make demo work with pca.

ucan pwm enablement.
S32K1 fixes.
2026-05-23 21:07:35 +08:00 · 2022-06-01 18:22:23 -04:00 · 2022-06-01 13:36:40 -04:00 · 2022-05-31 16:56:49 -04:00 · 2022-05-26 10:52:08 -04:00 · 2022-05-25 17:44:54 -04:00
953 changed files with 88333 additions and 15795 deletions
@@ -28,7 +28,7 @@ pipeline {
          ]

          def base_builds = [
-            target: ["px4_sitl_rtps"],
+            target: ["px4_sitl_default"],
            image: docker_images.base,
            archive: false
          ]
@@ -52,25 +52,29 @@ pipeline {
                     "cuav_x7pro_default",
                     "cubepilot_cubeorange_default",
                     "cubepilot_cubeyellow_default",
+                     "diatone_mamba-f405-mk2_default",
                     "freefly_can-rtk-gps_canbootloader",
                     "freefly_can-rtk-gps_default",
                     "holybro_can-gps-v1_canbootloader",
                     "holybro_can-gps-v1_default",
                     "holybro_durandal-v1_default",
                     "holybro_kakutef7_default",
+                     "holybro_kakuteh7_default",
                     "holybro_pix32v5_default",
-                     "matek_h743-slim",
                     "matek_gnss-m9n-f4_canbootloader",
                     "matek_gnss-m9n-f4_default",
+                     "matek_h743-mini_default",
+                     "matek_h743-slim_default",
+                     "matek_h743_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
-                     "mro_ctrl-zero-h7_default",
-                     "mro_ctrl-zero-h7_rtps",
                     "mro_ctrl-zero-h7-oem_default",
                     "mro_ctrl-zero-h7-oem_rtps",
+                     "mro_ctrl-zero-h7_default",
+                     "mro_ctrl-zero-h7_rtps",
                     "mro_pixracerpro_default",
                     "mro_pixracerpro_rtps",
                     "mro_x21-777_default",
@@ -85,24 +89,28 @@ pipeline {
                     "nxp_ucans32k146_canbootloader",
                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
-                     "raspberrypi_pico_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
+                     "px4_fmu-v2_lto",
                     "px4_fmu-v2_multicopter",
                     "px4_fmu-v2_rover",
                     "px4_fmu-v3_default",
                     "px4_fmu-v4_default",
                     "px4_fmu-v4pro_default",
+                     "px4_fmu-v5_cyphal",
                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_default",
+                     "px4_fmu-v5_lto",
                     "px4_fmu-v5_rtps",
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
-                     "px4_fmu-v5_uavcanv1",
                     "px4_fmu-v5x_default",
+                     "px4_fmu-v6c_default",
                     "px4_fmu-v6u_default",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
+                     "raspberrypi_pico_default",
+                     "sky-drones_smartap-airlink_default",
                     "spracing_h7extreme_default",
                     "uvify_core_default"
            ],
@@ -705,18 +705,21 @@ void quickCalibrate() {

  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status || true"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate accel quick; sleep 1"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_ACC*"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate gyro; sleep 2"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_GYRO*"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate level; sleep 2"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SENS*"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate mag quick; sleep 1"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_MAG*"'

+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander calibrate baro; sleep 5"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_BARO*"'
+
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show CAL_*"' // parameters after
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
 }
@@ -791,7 +794,7 @@ void resetParameters() {
 void runTests() {

  // test loading a range of airframes
-  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'
+  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001 10016'

  resetParameters()

@@ -861,12 +864,15 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_fake_pos" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_pos" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_vel" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
@@ -1,32 +1,34 @@
 ---
-name: Bug report
+name: 🐛 Bug report
 about: Create a report to help us improve
+labels: bug-report

 ---

-**Describe the bug**
+## Describe the bug
 A clear and concise description of the bug.

-**To Reproduce**
+## 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**
+## Expected behavior
 A clear and concise description of what you expected to happen.

-**Log Files and Screenshots**
+## 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/master/en/getting_started/flight_reporting.html)).
- Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/).
+- 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):**
+## Drone (please complete the following information):
 - Describe the type of drone.
 - Photo of the IMU / autopilot setup if possible.

-**Additional context**
+## Additional context
 Add any other context about the problem here.
@@ -1,19 +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 Slack (you can find an invite link on this project README).

-**Describe problem solved by the proposed feature**
+## 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**
+## Describe your preferred solution
 A clear and concise description of what you want to happen.

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

-**Additional context**
+## Additional context
 Add any other context or screenshots for the feature request here.
@@ -1,10 +1,13 @@
 ---
 name: ⛔ Support Question
-about: See [PX4 Discuss](http://discuss.px4.io/) for questions about using PX4.
+about: See http://discuss.px4.io/ for questions about using PX4.

 ---

-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/).
+## 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!
@@ -1,9 +1,11 @@
 ---
 name: ⛔ Documentation Issue
-about: See https://github.com/PX4/Devguide for documentation issues
+about: See https://github.com/PX4/px4_user_guide for documentation issues

 ---

-PX4 has dedicated repositories for developer documentation (https://github.com/PX4/Devguide) and user documentation (https://github.com/PX4/px4_user_guide).
+## Attention! Please read the note below
+
+**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.**

 Thanks!
@@ -1,17 +1,17 @@
 Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.

-**Describe problem solved by this pull request**
-A clear and concise description of the problem this proposed change will solve.
+## 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...

-**Describe your solution**
+## Describe your solution
 A clear and concise description of what you have implemented.

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

-**Test data / coverage**
+## 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.

