Add new Airspeed flight mode (only fixed-wing)

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
2026-06-21 07:00:35 +08:00 · 2021-07-16 13:40:07 +02:00
739 changed files with 21885 additions and 20045 deletions
@@ -13,6 +13,7 @@ pipeline {
            arm64: "px4io/px4-dev-aarch64:2021-05-04",
            base: "px4io/px4-dev-base-bionic:2021-05-04",
            nuttx: "px4io/px4-dev-nuttx-focal:2021-05-04",
+            snapdragon: "lorenzmeier/px4-dev-snapdragon:2020-04-01"
          ]

          def armhf_builds = [
@@ -38,7 +39,6 @@ pipeline {
                     "airmind_mindpx-v2_default",
                     "ark_can-flow_canbootloader",
                     "ark_can-flow_default",
-                     "atl_mantis-edu_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie_default",
                     "bitcraze_crazyflie21_default",
@@ -72,8 +72,8 @@ pipeline {
                     "nxp_fmuk66-v3_rtps",
                     "nxp_fmuk66-v3_socketcan",
                     "nxp_fmurt1062-v1_default",
-                     "nxp_ucans32k146_canbootloader",
                     "nxp_ucans32k146_default",
+                     "nxp_ucans32k146_canbootloader",
                     "omnibus_f4sd_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
@@ -106,8 +106,14 @@ pipeline {
            archive: true
          ]

+          def snapdragon_builds = [
+            target: ["atlflight_eagle_qurt", "atlflight_eagle_default"],
+            image: docker_images.snapdragon,
+            archive: false
+          ]
+
          def docker_builds = [
-            armhf_builds, base_builds, nuttx_builds_archive
+            armhf_builds, base_builds, nuttx_builds_archive//, snapdragon_builds
          ]

          for (def build_type = 0; build_type < docker_builds.size(); build_type++) {
@@ -159,7 +165,11 @@ pipeline {
 def createBuildNode(Boolean archive, String docker_image, String target) {
  return {

+    // TODO: fix the snapdragon image
    bypass_entrypoint = ''
+    if (docker_image == 'lorenzmeier/px4-dev-snapdragon:2020-04-01') {
+      bypass_entrypoint = ' --entrypoint=""'
+    }

    node {
      docker.withRegistry('https://registry.hub.docker.com', 'docker_hub_dagar') {
@@ -4,7 +4,7 @@ about: Suggest an idea for this project

 ---

-For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/).

 **Describe problem solved by the proposed feature**
 A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
@@ -1,24 +0,0 @@
-<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
-  <linearGradient id="smooth" x2="0" y2="100%">
-    <stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
-    <stop offset="1" stop-opacity=".1"/>
-  </linearGradient>
-
-  <mask id="round">
-    <rect width="90" height="20" rx="3" fill="#fff"/>
-  </mask>
-
-  <g mask="url(#round)">
-    <rect width="42" height="20" fill="#555"/>
-    <rect x="42" width="48" height="20" fill="#E01563"/>
-    <rect width="90" height="20" fill="url(#smooth)"/>
-  </g>
-
-  <g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
-    <text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
-    <text x="22" y="14">slack</text>
-    <text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
-    <text x="65" y="14">Join us!</text>
-  </g>
-</svg>
-
@@ -18,7 +18,6 @@ jobs:
          airmind_mindpx-v2,
          ark_can-flow,
          ark_can-gps,
-          atl_mantis-edu,
          av_x-v1,
          bitcraze_crazyflie,
          bitcraze_crazyflie21,
@@ -16,11 +16,10 @@ jobs:
      matrix:
        config: [
          ark_can-flow_default,
-          ark_can-gps_default,
          cuav_can-gps-v1_default,
          freefly_can-rtk-gps_default,
          holybro_can-gps-v1_default,
-          nxp_ucans32k146_default,
+          #nxp_ucans32k146_default,
          px4_fmu-v4_cannode
          ]
    steps:
@@ -154,4 +154,4 @@ jobs:
    - name: PX4 ROS2 bridge
      run: |
        git clone https://github.com/PX4/px4_ros_com.git
-        ./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml
+        ./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml
@@ -18,6 +18,10 @@
 	path = src/lib/matrix
 	url = https://github.com/PX4/PX4-Matrix.git
 	branch = master
+[submodule "boards/atlflight/cmake_hexagon"]
+	path = boards/atlflight/cmake_hexagon
+	url = https://github.com/PX4/cmake_hexagon.git
+	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
 	url = https://github.com/PX4/PX4-GPSDrivers.git
@@ -29,11 +33,14 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.1.0+
+	branch = px4_firmware_nuttx-10.0.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.1.0+
+	branch = px4_firmware_nuttx-10.0.0+
+[submodule "platforms/qurt/dspal"]
+	path = platforms/qurt/dspal
+	url = https://github.com/ATLFlight/dspal.git
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
@@ -63,6 +70,3 @@
 [submodule "src/lib/events/libevents"]
 	path = src/lib/events/libevents
 	url = https://github.com/mavlink/libevents.git
-[submodule "Tools/simulation-ignition"]
-	path = Tools/simulation-ignition
-	url = https://github.com/Auterion/px4-simulation-ignition.git
@@ -96,11 +96,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-gps_canbootloader
-    atl_mantis-edu_default:
-      short: atl_mantis-edu
-      buildType: MinSizeRel
-      settings:
-        CONFIG: atl_mantis-edu_default
    av_x-v1_default:
      short: av_x-v1
      buildType: MinSizeRel
@@ -443,10 +443,8 @@ endforeach()

 add_custom_command(OUTPUT ${uorb_graph_config}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/uorb_graph/create.py
-		${graph_module_list} --src-path src/lib
-		--merge-depends
+		${graph_module_list}
 		--exclude-path src/examples
-		--exclude-path src/lib/parameters # FIXME: enable & fix
 		--file ${PX4_SOURCE_DIR}/Tools/uorb_graph/graph_${uorb_graph_config}
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	COMMENT "Generating uORB graph"
@@ -143,24 +143,6 @@ pipeline {
          }
        }

-        stage('msg file docs') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-05-04' }
-          }
-          steps {
-            sh 'mkdir -p build/msg_docs; ./msg/tools/generate_msg_docs.py -d build/msg_docs'
-            dir('build') {
-              archiveArtifacts(artifacts: 'msg_docs/*.md')
-              stash includes: 'msg_docs/*.md', name: 'msg_documentation'
-            }
-          }
-          post {
-            always {
-              sh 'make distclean'
-            }
-          }
-        }
-
        stage('uORB graphs') {
          agent {
            docker {
@@ -174,8 +156,8 @@ pipeline {
            sh 'git fetch --all --tags'
            sh 'make uorb_graphs'
            dir('Tools/uorb_graph') {
-              archiveArtifacts(artifacts: 'graph_*.json')
-              stash includes: 'graph_*.json', name: 'uorb_graph'
+              archiveArtifacts(artifacts: 'graph_px4_sitl.json')
+              stash includes: 'graph_px4_sitl.json', name: 'uorb_graph'
            }
          }
          post {
@@ -201,15 +183,11 @@ pipeline {
            unstash 'metadata_airframes'
            unstash 'metadata_parameters'
            unstash 'metadata_module_documentation'
-            unstash 'msg_documentation'
-            unstash 'uorb_graph'
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_user_guide.git')
              sh('cp airframes.md px4_user_guide/en/airframes/airframe_reference.md')
              sh('cp parameters.md px4_user_guide/en/advanced_config/parameter_reference.md')
              sh('cp -R modules/*.md px4_user_guide/en/modules/')
-              sh('cp -R graph_*.json px4_user_guide/.vuepress/public/en/middleware/')
-              sh('cp -R msg_docs/*.md px4_user_guide/en/msg_docs/')
              sh('cd px4_user_guide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
              sh('cd px4_user_guide; git push origin master || true')
              sh('rm -rf px4_user_guide')
@@ -323,7 +301,7 @@ pipeline {
            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
              sh("git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/px4_ros_com.git -b ${BRANCH_NAME}")
              // deploy uORB RTPS ID map
-              sh('./msg/tools/uorb_to_ros_urtps_topics.py -i msg/tools/urtps_bridge_topics.yaml -o px4_ros_com/templates/urtps_bridge_topics.yaml')
+              sh('./msg/tools/uorb_to_ros_rtps_ids.py -i msg/tools/uorb_rtps_message_ids.yaml -o px4_ros_com/templates/uorb_rtps_message_ids.yaml')
              sh('cd px4_ros_com; git status; git add .; git commit -a -m "Update uORB RTPS ID map `date`" || true')
              sh('cd px4_ros_com; git push origin ${BRANCH_NAME} || true')
              // deploy uORB RTPS required tools
@@ -214,7 +214,7 @@ define colorecho
 endef

 # Get a list of all config targets boards/*/*.cmake
-ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 -name '*.cmake' -print | sed -e 's|boards\/||' | sed -e 's|\.cmake||' | sed -e 's|\/|_|g' | sort)
+ALL_CONFIG_TARGETS := $(shell find boards -maxdepth 3 -mindepth 3 ! -name '*common*' ! -name '*sdflight*' -name '*.cmake' -print | sed -e 's|boards\/||' | sed -e 's|\.cmake||' | sed -e 's|\/|_|g' | sort)

 # ADD CONFIGS HERE
 # --------------------------------------------------------------------
@@ -240,6 +240,16 @@ endef
 # All targets with just dependencies but no recipe must either be marked as phony (or have the special @: as recipe).
 .PHONY: all px4_sitl_default all_config_targets all_default_targets

+# Multi- config targets.
+eagle_default: atlflight_eagle_default atlflight_eagle_qurt
+eagle_rtps: atlflight_eagle_rtps atlflight_eagle_qurt-rtps
+
+excelsior_default: atlflight_excelsior_default atlflight_excelsior_qurt
+excelsior_rtps: atlflight_excelsior_rtps atlflight_excelsior_qurt-rtps
+
+.PHONY: eagle_default eagle_rtps
+.PHONY: excelsior_default excelsior_rtps
+
 # Other targets
 # --------------------------------------------------------------------

@@ -299,11 +309,9 @@ all_variants_%:
 	$(foreach a,$(filter $(subst all_variants_,,$@)_%, $(ALL_CONFIG_TARGETS)), $(call cmake-build,$(a)$(BUILD_DIR_SUFFIX)))

 uorb_graphs:
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --merge-depends --file Tools/uorb_graph/graph_full
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib/parameters --exclude-path src/modules/mavlink --merge-depends --file Tools/uorb_graph/graph_full_no_mavlink
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
-	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph


@@ -490,7 +498,7 @@ distclean: gazeboclean
 	@rm -rf "$(SRC_DIR)/build"
 	@git clean --force -X "$(SRC_DIR)/msg/" "$(SRC_DIR)/platforms/" "$(SRC_DIR)/posix-configs/" "$(SRC_DIR)/ROMFS/" "$(SRC_DIR)/src/" "$(SRC_DIR)/test/" "$(SRC_DIR)/Tools/"

-# Help / Error / Misc
+# Help / Error
 # --------------------------------------------------------------------

 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
@@ -504,7 +512,7 @@ help:
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
 		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
-		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
+		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(posix|eagle|Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
 	@echo "Use '$(MAKE) list_config_targets' for a list of configuration targets."
@@ -524,18 +532,3 @@ check_px4: $(call make_list,nuttx,"px4") \

 check_nxp: $(call make_list,nuttx,"nxp") \
 	sizes
-
-ifneq ($(ROS2_WS_DIR),)
-  ROS2_WS_DIR := $(basename ${ROS2_WS_DIR})
-else
-  ROS2_WS_DIR := ~/colcon_ws
-endif
-
-update_ros2_bridge:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --all
-
-update_px4_ros_com:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_ros_com
-
-update_px4_msgs:
-	@Tools/update_px4_ros2_bridge.sh --ws_dir ${ROS2_WS_DIR} --px4_msgs
@@ -4,11 +4,11 @@

 [![Nuttx Targets](https://github.com/PX4/PX4-Autopilot/workflows/Nuttx%20Targets/badge.svg)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22Nuttx+Targets%22?branch=master) [![SITL Tests](https://github.com/PX4/PX4-Autopilot/workflows/SITL%20Tests/badge.svg?branch=master)](https://github.com/PX4/PX4-Autopilot/actions?query=workflow%3A%22SITL+Tests%22)

-[![Slack](/.github/slack.svg)](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)
+[![Slack](https://px4-slack.herokuapp.com/badge.svg)](http://slack.px4.io)

 This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.

-PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.
+PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of the box.

 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
@@ -120,7 +120,6 @@ add_custom_command(
 	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
 	WORKING_DIRECTORY ${romfs_gen_root_dir}
 	DEPENDS ${romfs_tar_file}
-	VERBATIM
 	)

 add_custom_command(
@@ -34,10 +34,9 @@
 add_subdirectory(airframes)

 px4_add_romfs_files(
-	px4-rc.mavlink
 	px4-rc.params
-	px4-rc.rtps
 	px4-rc.simulator
+	px4-rc.mavlink
 	rc.replay
 	rcS
 )
@@ -8,6 +8,6 @@
 . ${R}etc/init.d/rc.mc_defaults

 param set-default MC_PITCHRATE_P 0.1
-param set-default MC_ROLLRATE_P 0.05
+param set-default MC_ROLLRATE_P 0.1

 set MIXER quad_x
@@ -11,6 +11,8 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+#param set CBRK_GPSFAIL 240024
+
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

@@ -11,6 +11,8 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+#param set CBRK_GPSFAIL 240024
+
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

@@ -42,9 +42,15 @@ param set-default NAV_LOITER_RAD 50

 param set-default RWTO_TKOFF 1

+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set FW_THR_SLEW_MAX 0.3
+
 param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_MAX_ROLL 10

+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set-default RWTO_MAX_THR 0.6
+
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

@@ -42,9 +42,15 @@ param set-default NAV_LOITER_RAD 50

 param set-default RWTO_TKOFF 1

+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set FW_THR_SLEW_MAX 0.3
+
 param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_MAX_ROLL 10

+# fix takeoff failure for JSBsim in autonomous mission mode.
+#param set RWTO_MAX_THR 0.6
+
 param set-default RWTO_PSP 8
 param set-default RWTO_AIRSPD_SCL 1.8

@@ -1,5 +1,5 @@
 #!/bin/sh
 # shellcheck disable=SC2154

-#param set-default MAV_SYS_ID $((px4_instance+1))
-#param set-default IMU_INTEG_RATE 250
+#param set MAV_SYS_ID $((px4_instance+1))
+#param set IMU_INTEG_RATE 250
@@ -1,4 +0,0 @@
-#!/bin/sh
-# shellcheck disable=SC2154
-
-micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
@@ -228,7 +228,8 @@ navigator start
 # Try to start the micrortps_client with UDP transport if module exists
 if px4-micrortps_client status > /dev/null 2>&1
 then
-	. px4-rc.rtps
+	# shellcheck disable=SC2154
+	micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
 fi

 if param greater -s MNT_MODE_IN -1
@@ -26,5 +26,3 @@ param set-default CBRK_SUPPLY_CHK 894281
 # - without safety switch
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027
-
-param set SIH_VEHICLE_TYPE 0
@@ -1,40 +0,0 @@
-#!/bin/sh
-#
-# @name SIH plane AERT
-#
-# @type Simulation
-# @class Plane
-#
-# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-set MIXER AERT
-set PWM_OUT 1234
-
-# set SYS_HITL to 2 to start the SIH and avoid sensors startup
-param set-default SYS_HITL 2
-
-# disable some checks to allow to fly:
-# - with usb
-param set-default CBRK_USB_CHK 197848
-# - without real battery
-param set-default CBRK_SUPPLY_CHK 894281
-# - without safety switch
-param set-default COM_PREARM_MODE 0
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default BAT_N_CELLS 3
-
-param set SIH_T_MAX 6.0
-param set SIH_MASS 0.3
-param set SIH_IXX 0.00402
-param set SIH_IYY 0.0144
-param set SIH_IZZ 0.0177
-param set SIH_IXZ 0.00046
-param set SIH_KDV 0.2
-
-param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
@@ -21,8 +21,8 @@
 . ${R}etc/init.d/rc.fw_defaults


-param set-default BAT1_CAPACITY 3300
-param set-default BAT1_N_CELLS 3
+param set-default BAT_CAPACITY 3300
+param set-default BAT_N_CELLS 3

