Disable multicopter attitude autotuner for fmu-v5 test build.

Scope VEHICLE_MODE_FLAG to the Commander class.

.ci/Jenkinsfile-compile

@@ -9,7 +9,7 @@ pipeline {
         script {
           def build_nodes = [:]
           def docker_images = [
-            armhf: "px4io/px4-dev-armhf:2023-06-26",
+            armhf: "px4io/px4-dev-armhf:2022-08-12",
             arm64: "px4io/px4-dev-aarch64:2022-08-12",
             base: "px4io/px4-dev-ros2-foxy:2022-08-12",
             nuttx: "px4io/px4-dev-nuttx-focal:2022-08-12",
@@ -40,8 +40,6 @@ pipeline {
                      "ark_can-flow_default",
                      "ark_can-gps_canbootloader",
                      "ark_can-gps_default",
-                     "ark_cannode_canbootloader",
-                     "ark_cannode_default",
                      "ark_can-rtk-gps_canbootloader",
                      "ark_can-rtk-gps_default",
                      "ark_fmu-v6x_bootloader",
@@ -55,10 +53,8 @@ pipeline {
                      "cuav_nora_default",
                      "cuav_x7pro_default",
                      "cubepilot_cubeorange_default",
-                     "cubepilot_cubeorangeplus_default",
                      "cubepilot_cubeyellow_default",
                      "diatone_mamba-f405-mk2_default",
-                     "flywoo_gn-f405_default",
                      "freefly_can-rtk-gps_canbootloader",
                      "freefly_can-rtk-gps_default",
                      "holybro_can-gps-v1_canbootloader",
@@ -76,7 +72,7 @@ pipeline {
                      "matek_h743_default",
                      "modalai_fc-v1_default",
                      "modalai_fc-v2_default",
-                     "mro_ctrl-zero-classic_default",
+                     "modalai_voxl2-io_default",
                      "mro_ctrl-zero-f7_default",
                      "mro_ctrl-zero-f7-oem_default",
                      "mro_ctrl-zero-h7-oem_default",
@@ -89,7 +85,6 @@ pipeline {
                      "nxp_fmuk66-v3_default",
                      "nxp_fmuk66-v3_socketcan",
                      "nxp_fmurt1062-v1_default",
-                     "nxp_mr-canhubk3_default",
                      "nxp_ucans32k146_canbootloader",
                      "nxp_ucans32k146_default",
                      "omnibus_f4sd_default",
@@ -169,7 +164,7 @@ pipeline {
   }
   options {
     buildDiscarder(logRotator(numToKeepStr: '5', artifactDaysToKeepStr: '14'))
-    timeout(time: 120, unit: 'MINUTES')
+    timeout(time: 90, unit: 'MINUTES')
   }
 }
 

.ci/Jenkinsfile-hardware

@@ -12,7 +12,7 @@ pipeline {
             stage("build cubepilot_cubeorange_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -91,7 +91,7 @@ pipeline {
             stage("build cuav_x7pro_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -165,7 +165,7 @@ pipeline {
             stage("build px4_fmu-v4_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -238,7 +238,7 @@ pipeline {
             stage("build px4_fmu-v4pro_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -312,7 +312,7 @@ pipeline {
             stage("build px4_fmu-v5_debug") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -362,7 +362,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_stress"'
 
                     // test dataman
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
 
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests"'
@@ -403,7 +403,7 @@ pipeline {
             stage("build px4_fmu-v5_stackcheck") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -449,7 +449,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb_tests latency_test" || true'
 
                     // test dataman
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman" --ignore-stdout-errors'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests dataman"'
                   }
                 }
                 stage("status") {
@@ -486,7 +486,7 @@ pipeline {
             stage("build px4_fmu-v5_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }
@@ -560,7 +560,7 @@ pipeline {
             stage("build nxp_fmuk66-v3_test") {
               agent {
                 docker {
-                  image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
                   args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
                 }
               }

.devcontainer/devcontainer.json

@@ -2,7 +2,7 @@
 // https://github.com/microsoft/vscode-dev-containers/tree/v0.134.0/containers/cpp
 {
 	"name": "px4-dev-nuttx",
-	"image": "px4io/px4-dev-nuttx-focal:2022-08-12",
+	"image": "px4io/px4-dev-nuttx-focal:2021-09-08",
 
 	"runArgs": [ "--cap-add=SYS_PTRACE", "--security-opt", "seccomp=unconfined" ],
 

.github/ISSUE_TEMPLATE/1_Bug_report.md

@@ -0,0 +1,34 @@
+---
+name: 🐛 Bug report
+about: Create a report to help us improve
+labels: bug-report
+
+---
+
+## Describe the bug
+A clear and concise description of the bug.
+
+## To Reproduce
+Steps to reproduce the behavior:
+1. Drone switched on '...'
+2. Uploaded mission '....' (attach QGC mission file)
+3. Took off '....'
+4. See error
+
+## Expected behavior
+A clear and concise description of what you expected to happen.
+
+## Log Files and Screenshots
+*Always* provide a link to the flight log file:
+- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
+- Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
+- Share the link to the log (Copy and paste the URL of the log)
+
+Add screenshots to help explain your problem.
+
+## Drone (please complete the following information):
+- Describe the type of drone.
+- Photo of the IMU / autopilot setup if possible.
+
+## Additional context
+Add any other context about the problem here.

.github/ISSUE_TEMPLATE/2_Feature_request.md

@@ -0,0 +1,20 @@
+---
+name: 🚀 Feature Request
+about: Suggest an idea for this project
+labels: feature-request
+
+---
+
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Discord (you can find an invite link on this project README).
+
+## Describe problem solved by the proposed feature
+A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
+
+## Describe your preferred solution
+A clear and concise description of what you want to happen.
+
+## Describe possible alternatives
+A clear and concise description of alternative solutions or features you've considered.
+
+## Additional context
+Add any other context or screenshots for the feature request here.

.github/ISSUE_TEMPLATE/3_Support_question.md

@@ -0,0 +1,13 @@
+---
+name: ⛔ Support Question
+about: See http://discuss.px4.io/ for questions about using PX4.
+
+---
+
+## Attention! Please read the note below
+
+We use GitHub issues only to discuss PX4 bugs and new features.
+
+**For questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).**
+
+Thanks!