-**Additional context**
+## Additional context
 Add any other related context or media.
@@ -20,6 +20,7 @@ jobs:
          ark_can-flow,
          ark_can-gps,
          ark_can-rtk-gps,
+          ark_cannode,
          atl_mantis-edu,
          av_x-v1,
          bitcraze_crazyflie,
@@ -29,14 +30,17 @@ jobs:
          cuav_x7pro,
          cubepilot_cubeorange,
          cubepilot_cubeyellow,
+          diatone_mamba-f405-mk2,
          freefly_can-rtk-gps,
          holybro_can-gps-v1,
          holybro_durandal-v1,
          holybro_kakutef7,
          holybro_kakuteh7,
          holybro_pix32v5,
-          matek_h743-slim,
          matek_gnss-m9n-f4,
+          matek_h743,
+          matek_h743-mini,
+          matek_h743-slim,
          modalai_fc-v1,
          modalai_fc-v2,
          mro_ctrl-zero-f7,
@@ -51,15 +55,17 @@ jobs:
          nxp_fmurt1062-v1,
          nxp_ucans32k146,
          omnibus_f4sd,
-          raspberrypi_pico,
          px4_fmu-v2,
          px4_fmu-v3,
          px4_fmu-v4,
          px4_fmu-v4pro,
          px4_fmu-v5,
          px4_fmu-v5x,
+          px4_fmu-v6c,
          px4_fmu-v6u,
          px4_fmu-v6x,
+          raspberrypi_pico,
+          sky-drones_smartap-airlink,
          spracing_h7extreme,
          uvify_core
          ]
@@ -29,9 +29,9 @@ jobs:
        token: ${{ secrets.ACCESS_TOKEN }}

    - name: Download MAVSDK
-      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
    - name: Install MAVSDK
-      run: dpkg -i "mavsdk_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -36,14 +36,14 @@
 [submodule "Tools/jsbsim_bridge"]
 	path = Tools/jsbsim_bridge
 	url = https://github.com/PX4/px4-jsbsim-bridge.git
-[submodule "src/drivers/uavcan_v1/libcanard"]
-	path = src/drivers/uavcan_v1/libcanard
-	url = https://github.com/UAVCAN/libcanard.git
-[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
-	path = src/drivers/uavcan_v1/public_regulated_data_types
-	url = https://github.com/UAVCAN/public_regulated_data_types.git
-[submodule "src/drivers/uavcan_v1/legacy_data_types"]
-	path = src/drivers/uavcan_v1/legacy_data_types
+[submodule "src/drivers/cyphal/libcanard"]
+	path = src/drivers/cyphal/libcanard
+	url = https://github.com/opencyphal/libcanard.git
+[submodule "src/drivers/cyphal/public_regulated_data_types"]
+	path = src/drivers/cyphal/public_regulated_data_types
+	url = https://github.com/opencyphal/public_regulated_data_types.git
+[submodule "src/drivers/cyphal/legacy_data_types"]
+	path = src/drivers/cyphal/legacy_data_types
 	url = https://github.com/PX4/public_regulated_data_types.git
 	branch = legacy
 [submodule "src/lib/crypto/monocypher"]
@@ -64,3 +64,6 @@
 	path = src/lib/crypto/libtommath
 	url = https://github.com/PX4/libtommath.git
 	branch = px4
+[submodule "src/modules/microdds_client/Micro-XRCE-DDS-Client"]
+	path = src/modules/microdds_client/Micro-XRCE-DDS-Client
+	url = https://github.com/eProsima/Micro-XRCE-DDS-Client.git
@@ -9,3 +9,5 @@ launch.json
 ipch/

 browse.vc.db*
+
+*.log
@@ -121,6 +121,16 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_can-rtk-gps_canbootloader
+    ark_cannode_default:
+      short: ark_cannode_default
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_cannode_default
+    ark_cannode_canbootloader:
+      short: ark_cannode_canbootloader
+      buildType: MinSizeRel
+      settings:
+        CONFIG: ark_cannode_canbootloader
    atl_mantis-edu_default:
      short: atl_mantis-edu
      buildType: MinSizeRel
@@ -99,7 +99,7 @@
 #
 #=============================================================================

-cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.9 FATAL_ERROR)

 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
@@ -234,6 +234,14 @@ message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
 #
 project(px4 CXX C ASM)

+# Check if LTO option and check if toolchain supports it
+if(LTO)
+    include(CheckIPOSupported)
+    check_ipo_supported()
+    message(AUTHOR_WARNING "LTO enabled: LTO is highly experimental and should not be used in production")
+    set(CMAKE_INTERPROCEDURAL_OPTIMIZATION TRUE)
+endif()
+
 set(package-contact "px4users@googlegroups.com")

 set(CMAKE_CXX_STANDARD 14)
@@ -51,6 +51,13 @@ menu "Toolchain"
        string "Architecture"
        default ""

+    config BOARD_LTO
+        bool "(EXPERIMENTAL) Link Time Optimization (LTO)"
+        default n
+        help
+            Enables LTO flag in linker
+            Note: Highly EXPERIMENTAL, furthermore make sure you're using a modern compiler GCC 9 or later
+
    config BOARD_FULL_OPTIMIZATION
        bool "Full optmization (O3)"
        default n
@@ -325,12 +325,13 @@ px4io_update: px4_io-v2_default cubepilot_io-v2_default
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6c/extras/px4_io-v2_default.bin
 	# cubepilot_io-v2_default
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
+bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_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-v6u_bootloader px4_fmu-v6x_bootloader
 	git status

 .PHONY: coverity_scan
@@ -32,3 +32,4 @@
 ############################################################################

 add_subdirectory(init.d)
+add_subdirectory(mixers)
@@ -33,4 +33,5 @@

 px4_add_romfs_files(
 	rcS
+	rc.output_defaults
 )
@@ -0,0 +1,32 @@
+#!/bin/sh
+#
+# UGV default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+#
+# Enable servo output on pins 3 and 4 (steering and thrust)
+# but also include 1+2 as they form together one output group
+# and need to be set together.
+#
+set PWM_OUT 12
+
+#
+# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
+# may damage analog servos.
+#
+set PWM_MAIN_RATE 50
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+set PWM_AUX_OUT 12
+
+param set-default PWM_MAIN_DISARM 1500
+param set-default PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_MIN 1000
+
+# Set mixer
+set MIXER IO_pass_ucan
@@ -65,8 +65,8 @@ unset BOARD_RC_DEFAULTS
 #
 # Start system state indicator.
 #
-rgbled start -X -q
-rgbled_ncp5623c start -X -q
+#rgbled start -X -q
+#rgbled_ncp5623c start -X -q

 #
 # board sensors: rc.sensors
@@ -86,10 +86,10 @@ unset BOARD_RC_SENSORS
 . ${R}etc/init.d/rc.serial

 # Check for flow sensor
-if param compare SENS_EN_PX4FLOW 1
-then
-	px4flow start -X
-fi
+#if param compare SENS_EN_PX4FLOW 1
+#then
+#	px4flow start -X &
+#fi

