Update sitl_gazebo

2026-06-01 08:50:04 +08:00 · 2022-11-09 07:27:38 +01:00
651 changed files with 6406 additions and 21903 deletions
@@ -61,13 +61,9 @@ pipeline {
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -136,12 +132,8 @@ pipeline {
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -160,6 +152,76 @@ pipeline {
          }
        }

+        stage("px4_fmu-v3_test") {
+          stages {
+            stage("build px4_fmu-v3_test") {
+              agent {
+                docker {
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
+                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
+                }
+              }
+              steps {
+                checkoutSCM()
+                sh 'make px4_fmu-v3_test'
+                sh 'make px4_fmu-v3_test bootloader_elf'
+                sh 'ccache -s'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v3_test'
+              }
+              post {
+                always {
+                  sh 'make distclean; git clean -ff -x -d .'
+                }
+              }
+            } // stage build
+            stage("hardware") {
+              agent {
+                label 'px4_fmu-v3'
+              }
+              stages {
+                stage("flash") {
+                  steps {
+                    sh 'export'
+                    sh 'find /dev/serial'
+                    unstash 'px4_fmu-v3_test'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_bootloader.elf'
+                    // flash board and watch bootup
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    resetBoard()
+                  }
+                }
+                stage("tests") {
+                  steps {
+                    runTests()
+                  }
+                }
+                stage("status") {
+                  steps {
+                    // configure
+                    resetParameters()
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
+                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    checkStatus()
+                    quickCalibrate()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
+                  }
+                }
+                stage("print topics") {
+                  steps {
+                    printTopics()
+                  }
+                }
+              }
+              post {
+                always {
+                  sh 'cat /tmp/pyserial_spy_file.txt || true'
+                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
+                }
+              }
+            } // stage test
+          }
+        }
+
        stage("px4_fmu-v4_test") {
          stages {
            stage("build px4_fmu-v4_test") {
@@ -209,12 +271,8 @@ pipeline {
                    resetParameters()
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -282,13 +340,9 @@ pipeline {
                    resetParameters()
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -377,7 +431,6 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
                    checkStatus()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                  }
@@ -460,7 +513,6 @@ pipeline {
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
                    checkStatus()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                  }
@@ -530,13 +582,9 @@ pipeline {
                    resetParameters()
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -605,12 +653,8 @@ pipeline {
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                    checkStatus()
                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                  }
                }
                stage("print topics") {
@@ -685,7 +729,13 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'

+  // run logger
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
  // status commands
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
@@ -729,6 +779,8 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
+  // stop logger
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
 }

 void resetParameters() {
@@ -868,6 +920,7 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'
@@ -1,29 +1,17 @@
-<!--
+Please use [PX4 Discuss](http://discuss.px4.io/) or [Discord](https://discord.gg/dronecode) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.

-Thank you for your contribution!
+## Describe problem solved by this pull request
+A clear and concise description of the problem this proposed change will solve. Or, what it will improve.
+E.g. For this use case I ran into...

-Get early feedback through
- Dronecode Discord: https://discord.gg/dronecode
- PX4 Discuss: http://discuss.px4.io/
- opening a draft pr and sharing the link
+## Describe your solution
+A clear and concise description of what you have implemented.

-->
+## Describe possible alternatives
+A clear and concise description of alternative solutions or features you've considered.

-### Solved Problem
-When ... I found that ...
+## Test data / coverage
+How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.

-Fixes #{Github issue ID}
-
-### Solution
- Add ... for ...
- Refactor ...
-
-### Alternatives
-We could also ...
-
-### Test coverage
- Unit/integration test: ...
- Simulation/hardware testing logs: https://review.px4.io/
-
-### Context
-Related links, screenshot before/after, video
+## Additional context
+Add any other related context or media.
@@ -47,8 +47,6 @@ GTAGS
 *.files
 *.includes

-Tools/jlink-nuttx.so
-
 # CLion ignores
 .idea
 cmake-build-*/
@@ -21,11 +21,11 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.3.0+
+	branch = px4_firmware_nuttx-10.1.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.3.0+
+	branch = px4_firmware_nuttx-10.1.0+
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/simulation/flightgear/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git
@@ -190,7 +190,3 @@ endmenu
 menu "examples"
 source "src/examples/Kconfig"
 endmenu
-
-menu "platforms"
-source "platforms/common/Kconfig"
-endmenu
@@ -324,10 +324,6 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-jlink-nuttx:
-	$(CC) -shared -fPIC platforms/nuttx/NuttX/nuttx/tools/jlink-nuttx.c -o Tools/jlink-nuttx.so
-
-
 bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status

@@ -31,11 +31,6 @@ then
 	set PARAM_FILE /dev/eeeprom0
 fi

-if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params
-then
-	set PARAM_FILE /mnt/qspi/params
-fi
-
 #
 # Load parameters.
 #
@@ -8,6 +8,7 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0

+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

 param set-default FW_L1_PERIOD 12
@@ -40,6 +41,7 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -5,6 +5,7 @@

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

+param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
@@ -23,6 +24,7 @@ param set-default FW_RR_P 0.085

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000
@@ -31,7 +33,11 @@ param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1
+
+param set-default RWTO_MAX_PITCH 20
+
 param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8

 param set-default CA_AIRFRAME 1

@@ -5,6 +5,7 @@

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

+param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
@@ -23,6 +24,7 @@ param set-default FW_RR_P 0.085

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000
@@ -31,7 +33,11 @@ param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1
+
+param set-default RWTO_MAX_PITCH 20
+
 param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8

 param set-default CA_AIRFRAME 1

@@ -8,6 +8,7 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0

+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

 param set-default FW_L1_PERIOD 15
@@ -26,6 +27,7 @@ param set-default FW_L1_PERIOD 12

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -5,6 +5,7 @@

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

+param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
@@ -23,6 +24,7 @@ param set-default FW_RR_P 0.085

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000
@@ -31,7 +33,9 @@ param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1
+param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
+param set-default RWTO_AIRSPD_SCL 1.8

 param set-default CA_AIRFRAME 1

@@ -8,6 +8,7 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0

+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8

 param set-default FW_L1_PERIOD 12
@@ -33,11 +34,14 @@ param set-default FW_T_TAS_TC 2

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

+param set-default FW_USE_NPFG 1
+
 param set-default RWTO_TKOFF 1

 param set-default CA_AIRFRAME 1
@@ -8,6 +8,7 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0

+param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
 param set-default FW_THR_LND_MAX 0

@@ -30,6 +31,7 @@ param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

+param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30

 param set-default NAV_ACC_RAD 15
@@ -18,6 +18,7 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
@@ -18,6 +18,7 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
@@ -25,6 +25,7 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
@@ -18,6 +18,7 @@ param set-default GND_THR_CRUISE 0.85
 param set-default GND_THR_MAX 1
 param set-default GND_THR_MIN 0

+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
@@ -20,6 +20,7 @@ param set-default FW_W_EN 1

 param set-default FW_RR_P 0.08

+param set-default MIS_LTRMIN_ALT 50
 param set-default MIS_TAKEOFF_ALT 3

 param set-default NAV_ACC_RAD 20
@@ -20,6 +20,7 @@ param set-default FW_W_EN 1

 param set-default FW_RR_P 0.08

+param set-default MIS_LTRMIN_ALT 50
 param set-default MIS_TAKEOFF_ALT 7

 param set-default NAV_ACC_RAD 20
@@ -31,6 +31,7 @@ param set-default MC_PITCH_P 6
 param set-default MC_PITCHRATE_P 0.2
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.3
+param set-default MIS_LTRMIN_ALT 10
 param set-default MIS_TAKEOFF_ALT 10
 param set-default MIS_YAW_TMT 10