 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_RATE 50
@@ -26,8 +26,7 @@ param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600

 param set-default SENS_BOARD_ROT 0
-set MAV_TYPE 8
-param set MAV_TYPE ${MAV_TYPE}
+        param set MAV_TYPE 8  # MAV_TYPE_FREE_BALLOON


 set MIXER IO_pass
@@ -1,207 +0,0 @@
-#!/bin/sh
-#
-# @name Advanced Technology Labs (ATL) Mantis EDU
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-#
-# @maintainer
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-set MIXER none
-set MIXER_AUX none
-
-
-# Battery settings
-param set-default BAT_CRIT_THR 0.20
-param set-default BAT_EMERGEN_THR 0.05
-param set-default BAT_LOW_THR 0.25
-
-param set-default BAT1_CAPACITY 2800.0
-param set-default BAT1_N_CELLS 3
-param set-default BAT1_R_INTERNAL 0.02
-param set-default BAT1_V_CHARGED 4.26
-param set-default BAT1_V_EMPTY 3.45
-
-param set-default CBRK_SUPPLY_CHK 894281
-
-param set-default COM_DISARM_LAND 0.1
-param set-default COM_DISARM_PRFLT 3
-param set-default COM_DL_LOSS_T 10
-param set-default COM_FLTMODE1 -1
-param set-default COM_FLTMODE2 -1
-param set-default COM_FLTMODE3 -1
-param set-default COM_FLTMODE4  2
-param set-default COM_FLTMODE5 -1
-param set-default COM_FLTMODE6  6
-param set-default COM_RC_LOSS_T 3
-param set-default COM_RC_OVERRIDE 1
-
-
-# ekf2
-param set-default EKF2_AID_MASK 35
-param set-default EKF2_BARO_DELAY 0
-param set-default EKF2_BARO_NOISE 2.0
-
-param set-default EKF2_BCOEF_X 31.5
-param set-default EKF2_BCOEF_Y 25.5
-
-param set-default EKF2_GPS_DELAY 100
-param set-default EKF2_GPS_POS_X 0.06
-param set-default EKF2_GPS_POS_Y 0.0
-param set-default EKF2_GPS_POS_Z 0.0
-param set-default EKF2_GPS_V_NOISE 0.5
-
-param set-default EKF2_IMU_POS_X 0.06
-param set-default EKF2_IMU_POS_Y 0.0
-param set-default EKF2_IMU_POS_Z 0.0
-
-param set-default EKF2_MAG_DELAY 0
-param set-default EKF2_MAG_NOISE 0.1
-
-param set-default EKF2_MIN_RNG 0.15
-
-param set-default EKF2_OF_DELAY 38
-param set-default EKF2_OF_GATE 2.0
-param set-default EKF2_OF_POS_X -0.035
-param set-default EKF2_OF_POS_Y 0.0
-param set-default EKF2_OF_POS_Z 0.033
-
-param set-default EKF2_PCOEF_XN -0.3
-param set-default EKF2_PCOEF_XP -0.4
-param set-default EKF2_PCOEF_YN -0.4
-param set-default EKF2_PCOEF_YP -0.4
-param set-default EKF2_PCOEF_Z 0.0
-
-param set-default EKF2_RNG_A_VMAX 1.0
-param set-default EKF2_RNG_AID 0
-param set-default EKF2_RNG_DELAY 55
-param set-default EKF2_RNG_POS_X -0.035
-param set-default EKF2_RNG_POS_Y 0.0
-param set-default EKF2_RNG_POS_Z 0.033
-
-param set-default EKF2_TERR_NOISE 1.0
-
-
-# Maximum allowed angle velocity in the landed state
-param set-default LNDMC_ROT_MAX 40.0
-
-# Maximum vertical velocity allowed in the landed state
-param set-default LNDMC_Z_VEL_MAX 0.7
-
-
-# filtering
-param set-default IMU_DGYRO_CUTOFF 50
-param set-default IMU_GYRO_CUTOFF 65
-
-
-# Pitch angle & rate setting
-param set-default MC_PITCHRATE_P 0.075
-param set-default MC_PITCHRATE_I 0.1
-param set-default MC_PITCHRATE_D 0.0005
-param set-default MC_PITCHRATE_MAX 360.0
-param set-default MC_PITCH_P 8.0
-
-# Roll angle & rate setting
-param set-default MC_ROLLRATE_P 0.055
-param set-default MC_ROLLRATE_I 0.1
-param set-default MC_ROLLRATE_D 0.0005
-param set-default MC_ROLLRATE_MAX 360.0
-param set-default MC_ROLL_P 8.0
-
-# Yaw angle & rate setting
-param set-default MC_YAWRATE_P 0.1
-param set-default MC_YAWRATE_I 0.1
-param set-default MC_YAWRATE_MAX 120.0
-param set-default MC_YAW_P 2.5
-
-param set-default MPC_ACC_DOWN_MAX 2.0
-param set-default MPC_ACC_HOR 3.0
-param set-default MPC_ACC_HOR_MAX 10.0
-param set-default MPC_ACC_UP_MAX 3.0
-param set-default MPC_ALT_MODE 0
-param set-default MPC_LAND_SPEED 0.5
-param set-default MPC_LAND_VEL_XY 10
-param set-default MPC_MAN_TILT_MAX 20
-param set-default MPC_YAWRAUTO_MAX 80.0
-param set-default MPC_POS_MODE 4
-param set-default MPC_THR_HOVER 0.54
-param set-default MPC_THR_MAX 0.9
-param set-default MPC_THR_MIN 0.06
-param set-default MPC_TILTMAX_AIR 30
-param set-default MPC_XY_P 1.0
-param set-default MPC_XY_VEL_D 0.005
-param set-default MPC_XY_VEL_I 0.02
-param set-default MPC_XY_VEL_P 0.15
-param set-default MPC_Z_P 2.0
-param set-default MPC_Z_VEL_D 0.0
-param set-default MPC_Z_VEL_I 0.02
-param set-default MPC_Z_VEL_MAX_DN 2.0
-param set-default MPC_Z_VEL_MAX_UP 3.0
-param set-default MPC_Z_VEL_P 0.27
-
-
-# gimbal configuration
-param set-default MNT_MODE_IN 1
-param set-default MNT_MODE_OUT 2
-param set-default MNT_MAN_PITCH 1
-
-
-# RC
-param set-default RC_CHAN_CNT       12
-
-param set-default RC_MAP_THROTTLE   1
-param set-default RC_MAP_ROLL       2
-param set-default RC_MAP_PITCH      3
-param set-default RC_MAP_YAW        4
-param set-default RC_MAP_FLTMODE    5
-param set-default RC_MAP_AUX1       7
-
-param set-default RC1_DZ            10
-param set-default RC1_MAX           3413
-param set-default RC1_MIN           683
-param set-default RC1_REV           1
-param set-default RC1_TRIM          683
-param set-default RC2_DZ            10
-param set-default RC2_MAX           3413
-param set-default RC2_MIN           683
-param set-default RC2_REV           -1
-param set-default RC2_TRIM          2048
-param set-default RC3_DZ            10
-param set-default RC3_MAX           3413
-param set-default RC3_MIN           683
-param set-default RC3_REV           1
-param set-default RC3_TRIM          2048
-param set-default RC4_DZ            10
-param set-default RC4_MAX           3413
-param set-default RC4_MIN           683
-param set-default RC4_REV           -1
-param set-default RC4_TRIM          2048
-param set-default RC5_DZ            10
-param set-default RC5_MAX           3414
-param set-default RC5_MIN           2048
-param set-default RC5_REV           1
-param set-default RC5_TRIM          2048
-param set-default RC7_DZ            10
-param set-default RC7_MAX           3413
-param set-default RC7_MIN           683
-param set-default RC7_REV           1
-param set-default RC7_TRIM          2048
-
-
-# optical flow
-param set-default SENS_FLOW_MAXR   7.4
-param set-default SENS_FLOW_MINHGT 0.15
-param set-default SENS_FLOW_MAXHGT 5.0
-param set-default SENS_FLOW_ROT    4
-
-
-mixer load /dev/tap_esc /etc/mixers/quad_x.main.mix
@@ -27,29 +27,48 @@ set PWM_OUT 1234


 # Attitude & rate gains
+#param set MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.15
+#param set MC_ROLLRATE_I 0.9
 param set-default MC_ROLLRATE_D 0.0013

+#param set MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.15
+#param set MC_PITCHRATE_I 1.1
 param set-default MC_PITCHRATE_D 0.0016

 param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.2
+#param set MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_D 0
 param set-default MC_YAW_FF 0.5

+#param set MC_ROLL_TC 0.19
+#param set MC_PITCH_TC 0.16
+
+# Manual mode settings: Unleash Draco R's power :)
+#param set MPC_MAN_TILT_MAX 70
+#param set MC_PITCHRATE_MAX 1600
+#param set MC_ROLLRATE_MAX 1600
+#param set MC_YAWRATE_MAX 700
 param set-default MPC_MANTHR_MAX 0.9
 param set-default MPC_MANTHR_MIN 0.08
+#param set MPC_MAN_TILT_MAX 35
+#param set MPC_TILTMAX_AIR 20

 # Filter settings
 param set-default IMU_DGYRO_CUTOFF 90
 param set-default IMU_GYRO_CUTOFF 100

+# Thrust curve (avoids the need for TPA)
+#param set THR_MDL_FAC 0.25
+
 # System
 param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_MIN 1100
 param set-default PWM_MAIN_RATE 0

+#param set SYS_FMU_TASK 1
 param set-default SENS_BOARD_ROT 10

 # EKF2
@@ -77,6 +96,7 @@ param set-default BAT1_SOURCE 0
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_DIV 10.14
 param set-default BAT1_A_PER_V 18.18
+#param set CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 2

 # Filter settings
@@ -86,6 +106,9 @@ param set-default IMU_DGYRO_CUTOFF 70
 # Don't try to be intelligent on RC loss: just cut the motors
 param set-default NAV_RCL_ACT 6

+# enable to use high-rate logging for better rate tracking analysis
+# param set SDLOG_PROFILE 19
+
 # TELEM1 ttyS1 - Wifi module
 param set-default MAV_0_CONFIG 101
 param set-default MAV_0_RATE 0
@@ -75,11 +75,23 @@ param set-default SENS_BOARD_ROT 2

 param set-default BAT1_SOURCE 0
 param set-default CBRK_IO_SAFETY 22027
+#param set COM_DISARM_LAND 3

 # Filter settings
 param set-default IMU_GYRO_CUTOFF 90
 param set-default IMU_DGYRO_CUTOFF 100

+# Don't try to be intelligent on RC loss: just cut the motors
+#param set NAV_RCL_ACT 6
+
 # enable to use high-rate logging for better rate tracking analysis
 param set-default SDLOG_PROFILE 27

+# TELEM1 ttyS1
+#param set MAV_0_CONFIG 101
+#param set MAV_0_MODE 2  # onboard
+#param set MAV_0_RATE 20000
+#param set SER_TEL1_BAUD 921600
+
+# TELEM2 ttyS2
+#param set MAV_1_CONFIG 0
@@ -27,21 +27,44 @@ set PWM_OUT 1234


 # Attitude & rate gains
+#param set MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.15
+#param set MC_ROLLRATE_I 0.9
 param set-default MC_ROLLRATE_D 0.0013

+#param set MC_PITCH_P 7
 param set-default MC_PITCHRATE_P 0.15
+#param set MC_PITCHRATE_I 1.1
 param set-default MC_PITCHRATE_D 0.0016

 param set-default MC_YAW_P 2.8
 param set-default MC_YAWRATE_P 0.2
+#param set MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_D 0

+#param set MC_ROLL_TC 0.19
+#param set MC_PITCH_TC 0.16
+
+# Manual mode settings: Unleash Draco R's power :)
+#param set MPC_MAN_TILT_MAX 70
+#param set MC_PITCHRATE_MAX 1600
+#param set MC_ROLLRATE_MAX 1600
+#param set MC_YAWRATE_MAX 700
 param set-default MPC_MANTHR_MIN 0.08
+#param set MPC_MAN_TILT_MAX 35
+#param set MPC_TILTMAX_AIR 20

 # Filter settings
 param set-default IMU_GYRO_CUTOFF 100

+# Thrust curve (avoids the need for TPA)
+#param set THR_MDL_FAC 0.25
+
+# Obsolete
+#param set PWM_MAIN_MAX 1950
+#param set PWM_MAIN_MIN 1100
+#param set PWM_MAIN_RATE 0
+
 # Sensors
 param set-default SENS_BOARD_ROT 10
 # Yaw 180
@@ -83,6 +106,7 @@ param set-default BAT1_SOURCE 0
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_DIV 10.14
 param set-default BAT1_A_PER_V 18.18
+#param set CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 2

 # Filter settings
@@ -91,6 +115,9 @@ param set-default IMU_GYRO_CUTOFF 90
 # Don't try to be intelligent on RC loss: just cut the motors
 param set-default NAV_RCL_ACT 6

+# enable to use high-rate logging for better rate tracking analysis
+# param set SDLOG_PROFILE 19
+
 # TELEM1 ttyS1 - Wifi module
 param set-default MAV_0_CONFIG 101
 param set-default MAV_0_RATE 0
@@ -38,6 +38,8 @@ param set-default MC_ACRO_R_MAX 1000
 param set-default MC_ACRO_P_MAX 1000
 param set-default MC_ACRO_Y_MAX 1000

+# param set NAV_RCL_ACT 6 # Lockdown
+
 param set-default PWM_MAIN_MIN 1075
 param set-default PWM_MAIN_RATE 400
 param set-default PWM_MAIN_DISARM 900
@@ -24,6 +24,9 @@

 . ${R}etc/init.d/rc.mc_defaults

+#Parameters here:
+param set LED_RGB_MAXBRT 8
+

 # Configure this as Quadrotor
 # set MAV_TYPE 14
@@ -189,7 +189,7 @@ param set-default CAL_ACC1_PRIO 0
 param set-default CAL_GYRO0_PRIO 255
 param set-default CAL_GYRO1_PRIO 0
 # Logger mode. Default(1) + estimator replay(2) + thermal calibration(4)
-param set-default SDLOG_PROFILE 6
+param set SDLOG_PROFILE 6

 # Do not start frsky_telemetry on port ttyS6 by default, PGA460 lives there. 500 is in arbitrary unused number.
 param set TEL_FRSKY_CONFIG 500
@@ -24,6 +24,7 @@ param set-default SYS_HAS_MAG 0
 param set-default EKF2_AID_MASK 2
 param set-default EKF2_MAG_TYPE 5

+param set-default BAT_N_CELLS 1
 param set-default BAT1_N_CELLS 1
 param set-default BAT1_SOURCE 1

@@ -53,6 +54,8 @@ param set-default MPC_Z_VEL_P_ACC 8
 param set-default MPC_Z_VEL_I_ACC 6
 param set-default MPC_HOLD_MAX_XY 0.1
 param set-default MPC_MAX_FLOW_HGT 3
+#param set IMU_GYRO_NF_FREQ 10
+#param set IMU_GYRO_NF_BW 20

 param set-default NAV_RCL_ACT 3

@@ -72,6 +72,7 @@ param set-default GND_MAX_ANG 3.1415
 param set-default RBCLW_BAUD 8
 param set-default RBCLW_COUNTS_REV 1200
 param set-default RBCLW_ADDRESS 128
+# param set SER_TEL4_BAUD 115200
 # 104 corresponds to Telem 4
 param set-default RBCLW_SER_CFG 104
 # Start this driver after setting parameters, because the driver uses some of those parameters.
@@ -20,6 +20,7 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+#param set CBRK_GPSFAIL 240024
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

@@ -20,6 +20,7 @@ param set-default NAV_DLL_ACT 0
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+#param set CBRK_GPSFAIL 240024
 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}

@@ -39,7 +39,6 @@ px4_add_romfs_files(
 	1001_rc_quad_x.hil
 	1002_standard_vtol.hil
 	1100_rc_quad_x_sih.hil
-	1101_rc_plane_sih.hil

 	# [2000, 2999] Standard planes"
 	2100_standard_plane
@@ -81,7 +80,6 @@ px4_add_romfs_files(
 	4052_holybro_qav250
 	4053_holybro_kopis2
 	4060_dji_matrice_100
-	4061_atl_mantis_edu
 	4071_ifo
 	4072_draco
 	4073_ifo-s
@@ -127,34 +127,6 @@ then
 	fi
 fi

-# Eagle Tree airspeed sensor external I2C
-if param compare -s SENS_EN_ETSASPD 1
-then
-	ets_airspeed start -X
-fi
-
-# Sensirion SDP3X differential pressure sensor external I2C
-if param compare -s SENS_EN_SDP3X 1
-then
-	if ! sdp3x_airspeed start -X
-	then
-		# try another common address
-		sdp3x_airspeed start -X -a 0x22
-	fi
-fi
-
-# TE MS4525 differential pressure sensor external I2C
-if param compare -s SENS_EN_MS4525 1
-then
-	ms4525_airspeed start -X
-fi
-
-# TE MS5525 differential pressure sensor external I2C
-if param compare -s SENS_EN_MS5525 1
-then
-	ms5525_airspeed start -X
-fi
-
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -171,6 +143,30 @@ then

 	# start last (wait for possible icm20948 passthrough mode)
 	ak09916 -X -q start
+
+	# differential pressure sensors
+	if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
+	then
+		# Always try to start the airspeed sensors
+		# even if their usage might be disabled
+		sdp3x_airspeed start -X -q
+		sdp3x_airspeed start -X -a 0x22 -q
+
+		# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
+		# detected as MS5525 because the chip manufacturer was so
+		# clever to assign the same I2C address and skip a WHO_AM_I
+		# register.
+		if [ $BOARD_FMUV3 = 21 ]
+		then
+			ms5525_airspeed start -X -b 2 -q
+		else
+			ms5525_airspeed start -X -q
+		fi
+
+		ms4525_airspeed start -X -q
+
+		ets_airspeed start -X -q
+	fi
 fi

 ###############################################################################
@@ -128,7 +128,7 @@ else
 	then
 		param reset_all
 	fi
-	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
+	if ver hwtypecmp V5X00 V5X90 V5Xa0
 	then
 		netman update -i eth0
 	fi
@@ -6,32 +6,6 @@ from subprocess import call, Popen
 from argparse import ArgumentParser
 import re
 import sys
-import datetime
-
-COLOR_RED    = "\x1b[31m"
-COLOR_GREEN  = "\x1b[32m"
-COLOR_YELLOW = "\x1b[33m"
-COLOR_WHITE  = "\x1b[37m"
-COLOR_RESET  = "\x1b[0m"
-
-def print_line(line):
-    if "WARNING" in line:
-        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
-    elif "WARN" in line:
-        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
-    elif "ERROR" in line:
-        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
-    elif "INFO" in line:
-        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
-
-    if "PASSED" in line:
-        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
-
-    if "FAILED" in line:
-        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
-
-    current_time = datetime.datetime.now()
-    print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')

 def monitor_firmware_upload(port, baudrate):
    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)
@@ -43,13 +17,13 @@ def monitor_firmware_upload(port, baudrate):
    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')