-uavcannode start
+#uavcannode start
 unset R
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -31,4 +31,6 @@
 #
 ############################################################################

-px4_add_library(drivers_barometer PX4Barometer.cpp)
+px4_add_romfs_files(
+	IO_pass_ucan.main.mix
+)
@@ -0,0 +1,12 @@
+Passthrough mixer for PX4IO
+============================
+
+This file defines passthrough mixers suitable for testing.
+
+Channel group 0, channels 0-7 are passed directly through to the outputs.
+
+M: 1
+S: 0 0  10000  10000      0 -10000  10000
+
+M: 1
+S: 0 1  10000  10000      0 -10000  10000
@@ -10,6 +10,7 @@
 # enable fusion of landing target velocity
 param set-default LTEST_MODE 1
 param set-default PLD_HACC_RAD 0.1
+param set-default RTL_PLD_MD 2

 # Start up Landing Target Estimator module
 landing_target_estimator start
@@ -25,6 +25,8 @@ param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3

+param set-default FW_SPOILERS_LND 0.4
+
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_THR_CRUISE 0.25
@@ -7,6 +7,11 @@

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

+# TODO: Enable motor failure detection when the
+# VTOL no longer reports 0A for all ESCs in SITL
+param set-default FD_ACT_EN 0
+param set-default FD_ACT_MOT_TOUT 500
+
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2

@@ -71,7 +76,6 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

 param set-default NAV_ACC_RAD 5
-param set-default NAV_LOITER_RAD 80

 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
@@ -70,7 +70,6 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

 param set-default NAV_ACC_RAD 5
-param set-default NAV_LOITER_RAD 80

 param set-default VT_FW_DIFTHR_EN 1
 param set-default VT_FW_DIFTHR_SC 0.5
@@ -9,7 +9,7 @@

 param set-default MAV_TYPE 21

-# param set-default SYS_CTRL_ALLOC 1
+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3

 param set-default CA_ROTOR_COUNT 4
@@ -27,9 +27,7 @@ param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05

 param set-default CA_ROTOR0_TILT 1
-param set-default CA_ROTOR1_TILT 2
 param set-default CA_ROTOR2_TILT 3
-param set-default CA_ROTOR3_TILT 4
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
@@ -82,7 +80,6 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

 param set-default NAV_ACC_RAD 5
-param set-default NAV_LOITER_RAD 80

 param set-default VT_B_TRANS_DUR 8
 param set-default VT_FWD_THRUST_EN 4
@@ -38,7 +38,6 @@ param set-default MPC_XY_VEL_I_ACC 4
 param set-default MPC_XY_VEL_D_ACC 0.1

 param set-default NAV_ACC_RAD 5
-param set-default NAV_LOITER_RAD 80

 param set-default VT_FWD_THRUST_EN 4
 param set-default VT_F_TRANS_THR 0.75
@@ -1,6 +1,4 @@

-mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
-
 mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p

 # shellcheck disable=SC2154
@@ -95,10 +95,9 @@ fi

 if param compare SYS_AUTOCONFIG 1
 then
+	# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
+	param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
 	set AUTOCNF yes
-
-	# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
-	param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
 fi

 # multi-instance setup
@@ -196,14 +195,6 @@ fi

 . "$autostart_file"

-#
-# If autoconfig parameter was set, reset it and save parameters.
-#
-if [ $AUTOCNF = yes ]
-then
-	param set SYS_AUTOCONFIG 0
-fi
-
 # Simulator IMU data provided at 250 Hz
 param set IMU_INTEG_RATE 250

@@ -223,6 +214,13 @@ rc_update start
 manual_control start
 sensors start
 commander start
+
+# Configure vehicle type specific parameters.
+# Note: rc.vehicle_setup is the entry point for rc.interface,
+#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+#
+. ${R}etc/init.d/rc.vehicle_setup
+
 navigator start

 # Try to start the micrortps_client with UDP transport if module exists
@@ -252,12 +250,6 @@ then
 	gyro_calibration start
 fi

-# Configure vehicle type specific parameters.
-# Note: rc.vehicle_setup is the entry point for rc.interface,
-#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-#
-. ${R}etc/init.d/rc.vehicle_setup
-
 #user defined mavlink streams for instances can be in PATH
 . px4-rc.mavlink

@@ -55,4 +55,5 @@ px4_add_romfs_files(
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults
+	rc.output_defaults
 )
@@ -61,6 +61,8 @@ param set-default HIL_ACT_FUNC6 400

 param set SYS_HITL 1

+param set UAVCAN_ENABLE 0
+
 # disable some checks to allow to fly
 # - with usb
 param set-default CBRK_USB_CHK 197848
@@ -1,40 +0,0 @@
-#!/bin/sh
-#
-# @name Steadidrone QU4D
-#
-# @type Quadrotor Wide
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 feed-through of RC AUX1 channel
-# @output MAIN6 feed-through of RC AUX2 channel
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default BAT1_N_CELLS 4
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.13
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.19
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 4
-
-set MIXER quad_w
@@ -15,6 +15,8 @@ set MIXER quad_x

 param set SYS_HITL 1

+param set UAVCAN_ENABLE 0
+
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.15
 param set-default CA_ROTOR0_PY 0.15
@@ -49,7 +49,6 @@ param set-default MPC_Z_VEL_MAX_DN 1.5

 param set-default NAV_ACC_RAD 5
 param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 80

 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
@@ -95,6 +94,8 @@ param set-default HIL_ACT_FUNC8 203