.github/ISSUE_TEMPLATE/4_Documentation_issue.md

@@ -0,0 +1,11 @@
+---
+name: ⛔ Documentation Issue
+about: See https://github.com/PX4/px4_user_guide for documentation issues
+
+---
+
+## Attention! Please read the note below
+
+**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.**
+
+Thanks!

.github/ISSUE_TEMPLATE/bug_report.yml

@@ -1,94 +0,0 @@
-name: 🐛 Bug report
-description: Create a report to help us improve
-title: "[Bug] "
-labels: ["bug-report"]
-body:
-  - type: textarea
-    attributes:
-      label: Describe the bug
-      description: A clear and concise description of the bug.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: To Reproduce
-      description: |
-          Steps to reproduce the behavior.
-          1. Drone switched on '...'
-          2. Uploaded mission '....' (attach QGC mission file)
-          3. Took off '....'
-          4. See error
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Expected behavior
-      description: A clear and concise description of what you expected to happen.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Screenshot / Media
-      description: Add screenshot / media if you have them
-
-  - type: textarea
-    attributes:
-      label: Flight Log
-      description: |
-          *Always* provide a link to the flight log file:
-          - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
-          - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
-          - Share the link to the log (Copy and paste the URL of the log)
-      placeholder: |
-          # PASTE HERE THE LINK TO THE LOG
-    validations:
-      required: true
-
-  - type: markdown
-    attributes:
-      value: |
-        ## Setup
-
-  - type: textarea
-    attributes:
-      label: Software Version
-      description: |
-          Which version of PX4 are you using?
-      placeholder: |
-          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
-    validations:
-      required: true
-
-  - type: input
-    attributes:
-      label: Flight controller
-      description: Specify your flight controller model (what type is it, where was it bought from, ...).
-    validations:
-      required: true
-
-  - type: dropdown
-    attributes:
-      label: Vehicle type
-      options:
-        - Multicopter
-        - Helicopter
-        - Fixed Wing
-        - Hybrid VTOL
-        - Airship/Balloon
-        - Rover
-        - Boat
-        - Submarine
-        - Other
-
-  - type: textarea
-    attributes:
-      label: How are the different components wired up (including port information)
-      description: Details about how all is wired.
-
-  - type: textarea
-    attributes:
-      label: Additional context
-      description: Add any other context about the problem here.

.github/ISSUE_TEMPLATE/config.yml

@@ -1,8 +0,0 @@
-blank_issues_enabled: false
-contact_links:
-  - name: Support Question
-    url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
-    about: For questions about using PX4 or related components, please use the discuss forum and discord server
-  - name: Documentation Issue
-    url: https://github.com/PX4/PX4-user_guide/issues
-    about: If you found an issue in documentation, please submit it directly to the docs repository issues

.github/ISSUE_TEMPLATE/feature_request.yml

@@ -1,35 +0,0 @@
-name: 🚀 Feature Request
-description: Suggest an idea for this project
-labels: ["feature-request"]
-body:
-  - type: markdown
-    attributes:
-      value: |
-        ## Please note that feature requests are not 'fire and forget'
-        It is a lot more likely that the feature you would like to have will be implemented if you keep watching your feature request, and provide more details to developers looking into implementing your feature, and help them with testing.
-
-  - type: textarea
-    attributes:
-      label: Describe problem solved by the proposed feature
-      description: A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Describe your preferred solution
-      description: A clear and concise description of what you want to happen.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Describe possible alternatives
-      description: A clear and concise description of any alternative solutions or features you've considered.
-    validations:
-      required: true
-
-  - type: textarea
-    attributes:
-      label: Additional context
-      description: Add any other context or screenshots for the feature request here.

.github/slack.svg

@@ -0,0 +1,24 @@
+<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
+  <linearGradient id="smooth" x2="0" y2="100%">
+    <stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
+    <stop offset="1" stop-opacity=".1"/>
+  </linearGradient>
+
+  <mask id="round">
+    <rect width="90" height="20" rx="3" fill="#fff"/>
+  </mask>
+
+  <g mask="url(#round)">
+    <rect width="42" height="20" fill="#555"/>
+    <rect x="42" width="48" height="20" fill="#E01563"/>
+    <rect width="90" height="20" fill="url(#smooth)"/>
+  </g>
+
+  <g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
+    <text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
+    <text x="22" y="14">slack</text>
+    <text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
+    <text x="65" y="14">Join us!</text>
+  </g>
+</svg>
+

.github/stale.yml

@@ -0,0 +1,15 @@
+# Number of days of inactivity before an issue becomes stale
+daysUntilStale: 90
+# Number of days of inactivity before a stale issue is closed, or `false` to disable
+daysUntilClose: false
+# Issues with these labels will never be considered stale
+exemptLabels:
+  - pinned
+# Label to use when marking an issue as stale
+staleLabel: stale
+# Comment to post when marking an issue as stale. Set to `false` to disable
+markComment: >
+  This issue has been automatically marked as stale because it has not had
+  recent activity. Thank you for your contributions.
+# Comment to post when closing a stale issue. Set to `false` to disable
+closeComment: false

.github/workflows/checks.yml

@@ -28,7 +28,7 @@ jobs:
           "parameters_metadata",
         ]
     container:
-      image: px4io/px4-dev-nuttx-focal:2022-08-12
+      image: px4io/px4-dev-nuttx-focal:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.github/workflows/compile_linux.yml

@@ -1,12 +1,9 @@
-name: Compile Linux Targets
+name: Linux Targets
 
 on:
   push:
     branches:
     - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
   pull_request:
     branches:
     - '*'
@@ -14,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2023-06-26
+    container: px4io/px4-dev-armhf:2021-09-08
     strategy:
       matrix:
         config: [
@@ -27,8 +24,7 @@ jobs:
     - uses: actions/checkout@v1
       with:
         token: ${{secrets.ACCESS_TOKEN}}
-    - name: ownership workaround
-      run: git config --system --add safe.directory '*'
+
     - name: Prepare ccache timestamp
       id: ccache_cache_timestamp
       shell: cmake -P {0}

.github/workflows/compile_linux_arm64.yml

@@ -1,12 +1,9 @@
-name: Compile Linux ARM64 Targets
+name: Linux ARM64 Targets
 
 on:
   push:
     branches:
     - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
   pull_request:
     branches:
     - '*'
@@ -14,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-aarch64:2022-08-12
+    container: px4io/px4-dev-aarch64:2021-09-08
     strategy:
       matrix:
         config: [