-        if len(serial_line) > 0:
-            print_line(serial_line)
-
        if "NuttShell (NSH)" in serial_line:
            sys.exit(0)
        elif "nsh>" in serial_line:
            sys.exit(0)
+        else:
+            if len(serial_line) > 0:
+                print(serial_line, end='')

        if time.time() > timeout_start + timeout:
            print("Error, timeout")
@@ -1,137 +0,0 @@
-#! /usr/bin/env python3
-
-import serial, time
-import subprocess
-from subprocess import call, Popen
-from argparse import ArgumentParser
-import re
-import sys
-
-COLOR_RED    = "\x1b[31m"
-COLOR_GREEN  = "\x1b[32m"
-COLOR_YELLOW = "\x1b[33m"
-COLOR_WHITE  = "\x1b[37m"
-COLOR_RESET  = "\x1b[0m"
-
-def print_line(line):
-    if "WARNING" in line:
-        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
-    elif "WARN" in line:
-        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
-    elif "ERROR" in line:
-        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
-    elif "INFO" in line:
-        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
-
-    if "PASSED" in line:
-        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
-
-    if "FAILED" in line:
-        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
-
-    print(line, end='')
-
-def do_param_set_cmd(port, baudrate, param_name, param_value):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
-
-    timeout_start = time.time()
-    timeout = 10  # 10 seconds
-
-    # wait for nsh prompt
-    while True:
-        ser.write("\n".encode("ascii"))
-        ser.flush()
-
-        serial_line = ser.readline().decode("ascii", errors='ignore')
-
-        if "nsh>" in serial_line:
-            break
-        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for prompt")
-            sys.exit(1)
-
-    # clear
-    ser.readlines()
-
-    # run command
-    timeout_start = time.time()
-    timeout = 10  # 10 seconds
-
-    cmd = "param set " + param_name + " " + param_value
-
-    # write command (param set) and wait for command echo
-    serial_cmd = '{0}\r\n'.format(cmd)
-    ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
-    while True:
-        serial_line = ser.readline().decode("ascii", errors='ignore')
-
-        if cmd in serial_line:
-            print_line(serial_line)
-            break
-        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout waiting for command echo")
-            break
-
-    # verify param value
-    cmd = "param show " + param_name
-    serial_cmd = '{0}\r\n'.format(cmd)
-    ser.write(serial_cmd.encode("ascii"))
-    ser.flush()
-
-    param_show_response = param_name + " ["
-
-    timeout_start = time.time()
-    timeout = 2  # 2 seconds
-
-    while True:
-        serial_line = ser.readline().decode("ascii", errors='ignore')
-
-        if param_show_response in serial_line:
-            print_line(serial_line)
-            current_param_value = serial_line.split(":")[-1].strip()
-
-            if (current_param_value == param_value):
-                sys.exit(0)
-            else:
-                sys.exit(1)
-        else:
-            if len(serial_line) > 0:
-                print_line(serial_line)
-
-            if time.time() > timeout_start + timeout:
-                if "nsh>" in serial_line:
-                    sys.exit(1) # error, command didn't complete successfully
-                elif "NuttShell (NSH)" in serial_line:
-                    sys.exit(1) # error, command didn't complete successfully
-
-        if len(serial_line) <= 0:
-            ser.write("\r\n".encode("ascii"))
-            ser.flush()
-
-        if time.time() > timeout_start + timeout:
-            print("Error, timeout")
-            sys.exit(-1)
-
-    ser.close()
-
-def main():
-    parser = ArgumentParser(description=__doc__)
-    parser.add_argument('--device', "-d", nargs='?', default=None, help='', required=True)
-    parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="Mavlink port baud rate (default=57600)", default=57600)
-    parser.add_argument("--name", "-p", dest="param_name", help="Parameter name")
-    parser.add_argument("--value", "-v", dest="param_value", help="Parameter value")
-    args = parser.parse_args()
-
-    do_param_set_cmd(args.device, args.baudrate, args.param_name, args.param_value)
-
-if __name__ == "__main__":
-   main()
@@ -6,32 +6,6 @@ from subprocess import call, Popen
 from argparse import ArgumentParser
 import re
 import sys
-import datetime
-
-COLOR_RED    = "\x1b[31m"
-COLOR_GREEN  = "\x1b[32m"
-COLOR_YELLOW = "\x1b[33m"
-COLOR_WHITE  = "\x1b[37m"
-COLOR_RESET  = "\x1b[0m"
-
-def print_line(line):
-    if "WARNING" in line:
-        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
-    elif "WARN" in line:
-        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
-    elif "ERROR" in line:
-        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
-    elif "INFO" in line:
-        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
-
-    if "PASSED" in line:
-        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
-
-    if "FAILED" in line:
-        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
-
-    current_time = datetime.datetime.now()
-    print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')

 def do_nsh_cmd(port, baudrate, cmd):
    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.1, xonxoff=True, rtscts=False, dsrdtr=False)
@@ -50,18 +24,15 @@ def do_nsh_cmd(port, baudrate, cmd):
            break
        else:
            if len(serial_line) > 0:
-                print_line(serial_line)
+                print(serial_line, end='')

        if time.time() > timeout_start + timeout:
            print("Error, timeout waiting for prompt")
            sys.exit(1)

-    # clear
-    ser.readlines()
-
    # run command
    timeout_start = time.time()
-    timeout = 1  # 1 second
+    timeout = 10  # 10 seconds

    success_cmd = "cmd succeeded!"

@@ -74,13 +45,9 @@ def do_nsh_cmd(port, baudrate, cmd):

        if cmd in serial_line:
            break
-        elif serial_line.startswith(success_cmd) and len(serial_line) <= len(success_cmd) + 2:
-            print_line(serial_line)
-            # we missed the echo, but command ran and succeeded
-            sys.exit(0)
        else:
            if len(serial_line) > 0:
-                print_line(serial_line)
+                print(serial_line, end='')

        if time.time() > timeout_start + timeout:
            print("Error, timeout waiting for command echo")
@@ -88,7 +55,7 @@ def do_nsh_cmd(port, baudrate, cmd):


    timeout_start = time.time()
-    timeout = 180 # 3 minutes
+    timeout = 30  # 30 seconds

    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')
@@ -97,7 +64,7 @@ def do_nsh_cmd(port, baudrate, cmd):
            break
        else:
            if len(serial_line) > 0:
-                print_line(serial_line)
+                print(serial_line, end='')

            if "nsh>" in serial_line:
                sys.exit(1) # error, command didn't complete successfully
@@ -8,35 +8,9 @@ import re
 import unittest
 import os
 import sys
-import datetime
-
-COLOR_RED    = "\x1b[31m"
-COLOR_GREEN  = "\x1b[32m"
-COLOR_YELLOW = "\x1b[33m"
-COLOR_WHITE  = "\x1b[37m"
-COLOR_RESET  = "\x1b[0m"
-
-def print_line(line):
-    if "WARNING" in line:
-        line = line.replace("WARNING", f"{COLOR_YELLOW}WARNING{COLOR_RESET}", 1)
-    elif "WARN" in line:
-        line = line.replace("WARN", f"{COLOR_YELLOW}WARN{COLOR_RESET}", 1)
-    elif "ERROR" in line:
-        line = line.replace("ERROR", f"{COLOR_RED}ERROR{COLOR_RESET}", 1)
-    elif "INFO" in line:
-        line = line.replace("INFO", f"{COLOR_WHITE}INFO{COLOR_RESET}", 1)
-
-    if "PASSED" in line:
-        line = line.replace("PASSED", f"{COLOR_GREEN}PASSED{COLOR_RESET}", 1)
-
-    if "FAILED" in line:
-        line = line.replace("FAILED", f"{COLOR_RED}FAILED{COLOR_RESET}", 1)
-
-    current_time = datetime.datetime.now()
-    print('[{0}] {1}'.format(current_time.isoformat(timespec='milliseconds'), line), end='')

 def do_test(port, baudrate, test_name):
-    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=0.2, xonxoff=True, rtscts=False, dsrdtr=False)
+    ser = serial.Serial(port, baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=True, rtscts=False, dsrdtr=False)

    timeout_start = time.time()
    timeout = 10  # 10 seconds
@@ -58,9 +32,6 @@ def do_test(port, baudrate, test_name):
            print("Error, timeout waiting for prompt")
            return False

-    # clear
-    ser.readlines()
-
    success = False

    # run test cmd
@@ -70,7 +41,7 @@ def do_test(port, baudrate, test_name):
    print('|======================================================================')

    timeout_start = time.time()
-    timeout = 2  # 2 seconds
+    timeout = 10  # 10 seconds

    # wait for command echo
    serial_cmd = '{0}\n'.format(cmd)
@@ -83,7 +54,7 @@ def do_test(port, baudrate, test_name):
            break
        else:
            if len(serial_line) > 0:
-                print_line(serial_line)
+                print(serial_line, end='')

        if time.time() > timeout_start + timeout:
            print("Error, timeout waiting for command echo")
@@ -91,15 +62,14 @@ def do_test(port, baudrate, test_name):


    # print results, wait for final result (PASSED or FAILED)
-    timeout = 300  # 5 minutes
+    timeout = 180  # 3 minutes
    timeout_start = time.time()
    timeout_newline = timeout_start

    while True:
        serial_line = ser.readline().decode("ascii", errors='ignore')
-
-        if len(serial_line) > 0:
-            print_line(serial_line)
+        if (len(serial_line) > 0):
+            print(serial_line, end='')

        if test_name + " PASSED" in serial_line:
            success = True
@@ -110,7 +80,7 @@ def do_test(port, baudrate, test_name):

        if time.time() > timeout_start + timeout:
            print("Error, timeout")
-            print(test_name + f" {COLOR_RED}FAILED{COLOR_RESET}")
+            print(test_name + " FAILED")
            success = False
            break

@@ -139,30 +109,15 @@ class TestHardwareMethods(unittest.TestCase):
    def test_bson(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))

-    def test_conv(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "conv"))
+    # def test_dataman(self):
+    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))

-    def test_dataman(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))
-
-    # def test_file(self):
-    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file"))
-
-    def test_file2(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "file2"))
-
-    def test_float(self):
+    def floattest_float(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "float"))

    def test_hrt(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "hrt"))

-    def test_int(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "int"))
-
-    def test_i2c_spi_cli(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "i2c_spi_cli"))
-
    def test_IntrusiveQueue(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "IntrusiveQueue"))

@@ -178,6 +133,21 @@ class TestHardwareMethods(unittest.TestCase):
    def test_matrix(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "matrix"))

+    def test_microbench_atomic(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_atomic"))
+
+    def test_microbench_hrt(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_hrt"))
+
+    def test_microbench_math(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_math"))
+
+    def test_microbench_matrix(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_matrix"))
+
+    def test_microbench_uorb(self):
+        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "microbench_uorb"))
+
    # def test_mixer(self):
    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "mixer"))

@@ -11,6 +11,9 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
 		# scumaker_pilotpi_arm64
 		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
+	elif [[ $@ =~ .*eagle.* ]] || [[ $@ =~ .*excelsior.* ]]; then
+		# eagle, excelsior
+		PX4_DOCKER_REPO="lorenzmeier/px4-dev-snapdragon:2020-04-01"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
 		# posix_rpi_cross, posix_bebop_default
 		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-02-04"
@@ -86,15 +86,8 @@ sleep 1

 source ${src_path}/Tools/setup_gazebo.bash ${src_path} ${src_path}/build/${target}

-# To use gazebo_ros ROS2 plugins
-if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
-	ros_args="-s libgazebo_ros_init.so -s libgazebo_ros_factory.so"
-else
-	ros_args=""
-fi
-
 echo "Starting gazebo"
-gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose $ros_args &
+gzserver ${src_path}/Tools/sitl_gazebo/worlds/${world}.world --verbose &
 sleep 5

 n=0
@@ -10,7 +10,7 @@ extra_args=
 baudrate=921600
 device=
 ip="127.0.0.1"
-while getopts ":b:d:p:qsr:f:i:loa" opt; do
+while getopts ":b:d:p:qsr:f:i:lo" opt; do
 	case $opt in
 		b)
 			baudrate=$OPTARG
@@ -39,9 +39,6 @@ while getopts ":b:d:p:qsr:f:i:loa" opt; do
 		o)
 			extra_args="$extra_args -disponly"
 			;;
-		a)
-			extra_args="$extra_args -fw" # aircraft
-			;;
 		\?)
 			echo "Invalid option: -$OPTARG" >&2
 			exit 1
@@ -13,7 +13,6 @@ import datetime
 from timeit import default_timer as timer
 os.environ['MAVLINK20'] = '1' # The commands require mavlink 2
 from argparse import ArgumentParser
-import signal

 try:
    from pymavlink import mavutil
@@ -25,8 +24,6 @@ except ImportError as e:
    print("")
    sys.exit(1)

-class LoggingCompleted(Exception):
-    pass

 class MavlinkLogStreaming():
    '''Streams log data via MAVLink.
@@ -52,7 +49,6 @@ class MavlinkLogStreaming():
        self.logging_started = False
        self.num_dropouts = 0
        self.target_component = 1
-        self.got_sig_int = False

    def debug(self, s, level=1):
        '''write some debug text'''
@@ -71,24 +67,13 @@ class MavlinkLogStreaming():
                mavutil.mavlink.MAV_CMD_LOGGING_STOP, 0,
                0, 0, 0, 0, 0, 0, 0)

-    def _int_handler(self, sig, frame):
-        self.got_sig_int = True
-
    def read_messages(self):
        ''' main loop reading messages '''
        measure_time_start = timer()
        measured_data = 0

        next_heartbeat_time = timer()
-        old_handler = signal.signal(signal.SIGINT, self._int_handler)
-
        while True:
-            if self.got_sig_int:
-                signal.signal(signal.SIGINT, old_handler)
-                self.got_sig_int = False
-                print('\nStopping log...')
-                self.stop_log()
-                # Continue reading until we get an ACK

            # handle heartbeat sending
            heartbeat_time = timer()
@@ -135,9 +120,6 @@ class MavlinkLogStreaming():
                        print('Logging started. Waiting for Header...')
                    else:
                        raise Exception('Logging start failed', m.result)
-                elif m.command == mavutil.mavlink.MAV_CMD_LOGGING_STOP and \
-                        m.result == mavutil.mavlink.MAV_RESULT_ACCEPTED:
-                    raise LoggingCompleted()
                return None, 0, 0

            # m is either 'LOGGING_DATA_ACKED' or 'LOGGING_DATA':
@@ -155,8 +137,7 @@ class MavlinkLogStreaming():

                if m.get_type() == 'LOGGING_DATA':
                    if not self.got_header_section:
-                        print('Header received in {:0.2f}s (size: {:.1f} KB)'.format(
-                              timer()-self.start_time, self.file.tell()/1024))
+                        print('Header received in {:0.2f}s'.format(timer()-self.start_time))
                        self.logging_started = True
                        self.got_header_section = True
                self.last_sequence = m.sequence
@@ -275,10 +256,14 @@ def main():
        print('Starting log...')
        mav_log_streaming.start_log()
        mav_log_streaming.read_messages()
+
+        print('Stopping log')
+        mav_log_streaming.stop_log()
+
    except KeyboardInterrupt:
-        print('Aborting')
-    except LoggingCompleted:
-        print('Done')
+        print('Stopping log')
+        mav_log_streaming.stop_log()
+

 if __name__ == '__main__':
    main()
@@ -18,37 +18,32 @@ The motors in **green** rotate clockwise, the ones in **blue** counterclockwise.
 If present, PWM AUX channels are commonly labelled **AUX OUT**.

 <style>
-div.frame_common table, div.frame_common table {
+table {
   display: table;
   table-layout: fixed;
   margin-bottom: 5px;
 }
-
-div.frame_common table {
+table.common {
   float: right; 
   width: 70%;
 }
-
-div.frame_common img {
-  max-height: 180px;
-  width: 29%;
-  padding-top: 10px;
-}
-
-div.frame_variant table {
+table.airframes {
   width: 100%;
 }
-
-div.frame_variant th:nth-child(1) {
+table.airframes th:nth-child(1) {
  width: 30%;
  }

-div.frame_variant tr > * {
+tr > * {
    vertical-align : top;
 }
-
-div.frame_variant td, div.frame_variant th {
+td, th {
  text-align : left;
+  }
+img {
+  max-height: 180px;
+  width: 29%;
+  padding-top: 10px;
 }
 </style>\n\n"""
 
@@ -66,7 +61,7 @@ div.frame_variant td, div.frame_variant th {

            # Display an image of the frame
            image_name = group.GetImageName()
-            result += '<div class="frame_common">\n'
+            result += '<div>\n'
            image_name = image_path + image_name
            result += '<img src="%s.svg"/>\n' % (image_name)

@@ -98,7 +93,7 @@ div.frame_variant td, div.frame_variant th {
                    outputs_prev[i] = ''

            if outputs_match[0] or outputs_match[1]:
-                result += '<table>\n'
+                result += '<table class="common">\n'
                result += ' <thead>\n'
                result += '   <tr><th>Common Outputs</th></tr>\n'
                result += ' </thead>\n'
@@ -108,8 +103,7 @@ div.frame_variant td, div.frame_variant th {

            result += '</div>\n\n'

-            result += '<div class="frame_variant">\n'
-            result += '<table>\n'
+            result += '<table class="generic">\n'
            result += ' <thead>\n'
            result += '   <tr><th>Name</th><th></th></tr>\n'
            result += ' </thead>\n'
@@ -162,7 +156,7 @@ div.frame_variant td, div.frame_variant th {


            #Close the table.
-            result += '</tbody>\n</table>\n</div>\n\n'
+            result += '</tbody></table>\n\n'

        self.output = result

@@ -1,23 +0,0 @@
-#!/bin/bash
-#
-# Setup environment to make PX4 visible to Gazebo.
-#
-# Note, this is not necessary if using a ROS catkin workspace with the px4
-# package as the paths are exported.
-#
-# License: according to LICENSE.md in the root directory of the PX4 Firmware repository
-
-if [ "$#" != 2 ]; then
-    echo -e "usage: source setup_gazebo.bash src_dir build_dir\n"
-    return 1
-fi
-
-SRC_DIR=$1
-BUILD_DIR=$2
-
-# setup Gazebo env and update package path
-export LD_LIBRARY_PATH=$LD_LIBRARY_PATH:${SRC_DIR}/build/px4_sitl_default/build_ign_gazebo
-export IGN_GAZEBO_SYSTEM_PLUGIN_PATH=$IGN_GAZEBO_SYSTEM_PLUGIN_PATH:${SRC_DIR}/build/px4_sitl_default/build_ign_gazebo
-export IGN_GAZEBO_RESOURCE_PATH=$IGN_GAZEBO_RESOURCE_PATH:${SRC_DIR}/Tools/simulation-ignition/models
-
-echo -e "LD_LIBRARY_PATH $LD_LIBRARY_PATH"
@@ -56,13 +56,6 @@ else
    follow_mode=""
 fi

-# To use gazebo_ros ROS2 plugins
-if [[ -n "$ROS_VERSION" ]] && [ "$ROS_VERSION" == "2" ]; then
-	ros_args="-s libgazebo_ros_init.so -s libgazebo_ros_factory.so"
-else
-	ros_args=""
-fi
-
 if [ "$program" == "jmavsim" ]; then
 	jmavsim_pid=`ps aux | grep java | grep "\-jar jmavsim_run.jar" | awk '{ print $2 }'`
 	if [ -n "$jmavsim_pid" ]; then
@@ -140,7 +133,7 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 				world_path="$PX4_SITL_WORLD"
 			fi
 		fi
-		gzserver $verbose $world_path $ros_args &
+		gzserver $verbose $world_path &
 		SIM_PID=$!