 param set SYS_HITL 1

+param set UAVCAN_ENABLE 0
+
 # disable some checks to allow to fly
 # - with usb
 param set-default CBRK_USB_CHK 197848
@@ -1,48 +0,0 @@
-#!/bin/sh
-#
-# @name Steadidrone MAVRIK
-#
-# @type Octo Coax Wide
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 motor 5
-# @output MAIN6 motor 6
-# @output MAIN7 motor 7
-# @output MAIN8 motor 8
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default MC_PITCH_P 4
-param set-default MC_PITCHRATE_P 0.24
-param set-default MC_PITCHRATE_I 0.09
-param set-default MC_PITCHRATE_D 0.013
-param set-default MC_PITCHRATE_MAX 180
-
-param set-default MC_ROLL_P 4
-param set-default MC_ROLLRATE_P 0.16
-param set-default MC_ROLLRATE_I 0.07
-param set-default MC_ROLLRATE_D 0.009
-param set-default MC_ROLLRATE_MAX 180
-
-param set-default MC_YAW_P 3
-
-param set-default MPC_HOLD_MAX_XY 0.25
-param set-default MPC_THR_MIN 0.15
-param set-default MPC_Z_VEL_MAX_DN 2
-
-param set-default BAT1_N_CELLS 4
-
-set MIXER octo_cox_w
-
-set PWM_OUT 12345678
@@ -7,8 +7,8 @@
 #
 # @output MAIN1 motor 1
 # @output MAIN2 motor 2
-# @output MAIN3 motor 4
-# @output MAIN4 motor 5
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
 # @output MAIN5 elevon left
 # @output MAIN6 elevon right
 # @output MAIN7 canard surface
@@ -1,37 +0,0 @@
-#!/bin/sh
-#
-# @name CruiseAder Claire
-#
-# @type VTOL Tiltrotor
-# @class VTOL
-#
-# @maintainer Samay Siga <samay_s@icloud.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-defualt MAV_TYPE 21
-
-param set-default PWM_AUX_DISARM 1000
-param set-default PWM_AUX_MAX 2000
-param set-default PWM_AUX_MIN 1000
-param set-default PWM_AUX_RATE 50
-
-param set-default PWM_MAIN_MAX 2000
-
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 13
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_TILT_FW 0.9
-param set-default VT_TILT_MC 0.08
-param set-default VT_TILT_TRANS 0.5
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_TYPE 1
-
-set MIXER claire
-set MIXER_AUX claire
-
-set PWM_OUT 1234
@@ -22,7 +22,7 @@

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

-param set-defualt MAV_TYPE 21
+param set-default MAV_TYPE 21

 param set-default CBRK_AIRSPD_CHK 162128

@@ -69,4 +69,9 @@ param set-default VT_TYPE 1

 set MIXER vtol_convergence

-set PWM_OUT 1234
+if ! ver hwcmp MATEK_H743
+then
+	set PWM_OUT 1234
+else
+	set PWM_OUT 3456
+fi	
@@ -131,7 +131,6 @@ param set-default VT_F_TRANS_DUR 1
 param set-default VT_IDLE_PWM_MC 1025
 param set-default VT_B_REV_OUT 0.5
 param set-default VT_B_TRANS_THR 0.7
-param set-default VT_FW_PERM_STAB 1
 param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4

@@ -0,0 +1,21 @@
+#!/bin/sh
+#
+# @name Generic Output
+#
+# @maintainer
+#
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.output_defaults
+
+
+# Provide ESC a constant 1500 us pulse
+param set-default PWM_MAIN_DISARM 1500
+param set-default PWM_MAIN_MAX 2000
+param set-default PWM_MAIN_MIN 1000
+
+# Set mixer
+set MIXER IO_pass
+
+set PWM_OUT 12
@@ -1,45 +0,0 @@
-#!/bin/sh
-#
-# @name IO Camflyer
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_AIRSPD_MAX 15
-param set-default FW_AIRSPD_TRIM 13
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.74
-param set-default FW_L1_PERIOD 16
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_PR_FF 0.35
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_P 0.04
-
-param set-default PWM_MAIN_DISARM 1000
-
-
-set MIXER fw_generic_wing
-
-# Provide ESC a constant 1000 us pulse while disarmed
-set PWM_OUT 4
@@ -1,29 +0,0 @@
-#!/bin/sh
-#
-# @name FX-79 Buffalo Flying Wing
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 right aileron
-# @output MAIN2 left aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_AIRSPD_MAX 30
-param set-default FW_AIRSPD_MIN 13
-
-param set-default NAV_LOITER_RAD 150
-
-set MIXER fw_generic_wing
@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# @name Viper
-#
-# @type Flying Wing
-# @class Plane
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-set MIXER Viper
@@ -1,53 +0,0 @@
-#!/bin/sh
-#
-# @name Modified Parrot Disco
-#
-# @url
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Jan Liphardt <JTLiphardt@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-####################################
-# Airspeed
-####################################
-param set-default FW_AIRSPD_MAX  27 # = 52 knots
-
-####################################
-# Pitch
-####################################
-
-# Pitch rate feed forward (def = 0.5 %/rad/sec)
-param set-default FW_PR_FF 0.35
-
-####################################
-# Roll
-####################################
-
-# Basic limits (def = 50 deg)
-param set-default FW_R_LIM 40
-
-# Roll rate upper limit (def = 70 deg/s)
-param set-default FW_R_RMAX 50
-
-param set-default PWM_MAIN_DISARM 1000
-
-set MIXER fw_generic_wing.main.mix
-
-# Provide ESC a constant 1000 us pulse
-set PWM_OUT 4
@@ -1,21 +0,0 @@
-#!/bin/sh
-#
-# @name DJI F330 w/ DJI ESCs
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_I 0.05
-
-
-# DJI ESCs do not support calibration and need a higher min
-param set-default PWM_MAIN_MIN 1230
@@ -1,20 +0,0 @@
-#!/bin/sh
-#
-# @name DJI F450 w/ DJI ESCs
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_YAWRATE_P 0.3
-
-# DJI ESCs do not support calibration and need a higher min
-param set-default PWM_MAIN_MIN 1230
@@ -1,27 +0,0 @@
-#!/bin/sh
-#
-# @name DJI Matrice 100
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer James Goppert <james.goppert@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default BAT1_N_CELLS 6
-
-param set-default MC_ROLLRATE_P 0.05
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.001
-param set-default MC_PITCHRATE_P 0.05
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.001
-
-param set-default MC_YAWRATE_I 0
-
-param set-default PWM_MAIN_MIN 1200
@@ -52,22 +52,16 @@ px4_add_romfs_files(

 	# [3000, 3999] Flying wing"
 	3000_generic_wing
-	3030_io_camflyer
 	3031_phantom
 	3032_skywalker_x5
 	3033_wingwing
-	3034_fx79
-	3035_viper
 	3036_pigeon
-	3037_parrot_disco_mod
 	3100_tbs_caipirinha