@@ -39,6 +39,7 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0

+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01

 param set-default NAV_ACC_RAD 0.5
@@ -44,6 +44,7 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1

+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01

 param set-default NAV_ACC_RAD 0.5
@@ -45,6 +45,7 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1

+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01

 param set-default NAV_ACC_RAD 0.5
@@ -13,6 +13,7 @@ param set-default MAV_TYPE 11
 #
 # Default parameters for UGVs.
 #
+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01

 param set-default NAV_ACC_RAD 2
@@ -43,8 +43,8 @@ param set-default RTL_LAND_DELAY -1
 param set-default NAV_ACC_RAD 10

 param set-default MIS_DIST_WPS 5000
+param set-default MIS_LTRMIN_ALT 25
 param set-default MIS_TAKEOFF_ALT 25
-param set-default MIS_TKO_LAND_REQ 2

 #
 # FW takeoff acceleration can easily exceed ublox GPS 2G default.
@@ -13,6 +13,7 @@ param set-default MAV_TYPE 10
 #
 # Default parameters for UGVs.
 #
+param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01

 param set-default NAV_ACC_RAD 2
@@ -19,7 +19,6 @@ param set-default EKF2_FUSE_BETA 1
 param set-default HTE_VXY_THR 2.0

 param set-default MIS_DIST_WPS 5000
-param set-default MIS_TKO_LAND_REQ 2

 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_VEL_MANUAL 5
@@ -162,7 +162,7 @@ else
 		param select-backup $PARAM_BACKUP_FILE
 	fi

-	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X
+	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
 	then
 		netman update -i eth0
 	fi
@@ -264,6 +264,23 @@ else
 		. $FCONFIG
 	fi

+	#
+	# Check if UAVCAN is enabled, default to it for ESCs.
+	#
+	if param greater -s UAVCAN_ENABLE 0
+	then
+		# Start core UAVCAN module.
+		if ! uavcan start
+		then
+			tune_control play error
+		fi
+	else
+		if param greater -s CYPHAL_ENABLE 0
+		then
+			cyphal start
+		fi
+	fi
+
 	#
 	# Start IO for PWM output or RC input if enabled
 	#
@@ -510,23 +527,6 @@ else
 	fi
 	unset BOARD_BOOTLOADER_UPGRADE

-	#
-	# Check if UAVCAN is enabled, default to it for ESCs.
-	#
-	if param greater -s UAVCAN_ENABLE 0
-	then
-		# Start core UAVCAN module.
-		if ! uavcan start
-		then
-			tune_control play error
-		fi
-	else
-		if param greater -s CYPHAL_ENABLE 0
-		then
-			cyphal start
-		fi
-	fi
-
 #
 # End of autostart.
 #
@@ -51,9 +51,9 @@ div.frame_variant td, div.frame_variant th {
  text-align : left;
 }
 </style>\n\n"""
-
+ 
        type_set = set()
-
+        
        if len(image_path) > 0 and image_path[-1] != '/':
            image_path = image_path + '/'

@@ -62,7 +62,7 @@ div.frame_variant td, div.frame_variant th {
               result += '## %s\n\n' % group.GetClass()
               type_set.add(group.GetClass())

-            result += '### %s\n\n' % group.GetType()
+            result += '### %s\n\n' % group.GetName()

            # Display an image of the frame
            image_name = group.GetImageName()
@@ -73,11 +73,11 @@ div.frame_variant td, div.frame_variant th {
            # check if all outputs are equal for the group: if so, show them
            # only once
            all_outputs = {}
-            num_configs = len(group.GetAirframes())
-            for airframe in group.GetAirframes():
-                if not self.IsExcluded(airframe, board):
-                    for output_name in airframe.GetOutputCodes():
-                        value = airframe.GetOutputValue(output_name)
+            num_configs = len(group.GetParams())
+            for param in group.GetParams():
+                if not self.IsExcluded(param, board):
+                    for output_name in param.GetOutputCodes():
+                        value = param.GetOutputValue(output_name)
                        key_value_pair = (output_name, value)
                        if key_value_pair not in all_outputs:
                            all_outputs[key_value_pair] = 0
@@ -104,17 +104,18 @@ div.frame_variant td, div.frame_variant th {
            result += ' </thead>\n'
            result += '<tbody>\n'

-            for airframe in group.GetAirframes():
-                if not self.IsExcluded(airframe, board):
-                    name = airframe.GetName()
-                    airframe_id = airframe.GetId()
+            for param in group.GetParams():
+                if not self.IsExcluded(param, board):
+                    #print("generating: {0} {1}".format(param.GetName(), excluded))
+                    name = param.GetName()
+                    airframe_id = param.GetId()
                    airframe_id_entry = '<p><code>SYS_AUTOSTART</code> = %s</p>' % (airframe_id)
-                    maintainer = airframe.GetMaintainer()
+                    maintainer = param.GetMaintainer()
                    maintainer_entry = ''
                    if maintainer != '':
                        maintainer_entry = 'Maintainer: %s' % (html.escape(maintainer))
-                    url = airframe.GetFieldValue('url')
-                    name_anchor='%s_%s_%s' % (group.GetClass(),group.GetType(),name)
+                    url = param.GetFieldValue('url')
+                    name_anchor='%s_%s_%s' % (group.GetClass(),group.GetName(),name)
                    name_anchor=name_anchor.replace(' ','_').lower()
                    name_anchor=name_anchor.replace('"','_').lower()
                    name_anchor='id="%s"' % name_anchor
@@ -123,8 +124,8 @@ div.frame_variant td, div.frame_variant th {
                        name_entry = '<a href="%s">%s</a>' % (url, name)
                    outputs = '<ul>'
                    has_outputs = False
-                    for output_name in airframe.GetOutputCodes():
-                        value = airframe.GetOutputValue(output_name)
+                    for output_name in param.GetOutputCodes():
+                        value = param.GetOutputValue(output_name)
                        valstrs = value.split(";")
                        key_value_pair = (output_name, value)
                        if all_outputs[key_value_pair] < num_configs:
@@ -151,9 +152,9 @@ div.frame_variant td, div.frame_variant th {

        self.output = result

-    def IsExcluded(self, airframe, board):
-        for code in airframe.GetArchCodes():
-            if "CONFIG_ARCH_BOARD_{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
+    def IsExcluded(self, param, board):
+        for code in param.GetArchCodes():
+            if "CONFIG_ARCH_BOARD_{0}".format(code) == board and param.GetArchValue(code) == "exclude":
                return True
        return False

@@ -3,9 +3,6 @@ import codecs
 import os

 class RCOutput():
-    """
-        Generates RC scripts for the airframes
-    """
    def __init__(self, groups, board, post_start=False):

        result = (  "#\n"
@@ -37,33 +34,33 @@ class RCOutput():
        result += "set AIRFRAME none\n"
        result += "\n"
        for group in groups:
-            result += "# GROUP: %s\n\n" % group.GetType()
-            for airframe in group.GetAirframes():
+            result += "# GROUP: %s\n\n" % group.GetName()
+            for param in group.GetParams():
                excluded = False
-                for code in airframe.GetArchCodes():
-                    if "{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
+                for code in param.GetArchCodes():
+                    if "{0}".format(code) == board and param.GetArchValue(code) == "exclude":
                        excluded = True
                if excluded:
                    continue

                if post_start:
                    # Path to post-start sript
-                    path = airframe.GetPostPath()
+                    path = param.GetPostPath()
                else:
                    # Path to start script
-                    path = airframe.GetPath()
+                    path = param.GetPath()

                if not path:
                    continue

                path = os.path.split(path)[1]