.github/workflows/compile_macos.yml

@@ -10,12 +10,13 @@ on:
 
 jobs:
   build:
-    runs-on: macos-latest
+    runs-on: macos-10.15
     strategy:
       matrix:
         config: [
           px4_fmu-v5_default,
           px4_sitl
+          #tests, # includes px4_sitl
           ]
     steps:
     - uses: actions/checkout@v1

.github/workflows/compile_nuttx.yml

@@ -1,12 +1,9 @@
-name: Compile Nuttx Targets
+name: Nuttx Targets
 
 on:
   push:
     branches:
     - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
   pull_request:
     branches:
     - '*'
@@ -14,7 +11,7 @@ on:
 jobs:
   build:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2022-08-12
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
     strategy:
       fail-fast: false
       matrix:

.github/workflows/deploy_all.yml

@@ -24,15 +24,12 @@ jobs:
     needs: enumerate_targets
     strategy:
       matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
-    container: ${{ matrix.container }}
+    container: px4io/px4-dev-${{ matrix.container }}:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:
         token: ${{secrets.ACCESS_TOKEN}}
 
-    - name: ownership workaround
-      run: git config --system --add safe.directory '*'
-
     - name: make ${{matrix.target}}
       run: make ${{matrix.target}}
 

.github/workflows/failsafe_sim.yml

@@ -21,7 +21,7 @@ jobs:
           "failsafe_web",
         ]
     container:
-      image: px4io/px4-dev-nuttx-focal:2022-08-12
+      image: px4io/px4-dev-nuttx-focal:2021-09-08
       options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
     steps:
     - uses: actions/checkout@v1

.github/workflows/metadata.yml

@@ -103,7 +103,7 @@ jobs:
 
   uorb_graph:
     runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2022-08-12
+    container: px4io/px4-dev-nuttx-focal:2021-09-08
     steps:
     - uses: actions/checkout@v1
       with:

.github/workflows/stale.yml

@@ -1,4 +1,4 @@
-name: 'Handle stale issues and PRs'
+name: 'Close stale issues and PRs'
 on:
   schedule:
     - cron: '30 1 * * *'
@@ -7,10 +7,14 @@ jobs:
   stale:
     runs-on: ubuntu-latest
     steps:
-      - uses: actions/stale@v8
+      - uses: actions/stale@v4.1.1
         with:
-          days-before-stale: 30
-          days-before-close: -1
-          stale-issue-label: 'stale'
-          stale-pr-label: 'stale'
-          remove-stale-when-updated: true
+          stale-issue-message: 'This issue is stale because it has been open 30 days with no activity. Remove stale label or comment or this will be closed in 5 days.'
+          stale-pr-message: 'This PR is stale because it has been open 45 days with no activity. Remove stale label or comment or this will be closed in 10 days.'
+          close-issue-message: 'This issue was closed because it has been stalled for 5 days with no activity.'
+          close-pr-message: 'This PR was closed because it has been stalled for 10 days with no activity.'
+          days-before-issue-stale: 30
+          days-before-pr-stale: 45
+          days-before-issue-close: 5
+          days-before-pr-close: 10
+          debug-only: true

Jenkinsfile

@@ -94,7 +94,7 @@ pipeline {
 
         stage('failsafe docs') {
           agent {
-            docker { image 'px4io/px4-dev-nuttx-focal:2022-08-12' }
+            docker { image 'px4io/px4-dev-nuttx-focal:2021-08-18' }
           }
           steps {
             sh '''#!/bin/bash -l
@@ -125,7 +125,7 @@ pipeline {
         stage('uORB graphs') {
           agent {
             docker {
-              image 'px4io/px4-dev-nuttx-focal:2022-08-12'
+              image 'px4io/px4-dev-nuttx-focal:2021-08-18'
               args '-e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
             }
           }

ROMFS/px4fmu_common/init.d-posix/airframes/1060_gazebo-classic_rover

@@ -22,6 +22,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
 
 param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0
 
 param set-default CA_AIRFRAME 5
 

ROMFS/px4fmu_common/init.d-posix/airframes/1061_gazebo-classic_r1_rover

@@ -22,6 +22,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
 
 param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0
 
 param set-default CA_AIRFRAME 6
 

ROMFS/px4fmu_common/init.d-posix/airframes/1062_flightgear_tf-r1

@@ -29,6 +29,7 @@ param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
 
 param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 3.0
 
 param set-default CA_AIRFRAME 5
 

ROMFS/px4fmu_common/init.d-posix/airframes/1070_gazebo-classic_boat

@@ -13,20 +13,16 @@ param set-default GND_SPEED_I 8
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_P 2
 param set-default GND_SPEED_THR_SC 1
-param set-default GND_SPEED_TRIM 3
+param set-default GND_SPEED_TRIM 1
 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 GND_RATE_P 0.08
-param set-default GND_RATE_D 0.02
-param set-default GND_RATE_FF 0.0
-param set-default GND_RATE_I 0.0
-param set-default GND_RATE_MAX 0.5
 
-param set-default NAV_ACC_RAD 5
+param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2
 