 	# [4000, 4999] Quadrotor x"
 	4001_quad_x
 	4003_qavr5
 	4009_qav250
-	4010_dji_f330
-	4011_dji_f450
 	4014_s500
 	4015_holybro_s500
 	4016_holybro_px4vision
@@ -81,7 +75,6 @@ px4_add_romfs_files(
 	4051_s250aq
 	4052_holybro_qav250
 	4053_holybro_kopis2
-	4060_dji_matrice_100
 	4061_atl_mantis_edu
 	4071_ifo
 	4072_draco
@@ -112,7 +105,6 @@ px4_add_romfs_files(
 	# [10000, 10999] Quadrotor Wide arm / H frame"
 	10015_tbs_discovery
 	10016_3dr_iris
-	10017_steadidrone_qu4d
 	10018_tbs_endurance

 	# [11000, 11999] Hexa Cox
@@ -120,7 +112,6 @@ px4_add_romfs_files(

 	# [12000, 12999] Octo Cox
 	12001_octo_cox
-	12002_steadidrone_mavrik

 	# [13000, 13999] VTOL
 	13000_generic_vtol_standard
@@ -133,7 +124,6 @@ px4_add_romfs_files(
 	13007_vtol_AAVVT_quad
 	13008_QuadRanger
 	13009_vtol_spt_ranger
-	13010_claire
 	13012_convergence
 	13013_deltaquad
 	13014_vtol_babyshark
@@ -157,7 +147,7 @@ px4_add_romfs_files(
 	18001_TF-B1

 	# [22000, 22999] Reserve for custom models
-
+	22222_generic_output
 	24001_dodeca_cox

 	50000_generic_ground_vehicle
@@ -16,8 +16,6 @@ param set-default MAV_TYPE 1
 param set-default COM_POS_FS_DELAY 5
 param set-default COM_POS_FS_EPH 15
 param set-default COM_POS_FS_EPV 30
-param set-default COM_POS_FS_GAIN 0
-param set-default COM_POS_FS_PROB 1
 param set-default COM_VEL_FS_EVH 5
 # Disable preflight disarm to not interfere with external launching
 param set-default COM_DISARM_PRFLT -1
@@ -0,0 +1,25 @@
+#!/bin/sh
+#
+# UGV default parameters.
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+#
+# Enable servo output on pins 3 and 4 (steering and thrust)
+# but also include 1+2 as they form together one output group
+# and need to be set together.
+#
+set PWM_OUT 12
+
+#
+# PWM Hz - 50 Hz is the normal rate in RC cars, higher rates
+# may damage analog servos.
+#
+set PWM_MAIN_RATE 50
+
+#
+# This is the gimbal pass mixer.
+#
+set MIXER_AUX pass
+set PWM_AUX_OUT 12
@@ -83,18 +83,24 @@ then
 	teraranger start -X
 fi

-# Possible external pmw3901 optical flow sensor
-if param greater -s SENS_EN_PMW3901 0
+# paa3905 optical flow sensor (external SPI)
+if param greater -s SENS_EN_PAA3905 0
 then
-	pmw3901 -S start
+	paa3905 -S start
 fi

-# Possible external paw3902 optical flow sensor
+# paw3902 optical flow sensor (external SPI)
 if param greater -s SENS_EN_PAW3902 0
 then
 	paw3902 -S start
 fi

+# pmw3901 optical flow sensor (external SPI)
+if param greater -s SENS_EN_PMW3901 0
+then
+	pmw3901 -S start
+fi
+
 # vl53l1x i2c distance sensor
 if param compare -s SENS_EN_VL53L1X 1
 then
@@ -123,13 +129,31 @@ fi
 # Sensirion SDP3X differential pressure sensor external I2C
 if param compare -s SENS_EN_SDP3X 1
 then
-	if ! sdp3x_airspeed start -X
+	if ! sdp3x start -X
 	then
 		# try another common address
-		sdp3x_airspeed start -X -a 0x22
+		sdp3x start -X -a 0x22
 	fi
 fi

+# TE MS4515 differential pressure sensor external I2C
+if param compare -s SENS_EN_MS4515 1
+then
+	ms4515 start -X
+fi
+
+# TE MS4525DO differential pressure sensor external I2C
+if param compare -s SENS_EN_MS4525DO 1
+then
+	ms4525do start -X
+fi
+
+# TE MS5525DSO differential pressure sensor external I2C
+if param compare -s SENS_EN_MS5525DS 1
+then
+	ms5525dso start -X
+fi
+
 # SHT3x temperature and hygrometer sensor, external I2C
 if param compare -s SENS_EN_SHT3X 1
 then
@@ -137,18 +161,6 @@ then
 	sht3x start -X -a 0x45
 fi

-# TE MS4525 differential pressure sensor external I2C
-if param compare -s SENS_EN_MS4525 1
-then
-	ms4525_airspeed start -X
-fi
-
-# TE MS5525 differential pressure sensor external I2C
-if param compare -s SENS_EN_MS5525 1
-then
-	ms5525_airspeed start -X
-fi
-
 # IR-LOCK sensor external I2C
 if param compare -s SENS_EN_IRLOCK 1
 then
@@ -186,9 +198,3 @@ then
 	# start last (wait for possible icm20948 passthrough mode)
 	ak09916 -X -q start
 fi
-
-###############################################################################
-#                            End Optional drivers                             #
-###############################################################################
-
-sensors start
@@ -7,7 +7,7 @@

 set VEHICLE_TYPE vtol

-# MAV_TYPE_VTOL_RESERVED2 22
+# MAV_TYPE_VTOL_FIXEDROTOR 22
 param set-default MAV_TYPE 22

 param set-default MIS_TAKEOFF_ALT 20
@@ -21,7 +21,6 @@ set +e
 # it wastes flash
 #
 set R /
-set AUTOCNF no
 set FCONFIG /fs/microsd/etc/config.txt
 set FEXTRAS /fs/microsd/etc/extras.txt
 set FRC /fs/microsd/etc/rc.txt
@@ -177,13 +176,12 @@ else
 	fi

 	#
-	# Set AUTOCNF flag to use it in AUTOSTART scripts.
+	# If the airframe has been previously reset SYS_AUTCONFIG will have been set to 1 and other params will be reset on the next boot.
 	#
 	if param greater SYS_AUTOCONFIG 0
 	then
-		# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
-		param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
-		set AUTOCNF yes
+		# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
+		param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
 	fi

