summary_description
+            unversioned_msgs_list += f"- [{message.name}]({message.name}.md)"
+            if message.shortDescription:
+                unversioned_msgs_list += f" — {message.shortDescription}"
            unversioned_msgs_list += "\n"
-
    # Write out the index.md file
-    index_text="""# uORB Message Reference
+    index_text=f"""# uORB Message Reference

 ::: info
 This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
@@ -218,14 +982,14 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m

 ## Versioned Messages

-%s
+{versioned_msgs_list}

 ## Unversioned Messages

-%s
-    """ % (versioned_msgs_list, unversioned_msgs_list)
+{unversioned_msgs_list}
+    """
    index_file = os.path.join(output_dir, 'index.md')
-    with open(index_file, 'w') as content_file:
+    with open(index_file, 'w', encoding='utf-8') as content_file:
            content_file.write(index_text)

    generate_dds_yaml_doc(msg_files)
@@ -1138,6 +1138,8 @@ if num_mags >= 1:

    if not math.isnan(sensor_mag_0['temperature'][0]):

+        mag_0_params['TC_M0_ID'] = int(np.median(sensor_mag_0['device_id']))
+
        # find the min, max and reference temperature
        mag_0_params['TC_M0_TMIN'] = np.amin(sensor_mag_0['temperature'])
        mag_0_params['TC_M0_TMAX'] = np.amax(sensor_mag_0['temperature'])
@@ -1,947 +0,0 @@
-#!/usr/bin/env python3
-############################################################################
-#
-#   Copyright (c) 2012-2024 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-#
-# Serial firmware uploader for the PX4FMU bootloader
-#
-# The PX4 firmware file is a JSON-encoded Python object, containing
-# metadata fields and a zlib-compressed base64-encoded firmware image.
-#
-# The uploader uses the following fields from the firmware file:
-#
-# image
-#       The firmware that will be uploaded.
-# image_size
-#       The size of the firmware in bytes.
-# board_id
-#       The board for which the firmware is intended.
-# board_revision
-#       Currently only used for informational purposes.
-#
-
-import sys
-import argparse
-import binascii
-import socket
-import struct
-import json
-import zlib
-import base64
-import time
-import array
-import os
-
-from sys import platform as _platform
-
-try:
-    import serial
-except ImportError as e:
-    print(f"Failed to import serial: {e}")
-    print("")
-    print("You may need to install it using:")
-    print("    python -m pip install pyserial")
-    print("")
-    sys.exit(1)
-
-
-# Detect python version
-if sys.version_info[0] < 3:
-    raise RuntimeError("Python 2 is not supported. Please try again using Python 3.")
-    sys.exit(1)
-
-
-# Use monotonic time where available
-def _time():
-    try:
-        return time.monotonic()
-    except Exception:
-        return time.time()
-
-class FirmwareNotSuitableException(Exception):
-    def __init__(self, message):
-        super(FirmwareNotSuitableException, self).__init__(message)
-
-
-class firmware(object):
-    '''Loads a firmware file'''
-
-    desc = {}
-    image = bytes()
-
-    def __init__(self, path):
-
-        # read the file
-        f = open(path, "r")
-        self.desc = json.load(f)
-        f.close()
-
-        self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image'])))
-
-        # pad image to 4-byte length
-        while ((len(self.image) % 4) != 0):
-            self.image.extend(b'\xff')
-
-    def property(self, propname):
-        return self.desc[propname]
-
-    def crc(self, padlen):
-        state = 0xFFFFFFFF
-        state = zlib.crc32(self.image, state)
-        padding_length = padlen - len(self.image)
-        if padding_length > 0:
-            padding = b'\xff' * padding_length
-            state = zlib.crc32(padding, state)
-
-        return (state ^ 0xFFFFFFFF) & 0xFFFFFFFF
-
-
-class uploader:
-    '''Uploads a firmware file to the PX4 bootloader'''
-
-    # protocol bytes
-    INSYNC          = b'\x12'
-    EOC             = b'\x20'
-
-    # reply bytes
-    OK              = b'\x10'
-    FAILED          = b'\x11'
-    INVALID         = b'\x13'     # rev3+
-    BAD_SILICON_REV = b'\x14'     # rev5+
-
-    # command bytes
-    NOP             = b'\x00'     # guaranteed to be discarded by the bootloader
-    GET_SYNC        = b'\x21'
-    GET_DEVICE      = b'\x22'
-    CHIP_ERASE      = b'\x23'
-    CHIP_VERIFY     = b'\x24'     # rev2 only
-    PROG_MULTI      = b'\x27'
-    READ_MULTI      = b'\x28'     # rev2 only
-    GET_CRC         = b'\x29'     # rev3+
-    GET_OTP         = b'\x2a'     # rev4+  , get a word from OTP area
-    GET_SN          = b'\x2b'     # rev4+  , get a word from SN area
-    GET_CHIP        = b'\x2c'     # rev5+  , get chip version
-    SET_BOOT_DELAY  = b'\x2d'     # rev5+  , set boot delay
-    GET_CHIP_DES    = b'\x2e'     # rev5+  , get chip description in ASCII
-    GET_VERSION     = b'\x2f'     # rev5+  , get bootloader version in ASCII
-    CHIP_FULL_ERASE = b'\x40'     # full erase of flash, rev6+
-    MAX_DES_LENGTH  = 20
-
-    REBOOT          = b'\x30'
-
-    INFO_BL_REV     = b'\x01'        # bootloader protocol revision
-    BL_REV_MIN      = 2              # minimum supported bootloader protocol
-    BL_REV_MAX      = 5              # maximum supported bootloader protocol
-    INFO_BOARD_ID   = b'\x02'        # board type
-    INFO_BOARD_REV  = b'\x03'        # board revision
-    INFO_FLASH_SIZE = b'\x04'        # max firmware size in bytes
-
-    PROG_MULTI_MAX  = 252            # protocol max is 255, must be multiple of 4
-    READ_MULTI_MAX  = 252            # protocol max is 255
-
-    NSH_INIT        = bytearray(b'\x0d\x0d\x0d')
-    NSH_REBOOT_BL   = b"reboot -b\n"
-    NSH_REBOOT      = b"reboot\n"
-    MAVLINK_REBOOT_ID1 = bytearray(b'\xfe\x21\x72\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x01\x00\x00\x53\x6b')
-    MAVLINK_REBOOT_ID0 = bytearray(b'\xfe\x21\x45\xff\x00\x4c\x00\x00\x40\x40\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\x00\xf6\x00\x00\x00\x00\xcc\x37')
-
-    MAX_FLASH_PRGRAM_TIME  = 0.001  # Time on an F7 to send SYNC, RESULT from last data in multi RXed
-
-    def __init__(self, portname, baudrate_bootloader, baudrate_flightstack):
-        # Open the port, keep the default timeout short so we can poll quickly.
-        # On some systems writes can suddenly get stuck without having a
-        # write_timeout > 0 set.
-        # chartime 8n1 * bit rate is us
-        self.chartime = 10 * (1.0 / baudrate_bootloader)
-
-        # we use a window approche to SYNC,<result> gathring
-        self.window = 0
-        self.window_max = 256
-        self.window_per = 2  # Sync,<result>
-        self.ackWindowedMode = False  # Assume Non Widowed mode for all USB CDC
-        self.port = serial.Serial(portname, baudrate_bootloader, timeout=0.5, write_timeout=0)
-        self.otp = b''
-        self.sn = b''
-        self.baudrate_bootloader = baudrate_bootloader
-        self.baudrate_flightstack = baudrate_flightstack
-        self.baudrate_flightstack_idx = -1
-        self.force_erase = False
-
-    def close(self):
-        if self.port is not None:
-            self.port.close()
-
-    def open(self):
-        # upload timeout
-        timeout = _time() + 0.2
-
-        # attempt to open the port while it exists and until timeout occurs
-        while self.port is not None:
-            portopen = True
-            try:
-                portopen = self.port.is_open
-            except AttributeError:
-                portopen = self.port.isOpen()