 param set-default GND_MAX_ANG 0.6
+param set-default GND_WHEEL_BASE 2.0
 
 param set-default CA_AIRFRAME 9
 

ROMFS/px4fmu_common/init.d-posix/airframes/8011_gz_omnicopter

@@ -1,122 +0,0 @@
-#!/bin/sh
-#
-# @name 6DoF Omnicopter SITL
-#
-# @type Quadrotor Wide
-#
-# @maintainer Jaeyoung Lim <jalim@ethz.ch>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=omnicopter}
-
-param set-default CA_AIRFRAME 0
-
-param set-default CA_ROTOR_COUNT 8
-param set-default CA_R_REV 255
-
-param set-default CA_ROTOR0_PX 0.14435
-param set-default CA_ROTOR0_PY -0.14435
-param set-default CA_ROTOR0_PZ -0.14435
-param set-default CA_ROTOR0_KM 0.05 # CCW
-param set-default CA_ROTOR0_AX -0.788675
-param set-default CA_ROTOR0_AY -0.211325
-param set-default CA_ROTOR0_AZ -0.57735
-
-param set-default CA_ROTOR1_PX -0.14435
-param set-default CA_ROTOR1_PY -0.14435
-param set-default CA_ROTOR1_PZ -0.14435
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR1_AX 0.211325
-param set-default CA_ROTOR1_AY -0.788675
-param set-default CA_ROTOR1_AZ 0.57735
-
-param set-default CA_ROTOR2_PX 0.14435
-param set-default CA_ROTOR2_PY 0.14435
-param set-default CA_ROTOR2_PZ -0.14435
-param set-default CA_ROTOR2_KM 0.05
-param set-default CA_ROTOR2_AX -0.211325
-param set-default CA_ROTOR2_AY 0.788675
-param set-default CA_ROTOR2_AZ 0.57735
-
-param set-default CA_ROTOR3_PX -0.14435
-param set-default CA_ROTOR3_PY 0.14435
-param set-default CA_ROTOR3_PZ -0.14435
-param set-default CA_ROTOR3_KM 0.05
-param set-default CA_ROTOR3_AX 0.788675
-param set-default CA_ROTOR3_AY 0.211325
-param set-default CA_ROTOR3_AZ -0.57735
-
-param set-default CA_ROTOR4_PX 0.14435
-param set-default CA_ROTOR4_PY -0.14435
-param set-default CA_ROTOR4_PZ 0.14435
-param set-default CA_ROTOR4_KM 0.05
-param set-default CA_ROTOR4_AX 0.788675
-param set-default CA_ROTOR4_AY 0.211325
-param set-default CA_ROTOR4_AZ -0.57735
-
-param set-default CA_ROTOR5_PX -0.14435
-param set-default CA_ROTOR5_PY -0.14435
-param set-default CA_ROTOR5_PZ 0.14435
-param set-default CA_ROTOR5_KM 0.05
-param set-default CA_ROTOR5_AX -0.211325
-param set-default CA_ROTOR5_AY 0.788675
-param set-default CA_ROTOR5_AZ 0.57735
-
-param set-default CA_ROTOR6_PX 0.14435
-param set-default CA_ROTOR6_PY 0.14435
-param set-default CA_ROTOR6_PZ 0.14435
-param set-default CA_ROTOR6_KM 0.05
-param set-default CA_ROTOR6_AX 0.211325
-param set-default CA_ROTOR6_AY -0.788675
-param set-default CA_ROTOR6_AZ 0.57735
-
-param set-default CA_ROTOR7_PX -0.14435
-param set-default CA_ROTOR7_PY 0.14435
-param set-default CA_ROTOR7_PZ 0.14435
-param set-default CA_ROTOR7_KM 0.05
-param set-default CA_ROTOR7_AX -0.788675
-param set-default CA_ROTOR7_AY -0.211325
-param set-default CA_ROTOR7_AZ -0.57735
-
-param set-default SIM_GZ_EN 1
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-
-param set-default SIM_GZ_EC_FUNC1 101
-param set-default SIM_GZ_EC_FUNC2 102
-param set-default SIM_GZ_EC_FUNC3 103
-param set-default SIM_GZ_EC_FUNC4 104
-param set-default SIM_GZ_EC_FUNC5 105
-param set-default SIM_GZ_EC_FUNC6 106
-param set-default SIM_GZ_EC_FUNC7 107
-param set-default SIM_GZ_EC_FUNC8 108
-
-param set-default SIM_GZ_EC_MIN1 0
-param set-default SIM_GZ_EC_MIN2 0
-param set-default SIM_GZ_EC_MIN3 0
-param set-default SIM_GZ_EC_MIN4 0
-param set-default SIM_GZ_EC_MIN5 0
-param set-default SIM_GZ_EC_MIN6 0
-param set-default SIM_GZ_EC_MIN7 0
-param set-default SIM_GZ_EC_MIN8 0
-
-param set-default SIM_GZ_EC_MAX1 1100
-param set-default SIM_GZ_EC_MAX2 1100
-param set-default SIM_GZ_EC_MAX3 1100
-param set-default SIM_GZ_EC_MAX4 1100
-param set-default SIM_GZ_EC_MAX5 1100
-param set-default SIM_GZ_EC_MAX6 1100
-param set-default SIM_GZ_EC_MAX7 1100
-param set-default SIM_GZ_EC_MAX8 1100
-# disable MC desaturation which improves attitude tracking
-param set-default CA_METHOD 0
-
-# disable attitude failure detection
-param set-default FD_FAIL_P 0
-param set-default FD_FAIL_R 0
-

ROMFS/px4fmu_common/init.d-posix/airframes/CMakeLists.txt

@@ -81,8 +81,6 @@ px4_add_romfs_files(
 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
 
-	8011_gz_omnicopter
-
 	10015_gazebo-classic_iris
 	10016_none_iris
 	10017_jmavsim_iris
@@ -96,6 +94,4 @@ px4_add_romfs_files(
 
 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
-
-	# [22000, 22999] Reserve for custom models
 )

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -38,19 +38,6 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 
 elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; then
 
-	# set local coordinate frame reference
-	if [ -n "${PX4_HOME_LAT}" ]; then
-		param set SIM_GZ_HOME_LAT ${PX4_HOME_LAT}
-	fi
-
-	if [ -n "${PX4_HOME_LON}" ]; then
-		param set SIM_GZ_HOME_LON ${PX4_HOME_LON}
-	fi
-
-	if [ -n "${PX4_HOME_ALT}" ]; then
-		param set SIM_GZ_HOME_ALT ${PX4_HOME_LON}
-	fi
-
 	# source generated gz_env.sh for GZ_SIM_RESOURCE_PATH
 	if [ -f ./gz_env.sh ]; then
 		. ./gz_env.sh
@@ -72,7 +59,7 @@ elif [ "$PX4_SIMULATOR" = "gz" ] || [ "$(param show -q SIM_GZ_EN)" -eq "1" ]; th
 	fi
 
 	# look for running ${gz_command} gazebo world
-	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
+	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
 
 	# shellcheck disable=SC2153
 	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -187,11 +187,6 @@ param set-default SYS_FAILURE_EN 1
 # does not go below 50% by default, but failure injection can trigger failsafes.
 param set-default COM_LOW_BAT_ACT 2
 