 	#
@@ -274,14 +272,6 @@ else
 		. $FCONFIG
 	fi

-	#
-	# If autoconfig parameter was set, reset it and save parameters.
-	#
-	if [ $AUTOCNF = yes ]
-	then
-		param set SYS_AUTOCONFIG 0
-	fi
-
 	#
 	# Check if UAVCAN is enabled, default to it for ESCs.
 	#
@@ -298,9 +288,9 @@ else
 			tune_control play error
 		fi
 	else
-		if param greater -s UAVCAN_V1_ENABLE 0
+		if param greater -s CYPHAL_ENABLE 0
 		then
-			uavcan_v1 start
+			cyphal start
 		fi
 	fi

@@ -405,9 +395,17 @@ else
 			battery_status start
 		fi

+		sensors start
 		commander start
 	fi

+	#
+	# Configure vehicle type specific parameters.
+	# Note: rc.vehicle_setup is the entry point for rc.interface,
+	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
+	#
+	. ${R}etc/init.d/rc.vehicle_setup
+
 	# Pre-takeoff continuous magnetometer calibration
 	if param compare -s MBE_ENABLE 1
 	then
@@ -458,13 +456,6 @@ else
 		fi
 	fi

-	#
-	# Configure vehicle type specific parameters.
-	# Note: rc.vehicle_setup is the entry point for rc.interface,
-	#       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
-	#
-	. ${R}etc/init.d/rc.vehicle_setup
-
 	#
 	# Play the startup tune (if not disabled or there is an error)
 	#
@@ -492,12 +483,6 @@ else
 		gimbal start
 	fi

-	# Check for flow sensor
-	if param compare -s SENS_EN_PX4FLOW 1
-	then
-		px4flow start -X
-	fi
-
 	# Blacksheep telemetry
 	if param compare -s TEL_BST_EN 1
 	then
@@ -514,6 +499,12 @@ else
 		gyro_calibration start
 	fi

+	# Check for px4flow sensor
+	if param compare -s SENS_EN_PX4FLOW 1
+	then
+		px4flow start -X &
+	fi
+
 	#
 	# Optional board supplied extras: rc.board_extras
 	#
@@ -564,7 +555,6 @@ fi
 # Unset all script parameters to free RAM.
 #
 unset R
-unset AUTOCNF
 unset FCONFIG
 unset FEXTRAS
 unset FRC
@@ -21,14 +21,16 @@ O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000

 # mixer for the left aileron
-M: 1
+M: 2
 O:      10000  10000   0 -10000  10000
 S: 0 0  -10000  -10000    0 -10000  10000
+S: 0 5   10000   10000    0 -10000  10000

 # mixer for the right aileron
-M: 1
+M: 2
 O:      10000  10000   0 -10000  10000
 S: 0 0  10000  10000    0 -10000  10000
+S: 0 5  10000  10000    0 -10000  10000

 # mixer for the elevator
 M: 1
@@ -8,22 +8,22 @@ R: 4x
 # tilt servo motor 1
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000

 # tilt servo motor 2
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000

 # tilt servo motor 3
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000

 # tilt servo motor 4
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000

 # mixer for the left aileron
 M: 1
@@ -10,7 +10,7 @@ to output 4 and the wheel to output 5.
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).

-Aileron mixer (roll + flaperon)
+Aileron mixer (roll + spoiler)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -20,11 +20,11 @@ endpoints to suit.

 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000

 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6 -10000 -10000      0 -10000  10000
+S: 0 5 -10000 -10000      0 -10000  10000

 Elevator mixer
 ------------
@@ -11,7 +11,7 @@ to output 4, the wheel to output 5 and the flaps to output 6 and 7.
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).

-Aileron mixer (roll + flaperon)
+Aileron mixer (roll + spoiler)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -21,11 +21,11 @@ endpoints to suit.

 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000

 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6 -10000 -10000      0 -10000  10000
+S: 0 5 -10000 -10000      0 -10000  10000

 V-tail mixers
 -------------
@@ -9,20 +9,20 @@ output 0 and 1, the tail servos to output 2 and 3, the throttle
 to output 4, the wheel to output 5 and the flaps to output 6 and 7.

 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
+(roll), 1 (pitch), 2 (yaw), 3 (thrust) 4 (flaps), 5 (spoiler).

-Aileron mixer (roll + flaperon)
+Aileron mixer (roll + spoiler)
 ---------------------------------

 This mixer assumes that the aileron servos are set up mechanically reversed.

 M: 2
 S: 0 0 -10000 -10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000

 M: 2
 S: 0 0 -10000 -10000      0 -10000  10000
-S: 0 6 -10000 -10000      0 -10000  10000
+S: 0 5 -10000 -10000      0 -10000  10000

 V-tail mixers
 -------------
@@ -40,8 +40,6 @@ px4_add_romfs_files(
 	babyshark.main.mix
 	blade130.main.mix
 	CCPM.main.mix
-	claire.aux.mix
-	claire.main.mix
 	cloudship.main.mix
 	coax.main.mix
 	delta.main.mix
@@ -83,7 +81,6 @@ px4_add_romfs_files(
 	tri_y_yaw-.main.mix
 	uuv_x.main.mix
 	vectored6dof.main.mix
-	Viper.main.mix
 	vtol_AAERT.aux.mix
 	vtol_AAVVT.aux.mix
 	vtol_TTTTAAER.aux.mix
@@ -1,66 +0,0 @@
-Viper Delta-wing mixer
-=================================
-# @board px4_fmu-v2 exclude
-
-Designed for Viper.
-
-TODO (sjwilks): Add mixers for flaps.
-
-This file defines mixers suitable for controlling a delta wing aircraft using
-PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
-servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
-assumed to be unused.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-See the README for more information on the scaler format.
-
-Elevon mixers
-------------
-Three scalers total (output, roll, pitch).
-
-On the assumption that the two elevon servos are physically reversed, the pitch
-input is inverted between the two servos.
-
-The scaling factor for roll inputs is adjusted to implement differential travel
-for the elevons.
-
-M: 2
-S: 0 0   7500   7500      0 -10000  10000
-S: 0 1   8000   8000      0 -10000  10000
-
-M: 2
-S: 0 0   7500   7500      0 -10000  10000
-S: 0 1  -8000  -8000      0 -10000  10000
-
-Output 2
--------
-This mixer is empty.
-
-Z:
-
-Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
-
-Inputs to the mixer come from channel group 2 (payload), channels 0
-(bay servo 1), 1 (bay servo 2) and 3 (drop release).
-----------------------------------------------------
-
-M: 1
-S: 2 0  10000  10000      0 -10000  10000
-
-M: 1
-S: 2 1  10000  10000      0 -10000  10000
-
-M: 1
-S: 2 2  -8000  -8000      0 -10000  10000
-
-
@@ -1,28 +0,0 @@
-# mixer for the CruiseAder Claire tilt mechansim servo and elevons
-
-=======================================================================
-
-
-Tilt mechanism servo mixer
-
---------------------------
-
-M: 1
-
-
-S: 1 4  10000  10000      0 -10000  10000
-
-
-
-Elevon mixers
-
-------------
-
-M: 2
-
-S: 1 0   7500   7500      0 -10000  10000
-S: 1 1   7500   7500      0 -10000  10000
-
-M: 2
-S: 1 0    7500    7500    0 -10000  10000
-S: 1 1   -7500   -7500    0 -10000  10000
@@ -1,8 +0,0 @@
-# CruiseAder Claire Main Multirotor mixer for PX4FMU
-# @board px4_fmu-v2 exclude
-
-#
-
-#===========================
-
-R: 4x
@@ -6,7 +6,7 @@
 Tilt mechanism servo mixer
 ---------------------------
 M: 1
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000