 		# Check all paths in ${GAZEBO_MODEL_PATH} for specified model
@@ -184,10 +177,6 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 		echo "You need to have gazebo simulator installed!"
 		exit 1
 	fi
-elif [ "$program" == "ignition" ] && [ -z "$no_sim" ]; then
-	echo "Ignition Gazebo"
-	source "$src_path/Tools/setup_ignition.bash" "${src_path}" "${build_path}"
-	ign gazebo -r "${src_path}/Tools/simulation-ignition/worlds/ignition.world"&
 elif [ "$program" == "flightgear" ] && [ -z "$no_sim" ]; then
 	echo "FG setup"
 	cd "${src_path}/Tools/flightgear_bridge/"
@@ -23,7 +23,7 @@ parser.add_argument('-e', '--exclude-path', action='append',
                    help='Excluded path(s), can be specified multiple times',
                    default=[])
 parser.add_argument('--merge-depends', action='store_true',
-                    help='Merge library topics in the modules that depend on them.')
+                    help='Merge library topics inte the modules that depend on them.')
 parser.add_argument('-v','--verbosity', action='count',
                    help='increase output verbosity; primarily for debugging; repeat for more detail',
                    default=0)
@@ -422,7 +422,6 @@ class Graph(object):
        found_module_def = False
        found_module_depends = False
        found_library_def = False
-        scope_added = False
        for line in datafile:
            if 'px4_add_module' in line: # must contain 'px4_add_module'
                found_module_def = True
@@ -433,7 +432,6 @@ class Graph(object):
                    library_name = tokens[1].split()[0].strip().rstrip(')')
                    library_scope = LibraryScope(library_name)
                    self._current_scope.append(library_scope)
-                    scope_added = True
                    self._found_libraries[library_name] = library_scope
                    if self._in_scope():
                        log.debug('    >> found library: ' + library_name)
@@ -445,18 +443,16 @@ class Graph(object):
            elif found_module_depends:
                # two tabs is a *sketchy* heuristic -- spacing isn't guaranteed by cmake;
                # ... but the hard-tabs *is* specified by PX4 coding standards, so it's likely to be consistent
-                if line.startswith('\t\t') and not line.strip().startswith('#'):
+                if line.startswith('\t\t'):
                    depends = [dep.strip() for dep in line.split()]
                    for name in depends:
-                        log.debug('        >> {:}: found module dep: {:}'
-                            .format(self._current_scope[-1].name, name))
                        self._current_scope[-1].add_dependency(name)
                        if kwargs['merge_depends']:
                            if (0 < len(self._scope_whitelist)) and self._current_scope[-1].name in self._scope_whitelist:
                                # if we whitelist a module with dependencies, whitelist the dependencies, too
                                self._scope_whitelist.add(name)

-                elif line.strip() != "":
+                else:
                    found_module_depends = False  ## done with the 'DEPENDS' section.

            words = line.split()
@@ -465,21 +461,17 @@ class Graph(object):
                module_name = words[1]
                module_scope = ModuleScope(module_name)
                self._current_scope.append(module_scope)
-                scope_added = True
                self._found_modules[module_name] = module_scope
                if self._in_scope():
                    log.debug('    >> Found module name: ' + module_scope.name)

-        return scope_added
+        return (found_library_def or found_module_def)


    def _process_source_file(self, file_name):
        """ extract information from a single source file """

-        current_scope = self._get_current_scope()
-        log.debug( "        >> {:}extracting topics from file: {:}"
-            .format(current_scope.name+": " if current_scope is not None else "",
-            file_name))
+        log.debug( "        >> extracting topics from file: " + file_name )

        with codecs.open(file_name, 'r', 'utf-8') as f:
            try:
@@ -489,6 +481,7 @@ class Graph(object):
                return


+            current_scope = self._get_current_scope()
            if current_scope:
                if current_scope.name in self._scope_blacklist:
                    return
@@ -680,7 +673,7 @@ class OutputJSON(object):
            node['color'] = topic_colors[topic]
            # url is opened when double-clicking on the node
            # TODO: does not work for multi-topics
-            node['url'] = 'https://github.com/PX4/PX4-Autopilot/blob/master/msg/'+topic+'.msg'
+            node['url'] = 'https://github.com/PX4/Firmware/blob/master/msg/'+topic+'.msg'
            nodes.append(node)

        data['nodes'] = nodes
@@ -1,135 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-agent_template_files_updated=0
-code_generator_files_updated=0
-
-# parse help argument
-if [[ $1 == "-h" ]] || [[ $1 == "--help" ]]; then
-  echo -e "Usage: update_px4_ros2_bridge.bash [options...] \t This script allows to update px4_ros_com and px4_msgs in a specified directory." >&2
-  echo
-  echo -e "\t--ws_dir \t\t Location of the ament/colcon workspace. Default: $HOME/colcon_ws."
-  echo -e "\t--px4_ros_com \t\t Updates px4_ros_com microRTPS agent code generation and templates."
-  echo -e "\t--px4_msgs \t\t Updates px4_msgs messages definition files."
-  echo -e "\t--all \t\t Updates both px4_ros_com and px4_msgs."
-  echo
-  exit 0
-fi
-
-# parse the arguments
-while [ $# -gt 0 ]; do
-  if [[ $1 == *"--"* ]]; then
-    v="${1/--/}"
-    if [ ! -z $2 ]; then
-      declare $v="$2"
-    else
-      declare $v=1
-    fi
-  fi
-  shift
-done
-
-# get script directory
-SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-
-# get PX4-Autopilot directory
-PX4_DIR=$(cd "$(dirname "$SCRIPT_DIR")" && pwd)
-
-function compare_and_update () {
-  cmp -s "$1" "$2"
-  if [ $? -eq 1 ]; then
-    cp "$1" "$2"
-    return 0
-  fi
-
-  return 1;
-}
-
-# update microRTPS agent code generators / helpers
-function update_agent_code {
-  declare -a templates=( \
-    "microRTPS_agent.cpp.em" \
-    "microRTPS_timesync.cpp.em" \
-    "microRTPS_timesync.h.em" \
-    "microRTPS_transport.cpp" \
-    "microRTPS_transport.h" \
-    "Publisher.cpp.em" \
-    "Publisher.h.em" \
-    "Subscriber.cpp.em" \
-    "Subscriber.h.em" \
-    "RtpsTopics.cpp.em" \
-    "RtpsTopics.h.em" \
-    )
-
-  for file in ${templates[@]}; do
-    compare_and_update "$PX4_DIR/msg/templates/urtps/$file" "$ws_dir/src/px4_ros_com/templates/$file" \
-      && echo -e "--\t\t- '$ws_dir/src/px4_ros_com/templates/$file' updated" && ((agent_template_files_updated+=1))
-  done
-  if [ $agent_template_files_updated -eq 0 ]; then
-    echo -e "--\t\t- No template files updated"
-  elif [ $agent_template_files_updated -eq 1 ]; then
-    echo -e "--\t\t  - 1 template file updated"
-  else
-    echo -e "--\t\t  - $agent_template_files_updated template files updated"
-  fi
-}
-
-# update microRTPS agent code templates
-function update_agent_templates {
-  declare -a code_generators=( \
-    "uorb_rtps_classifier.py" \
-    "generate_microRTPS_bridge.py" \
-    "px_generate_uorb_topic_files.py" \
-    )
-  for file in ${code_generators[@]}; do
-    compare_and_update "$PX4_DIR/msg/tools/$file $ws_dir/src/px4_ros_com/scripts/$file" \
-      && echo -e "--\t\t- '$ws_dir/src/px4_ros_com/scripts/$file' updated" && ((code_generator_files_updated+=1))
-  done
-  if [ $code_generator_files_updated -eq 0 ]; then
-    echo -e "--\t\t- No code generators / helpers files updated"
-  elif [ $code_generator_files_updated -eq 1 ]; then
-    echo -e "--\t\t  - 1 code generator / helper file updated"
-  else
-    echo -e "--\t\t  - $code_generator_files_updated code generator / helper files updated"
-  fi
-}
-
-# update px4_ros_com files
-function update_px4_ros_com {
-  python3 $PX4_DIR/msg/tools/uorb_to_ros_urtps_topics.py -i $PX4_DIR/msg/tools/urtps_bridge_topics.yaml -o $ws_dir/src/px4_ros_com/templates/urtps_bridge_topics.yaml
-  echo -e "---------------          \033[1mmicroRTPS agent code generation and templates update\033[0m          ----------------"
-  echo "-------------------------------------------------------------------------------------------------------"
-  update_agent_code
-  update_agent_templates
-  return 0
-}
-
-# function to update px4_msgs
-function update_px4_msgs {
-  find "$ws_dir/src/px4_msgs/msg/" -maxdepth 1 -type f -delete
-  python3 $PX4_DIR/msg/tools/uorb_to_ros_msgs.py $PX4_DIR/msg/ $ws_dir/src/px4_msgs/msg/
-}
-
-# decisor
-echo "-------------------------------------------------------------------------------------------------------"
-if [ -d "${ws_dir}" ]; then
-  ws_dir=$(cd "$ws_dir" && pwd)
-  if [ ! -z ${all} ]; then
-    update_px4_ros_com
-    echo "-------------------------------------------------------------------------------------------------------"
-    update_px4_msgs
-  elif [ ! -z ${px4_ros_com} ]; then
-    update_px4_ros_com
-    echo "-------------------------------------------------------------------------------------------------------"
-  elif [ ! -z ${px4_msgs} ]; then
-    update_px4_msgs
-  fi
-  echo -e "--------------------------------          \033[0;32mUpdate successful!\033[0m          ---------------------------------"
-  echo "-------------------------------------------------------------------------------------------------------"
-  exit 0
-else
-  echo -e "-- \033[0;31mWorkspace directory doesn't exist...\033[0m"
-  echo -e "----------------------------------          \033[0;31mUpdate failed!\033[0m          -----------------------------------"
-  echo "-------------------------------------------------------------------------------------------------------"
-  exit $ERRCODE
-fi
@@ -1,6 +1,9 @@

 px4_add_board(
 	PLATFORM nuttx
+	VENDOR airmind
+	MODEL mindpx-v2
+	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
@@ -90,6 +90,7 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
+CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -98,6 +99,9 @@ CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_MB=y
+CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -2,6 +2,9 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

 px4_add_board(
 	PLATFORM nuttx
+	VENDOR ark
+	MODEL can-flow
+	LABEL canbootloader
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
@@ -2,6 +2,9 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

 px4_add_board(
 	PLATFORM nuttx
+	VENDOR ark
+	MODEL can-flow
+	LABEL debug
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
@@ -2,6 +2,9 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

 px4_add_board(
 	PLATFORM nuttx
+	VENDOR ark
+	MODEL can-flow
+	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_FLASH
@@ -36,7 +36,7 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LIB_BOARDCTL=y
-CONFIG_FS_PROCFS_MAX_TASKS=0
+CONFIG_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
 CONFIG_NUNGET_CHARS=0
@@ -70,6 +70,7 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
+CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -78,6 +79,9 @@ CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_MB=y
+CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -2,6 +2,9 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

 px4_add_board(
 	PLATFORM nuttx
+	VENDOR ark
+	MODEL can-gps
+	LABEL canbootloader
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
@@ -2,6 +2,9 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

 px4_add_board(
 	PLATFORM nuttx
+	VENDOR ark
+	MODEL can-gps
+	LABEL debug
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
@@ -2,6 +2,9 @@ include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