-                id_val = airframe.GetId()
-                name = airframe.GetFieldValue("short_desc")
-                long_desc = airframe.GetFieldValue("long_desc")
+                id_val = param.GetId()
+                name = param.GetFieldValue("short_desc")
+                long_desc = param.GetFieldValue("long_desc")

                result +=   "#\n"
-                result +=   "# %s\n" % airframe.GetName()
+                result +=   "# %s\n" % param.GetName()
                result +=   "if param compare SYS_AUTOSTART %s\n" % id_val
                result +=   "then\n"
                result +=   "\tset AIRFRAME %s\n" % path
@@ -2,38 +2,31 @@ import sys
 import re
 import os

-class AirframeGroup(object):
+class ParameterGroup(object):
    """
-    Airframe group
-
-    type: specific vehicle type (e.g. VTOL Tiltrotor, VTOL Quadrotor, etc.)
-    class: vehicle class (e.g. Multicopter, Fixed Wing, etc.)
+    Single parameter group
    """
-    def __init__(self, type, af_class):
-        self.type = type
+    def __init__(self, name, af_class):
+        self.name = name
        self.af_class = af_class
-        self.airframes = []
+        self.params = []


-    def AddAirframe(self, airframe):
+    def AddParameter(self, param):
        """
-        Add airframe to the airframe group
+        Add parameter to the group
        """
-        self.airframes.append(airframe)
+        self.params.append(param)

-    def GetType(self):
+    def GetName(self):
        """
-        Get airframe group's vehicle type
-
-        e.g. VTOL Tiltrotor, VTOL Quadrotor, etc.
+        Get parameter group name
        """
-        return self.type
+        return self.name

    def GetClass(self):
        """
-        Get airframe group's vehicle class
-
-        e.g. Multicopter, Fixed Wing, etc.
+        Get parameter group vehicle type.
        """
        return self.af_class

@@ -41,84 +34,86 @@ class AirframeGroup(object):
        """
        Get parameter group image base name (w/o extension)
        """
-        if (self.type == "Standard Plane"):
+        if (self.name == "Standard Plane"):
            return "Plane"
-        elif (self.type == "Flying Wing"):
+        elif (self.name == "Flying Wing"):
            return "FlyingWing"
-        elif (self.type == "Quadrotor x"):
+        elif (self.name == "Quadrotor x"):
            return "QuadRotorX"
-        elif (self.type == "Quadrotor +"):
+        elif (self.name == "Quadrotor +"):
            return "QuadRotorPlus"
-        elif (self.type == "Hexarotor x"):
+        elif (self.name == "Hexarotor x"):
            return "HexaRotorX"
-        elif (self.type == "Hexarotor +"):
+        elif (self.name == "Hexarotor +"):
            return "HexaRotorPlus"
-        elif (self.type == "Octorotor +"):
+        elif (self.name == "Octorotor +"):
            return "OctoRotorPlus"
-        elif (self.type == "Octorotor x"):
+        elif (self.name == "Octorotor x"):
            return "OctoRotorX"
-        elif (self.type == "Octorotor Coaxial"):
+        elif (self.name == "Octorotor Coaxial"):
            return "OctoRotorXCoaxial"
-        elif (self.type == "Octo Coax Wide"):
+        elif (self.name == "Octo Coax Wide"):
            return "OctoRotorXCoaxial"
-        elif (self.type == "Quadrotor Wide"):
+        elif (self.name == "Quadrotor Wide"):
            return "QuadRotorWide"
-        elif (self.type == "Quadrotor H"):
+        elif (self.name == "Quadrotor H"):
            return "QuadRotorH"
-        elif (self.type == "Dodecarotor cox"):
+        elif (self.name == "Dodecarotor cox"):
            return "DodecaRotorXCoaxial"
-        elif (self.type == "Simulation"):
+        elif (self.name == "Simulation"):
            return "AirframeSimulation"
-        elif (self.type == "Plane A-Tail"):
+        elif (self.name == "Plane A-Tail"):
            return "PlaneATail"
-        elif (self.type == "Plane V-Tail"):
+        elif (self.name == "Plane V-Tail"):
            return "PlaneVTail"
-        elif (self.type == "VTOL Duo Tailsitter"):
+        elif (self.name == "VTOL Duo Tailsitter"):
            return "VTOLDuoRotorTailSitter"
-        elif (self.type == "Standard VTOL"):
+        elif (self.name == "Standard VTOL"):
            return "VTOLPlane"
-        elif (self.type == "VTOL Quad Tailsitter"):
+        elif (self.name == "VTOL Quad Tailsitter"):
            return "VTOLQuadRotorTailSitter"
-        elif (self.type == "VTOL Tiltrotor"):
+        elif (self.name == "VTOL Tiltrotor"):
            return "VTOLTiltRotor"
-        elif (self.type == "VTOL Octoplane"):
+        elif (self.name == "VTOL Octoplane"):
            return "VTOLPlaneOcto"
-        elif (self.type == "Coaxial Helicopter"):
+        elif (self.name == "Coaxial Helicopter"):
            return "HelicopterCoaxial"
-        elif (self.type == "Helicopter"):
+        elif (self.name == "Helicopter"):
            return "Helicopter"
-        elif (self.type == "Hexarotor Coaxial"):
+        elif (self.name == "Hexarotor Coaxial"):
            return "Y6B"
-        elif (self.type == "Y6A"):
+        elif (self.name == "Y6A"):
            return "Y6A"
-        elif (self.type == "Tricopter Y-"):
+        elif (self.name == "Tricopter Y-"):
            return "YMinus"
-        elif (self.type == "Tricopter Y+"):
+        elif (self.name == "Tricopter Y+"):
            return "YPlus"
-        elif (self.type == "Autogyro"):
+        elif (self.name == "Autogyro"):
            return "Autogyro"
-        elif (self.type == "Airship"):
+        elif (self.name == "Airship"):
            return "Airship"
-        elif (self.type == "Rover"):
+        elif (self.name == "Rover"):
            return "Rover"
-        elif (self.type == "Boat"):
+        elif (self.name == "Boat"):
            return "Boat"
-        elif (self.type == "Balloon"):
+        elif (self.name == "Balloon"):
            return "Balloon"
-        elif (self.type == "Vectored 6 DOF UUV"):
+        elif (self.name == "Vectored 6 DOF UUV"):
            return "Vectored6DofUUV"
        return "AirframeUnknown"

-    def GetAirframes(self):
+    def GetParams(self):
        """
-        Returns the parsed list of airframes objects. Note that returned
-        object is not a copy. Modifications affect state of the parser.
+        Returns the parsed list of parameters. Every parameter is a Parameter
+        object. Note that returned object is not a copy. Modifications affect
+        state of the parser.
        """
-        return sorted(self.airframes, key=lambda x: x.GetId())

-class Airframe(object):
+        return sorted(self.params, key=lambda x: x.GetId())
+
+class Parameter(object):
    """
-    Single Airframe definition
+    Single parameter
    """

    # Define sorting order of the fields
@@ -293,7 +288,7 @@ class SourceParser(object):
    }

    def __init__(self):
-        self.airframe_groups = {}
+        self.param_groups = {}

    def GetSupportedExtensions(self):
        """
@@ -352,10 +347,10 @@ class SourceParser(object):
                            tag, desc = m.group(1, 2)
                            if (tag == "output"):
                                key, text = desc.split(' ', 1)
-                                outputs[key] = text
+                                outputs[key] = text;
                            elif (tag == "board"):
                                key, text = desc.split(' ', 1)
-                                archs[key] = text
+                                archs[key] = text;
                            else:
                                tags[tag] = desc
                            current_tag = tag
@@ -432,7 +427,7 @@ class SourceParser(object):
            post_path = None

