update all px4board kconfig

fix(ci): stop pr-review-poster from spamming REQUEST_CHANGES on every push
Branch protection rules block the GITHUB_TOKEN from dismissing reviews (HTTP 403), so every push added another undismissable REQUEST_CHANGES review. PR #27004 accumulated 12 identical blocking reviews. Switch to COMMENT-only reviews. Findings still show inline on the diff but don't create blocking reviews that require manual maintainer dismissal. The CI check status (pass/fail) gates merging, not the review state. Also enable CMAKE_TESTING=ON in the clang-tidy build so test files get proper include paths in compile_commands.json. Without this, clang-tidy-diff runs on test files from the PR diff but can't resolve gtest headers, producing false positives. Fixes #27004 Signed-off-by: Ramon Roche <mrpollo@gmail.com>
2026-07-06 13:20:35 +08:00 · 2026-04-11 11:31:02 +00:00 · 2026-04-10 20:33:34 -06:00 · 2026-04-10 18:49:53 -07:00 · 2026-04-10 15:58:34 -06:00 · 2026-04-10 15:21:41 -06:00
219 changed files with 873 additions and 8054 deletions
@@ -1,45 +0,0 @@
-{
-  "permissions": {
-    "allow": [
-      "Bash(git -C /Users/rroche/Work/Dronecode/PX4-Autopilot-ci-orchestrator commit -S -s -m \"$\\(cat <<''EOF''\nci-orchestrator: cache emscripten SDK in failsafe-sim job\n\nCache the _emscripten_sdk directory keyed on version 4.0.15 so\nsubsequent runs skip the git clone and install steps \\(~30s savings\non cache hit\\). The build step sources emsdk_env.sh unchanged.\nEOF\n\\)\")",
-      "WebFetch(domain:gist.github.com)",
-      "Bash(git -C /Users/rroche/Work/Dronecode/PX4-Autopilot-ci-orchestrator commit -S -s -m \"$\\(cat <<''EOF''\nci-orchestrator: upgrade SITL and ROS integration runners to 8cpu\n\nROS Integration Tests \\(31m\\) is the critical path bottleneck,\nfollowed by SITL Tests tailsitter \\(20m\\). Both spend significant\ntime compiling dependencies \\(xrce-dds, ROS2 libs, gazebo\\). Upgrade\nfrom 4cpu to 8cpu to parallelize compilation and reduce wall-clock.\nEOF\n\\)\")",
-      "Bash(git -C /Users/rroche/Work/Dronecode/PX4-Autopilot-ci-orchestrator commit -S -s -m \"$\\(cat <<''EOF''\nci-orchestrator: fix flash analysis comment alignment\n\nRemove extra indentation from code fences and bloaty output inside\nthe PR comment body so the column alignment renders correctly in\nGitHub markdown.\nEOF\n\\)\")",
-      "Bash(docker run:*)",
-      "Bash(docker rm:*)",
-      "Bash(git -C /Users/rroche/Work/Dronecode/PX4-Autopilot-ci-orchestrator commit -S -s -m \"$\\(cat <<''EOF''\nci-orchestrator: increase SITL test speed factor to 20x\n\nBump simulation speed factor from 10x to 20x for MAVSDK SITL tests.\nWith the 8cpu runners this should be sustainable and roughly halve\nthe 18min test execution phase.\nEOF\n\\)\")",
-      "Bash(docker exec:*)",
-      "Bash(git -C /Users/rroche/Work/Dronecode/PX4-Autopilot-ci-orchestrator commit -S -s -m \"$\\(cat <<''EOF''\nci-orchestrator: build Gazebo plugins in cache seed job\n\nAdd Gazebo Classic plugin build to the build-sitl cache seed job so\ndownstream SITL test jobs get ccache hits for both PX4 firmware and\nGazebo objects. Bump ccache max_size from 250M to 400M to fit both.\nEOF\n\\)\")",
-      "Bash(git -C /Users/rroche/Work/Dronecode/PX4-Autopilot-ci-orchestrator commit -S -s -m \"$\\(cat <<''EOF''\ndocs: update CI orchestrator docs for 4-tier architecture and caching\n\nUpdate documentation to reflect recent changes:\n- 5-tier to 4-tier restructure \\(old T3 merged into T2\\)\n- Add comprehensive caching strategy section covering ccache key\n  patterns, scopes, sizes, and the cache seed pattern\n- Document Emscripten SDK cache for failsafe-sim\n- Update runner types \\(8cpu for SITL/ROS, 16cpu for clang-tidy\\)\n- SITL tests now run at 20x speed factor\n- Remove CI summary job references\n- Update tier numbering throughout troubleshooting and best practices\nEOF\n\\)\")",
-      "Bash(docker build:*)",
-      "WebFetch(domain:raw.githubusercontent.com)",
-      "Bash(docker system prune:*)",
-      "WebSearch",
-      "WebFetch(domain:hub.docker.com)",
-      "WebFetch(domain:docs.px4.io)",
-      "WebFetch(domain:github.com)",
-      "Bash(find:*)",
-      "Bash(docker search:*)",
-      "Bash(docker images:*)",
-      "Bash(gh pr create --draft --title \"packaging: add PX4 SITL .deb package\" --body \"$\\(cat <<''EOF''\nSingle .deb package for PX4 SITL with Gazebo Harmonic resources. Installs to /opt/px4-sitl with a px4-sitl wrapper script symlinked to /usr/bin.\n\nChanges:\n- cmake/package.cmake: CPack config for px4-sitl .deb with minimal Gazebo runtime deps\n- platforms/posix/CMakeLists.txt: install targets for Gazebo models, worlds, plugins\n- Tools/packaging/px4-sitl.sh: launcher script \\(XDG dirs, gz_env.sh generation, dartsim symlink fix\\)\n- Tools/packaging/postinst, postrm: create/remove /usr/bin/px4-sitl symlink\n- .github/workflows/build_deb_package.yml: CI to build and validate the .deb\n- docs/en/packaging/px4_sitl_deb.md: usage and build docs\n\nTested with PX4_SIM_MODEL=gz_x500 and sihsim_quadx in Ubuntu 24.04 container.\nEOF\n\\)\")",
-      "Bash(gh gist create:*)",
-      "Bash(git commit -S -s -m \"$\\(cat <<''EOF''\npackaging: exclude legacy install rules from .deb builds\n\nGate legacy install rules behind if\\(NOT DPKG_PROGRAM\\) so they only\nrun for tarball/ROS workflows. Gate .deb install rules behind\nif\\(DPKG_PROGRAM\\) so they only run when building .deb packages.\n\nWithout this, both rule sets execute during .deb builds, triplicating\nfiles and pulling in the entire source tree \\(integrationtests, launch,\nTools, CMakeLists.txt, gazebo-classic models\\) into the package.\nEOF\n\\)\")",
-      "Bash(gh issue create:*)",
-      "Bash(git commit -S -s --amend -m \"$\\(cat <<''EOF''\npackaging: exclude legacy install rules from .deb builds\n\nMove find_program\\(DPKG_PROGRAM dpkg\\) into platforms/posix/CMakeLists.txt\nso it is available before the install rules are processed \\(package.cmake\nruns later\\). Gate both the top-level posix install block and the\nSITL-specific legacy install rules behind if\\(NOT DPKG_PROGRAM\\) so they\nonly run for tarball/ROS workflows.\n\nGate .deb install rules behind if\\(DPKG_PROGRAM\\) so they only run when\nbuilding .deb packages. Mark Gazebo resource installs as OPTIONAL so\nCPack does not fail when the gz submodule is not checked out.\n\nWithout this, both rule sets execute during .deb builds, triplicating\nfiles and pulling in the entire source tree \\(integrationtests, launch,\nTools, CMakeLists.txt, gazebo-classic models\\) into the package.\n\nSigned-off-by: Ramon Roche <mrpollo@gmail.com>\nEOF\n\\)\")",
-      "Bash(git commit:*)",
-      "Bash(kill:*)",
-      "WebFetch(domain:cmake.org)",
-      "Bash(gh run watch:*)",
-      "Bash(gh pr list:*)",
-      "Bash(gh pr checks:*)",
-      "WebFetch(domain:discuss.px4.io)",
-      "Bash(gh issue list:*)",
-      "Bash(pkill:*)",
-      "WebFetch(domain:runs-on.com)",
-      "Bash(gh release:*)",
-      "Bash(docker manifest:*)",
-      "Bash(gh pr:*)",
-      "Bash(GIT_EDITOR=true git cherry-pick --continue)"
-    ]
-  }
-}
@@ -69,6 +69,7 @@ jobs:
    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    outputs:
      matrix: ${{ steps.set-matrix.outputs.matrix }}
+      seeders: ${{ steps.set-seeders.outputs.seeders }}
      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
      branchname: ${{ steps.set-branch.outputs.branchname }}
    steps:
@@ -82,19 +83,17 @@ jobs:
          restore-keys: |
            ${{ runner.os }}-pip-

-      - name: Update python packaging to avoid canonicalize_version() error
-        run: |
-            pip3 install -U packaging
-
      - name: Install Python Dependencies
-        uses: py-actions/py-dependency-install@v4
-        with:
-          path: "./Tools/setup/requirements.txt"
+        run: pip3 install -U packaging -r ./Tools/setup/requirements.txt