 px4_add_board(
 	PLATFORM nuttx
+	VENDOR ark
+	MODEL can-gps
+	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	#CONSTRAINED_FLASH
@@ -36,7 +36,7 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LIB_BOARDCTL=y
-CONFIG_FS_PROCFS_MAX_TASKS=0
+CONFIG_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
 CONFIG_NUNGET_CHARS=0
@@ -70,6 +70,7 @@ CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
+CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
 CONFIG_NSH_ARGCAT=y
@@ -78,6 +79,9 @@ CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_MB=y
+CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -1,60 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m7
-	ROMFSROOT px4fmu_common
-	DRIVERS
-		adc/board_adc
-		barometer/maiertek/mpc2520
-		camera_capture
-		gps
-		#heater
-		imu/invensense/icm20602
-		magnetometer/isentek/ist8310
-		tap_esc
-	MODULES
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		events
-		flight_mode_manager
-		gyro_calibration
-		gyro_fft
-		land_detector
-		load_mon
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		sensors
-		sih
-		vmount
-	SYSTEMCMDS
-		bl_update
-		dmesg
-		dumpfile
-		hardfault_log
-		led_control
-		mixer
-		motor_ramp
-		motor_test
-		param
-		perf
-		reboot
-		shutdown
-		system_time
-		top
-		topic_listener
-		tune_control
-		uorb
-		ver
-		work_queue
-	)
@@ -1,13 +0,0 @@
-{
-    "board_id": 97,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the Advanced Technology Labs (ATL) Mantis EDU (V18S) board",
-    "image": "",
-    "build_time": 0,
-    "summary": "atl_mantis-edu",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 2064384,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,22 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default SYS_AUTOSTART 4061
-
-param set-default COM_ARM_SDCARD 0
-
-param set-default SENS_EXT_I2C_PRB 0
-
-param set-default EKF2_MULTI_IMU 1
-param set-default EKF2_MULTI_MAG 1
-param set-default SENS_IMU_MODE 0
-param set-default SENS_MAG_MODE 0
-
-param set-default EV_TSK_STAT_DIS 1
-
-set LOGGER_ARGS "-m mavlink"
-
-# Start esc
-tap_esc start -d /dev/ttyS4 -n 4
@@ -1,19 +0,0 @@
-#!/bin/sh
-#
-# board specific MAVLink startup script.
-#------------------------------------------------------------------------------
-
-set GIMBAL_TTY /dev/ttyS3
-set MAV_RATE 40000
-set BAUDRATE 500000
-
-mavlink start -r ${MAV_RATE} -d ${GIMBAL_TTY} -b ${BAUDRATE}
-mavlink stream -d ${GIMBAL_TTY} -s SYSTEM_TIME -r 0.5
-mavlink stream -d ${GIMBAL_TTY} -s AUTOPILOT_STATE_FOR_GIMBAL_DEVICE -r 20
-mavlink stream -d ${GIMBAL_TTY} -s GIMBAL_DEVICE_SET_ATTITUDE -r 20
-
-# optical flow
-mavlink start -d /dev/ttyS2 -m custom -b 500000
-
-# Start MAVLink on the USB port
-mavlink start -d /dev/ttyACM0
@@ -1,17 +0,0 @@
-#!/bin/sh
-#
-# board specific sensors init
-#------------------------------------------------------------------------------
-
-board_adc start
-
-# SPI1 icm20602 IMU
-icm20602 start -s -b 1 -R 8
-
-# I2C2 ist8310 magnetometer
-ist8310 start -I -b 2 -R 14
-
-# I2C4 mpc2520 barometer
-mpc2520 start -I -b 4
-
-gps start -d /dev/ttyS0 -p ubx
@@ -1,332 +0,0 @@
-/************************************************************************************
- * nuttx-configs/px4_fmu-v5/include/board.h
- *
- *   Copyright (C) 2016-2018 Gregory Nutt. All rights reserved.
- *   Authors: David Sidrane <david_s5@nscdg.com>
- *
- * 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 NuttX 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.
- *
- ************************************************************************************/
-#ifndef __NUTTX_CONFIG_PX4_FMU_V5_INCLUDE_BOARD_H
-#define __NUTTX_CONFIG_PX4_FMU_V5_INCLUDE_BOARD_H
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-#include "board_dma_map.h"
-
-#include <nuttx/config.h>
-
-#ifndef __ASSEMBLY__
-# include <stdint.h>
-#endif
-
-#include "stm32_rcc.h"
-#include "stm32_sdmmc.h"
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-
-/* Clocking *************************************************************************/
-/* The px4_fmu-v5  board provides the following clock sources:
- *
- *   X301: 16 MHz crystal for HSE
- *
- * So we have these clock source available within the STM32
- *
- *   HSI: 16 MHz RC factory-trimmed
- *   HSE: 16 MHz crystal for HSE
- */
-
-#define STM32_BOARD_XTAL        16000000ul
-
-#define STM32_HSI_FREQUENCY     16000000ul
-#define STM32_LSI_FREQUENCY     32000
-#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-#define STM32_LSE_FREQUENCY     0
-
-/* Main PLL Configuration.
- *
- * PLL source is HSE = 16,000,000
- *
- * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
- * Subject to:
- *
- *     2 <= PLLM <= 63
- *   192 <= PLLN <= 432
- *   192 MHz <= PLL_VCO <= 432MHz
- *
- * SYSCLK  = PLL_VCO / PLLP
- * Subject to
- *
- *   PLLP = {2, 4, 6, 8}
- *   SYSCLK <= 216 MHz
- *
- * USB OTG FS, SDMMC and RNG Clock = PLL_VCO / PLLQ
- * Subject to
- *   The USB OTG FS requires a 48 MHz clock to work correctly. The SDMMC
- *   and the random number generator need a frequency lower than or equal
- *   to 48 MHz to work correctly.
- *
- * 2 <= PLLQ <= 15
- */
-
-/* Highest SYSCLK with USB OTG FS clock = 48 MHz
- *
- * PLL_VCO = (16,000,000 / 8) * 216 = 432 MHz
- * SYSCLK  = 432 MHz / 2 = 216 MHz
- * USB OTG FS, SDMMC and RNG Clock = 432 MHz / 9 = 48 MHz
- */
-#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
-#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(216)
-#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
-#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(9)
-
-#define STM32_VCO_FREQUENCY     ((STM32_HSE_FREQUENCY / 8) * 216)
-#define STM32_SYSCLK_FREQUENCY  (STM32_VCO_FREQUENCY / 2)
-#define STM32_OTGFS_FREQUENCY   (STM32_VCO_FREQUENCY / 9)
-
-/* Configure factors for  PLLSAI clock */
-#define CONFIG_STM32F7_PLLSAI 1
-#define STM32_RCC_PLLSAICFGR_PLLSAIN    RCC_PLLSAICFGR_PLLSAIN(192)
-#define STM32_RCC_PLLSAICFGR_PLLSAIP    RCC_PLLSAICFGR_PLLSAIP(8)
-#define STM32_RCC_PLLSAICFGR_PLLSAIQ    RCC_PLLSAICFGR_PLLSAIQ(4)
-#define STM32_RCC_PLLSAICFGR_PLLSAIR    RCC_PLLSAICFGR_PLLSAIR(2)
-
-/* Configure Dedicated Clock Configuration Register */
-#define STM32_RCC_DCKCFGR1_PLLI2SDIVQ  RCC_DCKCFGR1_PLLI2SDIVQ(1)
-#define STM32_RCC_DCKCFGR1_PLLSAIDIVQ  RCC_DCKCFGR1_PLLSAIDIVQ(1)
-#define STM32_RCC_DCKCFGR1_PLLSAIDIVR  RCC_DCKCFGR1_PLLSAIDIVR(0)
-#define STM32_RCC_DCKCFGR1_SAI1SRC     RCC_DCKCFGR1_SAI1SEL(0)
-#define STM32_RCC_DCKCFGR1_SAI2SRC     RCC_DCKCFGR1_SAI2SEL(0)
-#define STM32_RCC_DCKCFGR1_TIMPRESRC   0
-#define STM32_RCC_DCKCFGR1_DFSDM1SRC   0
-#define STM32_RCC_DCKCFGR1_ADFSDM1SRC  0
-
-
-/* Configure factors for  PLLI2S clock */
-#define CONFIG_STM32F7_PLLI2S 1
-#define STM32_RCC_PLLI2SCFGR_PLLI2SN   RCC_PLLI2SCFGR_PLLI2SN(192)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SP   RCC_PLLI2SCFGR_PLLI2SP(2)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SQ   RCC_PLLI2SCFGR_PLLI2SQ(2)
-#define STM32_RCC_PLLI2SCFGR_PLLI2SR   RCC_PLLI2SCFGR_PLLI2SR(2)
-
-/* Configure Dedicated Clock Configuration Register 2 */
-#define STM32_RCC_DCKCFGR2_USART1SRC  RCC_DCKCFGR2_USART1SEL_APB
-#define STM32_RCC_DCKCFGR2_USART2SRC  RCC_DCKCFGR2_USART2SEL_APB
-#define STM32_RCC_DCKCFGR2_UART4SRC   RCC_DCKCFGR2_UART4SEL_APB
-#define STM32_RCC_DCKCFGR2_UART5SRC   RCC_DCKCFGR2_UART5SEL_APB
-#define STM32_RCC_DCKCFGR2_USART6SRC  RCC_DCKCFGR2_USART6SEL_APB
-#define STM32_RCC_DCKCFGR2_UART7SRC   RCC_DCKCFGR2_UART7SEL_APB
-#define STM32_RCC_DCKCFGR2_UART8SRC   RCC_DCKCFGR2_UART8SEL_APB
-#define STM32_RCC_DCKCFGR2_I2C1SRC    RCC_DCKCFGR2_I2C1SEL_HSI
-#define STM32_RCC_DCKCFGR2_I2C2SRC    RCC_DCKCFGR2_I2C2SEL_HSI
-#define STM32_RCC_DCKCFGR2_I2C3SRC    RCC_DCKCFGR2_I2C3SEL_HSI
-#define STM32_RCC_DCKCFGR2_I2C4SRC    RCC_DCKCFGR2_I2C4SEL_HSI
-#define STM32_RCC_DCKCFGR2_LPTIM1SRC  RCC_DCKCFGR2_LPTIM1SEL_APB
-#define STM32_RCC_DCKCFGR2_CECSRC     RCC_DCKCFGR2_CECSEL_HSI
-#define STM32_RCC_DCKCFGR2_CK48MSRC   RCC_DCKCFGR2_CK48MSEL_PLL
-#define STM32_RCC_DCKCFGR2_SDMMCSRC   RCC_DCKCFGR2_SDMMCSEL_48MHZ
-#define STM32_RCC_DCKCFGR2_SDMMC2SRC  RCC_DCKCFGR2_SDMMC2SEL_48MHZ
-#define STM32_RCC_DCKCFGR2_DSISRC     RCC_DCKCFGR2_DSISEL_PHY
-
-
-/* Several prescalers allow the configuration of the two AHB buses, the
- * high-speed APB (APB2) and the low-speed APB (APB1) domains. The maximum
- * frequency of the two AHB buses is 216 MHz while the maximum frequency of
- * the high-speed APB domains is 108 MHz. The maximum allowed frequency of
- * the low-speed APB domain is 54 MHz.
- */
-
-/* AHB clock (HCLK) is SYSCLK (216 MHz) */
-#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK  /* HCLK  = SYSCLK / 1 */
-#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
-#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY  /* same as above, to satisfy compiler */
-
-/* APB1 clock (PCLK1) is HCLK/4 (54 MHz) */
-#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd4     /* PCLK1 = HCLK / 4 */
-#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/4)
-
-/* Timers driven from APB1 will be twice PCLK1 */
-#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-
-/* APB2 clock (PCLK2) is HCLK/2 (108MHz) */
-#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLKd2     /* PCLK2 = HCLK / 2 */
-#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
-
-/* Timers driven from APB2 will be twice PCLK2 */
-#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-
-/* SDMMC dividers.  Note that slower clocking is required when DMA is disabled
- * in order to avoid RX overrun/TX underrun errors due to delayed responses
- * to service FIFOs in interrupt driven mode.  These values have not been
- * tuned!!!
- *
- * SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(118+2)=400 KHz
- */
-
-/* Use the Falling edge of the SDIO_CLK clock to change the edge the
- * data and commands are change on
- */
-
-#define STM32_SDMMC_CLKCR_EDGE STM32_SDMMC_CLKCR_NEGEDGE
-
-#define STM32_SDMMC_INIT_CLKDIV         (118 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-
-/* DMA ON:  SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(1+2)=16 MHz
- * DMA OFF: SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(2+2)=12 MHz
- */
-
-#ifdef CONFIG_STM32F7_SDMMC_DMA
-#  define STM32_SDMMC_MMCXFR_CLKDIV     (1 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#else
-#  define STM32_SDMMC_MMCXFR_CLKDIV     (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#endif
-
-/* DMA ON:  SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(1+2)=16 MHz
- * DMA OFF: SDMMCCLK=48MHz, SDMMC_CK=SDMMCCLK/(2+2)=12 MHz
- */
-//TODO #warning "Check Freq for 24mHz"
-
-#ifdef CONFIG_STM32F7_SDMMC_DMA
-#  define STM32_SDMMC_SDXFR_CLKDIV      (1 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#else
-#  define STM32_SDMMC_SDXFR_CLKDIV      (2 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#endif
-
-/* FLASH wait states
- *
- *  --------- ---------- -----------
- *  VDD       MAX SYSCLK WAIT STATES
- *  --------- ---------- -----------
- *  1.7-2.1 V   180 MHz    8
- *  2.1-2.4 V   216 MHz    9
- *  2.4-2.7 V   216 MHz    8
- *  2.7-3.6 V   216 MHz    7
- *  --------- ---------- -----------
- */
-
-#define BOARD_FLASH_WAITSTATES 7
-
-/* LED index values for use with board_userled() */
-
-#define BOARD_LED1        0
-#define BOARD_LED2        1
-#define BOARD_LED3        2
-#define BOARD_NLEDS       3
-
-#define BOARD_LED_RED     BOARD_LED1
-#define BOARD_LED_GREEN   BOARD_LED2
-#define BOARD_LED_BLUE    BOARD_LED3
-
-/* Thus if the Green LED is statically on, NuttX has successfully booted and
- * is, apparently, running normally.  If the Red LED is flashing at
- * approximately 2Hz, then a fatal error has been detected and the system
- * has halted.
- */
-
-/* Alternate function pin selections ************************************************/
-
-#define GPIO_USART1_RX   GPIO_USART1_RX_2   /* PB7  */
-#define GPIO_USART1_TX   GPIO_USART1_TX_2   /* PB6  */
-
-#define GPIO_USART2_RX   GPIO_USART2_RX_2   /* PD6  */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5  */
-#define GPIO_USART2_RTS  GPIO_USART2_RTS_2  /* PD4  */
-#define GPIO_USART2_CTS  GPIO_USART2_CTS_2  /* PD3  */
-
-#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9  */
-#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8  */
-#define GPIO_USART3_RTS  GPIO_USART3_RTS_2  /* PD12 */
-#define GPIO_USART3_CTS  GPIO_USART3_CTS_2  /* PD11 */
-
-#define GPIO_UART4_RX    GPIO_UART4_RX_4    /* PD0  */
-#define GPIO_UART4_TX    GPIO_UART4_TX_4    /* PD1  */
-
-#define GPIO_UART5_RX    GPIO_UART5_RX_3    /* PB12 */
-#define GPIO_UART5_TX    GPIO_UART5_TX_3    /* PB13 */
-
-#define GPIO_USART6_RX   GPIO_USART6_RX_2   /* PG9  */
-#define GPIO_USART6_TX   GPIO_USART6_TX_2   /* PG14 */
-#define GPIO_USART6_RTS  GPIO_USART6_RTS_2  /* PG8  */
-#define GPIO_USART6_CTS  GPIO_USART6_CTS_2  /* PG15 */
-
-#define GPIO_UART7_RX    GPIO_UART7_RX_2    /* PF6  */
-#define GPIO_UART7_TX    GPIO_UART7_TX_1    /* PE8  */
-
-/* USART8: has no remap
- *
- *      GPIO_UART8_RX                          PE0[CN12-64]
- *      GPIO_UART8_TX                          PE1[CN11-61]
- */
-
-
-/* SPI */
-#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6 */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3   /* PD7 */
-#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_3    /* PG11 */
-
-#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_2   /* PE13 */
-#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_1   /* PE6 */
-#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_1    /* PE2 */
-
-
-/* I2C */
-#define GPIO_I2C2_SCL GPIO_I2C2_SCL_2       /* PF1  */
-#define GPIO_I2C2_SDA GPIO_I2C2_SDA_2       /* PF0  */
-
-#define GPIO_I2C4_SCL GPIO_I2C4_SCL_2       /* PF14 */
-#define GPIO_I2C4_SDA GPIO_I2C4_SDA_2       /* PF15 */
-
-/* SDMMC1
- *
- *      VDD 3.3
- *      GND
- *      SDMMC1_CK                           PC12
- *      SDMMC1_CMD                          PD2
- *      SDMMC1_D0                           PC8
- *      SDMMC1_D1                           PC9
- *      SDMMC1_D2                           PC10
- *      SDMMC1_D3                           PC11
- *      GPIO_SDMMC1_NCD                     PG0
- */
-
-#endif  /*__NUTTX_CONFIG_PX4_FMU_V5_INCLUDE_BOARD_H  */
@@ -1,99 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * 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.
- *
- ****************************************************************************/
-
-#pragma once
-
-/*
-|    DMA1    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
-|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
-| Channel 0  | SPI3_RX_1        | SPDIFRX_DT       | SPI3_RX_2        | SPI2_RX          | SPI2_TX          | SPI3_TX_1        | SPDIFRX_CS       | SPI3_TX_2        |
-| Channel 1  | I2C1_RX          | I2C3_RX          | TIM7_UP_1        | -                | TIM7_UP_2        |  I2C1_RX_1       | I2C1_TX          | I2C1_TX_1        |
-| Channel 2  | TIM4_CH1         | -                | I2C4_RX          | TIM4_CH2         | -                | I2C4_TX          | TIM4_UP          | TIM4_CH3         |
-| Channel 3  | -                | TIM2_UP_1        | I2C3_RX_1        | -                | I2C3_TX          | TIM2_CH1         | TIM2_CH2         | TIM2_UP_2        |
-|            |                  |   TIM2_CH3       |                  |                  |                  |                  |   TIM2_CH4_1     |   TIM2_CH4_2     |
-| Channel 4  | UART5_RX         | USART3_RX        | UART4_RX         | USART3_TX_1      | UART4_TX         | USART2_RX        | USART2_TX        | UART5_TX         |
-| Channel 5  | UART8_TX         | UART7_TX         | TIM3_CH4         | UART7_RX         | TIM3_CH1         | TIM3_CH2         | UART8_RX         | TIM3_CH3         |
-|            |                  |                  |   TIM3_UP        |                  |   TIM3_TRIG      |                  |                  |                  |
-| Channel 6  | TIM5_CH3         | TIM5_CH4_1       | TIM5_CH1         | TIM5_CH4_2       | TIM5_CH2         | -                | TIM5_UP_2        | -                |
-|            |   TIM5_UP_1      |   TIM5_TRIG_1    |                  |   TIM5_TRIG_2    |                  |                  |                  |                  |
-| Channel 7  | -                | TIM6_UP          | I2C2_RX          | I2C2_RX_1        | USART3_TX_2      | DAC1             | DAC2             | I2C2_TX          |
-| Channel 8  | I2C3_TX_1        | I2C4_RX_1        | -                | -                | I2C2_TX_1        | -                | I2C4_TX_1        | -                |
-| Channel 9  | -                | SPI2_RX          | -                | -                | -                | -                | SPI2_TX          | -                |
-|            |                  |                  |                  |                  |                  |                  |                  |                  |
-| Usage      | UART8_TX         | USART3_RX        | UART4_RX         | USART3_TX_1      |                  | USART2_RX        | UART8_RX         |                  |
-
-
-|    DMA2    | Stream 0         | Stream 1         | Stream 2         | Stream 3         | Stream 4         | Stream 5         | Stream 6         | Stream 7         |
-|------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|------------------|
-| Channel 0  | ADC1_1           | SAI1_A           | TIM8_CH1_1       | SAI1_A_2         | ADC1_2           | SAI1_B_1         | TIM1_CH1_1       | SAI1_B_2         |
-|            |                  |                  |   TIM8_CH2_1     |                  |                  |                  |   TIM1_CH2_1     |                  |
-|            |                  |                  |   TIM8_CH3_1     |                  |                  |                  |   TIM1_CH3_1     |                  |
-| Channel 1  | -                | DCMI_1           | ADC2_1           | ADC2_2           | SAI1_B           | SPI6_TX          | SPI6_RX          | DCMI_2           |
-| Channel 2  | ADC3_1           | ADC3_2           | -                | SPI5_RX_1        | SPI5_TX_1        | CRYP_OUT         | CRYP_IN          | HASH_IN          |
-| Channel 3  | SPI1_RX_1        | -                | SPI1_RX_2        | SPI1_TX_1        | SAI2_A           | SPI1_TX_2        | SAI2_B           | QUADSPI          |
-| Channel 4  | SPI4_RX_1        | SPI4_TX_1        | USART1_RX_1      | SDMMC1_1         | -                | USART1_RX_2      | SDMMC1_2         | USART1_TX        |
-| Channel 5  | -                | USART6_RX_1      | USART6_RX_2      | SPI4_RX_2        | SPI4_TX_2        | -                | USART6_TX_1      | USART6_TX_2      |
-| Channel 6  | TIM1_TRIG_1      | TIM1_CH1_2       | TIM1_CH2_2       | TIM1_CH1         | TIM1_CH4         | TIM1_UP          | TIM1_CH3_2       | -                |
-|            |                  |                  |                  |                  |   TIM1_TRIG_2    |                  |                  |                  |
-|            |                  |                  |                  |                  |   TIM1_COM       |                  |                  |                  |
-| Channel 7  | -                | TIM8_UP          | TIM8_CH1_2       | TIM8_CH2_2       | TIM8_CH3_2       | SPI5_RX_2        | SPI5_TX_2        | TIM8_CH4         |
-|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_TRIG      |
-|            |                  |                  |                  |                  |                  |                  |                  |   TIM8_COM       |
-| Channel 8  | DFSDM1_FLT0_1    | DFSDM1_FLT1_1    | DFSDM1_FLT2_1    | DFSDM1_FLT3_1    | DFSDM1_FLT0_2    | DFSDM1_FLT1_2    | DFSDM1_FLT2_2    | DFSDM1_FLT3_2    |
-| Channel 9  | JPEG_IN_1        | JPEG_OUT         | SPI4_TX_3        | JPEG_IN_2        | JPEG_OUT_2       | SPI5_RX_3        | -                | -                |
-| Channel 10 | SAI1_B_3         | SAI2_B_1         | SAI2_A_1         | -                | -                | -                | SAI1_A_3         | -                |
-| Channel 11 | SDMMC2_1         | -                | QUADSPI_1        | -                | -                | SDMMC2_2         | -                | -                |
-|            |                  |                  |                  |                  |                  |                  |                  |                  |
-| Usage      | SPI1_RX_1        |                  | USART6_RX_2      | SPI1_TX_1        |                  | TIM1_UP          | SDMMC1_2         |                  |
- */
-
-// DMA1 Channel/Stream Selections
-//--------------------------------------------//---------------------------//----------------
-//      DMAMAP_UART8_TX                       // DMA1, Stream 0, Channel 5    (PX4IO TX)
-//      DMAMAP_USART3_RX                      // DMA1, Stream 1, Channel 4    (TELEM2 RX)
-//      DMAMAP_UART4_RX                       // DMA1, Stream 2, Channel 4    (TELEM4 RX)
-#define DMAMAP_USART3_TX  DMAMAP_USART3_TX_1  // DMA1, Stream 3, Channel 4    (TELEM2 TX)
-//      DMAMAP_USART2_RX                      // DMA1, Stream 5, Channel 4    (TELEM1 RX)
-//      DMAMAP_UART8_RX                       // DMA1, Stream 6, Channel 5    (PX4IO RX)
-
-
-//  DMA2 Channel/Stream Selections
-//--------------------------------------------//---------------------------//----------------
-#define DMAMAP_SPI1_RX    DMAMAP_SPI1_RX_1    // DMA2, Stream 0, Channel 3    (SPI sensors RX)
-//      AVAILABLE                             // DMA2, Stream 1
-#define DMAMAP_USART6_RX  DMAMAP_USART6_RX_2  // DMA2, Stream 2, Channel 5
-#define DMAMAP_SPI1_TX    DMAMAP_SPI1_TX_1    // DMA2, Stream 3, Channel 3    (SPI sensors TX)
-//      AVAILABLE                             // DMA2, Stream 4
-//      DMAMAP_TIM1_UP                        // DMA2, Stream 5, Channel 6    (DSHOT)
-#define DMAMAP_SDMMC1     DMAMAP_SDMMC1_2     // DMA2, Stream 6, Channel 4
-//      AVAILABLE                             // DMA2, Stream 7