        # We already know this is an airframe config, so add it
-        airframe = Airframe(path, post_path, airframe_name, airframe_type, airframe_class, airframe_id, maintainer)
+        param = Parameter(path, post_path, airframe_name, airframe_type, airframe_class, airframe_id, maintainer)

        # Done with file, store
        for tag in tags:
@@ -445,24 +440,24 @@ class SourceParser(object):
            if tag == "name":
                airframe_name = tags[tag]
            else:
-                airframe.SetField(tag, tags[tag])
+                param.SetField(tag, tags[tag])

        # Store outputs
        for output in outputs:
-            airframe.SetOutput(output, outputs[output])
+            param.SetOutput(output, outputs[output])

        # Store outputs
        for arch in archs:
-            airframe.SetArch(arch, archs[arch])
+            param.SetArch(arch, archs[arch])

        # Store the parameter

        # Create a class-specific airframe group. This is needed to catch cases where an airframe type might cross classes (e.g. simulation)
-        class_group_identifier=airframe_type + airframe_class
-        if class_group_identifier not in self.airframe_groups:
-            #self.airframe_groups[airframe_type] = ParameterGroup(airframe_type)  #HW TEST REMOVE
-            self.airframe_groups[class_group_identifier] = AirframeGroup(airframe_type, airframe_class)
-        self.airframe_groups[class_group_identifier].AddAirframe(airframe)
+        class_group_identifier=airframe_type+airframe_class
+        if class_group_identifier not in self.param_groups:
+            #self.param_groups[airframe_type] = ParameterGroup(airframe_type)  #HW TEST REMOVE
+            self.param_groups[class_group_identifier] = ParameterGroup(airframe_type, airframe_class)
+        self.param_groups[class_group_identifier].AddParameter(param)

        return True

@@ -478,8 +473,8 @@ class SourceParser(object):
        Validates the airframe meta data.
        """
        seenParamNames = []
-        for group in self.GetAirframeGroups():
-            for param in group.GetAirframes():
+        for group in self.GetParamGroups():
+            for param in group.GetParams():
                name  = param.GetName()
                board = param.GetFieldValue("board")
                # Check for duplicates
@@ -492,27 +487,27 @@ class SourceParser(object):

        return True

-    def GetAirframeGroups(self):
+    def GetParamGroups(self):
        """
-        Returns the parsed list of Airframe groups. Every Airframe is an Airframe
+        Returns the parsed list of parameters. Every parameter is a Parameter
        object. Note that returned object is not a copy. Modifications affect
        state of the parser.
        """
-        groups = self.airframe_groups.values()
-        groups = sorted(groups, key=lambda x: x.GetType())
+        groups = self.param_groups.values()
+        groups = sorted(groups, key=lambda x: x.GetName())
        groups = sorted(groups, key=lambda x: x.GetClass())
-        groups = sorted(groups, key=lambda x: self.priority.get(x.GetType(), 0), reverse=True)
+        groups = sorted(groups, key=lambda x: self.priority.get(x.GetName(), 0), reverse=True)

        #Rename duplicate groups to include the class (creating unique headings in page TOC)
        duplicate_test=set()
        duplicate_set=set()
        for group in groups:
-            if group.GetType() in duplicate_test:
-                duplicate_set.add(group.GetType())
+            if group.GetName() in duplicate_test:
+                duplicate_set.add(group.GetName())
            else:
-                duplicate_test.add(group.GetType() )
+                duplicate_test.add(group.GetName() )
        for group in groups:
-            if group.GetType() in duplicate_set:
-                group.name=group.GetType()+' (%s)' % group.GetClass()
+            if group.GetName() in duplicate_set:
+                group.name=group.GetName()+' (%s)' % group.GetClass()

        return groups
@@ -28,28 +28,28 @@ class XMLOutput():
        xml_version.text = "1"
        for group in groups:
            xml_group = ET.SubElement(xml_parameters, "airframe_group")
-            xml_group.attrib["name"] = group.GetType()
+            xml_group.attrib["name"] = group.GetName()
            xml_group.attrib["image"] = group.GetImageName()
-            for airframe in group.GetAirframes():
+            for param in group.GetParams():

                # check if there is an exclude tag for this airframe
                excluded = False
-                for code in airframe.GetArchCodes():
-                    if "CONFIG_ARCH_BOARD_{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
+                for code in param.GetArchCodes():
+                    if "CONFIG_ARCH_BOARD_{0}".format(code) == board and param.GetArchValue(code) == "exclude":
                        excluded = True

                if not excluded:
-                    #print("generating: {0} {1}".format(airframe.GetName(), excluded))
+                    #print("generating: {0} {1}".format(param.GetName(), excluded))
                    xml_param = ET.SubElement(xml_group, "airframe")
-                    xml_param.attrib["name"] = airframe.GetName()
-                    xml_param.attrib["id"] = airframe.GetId()
-                    xml_param.attrib["maintainer"] = airframe.GetMaintainer()
-                    for code in airframe.GetFieldCodes():
-                        value = airframe.GetFieldValue(code)
+                    xml_param.attrib["name"] = param.GetName()
+                    xml_param.attrib["id"] = param.GetId()
+                    xml_param.attrib["maintainer"] = param.GetMaintainer()
+                    for code in param.GetFieldCodes():
+                        value = param.GetFieldValue(code)
                        xml_field = ET.SubElement(xml_param, code)
                        xml_field.text = value
-                    for code in airframe.GetOutputCodes():
-                        value = airframe.GetOutputValue(code)
+                    for code in param.GetOutputCodes():
+                        value = param.GetOutputValue(code)
                        valstrs = value.split(";")
                        xml_field = ET.SubElement(xml_param, "output")
                        xml_field.attrib["name"] = code
@@ -35,11 +35,12 @@
 #
 # PX4 airframe config processor (main executable file)
 #
-# This tool scans the PX4 ROMFS directory for declarations of airframes
+# This tool scans the PX4 ROMFS code for declarations of airframes
+#
+# Currently supported formats are:
+#   * XML for the parametric UI generator
+#   * Markdown for the PX4 dev guide (https://github.com/PX4/Devguide)
 #
-# Currently supported output formats are:
-#   * XML for the parametric UI generator (Used in QGC)
-#   * Markdown for the PX4 User guide (https://github.com/PX4/PX4-user_guide)
 #

 from __future__ import print_function
@@ -103,31 +104,31 @@ def main():
    # We can't validate yet
    # if not parser.Validate():
    #     sys.exit(1)
-    airframe_groups = parser.GetAirframeGroups()
+    param_groups = parser.GetParamGroups()

    # Output to XML file
    if args.xml:
        if args.verbose: print("Creating XML file " + args.xml)
-        out = xmlout.XMLOutput(airframe_groups, args.board)
+        out = xmlout.XMLOutput(param_groups, args.board)
        out.Save(args.xml)

    # Output to markdown file
    if args.markdown:
        if args.verbose: print("Creating markdown file " + args.markdown)
-        out = markdownout.MarkdownTablesOutput(airframe_groups, args.board, args.image_path)
+        out = markdownout.MarkdownTablesOutput(param_groups, args.board, args.image_path)
        out.Save(args.markdown)

    # Output to start scripts
    if args.start_script:
        # Airframe start script
        if args.verbose: print("Creating start script " + args.start_script)
-        out = rcout.RCOutput(airframe_groups, args.board)
+        out = rcout.RCOutput(param_groups, args.board)
        out.Save(args.start_script)