      - id: set-matrix
        name: Generate Build Matrix
        run: echo "matrix=$(./Tools/ci/generate_board_targets_json.py --group)" >> $GITHUB_OUTPUT

+      - id: set-seeders
+        name: Generate Seeder Matrix
+        run: echo "seeders=$(./Tools/ci/generate_board_targets_json.py --group --seeders)" >> $GITHUB_OUTPUT
+
      - id: set-timestamp
        name: Save Current Timestamp
        run: echo "timestamp=$(date +"%Y%m%d%H%M%S")" >> $GITHUB_OUTPUT
@@ -116,11 +115,52 @@ jobs:
          echo "${{ steps.set-branch.outputs.branchname }}"
          echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"

+  # ===========================================================================
+  # CACHE SEEDER JOBS
+  # ===========================================================================
+  # Build one representative target per chip family to warm the ccache.
+  # Matrix jobs fall back to these caches via restore-keys when no
+  # group-specific cache exists yet. If any seeder fails, the build matrix
+  # does not start, catching common build errors early.
+  # ===========================================================================
+
+  seed:
+    name: Seed [${{ matrix.chip_family }}]
+    needs: group_targets
+    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    strategy:
+      matrix: ${{ fromJson(needs.group_targets.outputs.seeders) }}
+      fail-fast: false
+    container:
+      image: ${{ matrix.container }}
+      credentials:
+        username: ${{ github.actor }}
+        password: ${{ secrets.GITHUB_TOKEN }}
+    steps:
+      - uses: runs-on/action@v2
+      - uses: actions/checkout@v6
+        with:
+          fetch-depth: 1
+      - name: Configure Git Safe Directory
+        run: git config --system --add safe.directory '*'
+      - uses: ./.github/actions/setup-ccache
+        id: ccache
+        with:
+          cache-key-prefix: ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-seeder
+          max-size: 400M
+      - name: Build seed target
+        run: make ${{ matrix.target }}
+      - uses: ./.github/actions/save-ccache
+        if: always()
+        with:
+          cache-primary-key: ${{ steps.ccache.outputs.cache-primary-key }}
+
  setup:
    name: Build [${{ matrix.runner }}][${{ matrix.group }}]
    # runs-on: ubuntu-latest
-    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
-    needs: group_targets
+    runs-on: [runs-on,"runner=4cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    needs: [group_targets, seed]
+    if: "!failure() && !cancelled()"
    strategy:
      matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
      fail-fast: false
@@ -137,34 +177,29 @@ jobs:
      - name: Configure Git Safe Directory
        run: git config --system --add safe.directory '*'

-      # ccache key breakdown:
-      # ccache-<system os>-<system arch>-<builder group>-
-      # ccache-<linux>-<arm64>-<aarch64-0>-
-      # ccache-<linux>-<x64>-<nuttx-0>-
-      - name: Cache Restore from Key
-        id: cc_restore
+      - name: Cache - Restore ccache
+        id: ccache-restore
        uses: actions/cache/restore@v5
        with:
          path: ~/.ccache
-          key: ${{ format('ccache-{0}-{1}-{2}', runner.os, matrix.runner, matrix.group) }}
+          key: ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-${{ matrix.group }}-${{ github.ref_name }}-${{ github.sha }}
          restore-keys: |
-            ccache-${{ runner.os }}-${{ matrix.runner }}-${{ matrix.group }}-
-            ccache-${{ runner.os }}-${{ matrix.runner }}-
-            ccache-${{ runner.os }}-${{ matrix.runner }}-
-            ccache-${{ runner.os }}-
-            ccache-
+            ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-${{ matrix.group }}-${{ github.ref_name }}-
+            ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-${{ matrix.group }}-${{ github.base_ref || 'main' }}-
+            ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-${{ matrix.group }}-
+            ccache-${{ matrix.chip_family }}-${{ matrix.runner }}-

-      - name: Cache Config and Stats
+      - name: Cache - Configure ccache
        run: |
-            mkdir -p ~/.ccache
-            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-            echo "compression = true" >> ~/.ccache/ccache.conf
-            echo "compression_level = 6" >> ~/.ccache/ccache.conf
-            echo "max_size = 120M" >> ~/.ccache/ccache.conf
-            echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            echo "compiler_check = content" >> ~/.ccache/ccache.conf
-            ccache -s
-            ccache -z
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = ${{ matrix.cache_size }}" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          echo "compiler_check = content" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z

      - name: Building Artifacts for [${{ matrix.targets }}]
        run: |
@@ -180,18 +215,10 @@ jobs:
          name: px4_${{matrix.group}}_build_artifacts
          path: artifacts/

-      - name: Cache Post Build Stats
-        if: always()
-        run: |
-            ccache -s
-            ccache -z
-
-      - name: Cache Save
-        if: always()
-        uses: actions/cache/save@v5
+      - uses: ./.github/actions/save-ccache
+        if: success()
        with:
-          path: ~/.ccache
-          key: ${{ steps.cc_restore.outputs.cache-primary-key }}
+          cache-primary-key: ${{ steps.ccache-restore.outputs.cache-primary-key }}

  # ===========================================================================
  # ARTIFACT UPLOAD JOB
@@ -60,7 +60,7 @@ jobs:
      if: always() && github.event_name == 'pull_request'
      run: |
        mkdir -p pr-review
-        git diff -U0 origin/${{ github.base_ref }}...HEAD \
+        git diff -U0 origin/${{ github.base_ref }}...HEAD -- ':!*/test/*' \
          | clang-tidy-diff-18.py -p1 \
              -path build/px4_sitl_default-clang \
              -export-fixes pr-review/fixes.yml \
@@ -78,7 +78,7 @@ jobs:
          --pr-number "${{ github.event.pull_request.number }}" \
          --commit-sha "${{ github.event.pull_request.head.sha }}" \
          --out-dir pr-review \
-          --event REQUEST_CHANGES
+          --event COMMENT

    - name: Upload pr-review artifact
      if: always() && github.event_name == 'pull_request'
@@ -25,9 +25,11 @@ name: PR Review Poster
 #   2. `pr_number` is validated to be a positive integer before use.
 #      `marker` is validated to be printable ASCII only before use.
 #      `commit_sha` is validated to be 40 lowercase hex characters.
-#      `event` is validated against an allowlist of `COMMENT` and
-#      `REQUEST_CHANGES`. `APPROVE` is intentionally forbidden so a bot
-#      cannot approve a pull request. Validation happens inside
+#      `event` is validated against an allowlist of `COMMENT` only.
+#      `APPROVE` and `REQUEST_CHANGES` are intentionally forbidden:
+#      bots should not approve PRs, and REQUEST_CHANGES reviews cannot
+#      be dismissed by the GITHUB_TOKEN under branch protection rules.
+#      Validation happens inside
 #      Tools/ci/pr-review-poster.py which is checked out from the base
 #      branch, not from the artifact.
 #
@@ -71,7 +73,7 @@ name: PR Review Poster
 #     {
 #       "pr_number":  12345,                                      // required, int > 0
 #       "marker":     "<!-- pr-review-poster:clang-tidy -->",     // required, printable ASCII
-#       "event":      "REQUEST_CHANGES",                          // required, "COMMENT" | "REQUEST_CHANGES"
+#       "event":      "COMMENT",                                   // required, "COMMENT" only
 #       "commit_sha": "0123456789abcdef0123456789abcdef01234567", // required, 40 hex chars
 #       "summary":    "Optional review summary text"              // optional
 #     }
@@ -115,3 +115,6 @@ _emscripten_sdk/

 # virtual Python environment
 .venv
+
+# Claude Code local settings
+.claude/settings.local.json
@@ -0,0 +1,71 @@
+# Build All Targets CI Configuration
+#
+# Controls board grouping, cache sizes, runner specs, and seeder targets
+# for the build_all_targets workflow. Forks can customize this file to
+# adjust for their infrastructure (e.g., lower cache sizes for GitHub's
+# 10GB cache limit, fewer CPU cores for smaller runners).
+
+# Container images
+containers:
+  default: "ghcr.io/px4/px4-dev:v1.17.0-rc2"
+  voxl2: "ghcr.io/px4/px4-dev-voxl2:v1.7"
+
+# Runner specs
+runners:
+  seeder_cpu: 8
+  matrix_cpu: 4
+
+# Default ccache max-size for build groups
+cache:
+  default_size: "400M"
+  # Per-chip overrides for groups with many diverse boards
+  chip_sizes:
+    stm32h7: "800M"
+    stm32f4: "800M"
+    stm32f7: "800M"
+    imxrt: "800M"
+
+# Board grouping limits
+grouping:
+  # Max targets per group, tuned for ~10 min wall-clock with warm cache
+  chip_split_limits:
+    stm32h7: 10
+    stm32f7: 12
+    stm32f4: 20
+    stm32f1: 39
+    imxrt: 12
+    kinetis: 14
+    s32k: 17
+    rp2040: 10
+    special: 10
+    native: 17
+  default_split_limit: 12
+  # Minimum targets for a manufacturer to get a named group
+  lower_limit: 3
+  # If last chunk has fewer targets than this, merge into previous chunk
+  merge_back_threshold: 5
+
+# Labels that isolate builds into the "special" group
+special_labels:
+  - lto
+  - protected
+
+# NXP chip families are pooled under "nxp-{chip}" regardless of board directory
+nxp_chip_families:
+  - imxrt
+  - kinetis
+  - s32k
+
+# Seeder targets: one representative build per chip family
+seeders:
+  stm32h7: "px4_fmu-v6x_default"
+  stm32f7: "px4_fmu-v5_default"
+  stm32f4: "px4_fmu-v4_default"
+  stm32f1: "px4_io-v2_default"
+  imxrt: "nxp_mr-tropic_default"
+  kinetis: "nxp_fmuk66-v3_default"
+  s32k: "nxp_mr-canhubk3_default"
+  rp2040: "raspberrypi_pico_default"
+  special: "px4_fmu-v6x_default"
+  native: "px4_sitl_default"
+  voxl2: "modalai_voxl2_default"
@@ -3,7 +3,6 @@
 # Please only modify if you know what you are doing
 set -e