 Elevon mixers
 -------------
@@ -5,14 +5,14 @@ Aileron/v-tail/throttle VTOL mixer for PX4FMU

 This file defines mixers suitable for controlling a fixed wing aircraft with
 aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
-The configuration assumes the aileron servos are connected to PX4FMU 
+The configuration assumes the aileron servos are connected to PX4FMU
 AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
 to output 4.

 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).

-Aileron mixer (roll + flaperon)
+Aileron mixer (roll + spoiler)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -22,11 +22,11 @@ endpoints to suit.

 M: 2
 S: 1 0 -10000 -10000      0 -10000  10000
-S: 1 6  10000  10000      0 -10000  10000
+S: 1 5  10000  10000      0 -10000  10000

 M: 2
 S: 1 0 -10000 -10000      0 -10000  10000
-S: 1 6 -10000 -10000      0 -10000  10000
+S: 1 5 -10000 -10000      0 -10000  10000


 V-tail mixers
@@ -6,19 +6,19 @@
 ---------------------------
 # front left up:2000 down:1000
 M: 1
-S: 1 4      0 -20000  10000 -10000  10000
+S: 1 8      0 -20000  10000 -10000  10000

 # front right up:1000 down:2000
 M: 1
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000

 # rear left up:2000 down:1000
 M: 1
-S: 1 4      0 -20000  10000 -10000  10000
+S: 1 8      0 -20000  10000 -10000  10000

 # rear right up:1000 down:2000
 M: 1
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000


 # Aileron mixer
@@ -10,12 +10,12 @@ Tilt mechanism servo mixer
 ---------------------------
 #RIGHT up:2000 down:1000
 M: 2
-S: 1 4      0 -20000  10000 -10000  10000
+S: 1 8      0 -20000  10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000

 #LEFT up:1000 down:2000
 M: 2
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000

 Elevon mixers
@@ -16,15 +16,15 @@ if board_adc start
 then
 fi

-if sdp3x_airspeed start -X
+if sdp3x start -X
 then
 fi

-if ms5525_airspeed start -X
+if ms5525dso start -X
 then
 fi

-if ms4525_airspeed start -X
+if ms4525do start -X
 then
 fi

@@ -10,7 +10,7 @@ to output 4 and the wheel to output 5.
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).

-Aileron mixer (roll + flaperon)
+Aileron mixer (roll + spoiler)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -21,12 +21,12 @@ endpoints to suit.
 M: 2
 O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000

 M: 2
 O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6 -10000 -10000      0 -10000  10000
+S: 0 5 -10000 -10000      0 -10000  10000

 Elevator mixer
 ------------
@@ -9,9 +9,9 @@ output 0 and 1, the tail servos to output 2 and 3, the throttle
 to output 4, the wheel to output 5 and the flaps to output 6 and 7.

 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 5 (spoiler).

-Aileron mixer (roll + flaperon)
+Aileron mixer (roll + spoiler)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -22,12 +22,12 @@ endpoints to suit.
 M: 2
 O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000

 M: 2
 O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6 -10000 -10000      0 -10000  10000
+S: 0 5 -10000 -10000      0 -10000  10000

 V-tail mixers
 -------------
@@ -10,13 +10,13 @@ Tilt mechanism servo mixer
 #RIGHT up:2000 down:1000
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 4      0 -20000   9000 -10000  10000
+S: 1 8      0 -20000   9000 -10000  10000
 S: 0 2   4000   4000      0 -10000  10000

 #LEFT up:1000 down:2000
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000  -10000 -10000  10000
+S: 1 8      0  20000  -10000 -10000  10000
 S: 0 2   4000   4000      0 -10000  10000

 Elevon mixers
@@ -3,14 +3,14 @@ Aileron/v-tail/throttle VTOL mixer for PX4FMU

 This file defines mixers suitable for controlling a fixed wing aircraft with
 aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
-The configuration assumes the aileron servos are connected to PX4FMU 
+The configuration assumes the aileron servos are connected to PX4FMU
 AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
 to output 4.

 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 5 (spoiler).

-Aileron mixer (roll + flaperon)
+Aileron mixer (roll + spoiler)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -21,12 +21,12 @@ endpoints to suit.
 M: 2
 O:      10000  10000      0 -10000  10000
 S: 1 0  10000  10000      0 -10000  10000
-S: 1 6  10000  10000      0 -10000  10000
+S: 1 5  10000  10000      0 -10000  10000

 M: 2
 O:      10000  10000      0 -10000  10000
 S: 1 0  10000  10000      0 -10000  10000
-S: 1 6 -10000 -10000      0 -10000  10000
+S: 1 5 -10000 -10000      0 -10000  10000


 V-tail mixers
@@ -10,13 +10,13 @@ Tilt mechanism servo mixer
 #RIGHT up:2000 down:1000
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 4      0 -20000  10000 -10000  10000
+S: 1 8      0 -20000  10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000