-
-            if not portopen and _time() < timeout:
-                try:
-                    self.port.open()
-                except OSError:
-                    # wait for the port to be ready
-                    time.sleep(0.04)
-                except serial.SerialException:
-                    # if open fails, try again later
-                    time.sleep(0.04)
-            else:
-                break
-
-    # debugging code
-    def __probe(self, state):
-        # self.port.setRTS(state)
-        return
-
-    def __send(self, c):
-        # print("send " + binascii.hexlify(c))
-        self.port.write(c)
-
-    def __recv(self, count=1):
-        c = self.port.read(count)
-        if len(c) < 1:
-            raise RuntimeError("timeout waiting for data (%u bytes)" % count)
-        # print("recv " + binascii.hexlify(c))
-        return c
-
-    def __recv_int(self):
-        raw = self.__recv(4)
-        val = struct.unpack("<I", raw)
-        return val[0]
-
-    def __getSync(self, doFlush=True):
-        if (doFlush):
-            self.port.flush()
-        c = bytes(self.__recv())
-        if c != self.INSYNC:
-            raise RuntimeError("unexpected %s instead of INSYNC" % c)
-        c = self.__recv()
-        if c == self.INVALID:
-            raise RuntimeError("bootloader reports INVALID OPERATION")
-        if c == self.FAILED:
-            raise RuntimeError("bootloader reports OPERATION FAILED")
-        if c != self.OK:
-            raise RuntimeError("unexpected response 0x%x instead of OK" % ord(c))
-
-    # The control flow for receiving Sync is on the order of 16 Ms per Sync
-    # This will validate all the SYNC,<results> for a window of programing
-    # in about 13.81 Ms for 256 blocks written
-    def __ackSyncWindow(self, count):
-        if (count > 0):
-            data =  bytearray(bytes(self.__recv(count)))
-            if (len(data) != count):
-                raise RuntimeError("Ack Window %i not %i " % (len(data), count))
-            for i in range(0, len(data), 2):
-                if bytes([data[i]]) != self.INSYNC:
-                    raise RuntimeError("unexpected %s instead of INSYNC" % data[i])
-                if bytes([data[i+1]]) == self.INVALID:
-                    raise RuntimeError("bootloader reports INVALID OPERATION")
-                if bytes([data[i+1]]) == self.FAILED:
-                    raise RuntimeError("bootloader reports OPERATION FAILED")
-                if bytes([data[i+1]]) != self.OK:
-                    raise RuntimeError("unexpected response 0x%x instead of OK" % ord(data[i+1]))
-
-    # attempt to get back into sync with the bootloader
-    def __sync(self):
-        # send a stream of ignored bytes longer than the longest possible conversation
-        # that we might still have in progress
-        # self.__send(uploader.NOP * (uploader.PROG_MULTI_MAX + 2))
-        self.port.flushInput()
-        self.__send(uploader.GET_SYNC +
-                    uploader.EOC)
-        self.__getSync()
-
-    def __trySync(self):
-        try:
-            self.port.flush()
-            if (self.__recv() != self.INSYNC):
-                # print("unexpected 0x%x instead of INSYNC" % ord(c))
-                return False
-            c = self.__recv()
-            if (c == self.BAD_SILICON_REV):
-                raise NotImplementedError()
-            if (c != self.OK):
-                # print("unexpected 0x%x instead of OK" % ord(c))
-                return False
-            return True
-
-        except NotImplementedError:
-            raise RuntimeError("Programing not supported for this version of silicon!\n"
-                               "See https://docs.px4.io/main/en/flight_controller/silicon_errata.html")
-        except RuntimeError:
-            # timeout, no response yet
-            return False
-
-    # attempt to determins if the device is CDCACM or A FTDI
-    def __determineInterface(self):
-        self.port.flushInput()
-        # Set a baudrate that can not work on a real serial port
-        # in that it is 233% off.
-        try:
-            self.port.baudrate = self.baudrate_bootloader * 2.33
-        except NotImplementedError as e:
-            # This error can occur because pySerial on Windows does not support odd baudrates
-            print(f"{e} -> could not check for FTDI device, assuming USB connection")
-            return
-
-        self.__send(uploader.GET_SYNC +
-                    uploader.EOC)
-        try:
-            self.__getSync(False)
-        except RuntimeError:
-            # if it fails we are on a real serial port - only leave this enabled on Windows
-            if sys.platform.startswith('win'):
-                self.ackWindowedMode = True
-        finally:
-            try:
-                self.port.baudrate = self.baudrate_bootloader
-            except Exception:
-                pass
-
-    # send the GET_DEVICE command and wait for an info parameter
-    def __getInfo(self, param):
-        self.__send(uploader.GET_DEVICE + param + uploader.EOC)
-        value = self.__recv_int()
-        self.__getSync()
-        return value
-
-    # send the GET_OTP command and wait for an info parameter
-    def __getOTP(self, param):
-        t = struct.pack("I", param)  # int param as 32bit ( 4 byte ) char array.
-        self.__send(uploader.GET_OTP + t + uploader.EOC)
-        value = self.__recv(4)
-        self.__getSync()
-        return value
-
-    # send the GET_SN command and wait for an info parameter
-    def __getSN(self, param):
-        t = struct.pack("I", param)  # int param as 32bit ( 4 byte ) char array.
-        self.__send(uploader.GET_SN + t + uploader.EOC)
-        value = self.__recv(4)
-        self.__getSync()
-        return value
-
-    # send the GET_CHIP command
-    def __getCHIP(self):
-        self.__send(uploader.GET_CHIP + uploader.EOC)
-        value = self.__recv_int()
-        self.__getSync()
-        return value
-
-    # send the GET_CHIP command
-    def __getCHIPDes(self):
-        self.__send(uploader.GET_CHIP_DES + uploader.EOC)
-        length = self.__recv_int()
-        value = self.__recv(length)
-        self.__getSync()
-        pieces = value.split(b",")
-        return pieces
-
-    def __getVersion(self):
-        self.__send(uploader.GET_VERSION + uploader.EOC)
-        try:
-            length = self.__recv_int()
-            value = self.__recv(length)
-            self.__getSync()
-        except RuntimeError:
-            # Bootloader doesn't support version call
-            return "unknown"
-        return value.decode()
-
-    def __drawProgressBar(self, label, progress, maxVal):
-        if maxVal < progress:
-            progress = maxVal
-
-        percent = (float(progress) / float(maxVal)) * 100.0
-
-        redraw = "\r" if sys.stdout.isatty() else "\n"
-        sys.stdout.write("%s%s: [%-20s] %.1f%%" % (redraw, label, '='*int(percent/5.0), percent))
-        sys.stdout.flush()
-
-    # send the CHIP_ERASE command and wait for the bootloader to become ready
-    def __erase(self, label):
-        print(f"Windowed mode: {self.ackWindowedMode}")
-        print("\n", end='')
-
-        if self.force_erase:
-            print("Trying force erase of full chip...\n")
-            self.__send(uploader.CHIP_FULL_ERASE +
-                        uploader.EOC)
-        else:
-            self.__send(uploader.CHIP_ERASE +
-                        uploader.EOC)
-
-        # erase is very slow, give it 30s