-echo "### :clock1: Build Times" >> $GITHUB_STEP_SUMMARY
 targets=$1
 for target in ${targets//,/ }
 do
@@ -14,6 +13,5 @@ do
    diff=$(($stop-$start))
    build_time="$(($diff /60/60))h $(($diff /60))m $(($diff % 60))s elapsed"
    echo -e "\033[0;32mBuild Time: [$build_time]"
-    echo "* **$target** - $build_time" >> $GITHUB_STEP_SUMMARY
    echo "::endgroup::"
 done
@@ -16,6 +16,7 @@ kconf.warn_assign_override = False
 kconf.warn_assign_redun = False

 source_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..')
+boards_dir = os.path.join(source_dir, '..', 'boards')

 parser = argparse.ArgumentParser(description='Generate build targets')

@@ -26,6 +27,8 @@ parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
 parser.add_argument('-g', '--groups', dest='group', action='store_true',
                    help='Groups targets')
 parser.add_argument('-f', '--filter', dest='filter', help='comma separated list of build target name prefixes to include instead of all e.g. "px4_fmu-v5_"')
+parser.add_argument('-s', '--seeders', dest='seeders', action='store_true',
+                    help='Output seeder matrix JSON (one entry per chip family)')

 args = parser.parse_args()
 verbose = args.verbose
@@ -35,8 +38,14 @@ if args.filter:
    for target in args.filter.split(','):
        target_filter.append(target)

-default_container = 'ghcr.io/px4/px4-dev:v1.16.0-rc1-258-g0369abd556'
-voxl2_container = 'ghcr.io/px4/px4-dev-voxl2:v1.5'
+# Load CI configuration from YAML
+import yaml
+ci_config_path = os.path.join(os.path.dirname(os.path.abspath(__file__)), 'build_all_config.yml')
+with open(ci_config_path) as f:
+    ci_config = yaml.safe_load(f)
+
+default_container = ci_config['containers']['default']
+voxl2_container = ci_config['containers']['voxl2']
 build_configs = []
 grouped_targets = {}
 excluded_boards = ['px4_ros2', 'espressif_esp32']  # TODO: fix and enable
@@ -56,6 +65,71 @@ excluded_labels = [
    'uavcanv1', # TODO: fix and enable
    ]

+# Labels that mark isolated/special builds (poor cache reuse with normal builds)
+special_labels = ci_config.get('special_labels', ['lto', 'protected'])
+
+def detect_chip_family(manufacturer_name, board_name, label):
+    """Detect the chip family for a board by reading its NuttX defconfig.
+
+    Returns a chip family string used for cache grouping:
+      stm32h7, stm32f7, stm32f4, stm32f1, imxrt, kinetis, s32k, rp2040, native, special
+    """
+    # Special labels get their own group regardless of chip
+    if label in special_labels:
+        return 'special'
+
+    board_path = os.path.join(boards_dir, manufacturer_name, board_name)
+    nsh_defconfig = os.path.join(board_path, 'nuttx-config', 'nsh', 'defconfig')
+
+    if not os.path.exists(nsh_defconfig):
+        # Try bootloader defconfig as fallback
+        bl_defconfig = os.path.join(board_path, 'nuttx-config', 'bootloader', 'defconfig')
+        if os.path.exists(bl_defconfig):
+            nsh_defconfig = bl_defconfig
+        else:
+            return 'native'
+
+    arch_chip = None
+    specific_chip = None
+
+    with open(nsh_defconfig) as f:
+        for line in f:
+            line = line.strip()
+            if line.startswith('CONFIG_ARCH_CHIP='):
+                arch_chip = line.split('=')[1].strip('"')
+            elif line.startswith('CONFIG_ARCH_CHIP_STM32F') and line.endswith('=y'):
+                specific_chip = line.split('=')[0].replace('CONFIG_ARCH_CHIP_', '')
+
+    if arch_chip is None:
+        return 'native'
+
+    # Direct matches for chips that have unique CONFIG_ARCH_CHIP values
+    if arch_chip == 'stm32h7':
+        return 'stm32h7'
+    elif arch_chip == 'stm32f7':
+        return 'stm32f7'
+    elif arch_chip == 'imxrt':
+        return 'imxrt'
+    elif arch_chip == 'kinetis':
+        return 'kinetis'
+    elif arch_chip.startswith('s32k'):
+        return 's32k'
+    elif arch_chip == 'rp2040':
+        return 'rp2040'
+    elif arch_chip == 'stm32':
+        # Disambiguate STM32 sub-families using specific chip define
+        if specific_chip:
+            if specific_chip.startswith('STM32F1'):
+                return 'stm32f1'
+            elif specific_chip.startswith('STM32F4'):
+                return 'stm32f4'
+            else:
+                return 'stm32f4'  # Default STM32 to F4
+        return 'stm32f4'
+    else:
+        return 'native'
+
+target_chip_families = {}  # target_name -> chip_family mapping
 github_action_config = { 'include': build_configs }
 extra_args = {}
 if args.pretty:
@@ -66,11 +140,21 @@ def chunks(arr, size):
    for i in range(0, len(arr), size):
        yield arr[i:i + size]

+MERGE_BACK_THRESHOLD = 5
+
+def chunks_merged(arr, size):
+    """Split array into chunks, merging the last chunk back if it's too small."""
+    result = list(chunks(arr, size))
+    if len(result) > 1 and len(result[-1]) < MERGE_BACK_THRESHOLD:
+        result[-2] = result[-2] + result[-1]
+        result.pop()
+    return result
+
 def comma_targets(targets):
    # turns array of targets into a comma split string
    return ",".join(targets)

-def process_target(px4board_file, target_name):
+def process_target(px4board_file, target_name, manufacturer_name=None, board_dir_name=None, label=None):
    # reads through the board file and grabs
    # useful information for building
    ret = None
@@ -107,6 +191,16 @@ def process_target(px4board_file, target_name):
        if board_name in board_container_overrides:
            container = board_container_overrides[board_name]

+        # Detect chip family for cache grouping
+        chip_family = 'native'
+        if manufacturer_name and board_dir_name:
+            if platform == 'nuttx':
+                chip_family = detect_chip_family(manufacturer_name, board_dir_name, label or '')
+            elif board_name in board_container_overrides or platform in platform_container_overrides:
+                chip_family = 'native'  # voxl2/qurt targets
+            else:
+                chip_family = 'native'
+
        # Boards with container overrides get their own group
        if board_name in board_container_overrides or platform in platform_container_overrides:
            group = 'voxl2'
@@ -124,7 +218,7 @@ def process_target(px4board_file, target_name):
        else:
            if verbose: print(f'unmatched platform: {platform}')

-        ret = {'target': target_name, 'container': container}
+        ret = {'target': target_name, 'container': container, 'chip_family': chip_family}
        if(args.group):
            ret['arch'] = group

@@ -147,6 +241,8 @@ grouped_targets['base']['container'] = default_container
 grouped_targets['base']['manufacturers'] = {}
 grouped_targets['base']['manufacturers']['px4'] = []
 grouped_targets['base']['manufacturers']['px4'] += metadata_targets
+for mt in metadata_targets:
+    target_chip_families[mt] = 'native'

 for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), key=lambda e: e.name):
    if not manufacturer.is_dir():
@@ -177,7 +273,10 @@ for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), ke
                if label in excluded_labels:
                    if verbose: print(f'excluding label {label} ({target_name})')
                    continue
-                target = process_target(files.path, target_name)
+                target = process_target(files.path, target_name,
+                                       manufacturer_name=manufacturer.name,
+                                       board_dir_name=board.name,
+                                       label=label)
                if (args.group and target is not None):
                    if (target['arch'] not in grouped_targets):
                        grouped_targets[target['arch']] = {}
@@ -186,6 +285,7 @@ for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), ke
                    if(manufacturer.name not in grouped_targets[target['arch']]['manufacturers']):
                        grouped_targets[target['arch']]['manufacturers'][manufacturer.name] = []
                    grouped_targets[target['arch']]['manufacturers'][manufacturer.name].append(target_name)
+                    target_chip_families[target_name] = target['chip_family']
                if target is not None:
                    build_configs.append(target)