@@ -1,236 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_FS_PROCFS_EXCLUDE_ENVIRON is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32f7"
-CONFIG_ARCH_CHIP_STM32F765II=y
-CONFIG_ARCH_CHIP_STM32F7=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DTCM=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=22114
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_PRODUCTID=0x0061
-CONFIG_CDCACM_PRODUCTSTR="PX4 ATL Mantis-EDU"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_VENDORSTR="Advanced Technology Labs"
-CONFIG_CLOCK_MONOTONIC=y
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARCHROMFS=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_OTG_ID_GPIO_DISABLE=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDMMC1_SDIO_MODE=y
-CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=256
-CONFIG_STM32F7_ADC1=y
-CONFIG_STM32F7_BBSRAM=y
-CONFIG_STM32F7_BBSRAM_FILES=5
-CONFIG_STM32F7_BKPSRAM=y
-CONFIG_STM32F7_DMA1=y
-CONFIG_STM32F7_DMA2=y
-CONFIG_STM32F7_DMACAPABLE=y
-CONFIG_STM32F7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32F7_I2C2=y
-CONFIG_STM32F7_I2C4=y
-CONFIG_STM32F7_I2C_DYNTIMEO=y
-CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32F7_OTGFS=y
-CONFIG_STM32F7_PROGMEM=y
-CONFIG_STM32F7_PWR=y
-CONFIG_STM32F7_RTC=y
-CONFIG_STM32F7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
-CONFIG_STM32F7_RTC_MAGIC_REG=1
-CONFIG_STM32F7_SAVE_CRASHDUMP=y
-CONFIG_STM32F7_SDMMC1=y
-CONFIG_STM32F7_SDMMC_DMA=y
-CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32F7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32F7_SPI1=y
-CONFIG_STM32F7_SPI1_DMA=y
-CONFIG_STM32F7_SPI1_DMA_BUFFER=1024
-CONFIG_STM32F7_SPI4=y
-CONFIG_STM32F7_SPI_DMA=y
-CONFIG_STM32F7_SPI_DMATHRESHOLD=8
-CONFIG_STM32F7_TIM10=y
-CONFIG_STM32F7_TIM11=y
-CONFIG_STM32F7_TIM3=y
-CONFIG_STM32F7_UART4=y
-CONFIG_STM32F7_UART5=y
-CONFIG_STM32F7_UART7=y
-CONFIG_STM32F7_UART8=y
-CONFIG_STM32F7_USART1=y
-CONFIG_STM32F7_USART2=y
-CONFIG_STM32F7_USART3=y
-CONFIG_STM32F7_USART6=y
-CONFIG_STM32F7_USART_BREAKS=y
-CONFIG_STM32F7_USART_INVERT=y
-CONFIG_STM32F7_USART_SINGLEWIRE=y
-CONFIG_STM32F7_USART_SWAP=y
-CONFIG_STM32F7_WWDG=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_TXBUFSIZE=1500
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_SERIAL_CONSOLE=y
-CONFIG_UART8_TXBUFSIZE=1500
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_RXDMA=y
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_IFLOWCONTROL=y
-CONFIG_USART3_OFLOWCONTROL=y
-CONFIG_USART3_RXBUFSIZE=600
-CONFIG_USART3_RXDMA=y
-CONFIG_USART3_TXBUFSIZE=3000
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_RXDMA=y
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -1,191 +0,0 @@
-/****************************************************************************
- * scripts/script.ld
- *
- *   Copyright (C) 2016 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- *
- * 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 NuttX 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.
- *
- ****************************************************************************/
-
-/* The STM32F765IIT6 has 2048 KiB of main FLASH memory.  This FLASH memory
- * can be accessed from either the AXIM interface at address 0x0800:0000 or
- * from the ITCM interface at address 0x0020:0000.
- *
- * Additional information, including the option bytes, is available at at
- * FLASH at address 0x1ff0:0000 (AXIM) or 0x0010:0000 (ITCM).
- *
- * In the STM32F765IIT6, two different boot spaces can be selected through
- * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
- * BOOT_ADD1 option bytes:
- *
- *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
- *      ST programmed value: Flash on ITCM at 0x0020:0000
- *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
- *      ST programmed value: System bootloader at 0x0010:0000
- *
- * NuttX does not modify these option byes.  On the unmodified NUCLEO-144
- * board, the BOOT0 pin is at ground so by default, the STM32F765IIT6 will
- * boot from address 0x0020:0000 in ITCM FLASH.
- *
- * The STM32F765IIT6 also has 512 KiB of data SRAM (in addition to ITCM SRAM).
- * SRAM is split up into three blocks:
- *
- *   1) 128 KiB of DTCM SRM beginning at address 0x2000:0000
- *   2) 368 KiB of SRAM1 beginning at address 0x2002:0000
- *   3)  16 KiB of SRAM2 beginning at address 0x2007:c000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- *
- * Bootloader reserves the first 32K bank (2 Mbytes Flash memory single bank)
- * organization (256 bits read width)
- * The next 2 32K sectors are reserved for parameters.
- */
-
-MEMORY
-{
-    FLASH_ITCM (rx) : ORIGIN = 0x00218000, LENGTH = 1952K
-    FLASH_AXIM (rx) : ORIGIN = 0x08018000, LENGTH = 1952K
-
-    ITCM_RAM (rwx) : ORIGIN = 0x00000000, LENGTH = 16K
-    DTCM_RAM (rwx) : ORIGIN = 0x20000000, LENGTH = 128K
-    SRAM1    (rwx) : ORIGIN = 0x20020000, LENGTH = 368K
-    SRAM2    (rwx) : ORIGIN = 0x2007c000, LENGTH = 16K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-ENTRY(_stext)
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-EXTERN(_main_toc)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
-		*(.main_toc)
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.glue_7)
-		*(.glue_7t)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > FLASH_AXIM
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-	.init_section : {
-		_sinit = ABSOLUTE(.);
-		KEEP(*(.init_array .init_array.*))
-		_einit = ABSOLUTE(.);
-	} > FLASH_AXIM
-
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > FLASH_AXIM
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > FLASH_AXIM
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > SRAM1 AT > FLASH_AXIM
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > SRAM1
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-
-	.ramfunc : {
-		_sramfuncs = .;
-		*(.ramfunc  .ramfunc.*)
-		. = ALIGN(4);
-		_eramfuncs = .;
-	} > ITCM_RAM AT > FLASH_AXIM
-
-	_framfuncs = LOADADDR(.ramfunc);
-
-    /* Start of the image signature. This
-     *  has to be in the end of the image
-     */
-	.signature : {
-		_boot_signature = ALIGN(4);
-	} > FLASH_AXIM
-}
@@ -1,226 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2016 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.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * PX4FMU-v5 internal definitions
- */
-
-#pragma once
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-#include <stm32_gpio.h>
-
-/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
-#define GPIO_nLED_RED        /* PB1 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
-#define GPIO_nLED_GREEN      /* PC6 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
-#define GPIO_nLED_BLUE       /* PC7 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
-
-#define BOARD_HAS_CONTROL_STATUS_LEDS      1
-#define BOARD_OVERLOAD_LED     LED_RED
-#define BOARD_ARMED_STATE_LED  LED_BLUE
-
-#define FLASH_BASED_PARAMS
-
-/*
- * ADC channels
- *
- * These are the channel numbers of the ADCs of the microcontroller that
- * can be used by the Px4 Firmware in the adc driver
- */
-
-/* ADC defines to be used in sensors.cpp to read from a particular channel */
-#define ADC1_CH(n)                  (n)
-#define ADC1_GPIO(n)                GPIO_ADC1_IN##n
-
-/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
-
-#define PX4_ADC_GPIO  \
-	/* PA0 */  ADC1_GPIO(0),  \
-	/* PC0 */  ADC1_GPIO(10), \
-	/* PC1 */  ADC1_GPIO(11), \
-	/* PC2 */  ADC1_GPIO(12), \
-	/* PC3 */  ADC1_GPIO(13), \
-	/* PC4 */  ADC1_GPIO(14)
-
-/* Define Channel numbers must match above GPIO pin IN(n)*/
-#define ADC_BATTERY_VOLTAGE_CHANNEL         /* PA0 */  ADC1_CH(0)
-#define ADC_BATTERY_CURRENT_CHANNEL 0
-#define ADC_SCALED_V5_CHANNEL               /* PC0 */  ADC1_CH(10)
-#define ADC_SCALED_VDD_3V3_SENSORS_CHANNEL  /* PC1 */  ADC1_CH(11)
-#define ADC_HW_VER_SENSE_CHANNEL            /* PC2 */  ADC1_CH(12)
-#define ADC_HW_REV_SENSE_CHANNEL            /* PC3 */  ADC1_CH(13)
-#define ADC1_SPARE_1_CHANNEL                /* PC4 */  ADC1_CH(14) // POWER_AD
-
-#define ADC_CHANNELS \
-	((1 << ADC_BATTERY_VOLTAGE_CHANNEL)        | \
-	 (1 << ADC_SCALED_V5_CHANNEL)              | \
-	 (1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
-	 (1 << ADC_HW_VER_SENSE_CHANNEL)           | \
-	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
-	 (1 << ADC1_SPARE_1_CHANNEL))
-
-/* Define Battery 1 Voltage Divider and A per V */
-#define BOARD_BATTERY1_V_DIV         (9.0f)     /* measured with the provided PM board */
-
-/* HW has to large of R termination on ADC todo:change when HW value is chosen */
-#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
-
-/* HW Version and Revision drive signals Default to 1 to detect */
-#define BOARD_HAS_HW_VERSIONING
-
-#define GPIO_HW_REV_DRIVE    /* PH14  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN14)
-#define GPIO_HW_REV_SENSE    /* PC3   */ ADC1_GPIO(13)
-#define GPIO_HW_VER_DRIVE    /* PG0   */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
-#define GPIO_HW_VER_SENSE    /* PC2   */ ADC1_GPIO(12)
-#define HW_INFO_INIT         {'V','5','x', 'x',0}
-#define HW_INFO_INIT_VER     2
-#define HW_INFO_INIT_REV     3
-
-#define BOARD_TAP_ESC_MODE 2 // select closed-loop control mode for the esc
-// #define BOARD_USE_ESC_CURRENT_REPORT
-
-// LED mapping
-#define BOARD_FRONT_LED_MASK (1 << 0) | (1 << 3)
-#define BOARD_REAR_LED_MASK  (1 << 1) | (1 << 2)
-
-/* HEATER */
-#define GPIO_HEATER_OUTPUT   /* PA7  T14CH1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
-
-#define BOARD_HAS_LED_PWM              1
-#define BOARD_LED_PWM_DRIVE_ACTIVE_LOW 1
-
-#define BOARD_UI_LED_PWM_DRIVE_ACTIVE_LOW 1
-
-#define BOARD_ADC_BRICK_VALID           1
-#define BOARD_NUMBER_BRICKS             1
-
-#define GPIO_VDD_3V3_SD_CARD_EN         /* PG7  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)
-#define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
-
-/* USB OTG FS */
-#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
-
-/* High-resolution timer */
-#define HRT_TIMER               8  /* use timer8 for the HRT */
-#define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
-
-/* RC Serial port */
-#define RC_SERIAL_PORT                     "/dev/ttyS5"
-#define RC_SERIAL_SINGLEWIRE
-
-#define BOARD_HAS_POWER_CONTROL	1
-/* power on/off */
-#define MS_PWR_BUTTON_DOWN 1500
-#define KEY_AD_GPIO    (GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTC|GPIO_PIN4)
-#define POWER_ON_GPIO  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN5)
-#define POWER_OFF_GPIO (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN5)
-#define POWER_CHECK_GPIO (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN0)
-
-#define SDIO_SLOTNO                    0  /* Only one slot */
-#define SDIO_MINOR                     0
-
-/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
- * this board support the ADC system_power interface, and therefore
- * provides the true logic GPIO BOARD_ADC_xxxx macros.
- */
-#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
-#define BOARD_ADC_USB_VALID     BOARD_ADC_USB_CONNECTED
-
-/* FMUv5 never powers odd the Servo rail */
-#define BOARD_ADC_SERVO_VALID     (1)
-
-#define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
-#define BOARD_ADC_BRICK2_VALID  (0)
-
-/* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-/* This board provides the board_on_reset interface */
-#define BOARD_HAS_ON_RESET 1
-#define BOARD_HAS_POWER_CONTROL 1
-
-#define GPIO_CAM_PWR_ON_H      /* PB0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
-#define GPIO_CAM_PWR_ON_L      /* PB0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
-
-#define PX4_GPIO_INIT_LIST { \
-		PX4_ADC_GPIO,                     \
-		GPIO_HW_REV_DRIVE,                \
-		GPIO_HW_VER_DRIVE,                \
-		GPIO_HEATER_OUTPUT,               \
-		GPIO_VDD_3V3_SD_CARD_EN,          \
-		GPIO_OTGFS_VBUS                   \
-	}
-
-#define BOARD_ENABLE_CONSOLE_BUFFER
-
-#define BOARD_NUM_IO_TIMERS 1
-
-__BEGIN_DECLS
-
-#ifndef __ASSEMBLY__
-
-int stm32_sdio_initialize(void);
-
-extern void stm32_spiinitialize(void);
-
-extern void stm32_usbinitialize(void);
-
-extern void board_peripheral_reset(int ms);
-
-/************************************************************************************
- * Name: board_pwr_init()
- *
- * Description:
- *   Called to configure power control for the tap-v2 board.
- *
- * Input Parameters:
- *   stage- 0 for boot, 1 for board init
- *
- ************************************************************************************/
-
-void board_pwr_init(int stage);
-
-#include <px4_platform_common/board_common.h>
-
-#endif /* __ASSEMBLY__ */
-
-__END_DECLS
@@ -1,283 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2012-2019 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.
- *
- ****************************************************************************/
-
-/**
- * @file init.c
- *
- * PX4FMU-specific early startup code.  This file implements the
- * board_app_initializ() function that is called early by nsh during startup.
- *
- * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialisation.
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include "board_config.h"
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <string.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/config.h>
-#include <nuttx/board.h>
-#include <nuttx/spi/spi.h>
-#include <nuttx/sdio.h>
-#include <nuttx/mmcsd.h>
-#include <nuttx/analog/adc.h>
-#include <nuttx/mm/gran.h>
-#include <chip.h>
-#include <stm32_uart.h>
-#include <arch/board/board.h>
-#include "arm_internal.h"
-
-#include <px4_arch/io_timer.h>
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_board_led.h>
-#include <systemlib/px4_macros.h>
-#include <px4_platform_common/init.h>
-#include <px4_platform/gpio.h>
-#include <px4_platform/board_determine_hw_info.h>
-#include <px4_platform/board_dma_alloc.h>
-
-# if defined(FLASH_BASED_PARAMS)
-#  include <parameters/flashparams/flashfs.h>
-#endif
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-#define _GPIO_PULL_DOWN_INPUT(def) (((def) & (GPIO_PORT_MASK | GPIO_PIN_MASK)) | (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_2MHz))
-
-/* Configuration ************************************************************/
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-__END_DECLS
-
-/***************cam_pwr_on_pulse*****************************************************
- * Name: cam_pwr_on_pulse()
- *
- * Description:
- *   Camera power is controlled by flight control, send a risingedge pulse to enable it
- *
- *
- * Input Parameters:
- *   Not used
- *
- ************************************************************************************/
-static void cam_pwr_on_pulse(void)
-{
-	static bool pwr_on_flag = false;
-
-	if (pwr_on_flag == false) {
-		up_mdelay(700);
-		stm32_configgpio(GPIO_CAM_PWR_ON_H);
-		up_mdelay(20);
-		stm32_configgpio(GPIO_CAM_PWR_ON_L);
-
-		pwr_on_flag = true;
-	}
-}
-/************************************************************************************
- * Name: board_peripheral_reset
- *
- * Description:
- *
- ************************************************************************************/
-__EXPORT void board_peripheral_reset(int ms)
-{
-}
-
-/************************************************************************************
- * Name: board_on_reset
- *
- * Description:
- * Optionally provided function called on entry to board_system_reset
- * It should perform any house keeping prior to the rest.
- *
- * status - 1 if resetting to boot loader
- *          0 if just resetting
- *
- ************************************************************************************/
-__EXPORT void board_on_reset(int status)
-{
-}
-
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
- *   and mapped but before any devices have been initialized.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_boardinitialize(void)
-{
-	/* Hold power state */
-	board_pwr_init(0);
-
-	/* configure pins */
-	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
-	px4_gpio_init(gpio, arraySize(gpio));
-	board_control_spi_sensors_power_configgpio();
-}
-
-/****************************************************************************
- * Name: board_app_initialize
- *
- * Description:
- *   Perform application specific initialization.  This function is never
- *   called directly from application code, but only indirectly via the
- *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
- *
- * Input Parameters:
- *   arg - The boardctl() argument is passed to the board_app_initialize()
- *         implementation without modification.  The argument has no
- *         meaning to NuttX; the meaning of the argument is a contract
- *         between the board-specific initalization logic and the the
- *         matching application logic.  The value cold be such things as a
- *         mode enumeration value, a set of DIP switch switch settings, a
- *         pointer to configuration data read from a file or serial FLASH,
- *         or whatever you would like to do with it.  Every implementation
- *         should accept zero/NULL as a default configuration.
- *
- * Returned Value:
- *   Zero (OK) is returned on success; a negated errno value is returned on
- *   any failure to indicate the nature of the failure.
- *
- ****************************************************************************/
-
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-	/* Power on Interfaces */
-	VDD_3V3_SD_CARD_EN(true);
-
-	/* Need hrt running before using the ADC */
-	px4_platform_init();
-
-	if (OK == board_determine_hw_info()) {
-		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
-		       board_get_hw_type_name());
-
-	} else {
-		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
-	}
-
-	/* configure SPI interfaces (after we determined the HW version) */
-	stm32_spiinitialize();
-
-	/* configure the DMA allocator */
-	if (board_dma_alloc_init() < 0) {
-		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
-	}
-
-#if defined(SERIAL_HAVE_RXDMA)
-	/* set up the serial DMA polling */
-	static struct hrt_call serial_dma_call;
-
-	/*
-	 * Poll at 1ms intervals for received bytes that have not triggered
-	 * a DMA event.
-	 */
-	struct timespec ts;
-	ts.tv_sec = 0;
-	ts.tv_nsec = 1000000;
-
-	hrt_call_every(&serial_dma_call,
-		       ts_to_abstime(&ts),
-		       ts_to_abstime(&ts),
-		       (hrt_callout)stm32_serial_dma_poll,
-		       NULL);
-#endif
-
-	board_pwr_init(1);
-
-	/* initial LED state */
-	drv_led_start();
-	led_off(LED_RED);
-	led_on(LED_GREEN); // Indicate Power.
-	led_off(LED_BLUE);
-
-	if (board_hardfault_init(2, true) != 0) {
-		led_on(LED_RED);
-	}
-
-#if defined(CONFIG_MMCSD)
-	int ret = stm32_sdio_initialize();
-
-	if (ret != OK) {
-		led_on(LED_RED);
-		return ret;
-	}
-
-#endif /* CONFIG_MMCSD */
-
-	/* Camera power is controlled by flight control, send a risingedge pulse to enable it */
-	cam_pwr_on_pulse();
-
-#if defined(FLASH_BASED_PARAMS)
-	static sector_descriptor_t params_sector_map[] = {
-		{1, 32 * 1024, 0x08008000},
-		{2, 32 * 1024, 0x08010000},
-		{0, 0, 0},
-	};
-
-	/* Initialize the flashfs layer to use heap allocated memory */
-	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
-
-	if (result != OK) {
-		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
-		led_on(LED_AMBER);
-		return result;
-	}
-
-#endif /* FLASH_BASED_PARAMS */
-
-	return OK;
-}
@@ -1,177 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2016 PX4 Development Team. All rights reserved.
- *         Author: David Sidrane <david_s5@nscdg.com>
- *
- * 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.
- *
- ****************************************************************************/
-
-/**
- * @file pwr.c
- *
- * Board-specific power button functions.
- */
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <time.h>
-#include <debug.h>
-
-#include <arch/board/board.h>
-#include <nuttx/arch.h>
-
-#include <uORB/uORB.h>
-#include <uORB/topics/led_control.h>
-#include <uORB/topics/tune_control.h>
-
-#include <arm_arch.h>
-#include "board_config.h"
-#include <stm32_pwr.h>
-
-extern void led_on(int led);
-extern void led_off(int led);
-
-static struct timespec time_down;
-
-
-static int default_power_button_state_notification(board_power_button_state_notification_e request)
-{
-//	syslog(0,"%d\n", request);
-	return PWR_BUTTON_RESPONSE_SHUT_DOWN_NOW;
-}
-
-
-static power_button_state_notification_t power_state_notification = default_power_button_state_notification;
-
-/****************************************************************************
- * Name: board_pwr_button_down
- *
- * Description:
- *   Called to Read the logical state of the active low power button.
- *
- ****************************************************************************/
-
-static bool board_pwr_button_down(void)
-{
-	return 0 == stm32_gpioread(KEY_AD_GPIO);
-}
-
-int board_register_power_state_notification_cb(power_button_state_notification_t cb)
-{
-	power_state_notification = cb;
-
-	if (board_pwr_button_down() && (time_down.tv_nsec != 0 || time_down.tv_sec != 0)) {
-		// make sure we don't miss the first event
-		power_state_notification(PWR_BUTTON_DOWN);
-	}
-
-	return OK;
-}
-
-int board_power_off(int status)
-{
-	led_on(BOARD_LED_BLUE);
-
-	// disable the interrups
-	px4_enter_critical_section();
-
-	stm32_configgpio(POWER_OFF_GPIO);
-
-	while (1);
-
-	return 0;
-}
-
-static int board_button_irq(int irq, FAR void *context, FAR void *args)
-{
-	if (board_pwr_button_down()) {
-
-		led_on(BOARD_LED_RED);
-		clock_gettime(CLOCK_REALTIME, &time_down);
-		power_state_notification(PWR_BUTTON_DOWN);
-
-	} else {
-		power_state_notification(PWR_BUTTON_UP);
-
-		led_off(BOARD_LED_RED);
-
-		struct timespec now;
-		clock_gettime(CLOCK_REALTIME, &now);
-
-		uint64_t tdown_ms = time_down.tv_sec * 1000 + time_down.tv_nsec / 1000000;
-
-		uint64_t tnow_ms = now.tv_sec * 1000 + now.tv_nsec / 1000000;
-
-		if (tdown_ms != 0 && (tnow_ms - tdown_ms) >= MS_PWR_BUTTON_DOWN) {