-        deadline = _time() + 30.0
-        while _time() < deadline:
-
-            usualEraseDuration = 15.0
-            estimatedTimeRemaining = deadline-_time()
-            if estimatedTimeRemaining >= usualEraseDuration:
-                self.__drawProgressBar(label, 30.0-estimatedTimeRemaining, usualEraseDuration)
-            else:
-                self.__drawProgressBar(label, 10.0, 10.0)
-                sys.stdout.write(" (timeout: %d seconds) " % int(deadline-_time()))
-                sys.stdout.flush()
-
-            if self.__trySync():
-                self.__drawProgressBar(label, 10.0, 10.0)
-                if self.force_erase:
-                    print("\nForce erase done.\n")
-                return
-
-        if self.force_erase:
-            raise RuntimeError("timed out waiting for erase, force erase is likely not supported by bootloader!")
-        else:
-            raise RuntimeError("timed out waiting for erase")
-
-    # send a PROG_MULTI command to write a collection of bytes
-    def __program_multi(self, data, windowMode):
-
-        length = len(data).to_bytes(1, byteorder='big')
-
-        self.__send(uploader.PROG_MULTI)
-        self.__send(length)
-        self.__send(data)
-        self.__send(uploader.EOC)
-        if (not windowMode):
-            self.__getSync(False)
-        else:
-            # The following is done to have minimum delay on the transmission
-            # of the ne fw. The per block cost of __getSync was about 16 mS per.
-            # Passively wait on Sync and Result using board rates and
-            # N.B. attempts to activly wait on InWating still carried 8 mS of overhead
-            self.__probe(False)
-            self.__probe(True)
-            time.sleep((ord(length) * self.chartime) + uploader.MAX_FLASH_PRGRAM_TIME)
-            self.__probe(False)
-
-    # verify multiple bytes in flash
-    def __verify_multi(self, data):
-
-        length = len(data).to_bytes(1, byteorder='big')
-
-        self.__send(uploader.READ_MULTI)
-        self.__send(length)
-        self.__send(uploader.EOC)
-        self.port.flush()
-        programmed = self.__recv(len(data))
-        if programmed != data:
-            print("got    " + binascii.hexlify(programmed))
-            print("expect " + binascii.hexlify(data))
-            return False
-        self.__getSync()
-        return True
-
-    # send the reboot command
-    def __reboot(self):
-        self.__send(uploader.REBOOT +
-                    uploader.EOC)
-        self.port.flush()
-
-        # v3+ can report failure if the first word flash fails
-        if self.bl_rev >= 3:
-            self.__getSync()
-
-    # split a sequence into a list of size-constrained pieces
-    def __split_len(self, seq, length):
-        return [seq[i:i+length] for i in range(0, len(seq), length)]
-
-    # upload code
-    def __program(self, label, fw):
-        self.__probe(False)
-        print("\n", end='')
-        code = fw.image
-        groups = self.__split_len(code, uploader.PROG_MULTI_MAX)
-        # Give imedate feedback
-        self.__drawProgressBar(label, 0, len(groups))
-        uploadProgress = 0
-        for bytes in groups:
-            self.__program_multi(bytes, self.ackWindowedMode)
-            # If in Window mode, extend the window size for the __ackSyncWindow
-            if self.ackWindowedMode:
-                self.window += self.window_per
-
-            # Print upload progress (throttled, so it does not delay upload progress)
-            uploadProgress += 1
-            if uploadProgress % 256 == 0:
-                self.__probe(True)
-                self.__probe(False)
-                self.__probe(True)
-                self.__ackSyncWindow(self.window)
-                self.__probe(False)
-                self.window = 0
-                self.__drawProgressBar(label, uploadProgress, len(groups))
-
-        # Do any remaining fragment
-        self.__ackSyncWindow(self.window)
-        self.window = 0
-        self.__drawProgressBar(label, 100, 100)
-
-    # verify code
-    def __verify_v2(self, label, fw):
-        print("\n", end='')
-        self.__send(uploader.CHIP_VERIFY +
-                    uploader.EOC)
-        self.__getSync()
-        code = fw.image
-        groups = self.__split_len(code, uploader.READ_MULTI_MAX)
-        verifyProgress = 0
-        for bytes in groups:
-            verifyProgress += 1
-            if verifyProgress % 256 == 0:
-                self.__drawProgressBar(label, verifyProgress, len(groups))
-            if (not self.__verify_multi(bytes)):
-                raise RuntimeError("Verification failed")
-        self.__drawProgressBar(label, 100, 100)
-
-    def __verify_v3(self, label, fw):
-        print("\n", end='')
-        self.__drawProgressBar(label, 1, 100)
-        expect_crc = fw.crc(self.fw_maxsize)
-        self.__send(uploader.GET_CRC + uploader.EOC)
-        time.sleep(0.5)
-        report_crc = self.__recv_int()
-        self.__getSync()
-        if report_crc != expect_crc:
-            print("Expected 0x%x" % expect_crc)
-            print("Got      0x%x" % report_crc)
-            raise RuntimeError("Program CRC failed")
-        self.__drawProgressBar(label, 100, 100)
-
-    def __set_boot_delay(self, boot_delay):
-        self.__send(uploader.SET_BOOT_DELAY +
-                    struct.pack("b", boot_delay) +
-                    uploader.EOC)
-        self.__getSync()
-
-    # get basic data about the board
-    def identify(self):
-        self.__determineInterface()
-        # make sure we are in sync before starting
-        self.__sync()
-
-        # get the bootloader protocol ID first
-        self.bl_rev = self.__getInfo(uploader.INFO_BL_REV)
-        if (self.bl_rev < uploader.BL_REV_MIN) or (self.bl_rev > uploader.BL_REV_MAX):
-            print("Unsupported bootloader protocol %d" % uploader.INFO_BL_REV)
-            raise RuntimeError("Bootloader protocol mismatch")
-
-        self.board_type = self.__getInfo(uploader.INFO_BOARD_ID)
-        self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
-        self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
-
-        self.version = self.__getVersion()
-
-    # upload the firmware
-    def upload(self, fw_list, force=False, boot_delay=None, boot_check=False, force_erase=False):
-        self.force_erase = force_erase
-        # select correct binary
-        found_suitable_firmware = False
-        for file in fw_list:
-            fw = firmware(file)
-            if self.board_type == fw.property('board_id'):
-                if len(fw_list) > 1: print("using firmware binary {}".format(file))
-                found_suitable_firmware = True
-                break
-
-        if not found_suitable_firmware:
-            msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
-                self.board_type, fw.property('board_id'))
-            print("WARNING: %s" % msg)
-            if force:
-                if len(fw_list) > 1:
-                    raise FirmwareNotSuitableException("force flashing failed, more than one file provided, none suitable")
-                print("FORCED WRITE, FLASHING ANYWAY!")
-            else:
-                raise FirmwareNotSuitableException(msg)
-
-        percent = fw.property('image_size') / fw.property('image_maxsize')
-        binary_size = float(fw.property('image_size'))
-        binary_max_size = float(fw.property('image_maxsize'))