@@ -246,6 +346,9 @@ for manufacturer in sorted(os.scandir(os.path.join(source_dir, '../boards')), ke
                if manufacturer.name not in grouped_targets[group]['manufacturers']:
                    grouped_targets[group]['manufacturers'][manufacturer.name] = []
                grouped_targets[group]['manufacturers'][manufacturer.name].append(deb_target)
+                # Inherit chip_family from the default target
+                default_chip = target_chip_families.get(default_target, 'native')
+                target_chip_families[deb_target] = default_chip
            build_configs.append(target_entry)

 if(verbose):
@@ -261,109 +364,227 @@ if(verbose):
    print("===================")

 if (args.group):
-    # if we are using this script for grouping builds
-    # we loop trough the manufacturers list and split their targets
-    # if a manufacturer has more than a LIMIT of boards then we split that
-    # into sub groups such as "arch-manufacturer name-index"
-    # example:
-    #   nuttx-px4-0
-    #   nuttx-px4-1
-    #   nuttx-px4-2
-    #   nuttx-ark-0
-    #   nuttx-ark-1
-    # if the manufacturer doesn't have more targets than LIMIT then we add
-    # them to a generic group with the following structure "arch-index"
-    # example:
-    #   nuttx-0
-    #   nuttx-1
+    # Group targets by chip family for better ccache reuse.
+    # Targets sharing the same MCU family (e.g. stm32h7) benefit from
+    # a shared ccache seed since they compile the same NuttX kernel and HAL.
+    #
+    # Grouping strategy:
+    #   1. Collect all targets per (arch, chip_family, manufacturer)
+    #   2. Within each chip_family, large manufacturers get their own groups
+    #      named "{manufacturer}-{chip_family}[-N]"
+    #   3. Small manufacturers are merged into "misc-{chip_family}[-N]"
+    #   4. Special groups: "special" (lto/protected/allyes), "io" (stm32f1),
+    #      "voxl2-0" (unchanged)
+    #   5. Non-NuttX groups: "base-N", "aarch64-N", "armhf-N" (unchanged)
    final_groups = []
-    last_man = ''
-    last_arch = ''
-    SPLIT_LIMIT = 10
-    LOWER_LIMIT = 5
+    # Load grouping and cache config
+    grouping_config = ci_config.get('grouping', {})
+    CHIP_SPLIT_LIMITS = grouping_config.get('chip_split_limits', {})
+    DEFAULT_SPLIT_LIMIT = grouping_config.get('default_split_limit', 12)
+    LOWER_LIMIT = grouping_config.get('lower_limit', 3)
+
+    cache_config = ci_config.get('cache', {})
+    DEFAULT_CACHE_SIZE = cache_config.get('default_size', '400M')
+    CHIP_CACHE_SIZES = cache_config.get('chip_sizes', {})
+
    if(verbose):
        print(f'=:Architectures: [{grouped_targets.keys()}]')
+
    for arch in grouped_targets:
-        runner = 'x64' if arch in ('nuttx', 'voxl2') else 'arm64'
+        runner = 'x64'
+        # armhf and aarch64 Linux boards need the arm64 container image
+        # which ships the arm-linux-gnueabihf and aarch64-linux-gnu cross compilers
+        # (the x64 container image does not include them)
+        if arch in ('armhf', 'aarch64'):
+            runner = 'arm64'
        if(verbose):
            print(f'=:Processing: [{arch}]')
-        temp_group = []
-        for man in grouped_targets[arch]['manufacturers']:
-            if(verbose):
-                print(f'=:Processing: [{arch}][{man}]')
-            man_len = len(grouped_targets[arch]['manufacturers'][man])
-            if(man_len > LOWER_LIMIT and man_len < (SPLIT_LIMIT + 1)):
-                # Manufacturers can have their own group
+
+        if arch == 'nuttx':
+            # Re-bucket NuttX targets by chip_family then manufacturer
+            chip_man_buckets = {}  # (chip_family, manufacturer) -> [target_names]
+            for man in grouped_targets[arch]['manufacturers']:
+                for target in grouped_targets[arch]['manufacturers'][man]:
+                    chip = target_chip_families.get(target, 'native')
+                    key = (chip, man)
+                    if key not in chip_man_buckets:
+                        chip_man_buckets[key] = []
+                    chip_man_buckets[key].append(target)
+
+            # Collect all chip families present
+            chip_families_seen = sorted(set(k[0] for k in chip_man_buckets.keys()))
+
+            for chip in chip_families_seen:
+                SPLIT_LIMIT = CHIP_SPLIT_LIMITS.get(chip, DEFAULT_SPLIT_LIMIT)
+                # Special naming for certain chip families
+                if chip == 'special':
+                    chip_label = 'special'
+                elif chip == 'stm32f1':
+                    chip_label = 'io'
+                elif chip == 'rp2040':
+                    chip_label = 'special'  # rp2040 goes into special group
+                else:
+                    chip_label = chip
+
+                # Gather all (manufacturer -> targets) for this chip family
+                # NXP chip families (imxrt, kinetis, s32k) pool all manufacturers
+                # under "nxp" since all boards use NXP silicon regardless of
+                # which directory they live in (e.g., px4/fmu-v6xrt is imxrt).
+                nxp_chips = tuple(ci_config.get('nxp_chip_families', ['imxrt', 'kinetis', 's32k']))
+                man_targets = {}
+                for (c, m), targets in chip_man_buckets.items():
+                    if c == chip:
+                        man_key = 'nxp' if chip in nxp_chips else m
+                        if man_key not in man_targets:
+                            man_targets[man_key] = []
+                        man_targets[man_key].extend(targets)
+
+                # Merge rp2040 targets into a flat list for the special group
+                if chip in ('special', 'rp2040'):
+                    all_targets = []
+                    for m in sorted(man_targets.keys()):
+                        all_targets.extend(man_targets[m])
+                    # These get added to the special bucket below
+                    # We'll handle after the chip loop
+                    continue
+
                if(verbose):
-                    print(f'=:Processing: [{arch}][{man}][{man_len}]==Manufacturers can have their own group')
-                group_name = arch + "-" + man
-                targets = comma_targets(grouped_targets[arch]['manufacturers'][man])
-                final_groups.append({
-                    "container": grouped_targets[arch]['container'],
-                    "targets": targets,
-                    "arch": arch,
-                    "runner": runner,
-                    "group": group_name,
-                    "len": len(grouped_targets[arch]['manufacturers'][man])
-                })
-            elif(man_len >= (SPLIT_LIMIT + 1)):
-                # Split big man groups into subgroups
-                # example: Pixhawk
-                if(verbose):
-                    print(f'=:Processing: [{arch}][{man}][{man_len}]==Manufacturers has multiple own groups')
-                chunk_limit = SPLIT_LIMIT
+                    print(f'=:Processing chip_family: [{chip}] ({chip_label})')
+
+                # Split into large-manufacturer groups and misc groups
+                # For NXP-exclusive chip families, always use the nxp name
+                # regardless of target count (there's no other manufacturer to pool with)
+                force_named = chip in nxp_chips
+                temp_group = []  # small manufacturers pooled here
+                for man in sorted(man_targets.keys()):
+                    man_len = len(man_targets[man])
+                    if (force_named or man_len > LOWER_LIMIT) and man_len <= SPLIT_LIMIT:
+                        group_name = f"{man}-{chip_label}"
+                        if(verbose):
+                            print(f'=:  [{man}][{man_len}] -> {group_name}')
+                        final_groups.append({
+                            "container": grouped_targets[arch]['container'],
+                            "targets": comma_targets(man_targets[man]),
+                            "arch": arch,
+                            "chip_family": chip,
+                            "runner": runner,
+                            "group": group_name,
+                            "len": man_len,
+                        })
+                    elif man_len > SPLIT_LIMIT:
+                        chunk_counter = 0
+                        for chunk in chunks_merged(man_targets[man], SPLIT_LIMIT):
+                            group_name = f"{man}-{chip_label}-{chunk_counter}"
+                            if(verbose):
+                                print(f'=:  [{man}][{man_len}] -> {group_name} ({len(chunk)})')
+                            final_groups.append({
+                                "container": grouped_targets[arch]['container'],
+                                "targets": comma_targets(chunk),
+                                "arch": arch,
+                                "chip_family": chip,
+                                "runner": runner,
+                                "group": group_name,
+                                "len": len(chunk),
+                            })
+                            chunk_counter += 1
+                    else:
+                        if(verbose):
+                            print(f'=:  [{man}][{man_len}] -> misc pool')
+                        temp_group.extend(man_targets[man])
+
+                # Emit misc groups for small manufacturers
+                if temp_group:
+                    misc_chunks = chunks_merged(temp_group, SPLIT_LIMIT)
+                    num_misc_chunks = len(misc_chunks)
+                    chunk_counter = 0
+                    for chunk in misc_chunks:
+                        if num_misc_chunks == 1:
+                            group_name = f"misc-{chip_label}"
+                        else:
+                            group_name = f"misc-{chip_label}-{chunk_counter}"
+                        if(verbose):
+                            print(f'=:  [misc][{len(chunk)}] -> {group_name}')
+                        final_groups.append({
+                            "container": grouped_targets[arch]['container'],
+                            "targets": comma_targets(chunk),
+                            "arch": arch,
+                            "chip_family": chip,
+                            "runner": runner,
+                            "group": group_name,
+                            "len": len(chunk),
+                        })
+                        chunk_counter += 1
+
+            # Now handle special + rp2040 targets
+            SPLIT_LIMIT = CHIP_SPLIT_LIMITS.get('special', DEFAULT_SPLIT_LIMIT)
+            special_targets = []
+            for (c, m), targets in chip_man_buckets.items():
+                if c in ('special', 'rp2040'):
+                    special_targets.extend(targets)
+            if special_targets:
                chunk_counter = 0
-                for chunk in chunks(grouped_targets[arch]['manufacturers'][man], chunk_limit):
-                    group_name = arch + "-" + man + "-" + str(chunk_counter)
-                    targets = comma_targets(chunk)
+                for chunk in chunks_merged(special_targets, SPLIT_LIMIT):
+                    if len(special_targets) <= SPLIT_LIMIT:
+                        group_name = 'special'
+                    else:
+                        group_name = f'special-{chunk_counter}'
+                    if(verbose):
+                        print(f'=:  [special][{len(chunk)}] -> {group_name}')
                    final_groups.append({
                        "container": grouped_targets[arch]['container'],
-                        "targets": targets,
+                        "targets": comma_targets(chunk),
                        "arch": arch,
+                        "chip_family": "special",
                        "runner": runner,
                        "group": group_name,
                        "len": len(chunk),
                    })
                    chunk_counter += 1
-            else:
-                if(verbose):
-                    print(f'=:Processing: [{arch}][{man}][{man_len}]==Manufacturers too small group with others')
-                temp_group.extend(grouped_targets[arch]['manufacturers'][man])