-
-			led_on(BOARD_LED_BLUE);
-
-			if (power_state_notification(PWR_BUTTON_REQUEST_SHUT_DOWN) == PWR_BUTTON_RESPONSE_SHUT_DOWN_NOW) {
-				up_mdelay(200);
-				board_power_off(0);
-			}
-
-		} else {
-			power_state_notification(PWR_BUTTON_IDEL);
-		}
-
-	}
-
-	return OK;
-}
-
-/************************************************************************************
- * Name: board_pwr_init()
- *
- * Description:
- *   Called to configure power control
- *
- * Input Parameters:
- *   stage- 0 for boot, 1 for board init
- *
- ************************************************************************************/
-
-void board_pwr_init(int stage)
-{
-	if (stage == 0) {
-		stm32_configgpio(POWER_ON_GPIO);
-		stm32_configgpio(KEY_AD_GPIO);
-		stm32_configgpio(POWER_CHECK_GPIO);
-	}
-
-	if (stage == 1) {
-		stm32_gpiosetevent(KEY_AD_GPIO, true, true, true, board_button_irq, NULL);
-	}
-}
@@ -1,177 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2014, 2016 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- * 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 NuttX 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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-#include <board_config.h>
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <debug.h>
-#include <errno.h>
-
-#include <nuttx/sdio.h>
-#include <nuttx/mmcsd.h>
-
-#include "chip.h"
-#include "board_config.h"
-#include "stm32_gpio.h"
-#include "stm32_sdmmc.h"
-
-#ifdef CONFIG_MMCSD
-
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/* Card detections requires card support and a card detection GPIO */
-
-#define HAVE_NCD   1
-#if !defined(GPIO_SDMMC1_NCD)
-#  undef HAVE_NCD
-#endif
-
-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-static FAR struct sdio_dev_s *sdio_dev;
-#ifdef HAVE_NCD
-static bool g_sd_inserted = 0xff; /* Impossible value */
-#endif
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: stm32_ncd_interrupt
- *
- * Description:
- *   Card detect interrupt handler.
- *
- ****************************************************************************/
-
-#ifdef HAVE_NCD
-static int stm32_ncd_interrupt(int irq, FAR void *context)
-{
-	bool present;
-
-	present = !stm32_gpioread(GPIO_SDMMC1_NCD);
-
-	if (sdio_dev && present != g_sd_inserted) {
-		sdio_mediachange(sdio_dev, present);
-		g_sd_inserted = present;
-	}
-
-	return OK;
-}
-#endif
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: stm32_sdio_initialize
- *
- * Description:
- *   Initialize SDIO-based MMC/SD card support
- *
- ****************************************************************************/
-
-int stm32_sdio_initialize(void)
-{
-	int ret;
-
-#ifdef HAVE_NCD
-	/* Card detect */
-
-	bool cd_status;
-
-	/* Configure the card detect GPIO */
-
-	stm32_configgpio(GPIO_SDMMC1_NCD);
-
-	/* Register an interrupt handler for the card detect pin */
-
-	stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
-#endif
-
-	/* Mount the SDIO-based MMC/SD block driver */
-	/* First, get an instance of the SDIO interface */
-
-	finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
-
-	sdio_dev = sdio_initialize(SDIO_SLOTNO);
-
-	if (!sdio_dev) {
-		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
-		return -ENODEV;
-	}
-
-	/* Now bind the SDIO interface to the MMC/SD driver */
-
-	finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
-
-	ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
-
-	if (ret != OK) {
-		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
-		return ret;
-	}
-
-	finfo("Successfully bound SDIO to the MMC/SD driver\n");
-
-#ifdef HAVE_NCD
-	/* Use SD card detect pin to check if a card is g_sd_inserted */
-
-	cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
-	finfo("Card detect : %d\n", cd_status);
-
-	sdio_mediachange(sdio_dev, cd_status);
-#else
-	/* Assume that the SD card is inserted.  What choice do we have? */
-
-	sdio_mediachange(sdio_dev, true);
-#endif
-
-	return OK;
-}
-
-#endif /* CONFIG_MMCSD */
@@ -1,93 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 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.
- *
- ****************************************************************************/
-
-#include <px4_arch/io_timer_hw_description.h>
-
-constexpr io_timers_t led_pwm_timers[MAX_LED_TIMERS] = {
-#  if defined(BOARD_HAS_LED_PWM) && !defined(BOARD_HAS_CONTROL_STATUS_LEDS)
-	initIOTimer(Timer::Timer3),
-#  endif
-};
-
-/* Support driving active low (preferred) or active high LED
- * on both the onboard status LEDs or the [n]UI_LED_<color>[_EXTERNAL]
- *
- * Use open drain to drive the LED. This will ensure that
- * if the LED has a 5 Volt supply that the LED will be
- * off when high.
- */
-#define CCER_C1_NUM_BITS   4
-#define ACTIVE_LOW(c)      (GTIM_CCER_CC1P << (((c)-1) * CCER_C1_NUM_BITS))
-#define ACTIVE_HIGH(c)     0
-
-#if defined(BOARD_LED_PWM_DRIVE_ACTIVE_LOW)
-#  define POLARITY(c)      ACTIVE_LOW(c)
-#  define DRIVE_TYPE(p)    ((p)|GPIO_OPENDRAIN)
-#else
-#  define POLARITY(c)      ACTIVE_HIGH((c))
-#  define DRIVE_TYPE(p)    (p)
-#endif
-
-#if defined(BOARD_UI_LED_PWM_DRIVE_ACTIVE_LOW)
-#  define UI_POLARITY(c)    ACTIVE_LOW(c)
-#  define UI_DRIVE_TYPE(p)  ((p)|GPIO_OPENDRAIN)
-#else
-#  define UI_POLARITY(c)    ACTIVE_HIGH((c))
-#  define UI_DRIVE_TYPE(p)  (p)
-#endif
-
-static inline constexpr timer_io_channels_t initIOTimerChannelUILED(const io_timers_t io_timers_conf[MAX_LED_TIMERS],
-		Timer::TimerChannel timer, GPIO::GPIOPin pin, int ui_polarity)
-{
-	timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, timer, pin);
-	ret.gpio_out = UI_DRIVE_TYPE(ret.gpio_out);
-	ret.masks = UI_POLARITY(ui_polarity);
-	return ret;
-}
-
-static inline constexpr timer_io_channels_t initIOTimerChannelControlLED(const io_timers_t
-		io_timers_conf[MAX_LED_TIMERS], Timer::TimerChannel timer, GPIO::GPIOPin pin, int polarity)
-{
-	timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, timer, pin);
-	ret.gpio_out = DRIVE_TYPE(ret.gpio_out);
-	ret.masks = POLARITY(polarity);
-	return ret;
-}
-
-constexpr timer_io_channels_t led_pwm_channels[MAX_TIMER_LED_CHANNELS] = {
-#  if defined(BOARD_HAS_LED_PWM) && !defined(BOARD_HAS_CONTROL_STATUS_LEDS)
-	initIOTimerChannelControlLED(led_pwm_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}, 4),
-	initIOTimerChannelControlLED(led_pwm_timers, {Timer::Timer3, Timer::Channel1}, {GPIO::PortC, GPIO::Pin6}, 1),
-	initIOTimerChannelControlLED(led_pwm_timers, {Timer::Timer3, Timer::Channel2}, {GPIO::PortC, GPIO::Pin7}, 2),
-#  endif
-};
@@ -0,0 +1,32 @@
+############################################################################
+#
+#   Copyright (c) 2018 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.
+#
+############################################################################
@@ -0,0 +1,64 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# 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.
+#
+############################################################################
+
+if("${PX4_PLATFORM}" MATCHES "qurt")
+
+	add_custom_target(upload
+		COMMAND ${PX4_BOARD_DIR}/scripts/adb_upload.sh
+				${PX4_BINARY_DIR}/platforms/qurt/libpx4.so ${PX4_BINARY_DIR}/platforms/qurt/libpx4muorb_skel.so ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/px4.config # source
+				/usr/share/data/adsp # destination
+		DEPENDS px4 px4muorb_skel ${PX4_BOARD_DIR}/scripts/adb_upload.sh
+		COMMENT "uploading px4"
+		USES_TERMINAL
+	)
+
+else()
+
+	add_custom_target(upload
+		COMMAND ${PX4_BOARD_DIR}/scripts/adb_upload.sh
+				${CMAKE_RUNTIME_OUTPUT_DIRECTORY} ${PX4_SOURCE_DIR}/posix-configs/eagle/flight/mainapp.config ${PX4_BINARY_DIR}/etc # source
+				/home/linaro # destination
+		DEPENDS px4 ${PX4_BOARD_DIR}/scripts/adb_upload.sh
+		COMMENT "uploading px4"
+		USES_TERMINAL
+	)
+
+	add_custom_target(sanity
+		COMMAND ./px4_snapflight_sanitytest.sh -i -t
+		DEPENDS px4
+		WORKING_DIRECTORY ${PX4_BOARD_DIR}/scripts
+		COMMENT "uploading px4"
+		USES_TERMINAL
+	)
+
+endif()
@@ -0,0 +1,128 @@
+
+# The Eagle board is the first generation Snapdragon Flight board by Qualcomm.
+
+include(px4_git)
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+list(APPEND CMAKE_MODULE_PATH
+	"${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon"
+	"${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon/toolchain"
+	)
+
+# Get $QC_SOC_TARGET from environment if existing.
+if (DEFINED ENV{QC_SOC_TARGET})
+	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
+else()
+	set(QC_SOC_TARGET "APQ8074")
+endif()
+
+# Disable the creation of the parameters.xml file by scanning individual
+# source files, and scan all source files.  This will create a parameters.xml
+# file that contains all possible parameters, even if the associated module
+# is not used.  This is necessary for parameter synchronization between the
+# ARM and DSP processors.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+
+set(CONFIG_SHMEM "1")
+add_definitions(-DORB_COMMUNICATOR)
+
+# atlflight toolchain doesn't properly set the compiler, so these aren't set automatically
+add_compile_options($<$<COMPILE_LANGUAGE:C>:-std=gnu99>)
+add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-std=gnu++11>)
+
+add_definitions(
+	-D__PX4_POSIX_EAGLE
+	-D__PX4_LINUX
+)
+
+px4_add_board(
+	PLATFORM posix
+	VENDOR atlflight
+	MODEL eagle
+	LABEL default
+	TOOLCHAIN arm-linux-gnueabihf
+	ROMFSROOT px4fmu_common
+	DRIVERS
+		#barometer # all available barometer drivers
+		batt_smbus
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		gps
+		#imu # all available imu drivers
+		#lights/rgbled
+		#magnetometer # all available magnetometer drivers
+		pwm_out_sim
+		qshell/posix
+		rc_input
+		smart_battery/batmon
+		#telemetry # all available telemetry drivers
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		gyro_calibration
+		gyro_fft
+		land_detector
+		landing_target_estimator
+		#load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		#micrortps_bridge
+		muorb/krait
+		muorb/test
+		navigator
+		rc_update
+		rover_pos_control
+		sensors
+		#sih
+		temperature_compensation
+		simulator
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		#bl_update
+		#dumpfile
+		esc_calib
+		#hardfault_log
+		led_control
+		mixer
+		motor_ramp
+		motor_test
+		#mtd
+		#nshterm
+		param
+		perf
+		pwm
+		sd_bench
+		shutdown
+		system_time
+		#top
+		topic_listener
+		tune_control
+		uorb
+		ver
+		work_queue
+	EXAMPLES
+		#fake_gps
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hello
+		#hwtest # Hardware test
+		#matlab_csv_serial
+		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		#rover_steering_control # Rover example app
+		#uuv_example_app
+		#work_item
+	)
@@ -0,0 +1,88 @@
+
+# The Eagle board is the first generation Snapdragon Flight board by Qualcomm.
+#
+# This cmake config builds for QURT which is the operating system running on
+# the DSP side.
+
+# Get $QC_SOC_TARGET from environment if existing.
+if (DEFINED ENV{QC_SOC_TARGET})
+	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
+else()
+	set(QC_SOC_TARGET "APQ8074")
+endif()
+
+include(px4_git)
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+
+if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
+	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
+else()
+	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
+endif()
+
+include(toolchain/Toolchain-qurt)
+include(qurt_flags)
+include_directories(${HEXAGON_SDK_INCLUDES})
+
+set(CONFIG_SHMEM "1")
+add_definitions(-DORB_COMMUNICATOR)
+
+# Disable the creation of the parameters.xml file by scanning individual
+# source files, and scan all source files.  This will create a parameters.xml
+# file that contains all possible parameters, even if the associated module
+# is not used.  This is necessary for parameter synchronization between the
+# ARM and DSP processors.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+
+# This definition allows to differentiate the specific board.
+add_definitions(-D__PX4_QURT_EAGLE)
+
+px4_add_board(
+	PLATFORM qurt
+	VENDOR atlflight
+	MODEL eagle
+	LABEL qurt
+	DRIVERS
+		barometer/bmp280
+		gps
+		imu/invensense/mpu9250
+		#magnetometer/hmc5883
+		qshell/qurt
+		snapdragon_spektrum_rc
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		commander
+		ekf2
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		gyro_calibration
+		gyro_fft
+		land_detector
+		landing_target_estimator
+		local_position_estimator
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		muorb/adsp
+		rc_update
+		rover_pos_control
+		sensors
+		temperature_compensation
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		led_control
+		mixer
+		#motor_ramp
+		motor_test
+		param
+		perf
+		#pwm
+		#topic_listener
+		ver
+		work_queue
+	)
@@ -0,0 +1,2 @@
+minidm.log
+px4.log
@@ -0,0 +1,32 @@
+#!/bin/bash
+
+if [[ "$#" < 2 ]]; then
+	echo "usage: adb_upload.sh SRC1 [SRC2 ...] DEST"
+	exit
+fi
+
+# Get last argument
+for last; do true; done
+
+echo "Wait for device..."
+adb wait-for-device
+
+echo "Creating folder structure..."
+adb shell mkdir -p $last
+
+echo "Uploading..."
+# Go through source files and push them one by one.
+i=0
+for arg
+do
+	if [[ $((i+1)) == "$#" ]]; then
+		break
+	fi
+	# echo "Pushing $arg to $last"
+	adb push $arg $last
+	((i+=1))
+done
+
+# Make sure they are synced to the file system
+echo "Syncing FS..."
+adb shell sync
@@ -0,0 +1,288 @@
+#!/bin/bash
+
+#################################################################################################
+#
+# This script loads PX4 binaries to the Snapdragon Flight target and does a quick on-target sanity test.
+#
+# Pre-requisites:
+#  - Snapdragon Flight board connected to the host computer via USB cable
+#  - Snapdragon Flight board must have the latest platform BSP and flight controller addon installed"
+#  - mini-dm installed on host computer (see https://github.com/ATLFlight/ATLFlightDocs/blob/master/UserGuide.md#adsp)
+#  - PX4 software was built and binaries are in their usual locations in the Firmware tree.
+#
+# This script supports two modes:
+#  - Default mode (supported by PX4 community)
+#  - Legacy mode (uses proprietary drivers for ESC and RC Receiver, supported by Qualcomm)
+#
+# For help and cmd line options, run the script with the -h option
+#
+#################################################################################################
+
+# Halt on error
+set -e
+
+# Verbose mode
+## set -x
+
+# Mode of operation
+readonly MODE_DEFAULT=0
+readonly MODE_LEGACY=1
+readonly MODE_8x96=2
+readonly MODE_MAX=$MODE_8x96
+
+readonly RESULT_PASS=0
+readonly RESULT_FAIL=3
+readonly EXIT_ERROR=3
+
+
+# List of expected strings from the apps proc
+declare -a appsproc_strings_present=(
+   "on udp port 14556 remote port 14550"
+   )
+
+# List of unexpected strings from the apps proc
+declare -a appsproc_strings_absent=(
+   "ERROR"
+   "Getting Bulk data from fastRPC link"
+   "Segmentation fault"
+   )
+
+# List of expected strings from the DSP
+declare -a dsp_strings_present=(
+    "EKF aligned"
+   )
+
+# List of unexpected strings from the DSP
+declare -a dsp_strings_absent=(
+   "Segmentation fault"
+   )
+
+
+install=0
+test=0
+mode=0
+result=$RESULT_PASS
+
+# Default mini-dm path (needs to be installed in this location or overriden through cmd line
+minidmPath=~/Qualcomm/Hexagon_SDK/3.0/tools/debug/mini-dm/Linux_Debug
+
+# Default workspace path (parent directory of the script location)
+workspace=`pwd`/../../../..
+
+
+verifypx4test() {
+
+   #TODO: This needs to be fixed. For now, skip string checks for 8x96 platform.
+   if [ $mode == 2 ]; then
+      echo -e "[WARNING] Skipping string checks for 8x96 platform"
+      return
+   fi
+
+   echo -e "Verifying test results..."
+
+   # verify the presence of expected stings in the apps proc console log
+   for lineString in "${appsproc_strings_present[@]}"
+   do
+   	if ! grep -Fq "$lineString" px4.log
+   	then
+         # code if not found
+         echo -e "[ERROR] Missing expected string in apps proc log: $lineString"
+         result=$RESULT_FAIL
+      fi
+   done
+
+   # verify the absence of unexpected stings in the apps proc console log
+   for lineString in "${appsproc_strings_absent[@]}"
+   do
+   	if grep -Fq "$lineString" px4.log
+   	then
+         # code if not found
+         echo -e "[ERROR] Found unexpected string in apps proc log: $lineString"
+         result=$RESULT_FAIL
+      fi
+   done
+
+   echo -e "Displaying the content of the minidm.log"
+   cat minidm.log
+   echo -e "Analyzing the log for success and failure indications."
+
+   # verify the presence of expected stings in the DSP console log
+   for lineString in "${dsp_strings_present[@]}"
+   do
+   	if ! grep -Fq "$lineString" minidm.log
+   	then
+         # code if not found
+         echo -e "[ERROR] Missing expected string in DSP log: $lineString"
+         result=$RESULT_FAIL
+      fi
+   done
+
+   # verify the absence of unexpected stings in the DSP console log
+   for lineString in "${dsp_strings_absent[@]}"
+   do
+   	if grep -Fq "$lineString" minidm.log
+   	then
+         # code if not found
+         echo -e "[ERROR] Found unexpected string in DSP log: $lineString"
+         result=$RESULT_FAIL
+      fi
+   done
+
+   echo -e "Verification complete."
+
+   if [ $result -eq $RESULT_FAIL ]; then
+      echo -e "PX4 test result: FAIL"
+   else
+      echo -e "PX4 test result: PASS"
+   fi
+}
+
+installpx4() {
+
+   if [ $install -eq 0 ]; then
+      echo -e "SKIPPING install"
+      return 0;
+   fi
+
+   # Reboot the target before beginning the installation
+   echo -e "Rebooting the target..."
+   adb reboot
+   adb wait-for-usb-device
+   # Wait a bit longer after bootup, before copying binaries to the target.
+   sleep 30
+   adb devices
+
+   echo -e "Now installing PX4 binaries..."
+   # Copy binaries to the target
+   if [ $mode == 0 ]; then
+      # copy default binaries
+      echo -e "Copying the PX4 binaries from the eagle_default build tree..."
+      adb push $workspace/build/atlflight_eagle_qurt/platforms/qurt/libpx4.so /usr/share/data/adsp
+      adb push $workspace/build/atlflight_eagle_qurt/platforms/qurt/libpx4muorb_skel.so /usr/share/data/adsp
+      adb push $workspace/build/atlflight_eagle_default/bin/px4 /home/linaro
+      adb push $workspace/posix-configs/eagle/flight/px4.config /usr/share/data/adsp
+      adb push $workspace/posix-configs/eagle/flight/mainapp.config /home/linaro
+   fi
+
+   echo -e "Installation complete."
+}
+
+
+testpx4() {
+
+   if [ $test -eq 0 ]; then
+      echo -e "SKIPPING test"
+      return 0;
+   fi
+
+   echo -e "Starting PX4 test..."
+
+   # Remove previous instances of the file
+   rm px4.log | true
+   rm minidm.log | true
+
+   # Start mini-dm
+   echo -e "Starting mini-dm..."
+   ${minidmPath}/mini-dm > minidm.log &
+   sleep 5
+   # Verify that mini-dm is running
+   checkProc=$(ps -aef | grep mini-dm | grep -v grep)
+
+   if [ -z "${checkProc}" ]; then
+      echo "[ERROR] Unable to start mini-dm from path: ${minidmPath}"
+      exit $EXIT_ERROR
+   fi
+
+
+   # Start PX4
+   echo -e "Starting PX4..."
+   if [ $mode == 2 ]; then
+      # 8x96 platform
+      adb shell "/home/root/px4 /home/root/mainapp.config" > px4.log 2>&1 &
+   else
+      # 8x74 platform
+      adb shell "/home/linaro/px4 /home/linaro/mainapp.config" > px4.log 2>&1 &
+   fi
+   sleep 20
+   # Verify that PX4 is still running
+   checkProc=$(adb shell "ps -aef | grep px4 | grep -v grep")
+   if [ -z "${checkProc}" ]; then
+      echo "[ERROR] PX4 is not running on target!"
+      exit $EXIT_ERROR
+   fi
+
+   # Stop the PX4 process on target
+   adb shell "ps -eaf | grep px4 | grep -v grep | awk '{print $2}' | tr -s ' ' | cut -d' ' -f2 | xargs kill"
+   sleep 5
+
+   # Stop the mini-dm
+   killall mini-dm
+
+   echo -e "PX4 test complete."
+
+   # Verify the results
+   verifypx4test
+
+   echo -e "For more information, see px4.log and minidm.log."
+}
+
+
+usage() {
+  echo -e "\nThis script can copy PX4 binaries to the Snapdragon Flight target and do a quick on-target sanity test.\n"
+  echo -e "Pre-requisites:"
+  echo -e "- Snapdragon Flight board must be connected to host computer via USB"
+  echo -e "- Snapdragon Flight board must have the latest platform BSP and flight controller addon installed"
+  echo -e "- mini-dm must be installed on host computer (see https://github.com/ATLFlight/ATLFlightDocs/blob/master/UserGuide.md#adsp)"
+  echo -e "- PX4 software was built and binaries are in their usual locations in the tree\n"
+  echo -e "USAGE:\n ${0} [-m mode] [-i] [-t] [-l <minidm-path>]"
+  echo -e "    -m --> Build mode (0 = default mode, 1 = legacy mode)"
+  echo -e "    -i --> Install the PX4 binaries"
+  echo -e "    -t --> Test PX4 on target"
+  echo -e "    -l --> location of the mini-dm executable (Default: ${minidmPath})"
+  echo -e "    -h --> Display this help information"
+}
+
+# Parse the command line options
+while getopts "m:l:ith" opt;
+   do
+      case $opt in
+         m)
+            if [ $OPTARG -gt $MODE_MAX ]; then
+               echo "Invalid mode: $OPTARG (max allowed is $MODE_MAX)"
+               exit $EXIT_ERROR
+            fi
+            mode=$OPTARG
+            echo "Will run the script in mode $mode."
+            ;;
+         i)
+            install=1
+            ;;
+         t)
+            test=1
+            ;;
+         l)
+            minidmPath=$OPTARG
+            ;;
+         h)
+            usage
+            exit 0
+            ;;
+         :)
+            echo "Option -$OPTARG requires an argument" >&2
+            exit 1;;
+         ?)
+            echo "Unknown arg $opt"
+            usage
+            exit 1
+            ;;
+      esac
+done
+
+# Install the PX4 binaries
+installpx4
+
+# Run the sanity test
+testpx4
+
+exit $result
+
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2015 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
@@ -32,23 +32,8 @@
 ############################################################################