-        percent = (binary_size / binary_max_size) * 100
-
-        print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%) " % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
-        print()
-
-        print(f"Bootloader version: {self.version}")
-
-        # Make sure we are doing the right thing
-        start = _time()
-        if self.board_type != fw.property('board_id'):
-            msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
-                self.board_type, fw.property('board_id'))
-            print("WARNING: %s" % msg)
-            if force:
-                print("FORCED WRITE, FLASHING ANYWAY!")
-            else:
-                raise FirmwareNotSuitableException(msg)
-
-        # Prevent uploads where the image would overflow the flash
-        if self.fw_maxsize < fw.property('image_size'):
-            raise RuntimeError("Firmware image is too large for this board")
-
-        # OTP added in v4:
-        if self.bl_rev >= 4:
-            for byte in range(0, 32*6, 4):
-                x = self.__getOTP(byte)
-                self.otp = self.otp + x
-                # print(binascii.hexlify(x).decode('Latin-1') + ' ', end='')
-            # see src/modules/systemlib/otp.h in px4 code:
-            self.otp_id = self.otp[0:4]
-            self.otp_idtype = self.otp[4:5]
-            self.otp_vid = self.otp[8:4:-1]
-            self.otp_pid = self.otp[12:8:-1]
-            self.otp_coa = self.otp[32:160]
-            # show user:
-            try:
-                print("Sn: ", end='')
-                for byte in range(0, 12, 4):
-                    x = self.__getSN(byte)
-                    x = x[::-1]  # reverse the bytes
-                    self.sn = self.sn + x
-                    print(binascii.hexlify(x).decode('Latin-1'), end='')  # show user
-                print('')
-                print("Chip: %08x" % self.__getCHIP())
-
-                otp_id = self.otp_id.decode('Latin-1')
-                if ("PX4" in otp_id):
-                    print("OTP id: " + otp_id)
-                    print("OTP idtype: " + binascii.b2a_qp(self.otp_idtype).decode('Latin-1'))
-                    print("OTP vid: " + binascii.hexlify(self.otp_vid).decode('Latin-1'))
-                    print("OTP pid: " + binascii.hexlify(self.otp_pid).decode('Latin-1'))
-                    print("OTP coa: " + binascii.b2a_base64(self.otp_coa).decode('Latin-1'))
-
-            except Exception as e:
-                # ignore bad character encodings
-                print(f"Exception ignored: {e}")
-                pass
-
-        # Silicon errata check was added in v5
-        if (self.bl_rev >= 5):
-            des = self.__getCHIPDes()
-            if (len(des) == 2):
-                family, revision = des
-                print(f"Family: {family.decode()}")
-                print(f"Revision: {revision.decode()}")
-                print(f"Flash: {self.fw_maxsize} bytes")
-
-                # Prevent uploads where the maximum image size of the board config is smaller than the flash
-                # of the board. This is a hint the user chose the wrong config and will lack features
-                # for this particular board.
-
-                # This check should also check if the revision is an unaffected revision
-                # and thus can support the full flash, see
-                # https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144
-
-                if self.fw_maxsize > fw.property('image_maxsize') and not force:
-                    print(f"WARNING: Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes)")
-        else:
-            # If we're still on bootloader v4 on a Pixhawk, we don't know if we
-            # have the silicon errata and therefore need to flash px4_fmu-v2
-            # with 1MB flash or if it supports px4_fmu-v3 with 2MB flash.
-            if fw.property('board_id') == 9 \
-                    and fw.property('image_size') > 1032192 \
-                    and not force:
-                raise RuntimeError("\nThe Board uses bootloader revision 4 and can therefore not determine\n"
-                                   "if flashing more than 1 MB (px4_fmu-v3_default) is safe, chances are\n"
-                                   "high that it is not safe! If unsure, use px4_fmu-v2_default.\n"
-                                   "\n"
-                                   "If you know you that the board does not have the silicon errata, use\n"
-                                   "this script with --force, or update the bootloader. If you are invoking\n"
-                                   "upload using make, you can use force-upload target to force the upload.\n")
-        self.__erase("Erase  ")
-        self.__program("Program", fw)
-
-        if self.bl_rev == 2:
-            self.__verify_v2("Verify ", fw)
-        else:
-            self.__verify_v3("Verify ", fw)
-
-        if boot_delay is not None:
-            self.__set_boot_delay(boot_delay)
-
-        print("\nRebooting.", end='')
-        self.__reboot()
-        self.port.close()
-        print(" Elapsed Time %3.3f\n" % (_time() - start))
-
-    def __next_baud_flightstack(self):
-        if self.baudrate_flightstack_idx + 1 >= len(self.baudrate_flightstack):
-            return False
-        try:
-            self.port.baudrate = self.baudrate_flightstack[self.baudrate_flightstack_idx + 1]
-            self.baudrate_flightstack_idx = self.baudrate_flightstack_idx + 1
-        except serial.SerialException:
-            # Sometimes _configure_port fails
-            time.sleep(0.04)
-
-        return True
-
-    def send_protocol_splitter_format(self, data):
-        # Header Structure:
-        #      bits:   1 2 3 4 5 6 7 8
-        # header[0] - |     Magic     | (='S')
-        # header[1] - |T|   LenH      | (T - 0: mavlink; 1: rtps)
-        # header[2] - |     LenL      |
-        # header[3] - |   Checksum    |
-
-        MAGIC = 83
-
-        len_bytes = len(data).to_bytes(2, "big")
-        LEN_H = len_bytes[0] & 127
-        LEN_L = len_bytes[1] & 255
-        CHECKSUM = MAGIC ^ LEN_H ^ LEN_L
-
-        header_ints = [MAGIC, LEN_H, LEN_L, CHECKSUM]
-        header_bytes = struct.pack("{}B".format(len(header_ints)), *header_ints)
-
-        self.__send(header_bytes)
-        self.__send(data)
-
-    def send_reboot(self, use_protocol_splitter_format=False):
-        if (not self.__next_baud_flightstack()):
-            return False
-
-        print("Attempting reboot on %s with baudrate=%d..." % (self.port.port, self.port.baudrate), file=sys.stderr)
-        if "ttyS" in self.port.port:
-            print("If the board does not respond, check the connection to the Flight Controller")
-        else:
-            print("If the board does not respond, unplug and re-plug the USB connector.", file=sys.stderr)
-
-        try:
-            send_fct = self.__send
-            if use_protocol_splitter_format:
-                send_fct = self.send_protocol_splitter_format
-
-            # try MAVLINK command first
-            self.port.flush()
-            send_fct(uploader.MAVLINK_REBOOT_ID1)
-            send_fct(uploader.MAVLINK_REBOOT_ID0)
-            # then try reboot via NSH
-            send_fct(uploader.NSH_INIT)
-            send_fct(uploader.NSH_REBOOT_BL)
-            send_fct(uploader.NSH_INIT)
-            send_fct(uploader.NSH_REBOOT)
-            self.port.flush()
-            self.port.baudrate = self.baudrate_bootloader
-        except Exception:
-            try:
-                self.port.flush()
-                self.port.baudrate = self.baudrate_bootloader
-            except Exception:
-                pass
-
-        return True
-
-
-def main():
-    # Parse commandline arguments
-    parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
-    parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
-    parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.")
-    parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
-    parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
-    parser.add_argument('--force-erase', action="store_true", help="Do not perform the blank check, always erase every sector of the application space")
-    parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
-    parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
-    parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
-    args = parser.parse_args()
-
-    if args.use_protocol_splitter_format:
-        print("Using protocol splitter format to reboot pixhawk!")
-
-    # warn people about ModemManager which interferes badly with Pixhawk
-    if os.path.exists("/usr/sbin/ModemManager"):
-        print("==========================================================================================================")
-        print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
-        print("==========================================================================================================")
-
-    print("Waiting for bootloader...")
-    # tell any GCS that might be connected to the autopilot to give up
-    # control of the serial port
-
-    # send to localhost and default GCS port
-    ipaddr = '127.0.0.1'
-    portnum = 14550
-
-    # COMMAND_LONG in MAVLink 1
-    heartbeatpacket = bytearray.fromhex('fe097001010000000100020c5103033c8a')
-    commandpacket = bytearray.fromhex('fe210101014c00000000000000000000000000000000000000000000803f00000000f6000000008459')
-
-    # initialize an UDP socket
-    s = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
-
-    # send heartbeat to initialize connection and command to free the link
-    s.sendto(heartbeatpacket, (ipaddr, portnum))
-    s.sendto(commandpacket, (ipaddr, portnum))
-
-    # close the socket
-    s.close()
-
-    # Spin waiting for a device to show up
-    try:
-        while True:
-            portlist = []
-            patterns = args.port.split(",")
-            # on unix-like platforms use glob to support wildcard ports. This allows
-            # the use of /dev/serial/by-id/usb-3D_Robotics on Linux, which prevents the upload from
-            # causing modem hangups etc
-            if "linux" in _platform or "darwin" in _platform or "cygwin" in _platform:
-                import glob
-                for pattern in patterns:
-                    portlist += glob.glob(pattern)
-            else:
-                portlist = patterns
-
-            baud_flightstack = [int(x) for x in args.baud_flightstack.split(',')]
-
-            successful = False
-            unsuitable_board = False
-            for port in portlist:
-
-                # print("Trying %s" % port)
-
-                # create an uploader attached to the port
-                try:
-                    if "linux" in _platform:
-                        # Linux, don't open Mac OS and Win ports
-                        if "COM" not in port and "tty.usb" not in port:
-                            up = uploader(port, args.baud_bootloader, baud_flightstack)
-                    elif "darwin" in _platform:
-                        # OS X, don't open Windows and Linux ports
-                        if "COM" not in port and "ACM" not in port:
-                            up = uploader(port, args.baud_bootloader, baud_flightstack)
-                    elif "cygwin" in _platform:
-                        # Cygwin, don't open native Windows COM and Linux ports
-                        if "COM" not in port and "ACM" not in port:
-                            up = uploader(port, args.baud_bootloader, baud_flightstack)
-                    elif "win" in _platform:
-                        # Windows, don't open POSIX ports
-                        if "/" not in port:
-                            up = uploader(port, args.baud_bootloader, baud_flightstack)
-                except Exception as e:
-                    # open failed, rate-limit our attempts
-                    time.sleep(0.05)
-                    print(f"Exception ignored: {e}")
-
-                    # and loop to the next port
-                    continue
-
-                found_bootloader = False
-                while True:
-                    up.open()
-
-                    # port is open, try talking to it
-                    try:
-                        # identify the bootloader
-                        up.identify()
-                        found_bootloader = True
-                        print()
-                        print(f"Found board id: {up.board_type},{up.board_rev} bootloader protocol revision {up.bl_rev} on {port}")
-                        break
-
-                    except (RuntimeError, serial.SerialException):
-
-                        if not up.send_reboot(args.use_protocol_splitter_format):
-                            break
-
-                        # wait for the reboot, without we might run into Serial I/O Error 5
-                        time.sleep(0.25)
-
-                        # always close the port
-                        up.close()
-
-                        # wait for the close, without we might run into Serial I/O Error 6
-                        time.sleep(0.3)
-
-                if not found_bootloader:
-                    # Go to the next port
-                    continue
-
-                try:
-                    # ok, we have a bootloader, try flashing it
-                    up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay, force_erase=args.force_erase)
-
-                    # if we made this far without raising exceptions, the upload was successful
-                    successful = True
-
-                except RuntimeError as e:
-                    # print the error
-                    print(f"\n\nError: {e}")
-
-                except FirmwareNotSuitableException:
-                    unsuitable_board = True
-                    up.close()
-                    continue
-
-                except IOError:
-                    up.close()
-                    continue
-
-                finally:
-                    # always close the port
-                    up.close()
-
-                # we could loop here if we wanted to wait for more boards...
-                if successful:
-                    sys.exit(0)
-                else:
-                    sys.exit(1)
-
-            if unsuitable_board:
-                # If we land here, we went through all ports, did not flash any
-                # board and found at least one unsuitable board.
-                # Exit with 2, so a caller can distinguish from other errors
-                sys.exit(2)
-
-            # Delay retries to < 20 Hz to prevent spin-lock from hogging the CPU
-            time.sleep(0.05)
-
-    # CTRL+C aborts the upload/spin-lock by interrupt mechanics
-    except KeyboardInterrupt:
-        print("\n Upload aborted by user.")
-        sys.exit(0)
-
-
-if __name__ == '__main__':
-    main()
-
-# vim: tabstop=4 expandtab shiftwidth=4 softtabstop=4
@@ -176,8 +176,10 @@ if [[ $INSTALL_NUTTX == "true" ]]; then