        # Airframe post-start script
        post_start_script = args.start_script + '.post'
        if args.verbose: print("Creating post-start script " + post_start_script)
-        out_post = rcout.RCOutput(airframe_groups, args.board, post_start=True)
+        out_post = rcout.RCOutput(param_groups, args.board, post_start=True)
        out_post.Save(post_start_script)

    if (args.verbose): print("All done!")
@@ -73,5 +73,4 @@ fi
 ant create_run_jar copy_res
 cd out/production

-java --add-exports java.base/java.lang=ALL-UNNAMED --add-exports java.desktop/sun.awt=ALL-UNNAMED --add-exports java.desktop/sun.java2d=ALL-UNNAMED \
-	-XX:GCTimeRatio=20 -Djava.ext.dirs= -jar jmavsim_run.jar $device $extra_args
+java -XX:GCTimeRatio=20 -Djava.ext.dirs= -jar jmavsim_run.jar $device $extra_args
@@ -7,7 +7,6 @@
 #
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
@@ -37,11 +36,9 @@ CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARDCTL=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
@@ -57,25 +54,6 @@ CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MODCMDS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
@@ -140,13 +118,12 @@ CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
-CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -249,5 +226,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=2944
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_internal.h"
+#include "arm_arch.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_internal.h>
+#include <arm_arch.h>
 #include <stm32.h>
 #include "board_config.h"

@@ -23,25 +23,6 @@ CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MODCMDS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_PTHREAD=y
@@ -54,7 +35,7 @@ CONFIG_IDLETHREAD_STACKSIZE=4096
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_BOARDCTL=y
+CONFIG_LIB_BOARDCTL=y
 CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
@@ -77,4 +58,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=4096
+CONFIG_USERMAIN_STACKSIZE=4096
@@ -5,51 +5,20 @@
 # You can then do "make savedefconfig" to generate a new defconfig file that includes your
 # modifications.
 #
-# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_ARP is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_NSLOOKUP is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
 # CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_STM32_DMACAPABLE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-flow/nuttx-config"
@@ -63,10 +32,8 @@ CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARDCTL=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CLOCK_MONOTONIC=y
@@ -128,13 +95,12 @@ CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
-CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=254
 CONFIG_SCHED_HPWORKSTACKSIZE=3000
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -183,5 +149,5 @@ CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=2624
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_USERMAIN_STACKSIZE=2624
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_internal.h"
+#include "arm_arch.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -23,25 +23,6 @@ CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MODCMDS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_PTHREAD=y
@@ -54,7 +35,7 @@ CONFIG_IDLETHREAD_STACKSIZE=4096
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_BOARDCTL=y
+CONFIG_LIB_BOARDCTL=y
 CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
@@ -77,4 +58,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=4096
+CONFIG_USERMAIN_STACKSIZE=4096
@@ -5,51 +5,20 @@
 # You can then do "make savedefconfig" to generate a new defconfig file that includes your
 # modifications.
 #
-# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_ARP is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_NSLOOKUP is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
 # CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_STM32_DMACAPABLE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-gps/nuttx-config"
@@ -63,10 +32,8 @@ CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARDCTL=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CLOCK_MONOTONIC=y
@@ -130,13 +97,12 @@ CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
-CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -188,5 +154,5 @@ CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=2624
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_USERMAIN_STACKSIZE=2624
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_internal.h"
+#include "arm_arch.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -23,25 +23,6 @@ CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MODCMDS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_PTHREAD=y
@@ -54,7 +35,7 @@ CONFIG_IDLETHREAD_STACKSIZE=4096
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_BOARDCTL=y
+CONFIG_LIB_BOARDCTL=y
 CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
@@ -77,4 +58,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=4096
+CONFIG_USERMAIN_STACKSIZE=4096
@@ -5,51 +5,20 @@
 # You can then do "make savedefconfig" to generate a new defconfig file that includes your
 # modifications.
 #
-# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_ARP is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_NSLOOKUP is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
 # CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_STM32_DMACAPABLE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/can-rtk-gps/nuttx-config"
@@ -63,10 +32,8 @@ CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARDCTL=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CLOCK_MONOTONIC=y
@@ -130,13 +97,12 @@ CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
-CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -189,5 +155,5 @@ CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=2624
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_USERMAIN_STACKSIZE=2624
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_internal.h"
+#include "arm_arch.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -23,25 +23,6 @@ CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MODCMDS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_PTHREAD=y
@@ -54,7 +35,7 @@ CONFIG_IDLETHREAD_STACKSIZE=4096
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_BOARDCTL=y
+CONFIG_LIB_BOARDCTL=y
 CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
@@ -77,4 +58,4 @@ CONFIG_STM32_FLASH_CONFIG_G=y
 CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=4096
+CONFIG_USERMAIN_STACKSIZE=4096
@@ -5,51 +5,20 @@
 # You can then do "make savedefconfig" to generate a new defconfig file that includes your
 # modifications.
 #
-# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_OS_API is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_ARP is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_NSLOOKUP is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
 # CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
+# CONFIG_STM32_DMACAPABLE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/cannode/nuttx-config"
@@ -63,10 +32,8 @@ CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARDCTL=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CLOCK_MONOTONIC=y
@@ -130,13 +97,12 @@ CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
-CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=254
 CONFIG_SCHED_HPWORKSTACKSIZE=3000
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -190,5 +156,5 @@ CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=2624
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_USERMAIN_STACKSIZE=2624
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_internal.h"
+#include "arm_arch.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -6,7 +6,6 @@ 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_TEL4="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
@@ -81,8 +80,6 @@ CONFIG_SYSTEMCMDS_NSHTERM=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_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -16,11 +16,6 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1

-if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007
-then
-	param set-default SYS_USE_IO 0
-else
-	param set-default SYS_USE_IO 1
-fi
+param set-default SYS_USE_IO 1

 safety_button start
@@ -7,7 +7,6 @@
 #
 # CONFIG_DEV_CONSOLE is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_SPI_EXCHANGE is not set
 # CONFIG_STM32H7_SYSCFG is not set
 CONFIG_ARCH="arm"
@@ -24,12 +23,10 @@ CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARDCTL=y
 CONFIG_BOARD_INITTHREAD_PRIORITY=254
 CONFIG_BOARD_LATE_INITIALIZE=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
@@ -43,25 +40,6 @@ CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MODCMDS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_PTHREAD=y
 CONFIG_EXPERIMENTAL=y
@@ -73,6 +51,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
+CONFIG_LIB_BOARDCTL=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_PREALLOC_TIMERS=50
@@ -113,5 +92,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=2944
-CONFIG_INIT_ENTRYPOINT="bootloader_main"
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="bootloader_main"
@@ -7,7 +7,6 @@
 #
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
@@ -15,44 +14,14 @@
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
 # CONFIG_NSH_DISABLE_ARP is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
 # CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_IFCONFIG is not set
-# CONFIG_NSH_DISABLE_IFUPDOWN is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_NSLOOKUP is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TELNETD is not set
-# CONFIG_NSH_DISABLE_TEST is not set
 # CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/fmu-v6x/nuttx-config"
@@ -71,11 +40,11 @@ CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95751
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0039
@@ -117,8 +86,6 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_IPCFG_BINARY=y
@@ -126,7 +93,6 @@ CONFIG_IPCFG_CHARDEV=y
 CONFIG_IPCFG_PATH="/fs/mtd_net"
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
@@ -149,7 +115,6 @@ CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
 CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
 CONFIG_NETINIT_DRIPADDR=0XC0A800FE
-CONFIG_NETINIT_MONITOR=y
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
 CONFIG_NETUTILS_TELNETD=y
@@ -195,16 +160,17 @@ CONFIG_RAW_BINARY=y
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC2_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -242,7 +208,6 @@ CONFIG_STM32H7_PHYSR_100MBPS=0x8
 CONFIG_STM32H7_PHYSR_FULLDUPLEX=0x10
 CONFIG_STM32H7_PHYSR_MODE=0x10
 CONFIG_STM32H7_PHYSR_SPEED=0x8
-CONFIG_STM32H7_PHY_POLLING=y
 CONFIG_STM32H7_PROGMEM=y
 CONFIG_STM32H7_RTC=y
 CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
@@ -264,6 +229,7 @@ CONFIG_STM32H7_SPI5=y
 CONFIG_STM32H7_SPI6=y
 CONFIG_STM32H7_SPI6_DMA=y
 CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI_DMA=y
 CONFIG_STM32H7_TIM12=y
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM4=y
@@ -324,4 +290,6 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
@@ -325,6 +325,7 @@
 /* RC Serial port */