-        temp_len = len(temp_group)
-        chunk_counter = 0
-        if(temp_len > 0 and temp_len < (SPLIT_LIMIT + 1)):
-            if(verbose):
-                print(f'=:Processing: [{arch}][orphan][{temp_len}]==Leftover arch can have their own group')
-            group_name = arch + "-" + str(chunk_counter)
-            targets = comma_targets(temp_group)
-            final_groups.append({
-                "container": grouped_targets[arch]['container'],
-                "targets": targets,
-                "arch": arch,
-                "runner": runner,
-                "group": group_name,
-                "len": temp_len
-            })
-        elif(temp_len >= (SPLIT_LIMIT + 1)):
-            # Split big man groups into subgroups
-            # example: Pixhawk
-            if(verbose):
-                print(f'=:Processing: [{arch}][orphan][{temp_len}]==Leftover arch can has multpile group')
-            chunk_limit = SPLIT_LIMIT
-            chunk_counter = 0
-            for chunk in chunks(temp_group, chunk_limit):
-                group_name = arch + "-" + str(chunk_counter)
-                targets = comma_targets(chunk)
+        elif arch == 'voxl2':
+            # VOXL2 stays as its own group
+            all_targets = []
+            for man in grouped_targets[arch]['manufacturers']:
+                all_targets.extend(grouped_targets[arch]['manufacturers'][man])
+            if all_targets:
                final_groups.append({
                    "container": grouped_targets[arch]['container'],
-                    "targets": targets,
+                    "targets": comma_targets(all_targets),
                    "arch": arch,
+                    "chip_family": "native",
                    "runner": runner,
-                    "group": group_name,
-                    "len": len(chunk),
+                    "group": "voxl2-0",
+                    "len": len(all_targets),
                })
-                chunk_counter += 1
+
+        else:
+            # Non-NuttX groups (base, aarch64, armhf) - keep simple grouping
+            SPLIT_LIMIT = CHIP_SPLIT_LIMITS.get('native', DEFAULT_SPLIT_LIMIT)
+            all_targets = []
+            for man in grouped_targets[arch]['manufacturers']:
+                all_targets.extend(grouped_targets[arch]['manufacturers'][man])
+            if all_targets:
+                chunk_counter = 0
+                for chunk in chunks_merged(all_targets, SPLIT_LIMIT):
+                    if len(all_targets) <= SPLIT_LIMIT:
+                        group_name = f"{arch}-0"
+                    else:
+                        group_name = f"{arch}-{chunk_counter}"
+                    final_groups.append({
+                        "container": grouped_targets[arch]['container'],
+                        "targets": comma_targets(chunk),
+                        "arch": arch,
+                        "chip_family": "native",
+                        "runner": runner,
+                        "group": group_name,
+                        "len": len(chunk),
+                    })
+                    chunk_counter += 1
+
+    # Add cache_size to each group based on chip family
+    for g in final_groups:
+        g['cache_size'] = CHIP_CACHE_SIZES.get(g['chip_family'], DEFAULT_CACHE_SIZE)
+
    if(verbose):
        import pprint
        print("================")
@@ -375,6 +596,58 @@ if (args.group):
        print("= JSON output =")
        print("===============")

-    print(json.dumps({ "include": final_groups }, **extra_args))
+    if args.seeders:
+        # Generate one seeder entry per chip family present in the groups.
+        # Each seeder builds a representative target to warm the ccache for
+        # all groups sharing that chip family.
+        seeder_targets = ci_config.get('seeders', {})
+        seeder_containers = {
+            'native': default_container,
+        }
+        # Determine which chip families actually have groups
+        active_families = set()
+        for g in final_groups:
+            cf = g['chip_family']
+            active_families.add(cf)
+            # voxl2 gets its own seeder with a different container
+            if g['group'].startswith('voxl2'):
+                active_families.add('voxl2')
+
+        seeders = []
+        for cf in sorted(active_families):
+            if cf == 'special':
+                continue  # special group seeds from stm32h7
+            if cf == 'voxl2':
+                seeders.append({
+                    'chip_family': 'voxl2',
+                    'target': 'modalai_voxl2_default',
+                    'container': voxl2_container,
+                    'runner': 'x64',
+                })
+            elif cf == 'native':
+                # One seeder per runner arch that has native groups (exclude voxl2
+                # which has its own seeder with a different container)
+                native_runners = set()
+                for g in final_groups:
+                    if g['chip_family'] == 'native' and not g['group'].startswith('voxl2'):
+                        native_runners.add(g['runner'])
+                for r in sorted(native_runners):
+                    seeders.append({
+                        'chip_family': 'native',
+                        'target': seeder_targets['native'],
+                        'container': default_container,
+                        'runner': r,
+                    })
+            else:
+                seeders.append({
+                    'chip_family': cf,
+                    'target': seeder_targets.get(cf, seeder_targets['stm32h7']),
+                    'container': seeder_containers.get(cf, default_container),
+                    'runner': 'x64',
+                })
+
+        print(json.dumps({ "include": seeders }, **extra_args))
+    else:
+        print(json.dumps({ "include": final_groups }, **extra_args))
 else:
    print(json.dumps(github_action_config, **extra_args))
@@ -20,7 +20,7 @@ Artifact contract (directory passed on the command line):
    {
      "pr_number":  12345,                                    (required, int > 0)
      "marker":     "<!-- pr-review-poster:clang-tidy -->",   (required, printable ASCII)
-      "event":      "REQUEST_CHANGES",                         (required, "COMMENT" | "REQUEST_CHANGES")
+      "event":      "COMMENT",                                 (required, "COMMENT" only)
      "commit_sha": "0123456789abcdef0123456789abcdef01234567",(required, 40 hex chars)
      "summary":    "Optional review body text"                (optional)
    }
@@ -34,8 +34,10 @@ Artifact contract (directory passed on the command line):
         "side": "RIGHT", "start_side": "RIGHT", "body": "..."}
      ]

-Note: an `APPROVE` event is intentionally NOT supported. Bots should never
-approve a pull request.
+Note: `APPROVE` and `REQUEST_CHANGES` events are intentionally NOT
+supported. Bots should never approve a pull request, and REQUEST_CHANGES
+cannot be dismissed by the GITHUB_TOKEN when branch protection restricts
+review dismissals, leading to undismissable spam on every push.