 		echo
 		echo "Fetching Xtensa compilers"
-		wget -q -P $DIR https://github.com/espressif/crosstool-NG/releases/download/esp-13.2.0_20240530/xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz
-		sudo tar -xf $DIR/xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz -C /opt
+		XTENSA_FILE_NAME=xtensa-esp-elf-13.2.0_20240530-x86_64-linux-gnu.tar.xz
+		wget -q -P $DIR https://github.com/espressif/crosstool-NG/releases/download/esp-13.2.0_20240530/$XTENSA_FILE_NAME
+		sudo tar -xf $DIR/$XTENSA_FILE_NAME -C /opt
+		rm $DIR/$XTENSA_FILE_NAME
 		echo 'export PATH=$PATH:/opt/xtensa-esp-elf/bin/' >> /home/$USER/.bashrc
 	fi

@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -34,7 +34,6 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_ST_LSM303D=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -31,6 +31,7 @@ CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
 CONFIG_UAVCANNODE_ESC_STATUS=y
 CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
 CONFIG_UAVCANNODE_GNSS_FIX=y
+CONFIG_UAVCANNODE_HARDPOINT_COMMAND=y
 CONFIG_UAVCANNODE_HYGROMETER_MEASUREMENT=y
 CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
 CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
@@ -0,0 +1,17 @@
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=n
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
@@ -15,6 +15,8 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
+CONFIG_DRIVERS_VTX=y
+CONFIG_VTX_CRSF_MSP_SUPPORT=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_BMI088_ACCELEROMETER_INT2=y
 CONFIG_COMMON_LIGHT=y
@@ -22,6 +24,7 @@ CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DATAMAN_PERSISTENT_STORAGE=n
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_AUTERION_AUTOSTARTER=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
@@ -91,3 +94,4 @@ CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_WQ_TTY_STACKSIZE=2500
@@ -60,6 +60,9 @@ then
 	set INA_CONFIGURED yes
 fi