 #define RC_SERIAL_PORT                     "/dev/ttyS5"
+#define RC_SERIAL_SINGLEWIRE

 /* Input Capture Channels. */
 #define INPUT_CAP1_TIMER                  1
@@ -374,11 +375,11 @@
 /* SD card bringup does not work if performed on the IDLE thread because it
 * will cause waiting.  Use either:
 *
- *  CONFIG_BOARDCTL=y, OR
+ *  CONFIG_LIB_BOARDCTL=y, OR
 *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
 */

-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
   !defined(CONFIG_BOARD_INITTHREAD)
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif
@@ -46,7 +46,6 @@
 #include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
-#include <px4_platform/gpio.h>
 #include <px4_platform_common/init.h>

 extern int sercon_main(int c, char **argv);
@@ -55,15 +54,6 @@ __EXPORT void board_on_reset(int status) {}

 __EXPORT void stm32_boardinitialize(void)
 {
-	/* configure pins */
-	const uint32_t list[] = PX4_GPIO_INIT_LIST;
-
-	for (size_t gpio = 0; gpio < arraySize(list); gpio++) {
-		if (list[gpio] != 0) {
-			px4_arch_configgpio(list[gpio]);
-		}
-	}
-
 	/* configure USB interfaces */
 	stm32_usbinitialize();
 }
@@ -65,7 +65,7 @@ uint16_t board_get_can_interfaces(void)
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_internal.h"
+#include "arm_arch.h"

 #include "chip.h"
 #include "stm32_can.h"
@@ -105,7 +105,6 @@ __EXPORT void board_peripheral_reset(int ms)
 {
 	/* set the peripheral rails off */

-	VDD_5V_HIPOWER_EN(false);
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
 	VDD_3V3_SENSORS4_EN(false);
@@ -124,7 +123,6 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
 	VDD_3V3_SENSORS4_EN(true);
-	VDD_5V_HIPOWER_EN(true);
 	VDD_5V_PERIPH_EN(true);

 }
@@ -211,6 +209,7 @@ stm32_boardinitialize(void)
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Power on Interfaces */
+	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
 	VDD_3V3_SENSORS4_EN(true);
@@ -42,6 +42,11 @@ static const px4_mft_device_t i2c3 = {             // 24LC64T on Base  8K 32 X 2
 	.bus_type = px4_mft_device_t::I2C,
 	.devid    = PX4_MK_I2C_DEVID(3, 0x51)
 };
+static const px4_mft_device_t i2c4 = {             // 24LC64T on IMU   8K 32 X 256
+	.bus_type =  px4_mft_device_t::I2C,
+	.devid    =  PX4_MK_I2C_DEVID(4, 0x50)
+};
+

 static const px4_mtd_entry_t fmum_fram = {
 	.device = &spi5,
@@ -66,8 +71,8 @@ static const px4_mtd_entry_t base_eeprom = {
 	.npart = 2,
 	.partd = {
 		{
-			.type = MTD_MFT_VER,
-			.path = "/fs/mtd_mft_ver",
+			.type = MTD_MFT,
+			.path = "/fs/mtd_mft",
 			.nblocks = 248
 		},
 		{
@@ -79,11 +84,29 @@ static const px4_mtd_entry_t base_eeprom = {
 	},
 };

+static const px4_mtd_entry_t imu_eeprom = {
+	.device = &i2c4,
+	.npart = 2,
+	.partd = {
+		{
+			.type = MTD_CALDATA,
+			.path = "/fs/mtd_caldata",
+			.nblocks = 248
+		},
+		{
+			.type = MTD_ID,
+			.path = "/fs/mtd_id",
+			.nblocks = 8 // 256 = 32 * 8
+		}
+	},
+};
+
 static const px4_mtd_manifest_t board_mtd_config = {
-	.nconfigs   = 2,
+	.nconfigs   = 3,
 	.entries = {
 		&fmum_fram,
 		&base_eeprom,
+		&imu_eeprom
 	}
 };

@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include "arm_internal.h"
+#include <arm_arch.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>
@@ -7,7 +7,6 @@
 #
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_FS_PROCFS_EXCLUDE_ENVIRON is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
@@ -42,11 +41,9 @@ CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARDCTL=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
@@ -62,25 +59,6 @@ CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MODCMDS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
@@ -149,13 +127,12 @@ CONFIG_RAW_BINARY=y
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
-CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -257,5 +234,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=2944
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -55,7 +55,7 @@
 #include <uORB/uORB.h>
 #include <uORB/Publication.hpp>

-#include <arm_internal.h>
+#include <arm_arch.h>
 #include "board_config.h"
 #include <stm32_pwr.h>

@@ -7,7 +7,6 @@
 #
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_FS_PROCFS_EXCLUDE_ENVIRON is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
@@ -54,36 +53,15 @@ CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARDCTL=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MODCMDS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
@@ -171,13 +149,12 @@ CONFIG_RAW_BINARY=y
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
-CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -289,5 +266,5 @@ CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=2944
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -114,11 +114,11 @@
 /* SD card bringup does not work if performed on the IDLE thread because it
 * will cause waiting.  Use either:
 *
- *  CONFIG_BOARDCTL=y, OR
+ *  CONFIG_LIB_BOARDCTL=y, OR
 *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
 */

-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && !defined(CONFIG_BOARD_INITTHREAD)
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && !defined(CONFIG_BOARD_INITTHREAD)
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif

@@ -74,7 +74,7 @@ uint32_t px4_arch_adc_sample(uint32_t base_address, unsigned channel)
 		// ADC_SYSFS_PATH
 		char channel_path[strlen(ADC_SYSFS_PATH) + 20] {};

-		if (snprintf(channel_path, sizeof(channel_path), "%s/in_voltage%d_raw", ADC_SYSFS_PATH, channel) == -1) {
+		if (sprintf(channel_path, "%s/in_voltage%d_raw", ADC_SYSFS_PATH, channel) == -1) {
 			PX4_ERR("adc channel: %d\n", channel);
 			return UINT32_MAX; // error
 		}
@@ -82,4 +82,6 @@ CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
 CONFIG_EXAMPLES_HELLO=y
 CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
 CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
+CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
+CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
 CONFIG_EXAMPLES_WORK_ITEM=y
@@ -7,7 +7,6 @@
 #
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
@@ -37,11 +36,9 @@ CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARDCTL=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
@@ -57,25 +54,6 @@ CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MODCMDS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
@@ -137,13 +115,12 @@ CONFIG_RAM_SIZE=196608
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
-CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -207,5 +184,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=2944
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -44,7 +44,7 @@
 #include <systemlib/px4_macros.h>
 #include <nuttx/mmcsd.h>