 Security: this script is run in a write-token context from a workflow that
 MUST NOT check out PR code. Both manifest.json and comments.json are
@@ -90,7 +92,7 @@ COMMENTS_PER_REVIEW = 10
 # and cuts user-visible latency.
 SLEEP_BETWEEN_CHUNKS_SECONDS = 5

-ACCEPTED_EVENTS = ('COMMENT', 'REQUEST_CHANGES')
+ACCEPTED_EVENTS = ('COMMENT',)
 ACCEPTED_SIDES = ('LEFT', 'RIGHT')
 COMMIT_SHA_RE = re.compile(r'^[0-9a-f]{40}$')

@@ -194,8 +196,9 @@ def validate_manifest(directory):

    event = manifest.get('event')
    if event not in ACCEPTED_EVENTS:
-        _fail('event must be one of {} (got {!r}). APPROVE is intentionally '
-              'forbidden.'.format(', '.join(ACCEPTED_EVENTS), event))
+        _fail('event must be one of {} (got {!r}). APPROVE and '
+              'REQUEST_CHANGES are intentionally forbidden.'.format(
+                  ', '.join(ACCEPTED_EVENTS), event))

    commit_sha = manifest.get('commit_sha')
    if not isinstance(commit_sha, str) or not COMMIT_SHA_RE.match(commit_sha):
@@ -254,13 +257,17 @@ def find_stale_reviews(client, repo, pr_number, marker):


 def dismiss_stale_reviews(client, repo, pr_number, marker):
-    """Dismiss (or, for PENDING reviews, delete) every stale matching review."""
+    """Dismiss (or, for PENDING reviews, delete) every stale matching review.
+
+    Returns the number of reviews that could NOT be dismissed (still active).
+    """
    dismissal_message = 'Superseded by a newer run'
+    failed_dismissals = 0
    for review_id, state in find_stale_reviews(client, repo, pr_number, marker):
        if review_id is None:
            continue
-        if state == 'DISMISSED':
-            # Already inert; nothing to do.
+        if state in ('DISMISSED', 'COMMENTED'):
+            # Already inert or non-blocking; nothing to do.
            continue
        if state == 'PENDING':
            # PENDING reviews cannot be dismissed; they must be deleted.
@@ -271,8 +278,7 @@ def dismiss_stale_reviews(client, repo, pr_number, marker):
                    'repos/{}/pulls/{}/reviews/{}'.format(
                        repo, pr_number, review_id))
            except RuntimeError as e:
-                # Don't abort the run on dismissal failure: the new review
-                # will still be posted.
+                failed_dismissals += 1
                print('warning: failed to delete pending review {}: {}'.format(
                    review_id, e), file=sys.stderr)
            continue
@@ -288,8 +294,10 @@ def dismiss_stale_reviews(client, repo, pr_number, marker):
                },
            )
        except RuntimeError as e:
+            failed_dismissals += 1
            print('warning: failed to dismiss review {}: {}'.format(
                review_id, e), file=sys.stderr)
+    return failed_dismissals


 # ---------------------------------------------------------------------------
@@ -417,12 +425,17 @@ def cmd_post(args):

    try:
        client = _github_helpers.GitHubClient(token, user_agent=USER_AGENT)
-        dismiss_stale_reviews(
+        undismissed = dismiss_stale_reviews(
            client=client,
            repo=repo,
            pr_number=result['pr_number'],
            marker=result['marker'],
        )
+
+        if undismissed > 0:
+            print('{} prior review(s) could not be dismissed (likely '
+                  'branch protection).'.format(undismissed))
+
        post_review(
            client=client,
            repo=repo,
@@ -41,8 +41,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -94,3 +94,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -1,31 +1,5 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ETHERNET=y
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
-CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
 CONFIG_BOARD_ROMFSROOT="performance-test"
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_MFT_CFG=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SERIAL_TEST=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -45,8 +45,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -17,10 +17,10 @@ CONFIG_UAVCANNODE_BEEP_COMMAND=y
 CONFIG_UAVCANNODE_GNSS_FIX=y
 CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
 CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_RAW_IMU=y
 CONFIG_UAVCANNODE_SAFETY_BUTTON=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y
 CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
-CONFIG_UAVCANNODE_RAW_IMU=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
@@ -17,11 +17,11 @@ CONFIG_UAVCANNODE_BEEP_COMMAND=y
 CONFIG_UAVCANNODE_GNSS_FIX=y
 CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
 CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
+CONFIG_UAVCANNODE_RAW_IMU=y
 CONFIG_UAVCANNODE_RTK_DATA=y
 CONFIG_UAVCANNODE_SAFETY_BUTTON=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y
 CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
-CONFIG_UAVCANNODE_RAW_IMU=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
@@ -7,6 +7,9 @@ CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
 CONFIG_UAVCANNODE_RANGE_SENSOR_MEASUREMENT=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=100
+CONFIG_MODULES_MAVLINK=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
@@ -15,6 +18,3 @@ CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_MAVLINK=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=100
@@ -15,8 +15,8 @@ CONFIG_UAVCANNODE_BEEP_COMMAND=y
 CONFIG_UAVCANNODE_GNSS_FIX=y
 CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
 CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
-CONFIG_UAVCANNODE_RTK_DATA=y
 CONFIG_UAVCANNODE_RAW_IMU=y
+CONFIG_UAVCANNODE_RTK_DATA=y
 CONFIG_UAVCANNODE_SAFETY_BUTTON=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y
 CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
@@ -19,7 +19,6 @@ CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
@@ -32,10 +31,11 @@ CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
 CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
 CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=y
+CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_COMMON_RC=y
@@ -48,14 +48,15 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -74,7 +75,6 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -101,3 +101,4 @@ CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -1,14 +1,14 @@
 CONFIG_DRIVERS_BATT_SMBUS=n
 CONFIG_DRIVERS_PX4IO=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_BOARD_CRYPTO=y
 CONFIG_DRIVERS_STUB_KEYSTORE=y
 CONFIG_DRIVERS_SW_CRYPTO=y
 # CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
 CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
 CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
-CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
@@ -2,8 +2,8 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
@@ -1,5 +1,5 @@
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
+CONFIG_MODULES_UXRCE_DDS_CLIENT=n
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_MODULES_UXRCE_DDS_CLIENT=n
 CONFIG_MODULES_ZENOH=y
@@ -21,11 +21,11 @@ CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
 CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
+CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
 CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
@@ -40,14 +40,15 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -65,7 +66,6 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -92,3 +92,4 @@ CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -1,13 +1,12 @@
-
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_BOARD_CRYPTO=y
 CONFIG_DRIVERS_STUB_KEYSTORE=y
 CONFIG_DRIVERS_SW_CRYPTO=y
 # CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
 CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
 CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
-CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
@@ -2,8 +2,8 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
@@ -72,3 +72,4 @@ CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -1,16 +1,10 @@
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
-CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
@@ -16,8 +16,8 @@ CONFIG_UAVCANNODE_BEEP_COMMAND=y
 CONFIG_UAVCANNODE_GNSS_FIX=y
 CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
 CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
-CONFIG_UAVCANNODE_RTK_DATA=y
 CONFIG_UAVCANNODE_RAW_IMU=y
+CONFIG_UAVCANNODE_RTK_DATA=y
 CONFIG_UAVCANNODE_SAFETY_BUTTON=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y
 CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
@@ -15,8 +15,8 @@ CONFIG_UAVCANNODE_BEEP_COMMAND=y
 CONFIG_UAVCANNODE_GNSS_FIX=y
 CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
 CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y
-CONFIG_UAVCANNODE_RTK_DATA=y
 CONFIG_UAVCANNODE_RAW_IMU=y
+CONFIG_UAVCANNODE_RTK_DATA=y
 CONFIG_UAVCANNODE_SAFETY_BUTTON=y
 CONFIG_UAVCANNODE_STATIC_PRESSURE=y
 CONFIG_UAVCANNODE_STATIC_TEMPERATURE=y
@@ -50,3 +50,4 @@ CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32F7=y
@@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_BOARD_PARAM_FILE="/fs/microsd/params"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_AUTERION_AUTOSTARTER=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_AUAV=y
@@ -14,38 +15,37 @@ CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_PPS_CAPTURE=y
-CONFIG_DRIVERS_VTX=y
-CONFIG_VTX_CRSF_MSP_SUPPORT=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_BMI088_ACCELEROMETER_INT2=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_DATAMAN_PERSISTENT_STORAGE=n
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_COMMON_RC=y
-CONFIG_DRIVERS_AUTERION_AUTOSTARTER=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_PPS_CAPTURE=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_COMMON_RC=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
+CONFIG_DRIVERS_VTX=y
+CONFIG_VTX_CRSF_MSP_SUPPORT=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+# CONFIG_DATAMAN_PERSISTENT_STORAGE is not set
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_FIGURE_OF_EIGHT=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
@@ -55,7 +55,6 @@ CONFIG_MODULES_HARDFAULT_STREAM=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_TASK_WATCHDOG=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_LOGGER_STACK_SIZE=4100
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
@@ -71,6 +70,7 @@ CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
+CONFIG_MODULES_TASK_WATCHDOG=y
 CONFIG_MODULES_TIME_PERSISTOR=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
@@ -95,4 +95,5 @@ CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_WQ_TTY_STACKSIZE=2500
@@ -1,12 +1,12 @@
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
+CONFIG_FIGURE_OF_EIGHT=n
 CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_COMMON_RC=y
 # CONFIG_EKF2_SIDESLIP is not set
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
@@ -1,29 +1,7 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ETHERNET=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS5"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS2"
 CONFIG_BOARD_ROMFSROOT="performance-test"
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS2"
 CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MTD=y
-CONFIG_SYSTEMCMDS_MFT_CFG=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SERIAL_TEST=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -1,9 +1,10 @@
+CONFIG_FIGURE_OF_EIGHT=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
@@ -13,4 +14,3 @@ CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
 # CONFIG_EKF2_WIND is not set
-CONFIG_MODULES_DIFFERENTIAL_DRIVE=y
@@ -1,3 +1,4 @@
+# CONFIG_BOARD_UAVCAN_INTERFACES is not set
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_UXRCE_DDS_CLIENT=n
@@ -6,10 +6,11 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_AUTERION_AUTOSTARTER=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
@@ -20,21 +21,20 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPIO_MCP23009=y
 CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_DRIVERS_AUTERION_AUTOSTARTER=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_PPS_CAPTURE=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
-CONFIG_DRIVERS_RPM_CAPTURE=y
 CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_RPM_CAPTURE=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
@@ -45,14 +45,15 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_FIGURE_OF_EIGHT=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
@@ -73,7 +74,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_MECANUM=y
 CONFIG_MODULES_SENSORS=y
@@ -93,11 +93,12 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -1,12 +1,12 @@
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
+CONFIG_FIGURE_OF_EIGHT=n
 CONFIG_MODE_NAVIGATOR_VTOL_TAKEOFF=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_COMMON_RC=y
 # CONFIG_EKF2_SIDESLIP is not set
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
@@ -1,31 +1,5 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ETHERNET=y
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
-CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_EXT2="/dev/ttyS3"
 CONFIG_BOARD_ROMFSROOT="performance-test"
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_MFT_CFG=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SERIAL_TEST=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -1,9 +1,10 @@
+CONFIG_FIGURE_OF_EIGHT=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
@@ -14,4 +15,3 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_MODULES_ROVER_ACKERMANN=y
 CONFIG_MODULES_ROVER_DIFFERENTIAL=y
-CONFIG_MODULES_ROVER_MECANUM=y
@@ -1,21 +1,19 @@
-CONFIG_BOARD_PWM_FREQ=100000
+CONFIG_FIGURE_OF_EIGHT=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_LAND_DETECTOR=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
+CONFIG_MODULES_LAND_DETECTOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_MODULES_ROVER_ACKERMANN=n
-CONFIG_MODULES_ROVER_DIFFERENTIAL=n
 CONFIG_MODULES_ROVER_MECANUM=n
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_BOARD_PWM_FREQ=100000
 CONFIG_MODULES_SPACECRAFT=y
@@ -1,23 +1,19 @@
+CONFIG_FIGURE_OF_EIGHT=n
 CONFIG_MODULES_AIRSPEED_SELECTOR=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL=n
-CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
-CONFIG_MODULES_LAND_DETECTOR=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
+CONFIG_MODULES_LAND_DETECTOR=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_MODULES_ROVER_ACKERMANN=n
-CONFIG_MODULES_ROVER_DIFFERENTIAL=n
 CONFIG_MODULES_ROVER_MECANUM=n
-CONFIG_MODULES_SPACECRAFT=n
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
@@ -1,6 +1,6 @@
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_UXRCE_DDS_CLIENT=n
-CONFIG_SYSTEMCMDS_SD_BENCH=n
 CONFIG_SYSTEMCMDS_I2CDETECT=n
+CONFIG_SYSTEMCMDS_SD_BENCH=n
 CONFIG_MODULES_ZENOH=y
@@ -41,8 +41,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -94,3 +94,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_ARCH_CHIP_STM32F7=y
@@ -14,7 +14,6 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
-CONFIG_DRIVERS_LINUX_PWM_OUT=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
@@ -1,24 +1,24 @@
 CONFIG_PLATFORM_POSIX=y
 CONFIG_BOARD_LINUX_TARGET=y
-CONFIG_BOARD_TESTING=y
 CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
 CONFIG_BOARD_ARCHITECTURE="cortex-a53"
+CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_ADC_ADS1115=y
+CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_LIGHTS_NEOPIXEL=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-CONFIG_DRIVERS_BAROMETER_BMP280=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
-CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=y
-CONFIG_PCA9685_USE_EXTERNAL_CRYSTAL=y
-CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
-CONFIG_COMMON_RC=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_LIGHTS_NEOPIXEL=y
+CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916=y
+CONFIG_DRIVERS_MAGNETOMETER_MEMSIC_MMC5983MA=y
+CONFIG_DRIVERS_PCA9685_PWM_OUT=y
+CONFIG_PCA9685_USE_EXTERNAL_CRYSTAL=y
+CONFIG_COMMON_RC=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
@@ -29,6 +29,11 @@ CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -38,8 +43,13 @@ CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -47,16 +57,6 @@ CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
-CONFIG_MODULES_FW_RATE_CONTROL=y
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
@@ -38,8 +38,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -84,3 +84,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -13,6 +13,7 @@ param set-default PWM_MAIN_TIM0 -4
 param set-default RC_INPUT_PROTO -1