+# Auterion auto starter
+auterion_autostarter start
+
 if param compare BAT1_V_CHANNEL -2
 then
 	if [ "$INA_CONFIGURED" != "yes" ]
@@ -160,7 +160,7 @@ CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_MAXARGUMENTS=24
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
@@ -26,10 +26,10 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_DRIVERS_AUTERION_AUTOSTARTER=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
@@ -55,8 +55,8 @@ then
 	set INA_CONFIGURED yes
 fi

-#Start Auterion Power Module selector for Skynode boards
-pm_selector_auterion start
+# Auterion auto starter
+auterion_autostarter start

 # Auterion's INA238 uses a shunt value of 0.0003 instead of 0.0005.
 param set-default INA238_SHUNT 0.0003
@@ -1,4 +1,6 @@
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_UXRCE_DDS_CLIENT=n
+CONFIG_SYSTEMCMDS_SD_BENCH=n
+CONFIG_SYSTEMCMDS_I2CDETECT=n
 CONFIG_MODULES_ZENOH=y
@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -30,7 +30,6 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -27,7 +27,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -28,7 +28,6 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
@@ -27,7 +27,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -24,7 +24,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -25,7 +25,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -24,7 +24,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -23,7 +23,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_ROBOCLAW=y
@@ -23,7 +23,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -16,36 +16,36 @@
 # CONFIG_NSH_DISABLE_CAT is not set
 # CONFIG_NSH_DISABLE_CD is not set
 # CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
-# CONFIG_NSH_DISABLE_DF is not set
+CONFIG_NSH_DISABLE_DATE=y
+CONFIG_NSH_DISABLE_DF=y
 # CONFIG_NSH_DISABLE_ECHO is not set
 # CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_GET is not set
+CONFIG_NSH_DISABLE_EXPORT=y
+CONFIG_NSH_DISABLE_FREE=y
+CONFIG_NSH_DISABLE_GET=y
 # CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
+CONFIG_NSH_DISABLE_MKDIR=y
 # CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_MOUNT is not set
 # CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
+CONFIG_NSH_DISABLE_PRINTF=y
+CONFIG_NSH_DISABLE_PS=y
+CONFIG_NSH_DISABLE_PSSTACKUSAGE=y
+CONFIG_NSH_DISABLE_PWD=y
 # CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
+CONFIG_NSH_DISABLE_RMDIR=y
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_SET is not set
 # CONFIG_NSH_DISABLE_SLEEP is not set
 # CONFIG_NSH_DISABLE_SOURCE is not set
 # CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_TIME is not set
+CONFIG_NSH_DISABLE_TIME=y
 # CONFIG_NSH_DISABLE_UMOUNT is not set
 # CONFIG_NSH_DISABLE_UNSET is not set
 # CONFIG_NSH_DISABLE_USLEEP is not set
@@ -19,7 +19,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -19,7 +19,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -19,7 +19,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -25,7 +25,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -14,7 +14,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -17,7 +17,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -16,7 +16,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -26,13 +26,11 @@ CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA220=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -24,12 +24,10 @@ CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA220=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -25,13 +25,11 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA220=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -27,13 +27,11 @@ CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA220=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -24,7 +24,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -19,7 +19,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -23,7 +23,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -20,7 +20,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -26,7 +26,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -27,7 +27,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -23,7 +23,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -24,7 +24,6 @@ CONFIG_DRIVERS_LIGHTS_RGBLED=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -14,7 +14,6 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_CYPHAL_BMS_SUBSCRIBER=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_CYPHAL=y
@@ -29,7 +29,6 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
@@ -26,7 +26,6 @@ CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
@@ -28,7 +28,6 @@ CONFIG_DRIVERS_IMU_ST_LSM303D=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -26,7 +26,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
@@ -25,7 +25,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -27,7 +27,6 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -77,8 +76,6 @@ CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_UUV_ATT_CONTROL=y
-CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
@@ -34,12 +34,11 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_AUTERION_AUTOSTARTER=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
@@ -72,8 +72,8 @@ then
 	# Internal magnetometer on I2c
 	bmm150 -I -R 6 start

-	# Auto start power monitors
-	pm_selector_auterion start
+	# Auterion auto starter
+	auterion_autostarter start