-#include <arm_internal.h>
+#include <arm_arch.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include "board_config.h"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_internal.h>
+#include <arm_arch.h>
 #include <stm32.h>
 #include "board_config.h"

@@ -7,7 +7,6 @@
 #
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
@@ -36,11 +35,9 @@ CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARDCTL=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
@@ -55,25 +52,6 @@ CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MODCMDS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
@@ -136,13 +114,12 @@ CONFIG_RAM_SIZE=196608
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
-CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -206,5 +183,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=2944
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -44,7 +44,7 @@
 #include <systemlib/px4_macros.h>
 #include <nuttx/mmcsd.h>

-#include <arm_internal.h>
+#include <arm_arch.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include "board_config.h"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_internal.h>
+#include <arm_arch.h>
 #include <stm32.h>
 #include "board_config.h"

@@ -23,25 +23,6 @@ CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MODCMDS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_PTHREAD=y
@@ -54,7 +35,7 @@ CONFIG_IDLETHREAD_STACKSIZE=4096
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_BOARDCTL=y
+CONFIG_LIB_BOARDCTL=y
 CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
@@ -78,4 +59,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=4096
+CONFIG_USERMAIN_STACKSIZE=4096
@@ -9,41 +9,15 @@
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
 # CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
 # CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 # CONFIG_STM32_DMACAPABLE is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
@@ -61,8 +35,9 @@ CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
@@ -86,11 +61,8 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2624
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
@@ -105,6 +77,9 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
@@ -123,12 +98,12 @@ CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -176,3 +151,5 @@ CONFIG_USART2_BAUD=57600
 CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2624
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -50,7 +50,7 @@
 #include <arch/board/board.h>

 #include "chip.h"
-#include "arm_internal.h"
+#include "arm_arch.h"

 #include "stm32.h"
 #include "stm32_can.h"
@@ -7,7 +7,6 @@
 #
 # CONFIG_DEV_CONSOLE is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_SPI_EXCHANGE is not set
 # CONFIG_STM32H7_SYSCFG is not set
 CONFIG_ARCH="arm"
@@ -24,12 +23,10 @@ CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARDCTL=y
 CONFIG_BOARD_INITTHREAD_PRIORITY=254
 CONFIG_BOARD_LATE_INITIALIZE=y
 CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
@@ -43,25 +40,6 @@ CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MODCMDS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_PTHREAD=y
 CONFIG_EXPERIMENTAL=y
@@ -73,7 +51,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_BOARDCTL=y
+CONFIG_LIB_BOARDCTL=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_PREALLOC_TIMERS=50
@@ -111,5 +89,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=2944
-CONFIG_INIT_ENTRYPOINT="bootloader_main"
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="bootloader_main"
@@ -7,48 +7,21 @@
 #
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
 # CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
 # CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
 # CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/nora/nuttx-config"
@@ -70,8 +43,8 @@ CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004c
@@ -80,6 +53,7 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x3163
 CONFIG_CDCACM_VENDORSTR="CUAV"
+CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
@@ -109,11 +83,8 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
@@ -132,6 +103,9 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
@@ -153,16 +127,17 @@ CONFIG_RAW_BINARY=y
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -212,6 +187,7 @@ CONFIG_STM32H7_SPI5=y
 CONFIG_STM32H7_SPI6=y
 CONFIG_STM32H7_SPI6_DMA=y
 CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI_DMA=y
 CONFIG_STM32H7_TIM12=y
 CONFIG_STM32H7_TIM15=y
 CONFIG_STM32H7_TIM1=y
@@ -261,4 +237,6 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
@@ -7,7 +7,6 @@
 #
 # CONFIG_DEV_CONSOLE is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_SPI_EXCHANGE is not set
 # CONFIG_STM32H7_SYSCFG is not set
 CONFIG_ARCH="arm"
@@ -24,12 +23,10 @@ CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARDCTL=y
 CONFIG_BOARD_INITTHREAD_PRIORITY=254
 CONFIG_BOARD_LATE_INITIALIZE=y
 CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
@@ -43,25 +40,6 @@ CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MODCMDS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_PTHREAD=y
 CONFIG_EXPERIMENTAL=y
@@ -73,6 +51,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
+CONFIG_LIB_BOARDCTL=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_PREALLOC_TIMERS=50
@@ -110,5 +89,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=2944
-CONFIG_INIT_ENTRYPOINT="bootloader_main"
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="bootloader_main"
@@ -7,48 +7,21 @@
 #
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
 # CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
 # CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
 # CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/x7pro/nuttx-config"
@@ -70,8 +43,8 @@ CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004c
@@ -87,6 +60,7 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
@@ -110,10 +84,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
@@ -132,6 +103,9 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
@@ -153,16 +127,17 @@ CONFIG_RAW_BINARY=y
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -212,6 +187,7 @@ CONFIG_STM32H7_SPI5=y
 CONFIG_STM32H7_SPI6=y
 CONFIG_STM32H7_SPI6_DMA=y
 CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI_DMA=y
 CONFIG_STM32H7_TIM12=y
 CONFIG_STM32H7_TIM15=y
 CONFIG_STM32H7_TIM1=y
@@ -261,4 +237,6 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
@@ -7,48 +7,21 @@
 #
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
 # CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
 # CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
 # CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/x7pro/nuttx-config"
@@ -70,8 +43,8 @@ CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x004c
@@ -87,6 +60,7 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
@@ -110,10 +84,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
@@ -132,6 +103,9 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
@@ -153,16 +127,17 @@ CONFIG_RAW_BINARY=y
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -212,6 +187,7 @@ CONFIG_STM32H7_SPI5=y
 CONFIG_STM32H7_SPI6=y
 CONFIG_STM32H7_SPI6_DMA=y
 CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI_DMA=y
 CONFIG_STM32H7_TIM12=y
 CONFIG_STM32H7_TIM15=y
 CONFIG_STM32H7_TIM1=y
@@ -264,4 +240,6 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
@@ -7,7 +7,6 @@
 #
 # CONFIG_DEV_CONSOLE is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_SPI_EXCHANGE is not set
 # CONFIG_STM32H7_SYSCFG is not set
 CONFIG_ARCH="arm"
@@ -24,12 +23,10 @@ CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARDCTL=y
 CONFIG_BOARD_INITTHREAD_PRIORITY=254
 CONFIG_BOARD_LATE_INITIALIZE=y
 CONFIG_BOARD_LOOPSPERMSEC=79954
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
@@ -43,25 +40,6 @@ CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MODCMDS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_PTHREAD=y
 CONFIG_EXPERIMENTAL=y
@@ -73,6 +51,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
+CONFIG_LIB_BOARDCTL=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_PREALLOC_TIMERS=50
@@ -110,5 +89,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=2944
-CONFIG_INIT_ENTRYPOINT="bootloader_main"
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="bootloader_main"
@@ -8,48 +8,21 @@
 # CONFIG_DEV_CONSOLE is not set
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
 # CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
 # CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
 # CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorange/nuttx-config"
@@ -71,8 +44,8 @@ CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=79954
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1016
@@ -81,6 +54,7 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x2DAE
 CONFIG_CDCACM_VENDORSTR="CubePilot"
+CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
@@ -110,11 +84,8 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
@@ -133,6 +104,9 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
@@ -154,16 +128,17 @@ CONFIG_RAW_BINARY=y
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -206,6 +181,7 @@ CONFIG_STM32H7_SPI2=y
 CONFIG_STM32H7_SPI4=y
 CONFIG_STM32H7_SPI4_DMA=y
 CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI_DMA=y
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM3=y
 CONFIG_STM32H7_TIM4=y
@@ -251,4 +227,6 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
@@ -7,49 +7,21 @@
 #
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
 # CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CMP is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
 # CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
 # CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorange/nuttx-config"
@@ -71,8 +43,8 @@ CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=79954
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1016
@@ -88,6 +60,7 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
@@ -111,10 +84,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
@@ -133,6 +103,9 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
@@ -154,16 +127,17 @@ CONFIG_RAW_BINARY=y
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -206,6 +180,7 @@ CONFIG_STM32H7_SPI2=y
 CONFIG_STM32H7_SPI4=y
 CONFIG_STM32H7_SPI4_DMA=y
 CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI_DMA=y
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM3=y
 CONFIG_STM32H7_TIM4=y
@@ -254,4 +229,6 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y
@@ -8,7 +8,6 @@
 # CONFIG_DEV_CONSOLE is not set
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_FS_PROCFS_EXCLUDE_ENVIRON is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
@@ -16,41 +15,15 @@
 # CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
 # CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
 # CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
 CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeyellow/nuttx-config"
@@ -72,8 +45,8 @@ CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x1012
@@ -82,6 +55,7 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x2DAE
 CONFIG_CDCACM_VENDORSTR="CubePilot"
+CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
@@ -89,6 +63,7 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
@@ -110,11 +85,8 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
@@ -132,6 +104,9 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
@@ -153,16 +128,17 @@ CONFIG_RAW_BINARY=y
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
@@ -207,6 +183,7 @@ CONFIG_STM32F7_SPI2=y
 CONFIG_STM32F7_SPI4=y
 CONFIG_STM32F7_SPI4_DMA=y
 CONFIG_STM32F7_SPI4_DMA_BUFFER=1024
+CONFIG_STM32F7_SPI_DMA=y
 CONFIG_STM32F7_SPI_DMATHRESHOLD=8
 CONFIG_STM32F7_TIM10=y
 CONFIG_STM32F7_TIM11=y
@@ -256,3 +233,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -17,17 +17,18 @@ CONFIG_ARCH_CHIP_STM32F100C8=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARD_LOOPSPERMSEC=2000
+CONFIG_C99_BOOL8=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DISABLE_MOUNTPOINT=y
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_DISABLE_PTHREAD=y
 CONFIG_FDCLONE_DISABLE=y
 CONFIG_FDCLONE_STDIO=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=316
-CONFIG_INIT_ENTRYPOINT="user_start"
-CONFIG_INIT_STACKSIZE=1100
 CONFIG_MM_FILL_ALLOCATIONS=y
 CONFIG_MM_SMALL=y
 CONFIG_NAME_MAX=12
@@ -35,6 +36,7 @@ CONFIG_PREALLOC_TIMERS=0
 CONFIG_RAM_SIZE=8192
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
+CONFIG_SDCLONE_DISABLE=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_STACK_COLORATION=y
 CONFIG_START_DAY=30
@@ -59,3 +61,5 @@ CONFIG_USART3_RXBUFSIZE=64
 CONFIG_USART3_RXDMA=y
 CONFIG_USART3_TXBUFSIZE=64
 CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=1100
+CONFIG_USER_ENTRYPOINT="user_start"
@@ -23,12 +23,10 @@ CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARDCTL=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_CUSTOM_LEDS=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
@@ -111,13 +109,12 @@ CONFIG_RAM_SIZE=196608
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
-CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
@@ -191,5 +188,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=2944
-CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_internal.h>
+#include <arm_arch.h>
 #include <stm32.h>
 #include "board_config.h"