-# Allow to override SYS_MC_EST_GROUP via env
-if [ -n "$SYS_MC_EST_GROUP" ]; then
-	param set SYS_MC_EST_GROUP $SYS_MC_EST_GROUP
-fi
-
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)

ROMFS/px4fmu_common/init.d/airframes/2106_albatross

@@ -17,7 +17,6 @@
 # @maintainer Andreas Antener <andreas@uaventure.com>
 #
 # @board bitcraze_crazyflie exclude
-# @board diatone_mamba-f405-mk2 exclude
 #
 
 . ${R}etc/init.d/rc.fw_defaults

ROMFS/px4fmu_common/init.d/airframes/4019_x500_v2

@@ -34,9 +34,9 @@ param set-default CA_ROTOR3_PX -0.25
 param set-default CA_ROTOR3_PY 0.25
 param set-default CA_ROTOR3_KM -0.05
 
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_TIM0 -4
+param set-default PWM_AUX_FUNC1 101
+param set-default PWM_AUX_FUNC2 102
+param set-default PWM_AUX_FUNC3 103
+param set-default PWM_AUX_FUNC4 104
+param set-default PWM_AUX_TIM0 -4
 

ROMFS/px4fmu_common/init.d/airframes/4900_crazyflie

@@ -13,7 +13,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board diatone_mamba-f405-mk2 exclude
 #
 . ${R}etc/init.d/rc.mc_defaults
 

ROMFS/px4fmu_common/init.d/airframes/4901_crazyflie21

@@ -13,7 +13,6 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
-# @board diatone_mamba-f405-mk2 exclude
 #
 . ${R}etc/init.d/rc.mc_defaults
 

ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx

@@ -34,6 +34,7 @@ param set-default GND_THR_MAX 0.5
 
 # Differential drive acts like ackermann steering with a maximum turn angle of 60 degrees, or pi/3 radians
 param set-default GND_MAX_ANG 1.042
+param set-default GND_WHEEL_BASE 0.17
 
 # TODO: Set to -1.0, to allow reversing. This will require many changes in the codebase
 # to support negative throttle.

ROMFS/px4fmu_common/init.d/rcS

@@ -255,7 +255,6 @@ else
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q
 	rgbled_lp5562 start -X -q
-	rgbled_is31fl3195 start -X -q
 
 	#
 	# Override parameters from user configuration file.

Tools/HIL/run_nsh_cmd.py

@@ -39,7 +39,7 @@ def print_line(line):
         print('{0}'.format(line), end='')
 
 
-def do_nsh_cmd(port_url, baudrate, cmd, ignore_stdout_errors=False):
+def do_nsh_cmd(port_url, baudrate, cmd):
     ser = serial.serial_for_url(url=port_url, baudrate=baudrate, bytesize=serial.EIGHTBITS, parity=serial.PARITY_NONE, stopbits=serial.STOPBITS_ONE, timeout=1, xonxoff=False, rtscts=False, dsrdtr=False, inter_byte_timeout=1)
 
     timeout_start = time.monotonic()
@@ -106,7 +106,7 @@ def do_nsh_cmd(port_url, baudrate, cmd, ignore_stdout_errors=False):
             if success_cmd in serial_line:
                 sys.exit(return_code)
             else:
-                if "ERROR " in serial_line and not ignore_stdout_errors:
+                if "ERROR " in serial_line:
                     return_code = -1
 
                 print_line(serial_line)
@@ -148,8 +148,6 @@ def main():
     parser.add_argument('--device', "-d", nargs='?', default=default_device, help='', required=device_required)
     parser.add_argument("--baudrate", "-b", dest="baudrate", type=int, help="serial port baud rate (default=57600)", default=57600)
     parser.add_argument("--cmd", "-c", dest="cmd", help="Command to run")
-    parser.add_argument('--ignore-stdout-errors', action='store_true',
-                        help='Ignore errors printed to stdout')
     args = parser.parse_args()
 
     tmp_file = "{0}/pyserial_spy_file.txt".format(tempfile.gettempdir())
@@ -157,7 +155,7 @@ def main():
 
     print("pyserial url: {0}".format(port_url))
 
-    do_nsh_cmd(port_url, args.baudrate, args.cmd, args.ignore_stdout_errors)
+    do_nsh_cmd(port_url, args.baudrate, args.cmd)
 
 if __name__ == "__main__":
    main()

Tools/docker_run.sh

@@ -4,16 +4,16 @@ if [ -z ${PX4_DOCKER_REPO+x} ]; then
 	echo "guessing PX4_DOCKER_REPO based on input";
 	if [[ $@ =~ .*px4_fmu.* ]]; then
 		# nuttx-px4fmu-v{1,2,3,4,5}
-		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
+		PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*beaglebone.* ]] || [[ $@ =~ .*pilotpi.default ]]; then
 		# beaglebone_blue_default, emlid_navio2_default, px4_raspberrypi_default, scumaker_pilotpi_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
 	elif [[ $@ =~ .*pilotpi.arm64 ]]; then
 		# scumaker_pilotpi_arm64
-		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:2022-08-12"
+		PX4_DOCKER_REPO="px4io/px4-dev-aarch64:latest"
 	elif [[ $@ =~ .*navio2.* ]] || [[ $@ =~ .*raspberry.* ]] || [[ $@ =~ .*bebop.* ]]; then
 		# posix_rpi_cross, posix_bebop_default
-		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2023-06-26"
+		PX4_DOCKER_REPO="px4io/px4-dev-armhf:2021-08-18"
 	elif [[ $@ =~ .*clang.* ]] || [[ $@ =~ .*scan-build.* ]]; then
 		# clang tools
 		PX4_DOCKER_REPO="px4io/px4-dev-clang:2021-02-04"
@@ -27,7 +27,7 @@ fi
 
 # otherwise default to nuttx
 if [ -z ${PX4_DOCKER_REPO+x} ]; then
-	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2022-08-12"
+	PX4_DOCKER_REPO="px4io/px4-dev-nuttx-focal:2021-09-08"
 fi
 