 	# Auterion's INA238 uses a shunt value of 0.0003 instead of 0.0005.
 	param set-default INA238_SHUNT 0.0003
@@ -24,7 +24,6 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -22,7 +22,6 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -0,0 +1,94 @@
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS6"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_ACTUATORS_VERTIQ_IO=y
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_HEATER=y
+CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
+CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_POWER_MONITOR_INA228=y
+CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_PX4IO=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_LIB_RL_TOOLS=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_ESC_BATTERY=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RAPTOR=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_USE_IFCI_CONFIGURATION=y
@@ -24,7 +24,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -16,7 +16,6 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
@@ -189,6 +189,7 @@ CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_MUTEX_TYPES=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
 CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
@@ -92,7 +92,7 @@ static bool phy_get_led(int led)
 {

 	if (g_ledmap[led] != 0) {
-		return imxrt_gpio_read(!g_ledmap[led]);
+		return !imxrt_gpio_read(g_ledmap[led]);
 	}

 	return false;
@@ -0,0 +1,89 @@
+CONFIG_BOARD_ETHERNET=y
+CONFIG_BOARD_ROOT_PATH="."
+CONFIG_BOARD_TESTING=y
+CONFIG_COMMON_SIMULATION=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_EKF2_VERBOSE_STATUS=y
+CONFIG_EXAMPLES_DYN_HELLO=y
+CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_EXAMPLES_FAKE_IMU=y
+CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
+CONFIG_EXAMPLES_HELLO=y
+CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
+CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
+CONFIG_EXAMPLES_WORK_ITEM=y
+CONFIG_FIGURE_OF_EIGHT=y
+CONFIG_LIB_RL_TOOLS=y
+CONFIG_MAVLINK_DIALECT="development"
+CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
+CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RAPTOR=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_PAYLOAD_DELIVERER=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_REPLAY=y
+CONFIG_MODULES_ROVER_ACKERMANN=y
+CONFIG_MODULES_ROVER_DIFFERENTIAL=y
+CONFIG_MODULES_ROVER_MECANUM=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_GZ_BRIDGE=y
+CONFIG_MODULES_SIMULATION_GZ_MSGS=y
+CONFIG_MODULES_SIMULATION_GZ_PLUGINS=y
+CONFIG_MODULES_SIMULATION_SENSOR_AGP_SIM=y
+CONFIG_MODULES_SPACECRAFT=n
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_UUV_ATT_CONTROL=y
+CONFIG_MODULES_UUV_POS_CONTROL=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=10000
+CONFIG_PLATFORM_POSIX=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DYN=y
+CONFIG_SYSTEMCMDS_FAILURE=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SHUTDOWN=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -24,7 +24,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
@@ -18,7 +18,6 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
@@ -23,7 +23,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -13,7 +13,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -31,7 +31,6 @@ CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_POWER_MONITOR_PM_SELECTOR_AUTERION=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_RC=y
@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -21,7 +21,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -22,7 +22,6 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
-CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
@@ -21,7 +21,7 @@ CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_MAGNETOMETER_QMC5883P=y
 CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
@@ -8,12 +8,12 @@ board_adc start
 # IMU
 if ! icm42688p -s -b 1 -R 4 start
 then
-	bmi270 -s -b 1 -R 4 start
+	bmi270 -s -b 1 -R 2 start
 fi

 if ! icm42688p -s -b 4 -R 4 start
 then
-	bmi270 -s -b 4 -R 4 start
+	bmi270 -s -b 4 -R 2 start
 fi

 # baro
@@ -23,4 +23,4 @@ then
 fi

 # internal mag
-ist8310 -I -R 6 start
+qmc5883p -I -R 4 start
@@ -42,20 +42,20 @@
 #define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0		/* DMA1:39 */
 #define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0 	/* DMA1:40 */

-#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_0		/* 3 DMA1:83 IMU */
-#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_0		/* 4 DMA1:84 IMU */
+#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_1		/* 3 DMA2:83 IMU */
+#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_1		/* 4 DMA2:84 IMU */

-#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0	/*  DMA1:41  GPS1 */
-#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0	/*  DMA1:42  GPS1 */
+// #define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0	/*  DMA1:41  GPS1 */
+// #define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0	/*  DMA1:42  GPS1 */

-#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_0	/*  DMA1:43 GPS2 */
-#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_0	/*  DMA1:44 GPS2 */
+// #define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_0	/*  DMA1:43 GPS2 */
+// #define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_0	/*  DMA1:44 GPS2 */

 #define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0	/*  DMA1:45 TELEM1 */
 #define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0	/*  DMA1:46 TELEM1 */

-#define DMAMAP_UART4_RX    DMAMAP_DMA12_UART4RX_1	/*  DMA1:63 TELEM2 */
-#define DMAMAP_UART4_TX    DMAMAP_DMA12_UART4TX_1	/*  DMA1:64 TELEM2 */
+#define DMAMAP_UART4_RX    DMAMAP_DMA12_UART4RX_1	/*  DMA2:63 TELEM2 */
+#define DMAMAP_UART4_TX    DMAMAP_DMA12_UART4TX_1	/*  DMA2:64 TELEM2 */

 #define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0	/*  DMA1:71 PX4IO */
 #define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0	/*  DMA1:72 PX4IO */
@@ -247,14 +247,10 @@ CONFIG_UART8_SERIAL_CONSOLE=y
 CONFIG_UART8_TXBUFSIZE=3000
 CONFIG_USART1_BAUD=57600
 CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_RXDMA=y
 CONFIG_USART1_TXBUFSIZE=1500
-CONFIG_USART1_TXDMA=y
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_RXDMA=y
 CONFIG_USART2_TXBUFSIZE=3000
-CONFIG_USART2_TXDMA=y
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_RXBUFSIZE=180
 CONFIG_USART3_RXDMA=y
--- a/Show More
+++ b/Show More