 add_library(drivers_board
+	board_config.h
 	i2c.cpp
 	init.c
-	led.c
-	sdio.c
 	spi.cpp
-	timer_config.cpp
-	usb.c
-	pwr.c
-)
-add_dependencies(drivers_board arch_board_hw_info)
-
-target_link_libraries(drivers_board
-	PRIVATE
-		arch_board_hw_info
-		arch_spi
-		drivers__led # drv_led_start
-		nuttx_arch # sdio
-		nuttx_drivers # sdio
-		px4_layer
 )
@@ -0,0 +1,53 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2017 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * EAGLE internal definitions
+ */
+
+#pragma once
+
+#define BOARD_OVERRIDE_UUID "EAGLEID000000000" // must be of length 16
+#define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_EAGLE
+
+/*
+ * I2C busses
+ */
+#define PX4_NUMBER_I2C_BUSES    3
+
+// Battery ADC channels
+
+#include <system_config.h>
+#include <px4_platform_common/board_common.h>
@@ -34,6 +34,7 @@
 #include <px4_arch/i2c_hw_description.h>

 constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusInternal(2),
-	initI2CBusInternal(4),
+	initI2CBusExternal(2),
+	initI2CBusExternal(3),
+	initI2CBusExternal(9),
 };
@@ -0,0 +1,41 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * 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.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(1, {
+		initSPIDevice(DRV_IMU_DEVTYPE_MPU9250),
+	}),
+};
@@ -0,0 +1,126 @@
+
+# Excelsior is the code name of a board currently in development.
+
+include(px4_git)
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+list(APPEND CMAKE_MODULE_PATH
+	"${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon"
+	"${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon/toolchain"
+	)
+
+# Get $QC_SOC_TARGET from environment if existing.
+if (DEFINED ENV{QC_SOC_TARGET})
+	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
+else()
+	set(QC_SOC_TARGET "APQ8074")
+endif()
+
+# Disable the creation of the parameters.xml file by scanning individual
+# source files, and scan all source files.  This will create a parameters.xml
+# file that contains all possible parameters, even if the associated module
+# is not used.  This is necessary for parameter synchronization between the
+# ARM and DSP processors.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+
+set(CONFIG_SHMEM "1")
+add_definitions(-DORB_COMMUNICATOR)
+
+# atlflight toolchain doesn't properly set the compiler, so these aren't set automatically
+add_compile_options($<$<COMPILE_LANGUAGE:C>:-std=gnu99>)
+add_compile_options($<$<COMPILE_LANGUAGE:CXX>:-std=gnu++11>)
+
+add_definitions(
+	-D__PX4_POSIX_EXCELSIOR
+	-D__PX4_LINUX
+)
+
+px4_add_board(
+	PLATFORM posix
+	VENDOR atlflight
+	MODEL excelsior
+	LABEL default
+	TOOLCHAIN arm-oemllib32-linux-gnueabi
+	DRIVERS
+		#barometer # all available barometer drivers
+		batt_smbus
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		gps
+		#imu # all available imu drivers
+		#lights/rgbled
+		#magnetometer # all available magnetometer drivers
+		pwm_out_sim
+		qshell/posix
+		rc_input
+		smart_battery/batmon
+		#telemetry # all available telemetry drivers
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		gyro_calibration
+		gyro_fft
+		land_detector
+		landing_target_estimator
+		#load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		#micrortps_bridge
+		muorb/krait
+		muorb/test
+		navigator
+		rc_update
+		rover_pos_control
+		sensors
+		#sih
+		simulator
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		#bl_update
+		#dumpfile
+		esc_calib
+		#hardfault_log
+		led_control
+		mixer
+		motor_ramp
+		motor_test
+		#mtd
+		#nshterm
+		param
+		perf
+		pwm
+		sd_bench
+		shutdown
+		system_time
+		#top
+		topic_listener
+		tune_control
+		uorb
+		ver
+		work_queue
+	EXAMPLES
+		#fake_gps
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hello
+		#hwtest # Hardware test
+		#matlab_csv_serial
+		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		#rover_steering_control # Rover example app
+		#uuv_example_app
+		#work_item
+	)
@@ -0,0 +1,88 @@
+
+# Excelsior is the code name of a board currently in development.
+#
+# This cmake config builds for QURT which is the operating system running on
+# the DSP side.
+
+# Get $QC_SOC_TARGET from environment if existing.
+if (DEFINED ENV{QC_SOC_TARGET})
+	set(QC_SOC_TARGET $ENV{QC_SOC_TARGET})
+else()
+	set(QC_SOC_TARGET "APQ8074")
+endif()
+
+include(px4_git)
+px4_add_git_submodule(TARGET git_cmake_hexagon PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+list(APPEND CMAKE_MODULE_PATH "${PX4_SOURCE_DIR}/boards/atlflight/cmake_hexagon")
+
+if ("$ENV{HEXAGON_SDK_ROOT}" STREQUAL "")
+	message(FATAL_ERROR "Enviroment variable HEXAGON_SDK_ROOT must be set")
+else()
+	set(HEXAGON_SDK_ROOT $ENV{HEXAGON_SDK_ROOT})
+endif()
+
+include(toolchain/Toolchain-qurt)
+include(qurt_flags)
+include_directories(${HEXAGON_SDK_INCLUDES})
+
+set(CONFIG_SHMEM "1")
+add_definitions(-DORB_COMMUNICATOR)
+
+# Disable the creation of the parameters.xml file by scanning individual
+# source files, and scan all source files.  This will create a parameters.xml
+# file that contains all possible parameters, even if the associated module
+# is not used.  This is necessary for parameter synchronization between the
+# ARM and DSP processors.
+set(DISABLE_PARAMS_MODULE_SCOPING TRUE)
+
+# This definition allows to differentiate the specific board.
+add_definitions(-D__PX4_QURT_EXCELSIOR)
+
+px4_add_board(
+	PLATFORM qurt
+	VENDOR atlflight
+	MODEL excelsior
+	LABEL qurt
+	DRIVERS
+		barometer/bmp280
+		gps
+		imu/invensense/mpu9250
+		magnetometer/hmc5883
+		qshell/qurt
+		snapdragon_spektrum_rc
+	MODULES
+		airspeed_selector
+		attitude_estimator_q
+		commander
+		ekf2
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		gyro_calibration
+		gyro_fft
+		land_detector
+		landing_target_estimator
+		local_position_estimator
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		muorb/adsp
+		rc_update
+		rover_pos_control
+		sensors
+		temperature_compensation
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		led_control
+		mixer
+		#motor_ramp
+		motor_test
+		param
+		perf
+		#pwm
+		#topic_listener
+		ver
+		work_queue
+	)
@@ -0,0 +1,39 @@
+############################################################################
+#
+#   Copyright (c) 2015 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.
+#
+############################################################################
+
+add_library(drivers_board
+	board_config.h
+	init.c
+	spi.cpp
+	i2c.cpp
+)
--- a/Show More
+++ b/Show More