 param set-default IMU_GYRO_CUTOFF 80
+param set-default SYS_AUTOSTART 4001
 param set-default MC_PITCHRATE_K 0.4
 param set-default MC_ROLLRATE_K 0.35
 param set-default MC_YAWRATE_K 1.2
@@ -86,3 +86,4 @@ CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -49,7 +49,6 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -94,3 +93,4 @@ CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -49,8 +49,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -95,3 +95,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -89,3 +89,4 @@ CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -49,8 +49,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -95,3 +95,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -17,6 +17,7 @@ CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
@@ -29,7 +30,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
-CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -41,14 +41,15 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -65,7 +66,6 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -93,3 +93,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -17,6 +17,7 @@ CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
@@ -30,7 +31,6 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PX4IO=y
-CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
@@ -42,14 +42,15 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -66,7 +67,6 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
@@ -94,3 +94,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -45,8 +45,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -99,3 +99,4 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_ARCH_CHIP_STM32F7=y
@@ -12,9 +12,9 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -32,8 +32,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -3,6 +3,9 @@
 # Flywoo GNF405 board specific defaults
 #------------------------------------------------------------------------------

+# default airframe quadrotor
+param set-default SYS_AUTOSTART 4001
+
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281

@@ -37,3 +37,4 @@ CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32F7=y
@@ -1,12 +1,12 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROOT_PATH="/fs/flash"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS1"
+CONFIG_BOARD_ROOT_PATH="/fs/flash"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
@@ -21,8 +21,8 @@ CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
-CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -42,8 +42,8 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -84,3 +84,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -17,11 +17,11 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -38,8 +38,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -88,3 +88,4 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -13,6 +13,7 @@ param set-default PWM_MAIN_TIM0 -4
 param set-default RC_INPUT_PROTO -1

 param set-default IMU_GYRO_RATEMAX 2000
+param set-default SYS_AUTOSTART 4001
 param set-default MC_PITCHRATE_K 0.4
 param set-default MC_ROLLRATE_K 0.35
 param set-default MC_YAWRATE_K 1.2
@@ -40,8 +40,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -89,3 +89,4 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -43,8 +43,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -90,3 +90,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -29,8 +29,8 @@ CONFIG_MODULES_EKF2=y
 # CONFIG_EKF2_EXTERNAL_VISION is not set
 # CONFIG_EKF2_GNSS_YAW is not set
 # CONFIG_EKF2_MAGNETOMETER is not set
-# CONFIG_EKF2_RANGE_FINDER is not set
 # CONFIG_EKF2_OPTICAL_FLOW is not set
+# CONFIG_EKF2_RANGE_FINDER is not set
 # CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -47,6 +47,5 @@ CONFIG_MODULES_SENSORS=y
 # CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 # CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
 # CONFIG_SENSORS_VEHICLE_OPTICAL_FLOW is not set
-# CONFIG_SYSTEMCMDS_DMESG is not set
 CONFIG_SYSTEMCMDS_PARAM=y
-# CONFIG_SYSTEMCMDS_TOP is not set
+CONFIG_ARCH_CHIP_STM32F7=y
@@ -9,6 +9,9 @@ param set-default BAT1_A_PER_V 17
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281

+# Select the Generic 250 Racer by default
+param set-default SYS_AUTOSTART 4050
+
 param set-default SYS_HAS_MAG 0

 # enable gravity fusion
@@ -1,12 +1,12 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06=y
@@ -17,9 +17,9 @@ CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_OSD_ATXXXX=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_DRIVERS_OSD_ATXXXX=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -31,14 +31,15 @@ CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -56,7 +57,6 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
@@ -76,3 +76,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -32,6 +32,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_EKF2=y
 # CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
 # CONFIG_EKF2_AUXVEL is not set
@@ -44,8 +45,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -63,7 +64,6 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
@@ -93,3 +93,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -19,6 +19,9 @@ param set-default BAT1_A_PER_V 59.5
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281

+# Select the Generic 250 Racer by default
+param set-default SYS_AUTOSTART 4050
+
 # use EKF2 without mag
 param set-default SYS_HAS_MAG 0
 # and enable gravity fusion
@@ -1,19 +1,18 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS2"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS5"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
+CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_CDCACM_AUTOSTART=y
-CONFIG_DRIVERS_OSD_ATXXXX=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -22,6 +21,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_DRIVERS_OSD_ATXXXX=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -35,6 +35,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_EKF2=y
 # CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
 # CONFIG_EKF2_AUXVEL is not set
@@ -47,8 +48,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -66,10 +67,8 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-# CONFIG_MODULES_TEMPERATURE_COMPENSATION is not set
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
@@ -85,3 +84,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -19,6 +19,9 @@ param set-default BAT1_A_PER_V 59.5
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281

+# Select the Generic 250 Racer by default
+param set-default SYS_AUTOSTART 4050
+
 # use EKF2 without mag
 param set-default SYS_HAS_MAG 0
 # and enable gravity fusion
@@ -32,6 +32,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_EKF2=y
 # CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
 # CONFIG_EKF2_AUXVEL is not set
@@ -44,8 +45,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -63,7 +64,6 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
@@ -91,3 +91,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -19,6 +19,9 @@ param set-default BAT1_A_PER_V 59.5
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281