 # docker hygiene

Tools/ecl_ekf/analysis/checks.py

@@ -56,14 +56,11 @@ def perform_imu_checks(
     # perform the vibration check
     imu_status['imu_vibration_check'] = 'Pass'
     for imu_vibr_metric in ['imu_coning', 'imu_hfgyro', 'imu_hfaccel']:
-        mean_metric = '{:s}_mean_warn'.format(imu_vibr_metric)
-        peak_metric = '{:s}_peak_warn'.format(imu_vibr_metric)
-        mean_key = '{:s}_mean'.format(imu_vibr_metric)
-        peak_key = '{:s}_peak'.format(imu_vibr_metric)
-        if mean_key in imu_metrics and peak_key in imu_metrics:
-            if imu_metrics[mean_key] > check_levels[mean_metric] \
-                   or imu_metrics[peak_key] > check_levels[peak_metric]:
-                imu_status['imu_vibration_check'] = 'Warning'
+        mean_metric = '{:s}_mean'.format(imu_vibr_metric)
+        peak_metric = '{:s}_peak'.format(imu_vibr_metric)
+        if imu_metrics[mean_metric] > check_levels['{:s}_warn'.format(mean_metric)] \
+                or imu_metrics[peak_metric] > check_levels['{:s}_warn'.format(peak_metric)]:
+            imu_status['imu_vibration_check'] = 'Warning'
 
     if imu_status['imu_vibration_check'] == 'Warning':
         print('IMU vibration check warning.')

Tools/ecl_ekf/analysis/metrics.py

@@ -104,9 +104,9 @@ def calculate_innov_fail_metrics(
 
     # calculate innovation check fail metrics
     for signal_id, signal, result in [('posv', 'reject_ver_pos', 'hgt_fail_percentage'),
-                                      ('magx', 'fs_bad_mag_x', 'magx_fail_percentage'),
-                                      ('magy', 'fs_bad_mag_y', 'magy_fail_percentage'),
-                                      ('magz', 'fs_bad_mag_z', 'magz_fail_percentage'),
+                                      ('magx', 'reject_mag_x', 'magx_fail_percentage'),
+                                      ('magy', 'reject_mag_y', 'magy_fail_percentage'),
+                                      ('magz', 'reject_mag_z', 'magz_fail_percentage'),
                                       ('yaw', 'reject_yaw', 'yaw_fail_percentage'),
                                       ('velh', 'reject_hor_vel', 'vel_fail_percentage'),
                                       ('velv', 'reject_ver_vel', 'vel_fail_percentage'),

Tools/ecl_ekf/plotting/pdf_report.py

@@ -222,7 +222,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
         data_plot = CheckFlagsPlot(
             status_flags_time, estimator_status_flags, [['reject_hor_vel', 'reject_hor_pos'], ['reject_ver_vel', 'reject_ver_pos',
                                                                                'reject_hagl'],
-                                       ['fs_bad_mag_x', 'fs_bad_mag_y', 'fs_bad_mag_z',
+                                       ['reject_mag_x', 'reject_mag_y', 'reject_mag_z',
                                         'reject_yaw'], ['reject_airspeed'], ['reject_sideslip'],
                                        ['reject_optflow_x',
                                         'reject_optflow_y']], x_label='time (sec)',

Tools/generate_board_targets_json.py

@@ -61,19 +61,18 @@ def process_target(px4board_file, target_name):
 
     if platform not in excluded_platforms:
         # get the container based on the platform and toolchain
+        container = platform
         if platform == 'posix':
-            container = 'px4io/px4-dev-base-focal:2021-09-08'
+            container = 'base-focal'
             if toolchain:
                 if toolchain.startswith('aarch64'):
-                    container = 'px4io/px4-dev-aarch64:2022-08-12'
+                    container = 'aarch64'
                 elif toolchain == 'arm-linux-gnueabihf':
-                    container = 'px4io/px4-dev-armhf:2023-06-26'
+                    container = 'armhf'
                 else:
-                    if verbose: print(f'unmatched toolchain: {toolchain}')
+                    if verbose: print(f'possibly unmatched toolchain: {toolchain}')
         elif platform == 'nuttx':
-            container = 'px4io/px4-dev-nuttx-focal:2022-08-12'
-        else:
-            if verbose: print(f'unmatched platform: {platform}')
+            container = 'nuttx-focal'
 
         ret = {'target': target_name, 'container': container}
 
@@ -114,3 +113,4 @@ extra_args = {}
 if args.pretty:
     extra_args['indent'] = 2
 print(json.dumps(github_action_config, **extra_args))
+

Tools/msg/templates/uorb/msg.cpp.em

@@ -77,7 +77,7 @@ topic_fields = ["%s %s" % (convert_type(field.type, True), field.name) for field
 constexpr char __orb_@(name_snake_case)_fields[] = "@( ";".join(topic_fields) );";
 
 @[for topic in topics]@
-ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(name_snake_case)_fields, static_cast<orb_id_size_t>(ORB_ID::@topic));
+ORB_DEFINE(@topic, struct @uorb_struct, @(struct_size-padding_end_size), __orb_@(name_snake_case)_fields, static_cast<uint8_t>(ORB_ID::@topic));
 @[end for]
 
 void print_message(const orb_metadata *meta, const @uorb_struct& message)

Tools/msg/templates/uorb/uORBTopics.cpp.em

@@ -76,5 +76,5 @@ const struct orb_metadata *get_orb_meta(ORB_ID id)
 		return nullptr;
 	}
 
-	return uorb_topics_list[static_cast<orb_id_size_t>(id)];
+	return uorb_topics_list[static_cast<uint8_t>(id)];
 }

Tools/msg/templates/uorb/uORBTopics.hpp.em

@@ -62,7 +62,7 @@ static constexpr size_t orb_topics_count() { return ORB_TOPICS_COUNT; }
  */
 extern const struct orb_metadata *const *orb_get_topics() __EXPORT;
 
-enum class ORB_ID : orb_id_size_t {
+enum class ORB_ID : uint8_t {
 @[for idx, topic_name in enumerate(topic_names_all)]@
 	@(topic_name) = @(idx),
 @[end for]

Tools/setup/optional-requirements.txt

@@ -1 +1 @@
-symforce>=0.9.0
+symforce>=0.5.0

Tools/simulation/gazebo-classic/sitl_gazebo-classic

@@ -1 +1 @@
-Subproject commit 20ded0757b4f2cb362833538716caf1e938b162a
+Subproject commit 2e3ed9bfb04d8865e59380afa575dd37b0d6c8e0