@@ -74,7 +74,7 @@ uint32_t px4_arch_adc_sample(uint32_t base_address, unsigned channel)
 		// ADC_SYSFS_PATH
 		char channel_path[strlen(ADC_SYSFS_PATH) + 5] {};

-		if (snprintf(channel_path, sizeof(channel_path), "%s/ch%d", ADC_SYSFS_PATH, channel) == -1) {
+		if (sprintf(channel_path, "%s/ch%d", ADC_SYSFS_PATH, channel) == -1) {
 			PX4_ERR("adc channel: %d\n", channel);
 			return UINT32_MAX; // error
 		}
@@ -85,4 +85,6 @@ CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
 CONFIG_EXAMPLES_HELLO=y
 CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
 CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
+CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
+CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
 CONFIG_EXAMPLES_WORK_ITEM=y
@@ -9,14 +9,19 @@ CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=n
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+CONFIG_DRIVERS_MAGNETOMETER_QMC5883=y
+CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=n
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -28,12 +33,14 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_PWM=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_VER=y
@@ -6,48 +6,9 @@
 # modifications.
 #
 # CONFIG_DEV_CONSOLE is not set
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 # CONFIG_SPI_CALLBACK is not set
 # CONFIG_STM32_CCMEXCLUDE is not set
 CONFIG_ARCH="arm"
@@ -59,17 +20,15 @@ CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F405RG=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_CUSTOM_LEDS=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0001
@@ -78,14 +37,11 @@ CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=2000
 CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_VENDORSTR="Flywoo"
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_EXAMPLES_CALIB_UDELAY=y
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_DISABLE_POSIX_TIMERS=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
@@ -96,7 +52,6 @@ CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -106,27 +61,37 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MM_REGIONS=2
-CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_BASENAME=y
+CONFIG_NSH_DISABLE_DD=y
+CONFIG_NSH_DISABLE_DIRNAME=y
+CONFIG_NSH_DISABLE_HEXDUMP=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_LOSETUP=y
+CONFIG_NSH_DISABLE_MKFIFO=y
+CONFIG_NSH_DISABLE_MKRD=y
+CONFIG_NSH_DISABLE_PUT=y
+CONFIG_NSH_DISABLE_REBOOT=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_DISABLE_UNAME=y
+CONFIG_NSH_DISABLE_WGET=y
+CONFIG_NSH_DISABLE_XD=y
 CONFIG_NSH_FATDEVNO=0
+CONFIG_NSH_FILEIOSIZE=512
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_MMCSDSPIPORTNO=2
 CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
+CONFIG_NSH_READLINE=y
 CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
@@ -134,24 +99,23 @@ CONFIG_NSH_VARS=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=196608
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
 CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
 CONFIG_SEM_PREALLOCHOLDERS=32
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -192,6 +156,7 @@ CONFIG_STM32_SPI1_DMA_BUFFER=1024
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI2_DMA=y
 CONFIG_STM32_SPI3=y
+CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_SPI_DMATHRESHOLD=8
 CONFIG_STM32_TIM1=y
 CONFIG_STM32_TIM5=y
@@ -218,3 +183,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>

-#include <arm_internal.h>
+#include <arm_arch.h>
 #include <stm32.h>
 #include "board_config.h"

@@ -24,25 +24,6 @@ CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MODCMDS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
 CONFIG_DISABLE_MOUNTPOINT=y
 CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_PTHREAD=y
@@ -58,7 +39,7 @@ CONFIG_IDLETHREAD_STACKSIZE=4096
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_BOARDCTL=y
+CONFIG_LIB_BOARDCTL=y
 CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
@@ -83,4 +64,4 @@ CONFIG_STM32F7_PROGMEM=y
 CONFIG_STM32F7_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_INIT_STACKSIZE=4096
+CONFIG_USERMAIN_STACKSIZE=4096
--- a/Show More
+++ b/Show More