+# Select the Generic 250 Racer by default
+param set-default SYS_AUTOSTART 4050
+
 # use EKF2 without mag
 param set-default SYS_HAS_MAG 0
 # and enable gravity fusion
@@ -1,10 +1,10 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROOT_PATH="/fs/flash"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_BOARD_ROOT_PATH="/fs/flash"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
@@ -33,6 +33,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_EKF2=y
 # CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
 # CONFIG_EKF2_AUXVEL is not set
@@ -45,8 +46,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -64,7 +65,6 @@ CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
@@ -93,3 +93,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -19,6 +19,9 @@ param set-default BAT1_A_PER_V 59.5
 # system_power unavailable
 param set-default CBRK_SUPPLY_CHK 894281

+# Select the Generic 250 Racer by default
+param set-default SYS_AUTOSTART 4050
+
 # use EKF2 without mag
 param set-default SYS_HAS_MAG 0
 # and enable gravity fusion
@@ -49,8 +49,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -104,3 +104,4 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_ARCH_CHIP_STM32F7=y
@@ -29,8 +29,8 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -67,3 +67,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -32,8 +32,8 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -70,3 +70,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -31,8 +31,8 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
@@ -69,3 +69,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -59,7 +59,6 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -105,3 +104,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -13,6 +13,7 @@ param set-default PWM_MAIN_TIM0 -4
 param set-default RC_INPUT_PROTO -1

 param set-default IMU_GYRO_CUTOFF 100
+param set-default SYS_AUTOSTART 4001
 param set-default MC_PITCHRATE_K 0.4
 param set-default MC_ROLLRATE_K 0.35
 param set-default MC_YAWRATE_K 1.2
@@ -52,7 +52,6 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -103,3 +102,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -17,6 +17,7 @@ param set-default MAV_2_CONFIG 104
 param set-default SER_TEL4_BAUD 115200

 param set-default IMU_GYRO_CUTOFF 80
+param set-default SYS_AUTOSTART 4001
 param set-default MC_PITCHRATE_K 0.4
 param set-default MC_ROLLRATE_K 0.35
 param set-default MC_YAWRATE_K 1.2
@@ -54,7 +54,6 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -105,3 +104,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -16,6 +16,7 @@ param set-default MAV_2_CONFIG 104
 param set-default SER_TEL4_BAUD 115200

 param set-default IMU_GYRO_CUTOFF 80
+param set-default SYS_AUTOSTART 4001
 param set-default MC_PITCHRATE_K 0.4
 param set-default MC_ROLLRATE_K 0.35
 param set-default MC_YAWRATE_K 1.2
@@ -57,7 +57,6 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -106,3 +105,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -13,6 +13,7 @@ param set-default PWM_MAIN_TIM0 -4
 param set-default RC_INPUT_PROTO -1

 param set-default IMU_GYRO_CUTOFF 80
+param set-default SYS_AUTOSTART 4001
 param set-default MC_PITCHRATE_K 0.4
 param set-default MC_ROLLRATE_K 0.35
 param set-default MC_YAWRATE_K 1.2
@@ -48,8 +48,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -104,3 +104,4 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_ARCH_CHIP_STM32F7=y
@@ -39,8 +39,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -87,3 +87,4 @@ CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -24,9 +24,9 @@ CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_ORB_COMMUNICATOR=y
 CONFIG_PARAM_PRIMARY=y
@@ -1,6 +1,3 @@
-CONFIG_PLATFORM_QURT=y
-CONFIG_BOARD_TOOLCHAIN="qurt"
-# Disable modules from default.px4board that are apps-only
 CONFIG_BOARD_LINUX_TARGET=n
 CONFIG_DRIVERS_OSD_MSP_OSD=n
 CONFIG_DRIVERS_QSHELL_POSIX=n
@@ -11,60 +8,49 @@ CONFIG_MODULES_MAVLINK=n
 CONFIG_MODULES_MUORB_APPS=n
 CONFIG_MODULES_NAVIGATOR=n
 CONFIG_MODULES_UXRCE_DDS_CLIENT=n
+CONFIG_PARAM_PRIMARY=n
+CONFIG_PLATFORM_POSIX=n
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=n
 CONFIG_SYSTEMCMDS_BSONDUMP=n
-CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_PERF=n
+CONFIG_SYSTEMCMDS_REBOOT=n
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=n
 CONFIG_SYSTEMCMDS_VER=n
-CONFIG_SYSTEMCMDS_REBOOT=n
-CONFIG_PARAM_PRIMARY=n
-CONFIG_DRIVERS_ACTUATORS_VOXL_ESC=y
-CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP101XX=y
-CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_BOARD_TOOLCHAIN="qurt"
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
-CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525DO=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
-CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI270=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
 CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
-CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
+CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_QSHELL_QURT=y
-CONFIG_DRIVERS_RC_CRSF_RC=y
-CONFIG_DRIVERS_VOXL2_IO=y
-CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_RATE_CONTROL=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_MUORB_SLPI=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIMULATION_PWM_OUT_SIM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_ORB_COMMUNICATOR=y
 CONFIG_PARAM_REMOTE=y
+CONFIG_PLATFORM_QURT=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -45,8 +45,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -98,3 +98,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -43,8 +43,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -98,3 +98,4 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_ARCH_CHIP_STM32F7=y
@@ -43,8 +43,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -98,3 +98,4 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_ARCH_CHIP_STM32F7=y
@@ -42,8 +42,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -95,3 +95,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -43,8 +43,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -96,3 +96,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -46,8 +46,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -99,3 +99,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
@@ -1,100 +1,11 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
-CONFIG_DRIVERS_ADC_ADS1115=y
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BAROMETER_DPS310=y
-CONFIG_DRIVERS_BATT_SMBUS=y
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_BOSCH_BMI085=y
-CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-CONFIG_DRIVERS_IRLOCK=y
-CONFIG_COMMON_LIGHT=y
-CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=y
-CONFIG_DRIVERS_POWER_MONITOR_INA226=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
-CONFIG_COMMON_TELEMETRY=y
-CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_DRIVERS_UAVCAN=y
-CONFIG_LIB_TFLM=y
-CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_BATTERY_STATUS=y
-CONFIG_MODULES_CAMERA_FEEDBACK=y
-CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
-CONFIG_MODULES_ESC_BATTERY=y
-CONFIG_MODULES_EVENTS=y
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=n
+CONFIG_MODULES_FW_MODE_MANAGER=n
 CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_GIMBAL=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
-CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_MAVLINK=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_MC_NN_CONTROL=y
-CONFIG_MODULES_NAVIGATOR=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=n
-CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
-CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MTD=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_REFLECT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_USB_CONNECTED=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_LIB_TFLM=y
+CONFIG_MODULES_MC_NN_CONTROL=y
@@ -44,8 +44,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -98,3 +98,4 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_ARCH_CHIP_STM32F7=y
@@ -45,8 +45,8 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
+CONFIG_MODULES_FW_MODE_MANAGER=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -49,7 +49,6 @@ CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -94,3 +93,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_ARCH_CHIP_STM32H7=y
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
PX4 BuildBot	dd7367199a	update all px4board kconfig	2026-04-11 11:31:02 +00:00
Ramon Roche	c515f81298	fix(ci): stop pr-review-poster from spamming REQUEST_CHANGES on every push Branch protection rules block the GITHUB_TOKEN from dismissing reviews (HTTP 403), so every push added another undismissable REQUEST_CHANGES review. PR #27004 accumulated 12 identical blocking reviews. Switch to COMMENT-only reviews. Findings still show inline on the diff but don't create blocking reviews that require manual maintainer dismissal. The CI check status (pass/fail) gates merging, not the review state. Also enable CMAKE_TESTING=ON in the clang-tidy build so test files get proper include paths in compile_commands.json. Without this, clang-tidy-diff runs on test files from the PR diff but can't resolve gtest headers, producing false positives. Fixes #27004 Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-04-10 20:33:34 -06:00
Ramon Roche	c0a45cef70	ci(build-all): MCU-based groups, cache seeders, build infra overhaul (#27050 ) Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-04-10 18:49:53 -07:00
Ramon Roche	d52fbd9707	fix(ci): remove accidentally committed local settings file .claude/settings.local.json contains user-specific Claude Code permissions and should never be in the repo. Remove it and add a .gitignore entry to prevent it from being committed again. Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2026-04-10 15:58:34 -06:00
Julian Oes	5f56589b6d	fix(boards): update bootloader binary The bootloader binary's board IDs were out of sync. This fixes it.	2026-04-10 15:21:41 -06:00
Silvan	557f693246	fix(battery): copy vehicle status states at central place to avoid logic not executed due to previous read Signed-off-by: Silvan <silvan@auterion.com>	2026-04-10 15:17:45 -06:00
丁勇	ca96106f7d	style(PID): remove unnecessary semicolons and ensure proper formatting (#27049 )	2026-04-10 14:16:32 -07:00
Julian Oes	ed0b9d7d3a	fix(boards): remove xc-fly board This board is not available for purchase online and the author confirmed that it is "only used for research and educational purposes". Given there are no docs about it, we should just remove it.	2026-04-10 15:14:56 -06:00