Tools/simulation/gz/models/omnicopter/model.config

@@ -1,15 +0,0 @@
-<?xml version="1.0"?>
-<model>
-  <name>Omnicopter</name>
-  <version>1.0</version>
-  <sdf version='1.9'>model.sdf</sdf>
-
-  <author>
-   <name>Jaeyoung Lim</name>
-   <email>jalim@ethz.ch</email>
-  </author>
-
-  <description>
-    Omnicopter model for over actuated system
-  </description>
-</model>

Tools/simulation/gz/models/omnicopter/model.sdf

@@ -1,8 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<sdf version='1.9'>
-  <include>
-      <name>omnicopter</name>
-      <pose>0 0 0 0 0 0</pose>
-      <uri>https://fuel.gazebosim.org/1.0/PX4/models/Omnicopter</uri>
-    </include>
-</sdf>

Tools/simulation/gz/worlds/default.sdf

@@ -11,7 +11,6 @@
     <plugin name='gz::sim::systems::Contact' filename='gz-sim-contact-system'/>
     <plugin name='gz::sim::systems::Imu' filename='gz-sim-imu-system'/>
     <plugin name='gz::sim::systems::AirPressure' filename='gz-sim-air-pressure-system'/>
-    <plugin name='gz::sim::systems::ApplyLinkWrench' filename='gz-sim-apply-link-wrench-system'/>
     <plugin name='gz::sim::systems::Sensors' filename='gz-sim-sensors-system'>
       <render_engine>ogre2</render_engine>
     </plugin>

boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig

@@ -106,7 +106,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1

boards/ark/can-rtk-gps/init/rc.board_sensors

@@ -6,9 +6,6 @@ gps start -d /dev/ttyS0 -p ubx
 
 icm42688p -R 0 -s start
 
-if ! bmp388 -I -b 2 start
-then
-	bmp388 -I -b 1 start
-fi
+bmp388 -I -b 2 start
 
 bmm150 -I -b 1 start

boards/ark/fmu-v6x/init/rc.board_sensors

@@ -3,12 +3,10 @@
 # ARK FMUARKV6X specific board sensors init
 #------------------------------------------------------------------------------
 set HAVE_PM2 yes
-set HAVE_PM3 yes
 
 if ver hwtypecmp ARKV6X005000 ARKV6X005001 ARKV6X005002 ARKV6X005003 ARKV6X005004
 then
 	set HAVE_PM2 no
-	set HAVE_PM3 no
 fi
 
 if param compare -s ADC_ADS1115_EN 1
@@ -27,43 +25,26 @@ then
 	then
 		ina226 -X -b 2 -t 2 -k start
 	fi
-
-	if [ $HAVE_PM3 = yes ]
-	then
-		ina226 -X -b 3 -t 2 -k start
-	fi
 fi
 
 if param compare SENS_EN_INA228 1
 then
 	# Start Digital power monitors
 	ina228 -X -b 1 -t 1 -k start
-
 	if [ $HAVE_PM2 = yes ]
 	then
 		ina228 -X -b 2 -t 2 -k start
 	fi
-
-	if [ $HAVE_PM3 = yes ]
-	then
-		ina228 -X -b 3 -t 2 -k start
-	fi
 fi
 
 if param compare SENS_EN_INA238 1
 then
 	# Start Digital power monitors
 	ina238 -X -b 1 -t 1 -k start
-
 	if [ $HAVE_PM2 = yes ]
 	then
 		ina238 -X -b 2 -t 2 -k start
 	fi
-
-	if [ $HAVE_PM3 = yes ]
-	then
-		ina238 -X -b 3 -t 2 -k start
-	fi
 fi
 
 # Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
@@ -82,4 +63,3 @@ bmm150 -I start
 bmp388 -I start
 
 unset HAVE_PM2
-unset HAVE_PM3

boards/ark/fmu-v6x/nuttx-config/bootloader/defconfig

@@ -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"
@@ -49,14 +48,13 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_PREALLOC_TIMERS=50
-CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000

boards/ark/fmu-v6x/nuttx-config/include/board.h

@@ -387,7 +387,7 @@
 
 #define GPIO_UART7_RX    GPIO_UART7_RX_4    /* PF6  */
 #define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
-#define GPIO_UART7_RTS   GPIO_UART7_RTS_2   /* PF8  */
+#define GPIO_UART7_RTS   (GPIO_UART7_RTS_2 | GPIO_PULLDOWN)   /* PF8  */
 #define GPIO_UART7_CTS   (GPIO_UART7_CTS_1 | GPIO_PULLDOWN)   /* PE10 */
 
 #define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0 */

boards/ark/fmu-v6x/nuttx-config/nsh/defconfig

@@ -118,7 +118,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_IPCFG_BINARY=y
@@ -292,7 +292,7 @@ CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART5_IFLOWCONTROL=y
 CONFIG_UART5_OFLOWCONTROL=y
 CONFIG_UART5_RXDMA=y
-CONFIG_UART5_TXBUFSIZE=10000
+CONFIG_UART5_TXBUFSIZE=3000
 CONFIG_UART5_TXDMA=y
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_IFLOWCONTROL=y

boards/atl/mantis-edu/nuttx-config/nsh/defconfig

@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1

boards/av/x-v1/nuttx-config/nsh/defconfig

@@ -120,7 +120,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_LIBC_LONG_LONG=y

boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig

@@ -105,7 +105,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1

boards/bitcraze/crazyflie/src/board_config.h

@@ -140,7 +140,15 @@
 
 #define PX4_PWM_ALTERNATE_RANGES
 #define PWM_LOWEST_MIN 0
+#define PWM_MOTOR_OFF	0
+#define PWM_SERVO_STOP	0
+#define PWM_DEFAULT_MIN 20
+#define PWM_HIGHEST_MIN 0
 #define PWM_HIGHEST_MAX 255
+#define PWM_DEFAULT_MAX 255
+#define PWM_LOWEST_MAX 255
+#define PWM_DEFAULT_TRIM 1500
+
 
 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer8 for the HRT */

boards/bitcraze/crazyflie21/nuttx-config/nsh/defconfig

@@ -106,7 +106,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1

boards/bitcraze/crazyflie21/src/board_config.h

@@ -141,7 +141,15 @@
 
 #define PX4_PWM_ALTERNATE_RANGES
 #define PWM_LOWEST_MIN 0
+#define PWM_MOTOR_OFF	0
+#define PWM_SERVO_STOP	0
+#define PWM_DEFAULT_MIN 20
+#define PWM_HIGHEST_MIN 0
 #define PWM_HIGHEST_MAX 255
+#define PWM_DEFAULT_MAX 255
+#define PWM_LOWEST_MAX 255
+#define PWM_DEFAULT_TRIM 1500
+
 
 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer8 for the HRT */

boards/cuav/nora/nuttx-config/bootloader/defconfig

@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y

boards/cuav/nora/nuttx-config/nsh/defconfig

@@ -111,7 +111,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1

boards/cuav/x7pro/nuttx-config/bootloader/defconfig

@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y

boards/cuav/x7pro/nuttx-config/nsh/defconfig

@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y

boards/cuav/x7pro/nuttx-config/test/defconfig

@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y

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

@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y

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

@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1

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

@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y

boards/cubepilot/cubeorangeplus/nuttx-config/bootloader/defconfig

@@ -49,7 +49,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y

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

@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1

boards/cubepilot/cubeorangeplus/nuttx-config/test/defconfig

@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y

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

@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1

boards/diatone/mamba-f405-mk2/default.px4board

@@ -23,8 +23,6 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
-# CONFIG_EKF2_GNSS_YAW is not set
-# CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -38,6 +36,7 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MTD=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y

boards/diatone/mamba-f405-mk2/init/rc.board_defaults

@@ -11,7 +11,8 @@ param set-default CBRK_IO_SAFETY 22027
 
 # use the Q attitude estimator, it works w/o mag or GPS.
 param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_W_ACC 0.4
-param set-default ATT_W_GYRO_BIAS 0
+param set-default ATT_ACC_COMP 0
+param set-default ATT_W_ACC 0.4000
+param set-default ATT_W_GYRO_BIAS 0.0000
 
 param set-default SYS_HAS_MAG 0

boards/diatone/mamba-f405-mk2/nuttx-config/nsh/defconfig

@@ -62,7 +62,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y

boards/flywoo/gn-f405/init/rc.board_defaults

@@ -17,8 +17,9 @@ param set-default SYS_MC_EST_GROUP 2
 param set-default EKF2_MAG_TYPE 5
 param set-default SENS_BOARD_ROT 6
 
-param set-default ATT_W_ACC 0.4
-param set-default ATT_W_GYRO_BIAS 0
+param set-default ATT_ACC_COMP 0
+param set-default ATT_W_ACC 0.4000
+param set-default ATT_W_GYRO_BIAS 0.0000
 
 param set-default SYS_HAS_MAG 0
 

boards/flywoo/gn-f405/nuttx-config/nsh/defconfig

@@ -109,7 +109,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y

boards/holybro/durandal-v1/nuttx-config/bootloader/defconfig

@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y

boards/holybro/durandal-v1/nuttx-config/nsh/defconfig

@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1

boards/holybro/kakutef7/default.px4board

@@ -10,10 +10,8 @@ CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
-CONFIG_DRIVERS_OSD_ATXXXX=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=y
@@ -33,6 +31,5 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_TOP=y

boards/holybro/kakutef7/init/rc.board_defaults

@@ -14,8 +14,9 @@ param set-default SYS_AUTOSTART 4050
 
 # use the Q attitude estimator, it works w/o mag or GPS.
 param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_W_ACC 0.4
-param set-default ATT_W_GYRO_BIAS 0
+param set-default ATT_ACC_COMP 0
+param set-default ATT_W_ACC 0.4000
+param set-default ATT_W_GYRO_BIAS 0.0000
 
 param set-default SYS_HAS_MAG 0
 

boards/holybro/kakutef7/nuttx-config/nsh/defconfig

@@ -115,7 +115,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1

boards/holybro/kakutef7/src/board_config.h

@@ -113,7 +113,6 @@
 /* RC Serial port */
 
 #define RC_SERIAL_PORT                     "/dev/ttyS4"
-#define RC_SERIAL_SINGLEWIRE
 
 #define GPIO_RSSI_IN                       /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)
 
@@ -130,8 +129,6 @@
 		GPIO_RSSI_IN,                \
 	}
 
-#define BOARD_ENABLE_CONSOLE_BUFFER
-
 #define BOARD_NUM_IO_TIMERS 4
 
 __BEGIN_DECLS

boards/holybro/kakutef7/src/init.c

@@ -252,5 +252,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 
 #endif
 
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
 	return OK;
 }

boards/holybro/kakuteh7/init/rc.board_defaults

@@ -24,8 +24,9 @@ param set-default SYS_AUTOSTART 4050
 
 # use the Q attitude estimator, it works w/o mag or GPS.
 param set-default SYS_MC_EST_GROUP 3
-param set-default ATT_W_ACC 0.4
-param set-default ATT_W_GYRO_BIAS 0
+param set-default ATT_ACC_COMP 0
+param set-default ATT_W_ACC 0.4000
+param set-default ATT_W_GYRO_BIAS 0.0000
 
 param set-default SYS_HAS_MAG 0
 

boards/holybro/kakuteh7/nuttx-config/bootloader/defconfig

@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y

boards/holybro/kakuteh7/nuttx-config/nsh/defconfig

@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1

boards/holybro/kakuteh7mini/nuttx-config/bootloader/defconfig

@@ -47,7 +47,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y

boards/holybro/kakuteh7mini/nuttx-config/nsh/defconfig

@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1

boards/holybro/kakuteh7v2/nuttx-config/bootloader/defconfig

@@ -47,7 +47,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y

boards/holybro/kakuteh7v2/nuttx-config/nsh/defconfig

@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1

boards/holybro/pix32v5/nuttx-config/nsh/defconfig

@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1

boards/matek/gnss-m9n-f4/nuttx-config/canbootloader/defconfig

@@ -30,7 +30,7 @@ CONFIG_FDCLONE_STDIO=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=4096
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y

boards/matek/gnss-m9n-f4/nuttx-config/nsh/defconfig

@@ -104,7 +104,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1

boards/matek/h743-mini/nuttx-config/bootloader/defconfig

@@ -47,7 +47,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y

boards/matek/h743-mini/nuttx-config/nsh/defconfig

@@ -111,7 +111,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3094
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1