 #LEFT up:1000 down:2000
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000

 Elevon mixers
@@ -13,8 +13,7 @@ exec find boards msg src platforms test \
    -path platforms/qurt/dspal -prune -o \
    -path src/drivers/uavcan/libuavcan -prune -o \
    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
-    -path src/drivers/uavcan_v1/libcanard -prune -o \
-    -path src/drivers/uavcannode_gps_demo/libcanard -prune -o \
+    -path src/drivers/cyphal/libcanard -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/events/libevents -prune -o \
    -path src/lib/parameters/uthash -prune -o \
@@ -27,4 +26,5 @@ exec find boards msg src platforms test \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/crypto/libtomcrypt -prune -o \
    -path src/lib/crypto/libtommath -prune -o \
+    -path src/modules/microdds_client/Micro-XRCE-DDS-Client -prune -o \
    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
@@ -11,7 +11,7 @@ from pyulog import ULog
 from analysis.detectors import InAirDetector, PreconditionError
 from analysis.metrics import calculate_ecl_ekf_metrics
 from analysis.checks import perform_ecl_ekf_checks
-from analysis.post_processing import get_estimator_check_flags
+from analysis.post_processing import get_gps_check_fail_flags

 def analyse_ekf(
        ulog: ULog, check_levels: Dict[str, float], multi_instance: int = 0,
@@ -40,6 +40,11 @@ def analyse_ekf(
    except:
        raise PreconditionError('could not find estimator_status instance', multi_instance)

+    try:
+        estimator_status_flags = ulog.get_dataset('estimator_status_flags', multi_instance).data
+    except:
+        raise PreconditionError('could not find estimator_status_flags instance', multi_instance)
+
    try:
        _ = ulog.get_dataset('estimator_innovations', multi_instance).data
    except:
@@ -61,14 +66,14 @@ def analyse_ekf(
        'in_air_transition_time': round(in_air.take_off + in_air.log_start, 2),
        'on_ground_transition_time': round(in_air.landing + in_air.log_start, 2)}

-    control_mode, innov_flags, gps_fail_flags = get_estimator_check_flags(estimator_status)
+    gps_fail_flags = get_gps_check_fail_flags(estimator_status)

    sensor_checks, innov_fail_checks = find_checks_that_apply(
-        control_mode, estimator_status,
+        estimator_status_flags, estimator_status,
        pos_checks_when_sensors_not_fused=pos_checks_when_sensors_not_fused)

    metrics = calculate_ecl_ekf_metrics(
-        ulog, innov_flags, innov_fail_checks, sensor_checks, in_air, in_air_no_ground_effects,
+        ulog, estimator_status_flags, innov_fail_checks, sensor_checks, in_air, in_air_no_ground_effects,
        multi_instance, red_thresh=red_thresh, amb_thresh=amb_thresh)

    check_status, master_status = perform_ecl_ekf_checks(
@@ -78,12 +83,12 @@ def analyse_ekf(


 def find_checks_that_apply(
-    control_mode: dict, estimator_status: dict, pos_checks_when_sensors_not_fused: bool = False) ->\
+    estimator_status_flags: dict, estimator_status: dict, pos_checks_when_sensors_not_fused: bool = False) ->\
        Tuple[List[str], List[str]]:
    """
    finds the checks that apply and stores them in lists for the std checks and the innovation
    fail checks.
-    :param control_mode:
+    :param estimator_status_flags:
    :param estimator_status:
    :param b_pos_only_when_sensors_fused:
    :return: a tuple of two lists that contain strings for the std checks and for the innovation
@@ -97,7 +102,7 @@ def find_checks_that_apply(
    innov_fail_checks.append('posv')

    # Magnetometer Sensor Checks
-    if (np.amax(control_mode['yaw_aligned']) > 0.5):
+    if (np.amax(estimator_status_flags['cs_yaw_align']) > 0.5):
        sensor_checks.append('mag')

        innov_fail_checks.append('magx')
@@ -106,13 +111,14 @@ def find_checks_that_apply(
        innov_fail_checks.append('yaw')

    # Velocity Sensor Checks
-    if (np.amax(control_mode['using_gps']) > 0.5):
+    if (np.amax(estimator_status_flags['cs_gps']) > 0.5):
        sensor_checks.append('vel')
-        innov_fail_checks.append('vel')
+        innov_fail_checks.append('velh')
+        innov_fail_checks.append('velv')

    # Position Sensor Checks
-    if (pos_checks_when_sensors_not_fused or (np.amax(control_mode['using_gps']) > 0.5)
-        or (np.amax(control_mode['using_evpos']) > 0.5)):
+    if (pos_checks_when_sensors_not_fused or (np.amax(estimator_status_flags['cs_gps']) > 0.5)
+        or (np.amax(estimator_status_flags['cs_ev_pos']) > 0.5)):
        sensor_checks.append('pos')
        innov_fail_checks.append('posh')

@@ -128,7 +134,7 @@ def find_checks_that_apply(
        innov_fail_checks.append('hagl')

    # optical flow sensor checks
-    if (np.amax(control_mode['using_optflow']) > 0.5):
+    if (np.amax(estimator_status_flags['cs_opt_flow']) > 0.5):
        innov_fail_checks.append('ofx')
        innov_fail_checks.append('ofy')

@@ -55,7 +55,7 @@ def perform_imu_checks(

    # perform the vibration check
    imu_status['imu_vibration_check'] = 'Pass'
-    for imu_vibr_metric in ['imu_coning', 'imu_hfdang', 'imu_hfdvel']:
+    for imu_vibr_metric in ['imu_coning', 'imu_hfgyro', 'imu_hfaccel']:
        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)] \
@@ -123,7 +123,8 @@ def perform_sensor_innov_checks(
                                              ('magy', 'magy_fail_percentage', 'mag'),
                                              ('magz', 'magz_fail_percentage', 'mag'),
                                              ('yaw', 'yaw_fail_percentage', 'yaw'),
-                                              ('vel', 'vel_fail_percentage', 'vel'),
+                                              ('velh', 'vel_fail_percentage', 'vel'),
+                                              ('velv', 'vel_fail_percentage', 'vel'),
                                              ('posh', 'pos_fail_percentage', 'pos'),
                                              ('tas', 'tas_fail_percentage', 'tas'),
                                              ('hagl', 'hagl_fail_percentage', 'hagl'),
@@ -11,7 +11,7 @@ import numpy as np
 from analysis.detectors import InAirDetector

 def calculate_ecl_ekf_metrics(
-        ulog: ULog, innov_flags: Dict[str, float], innov_fail_checks: List[str],
+        ulog: ULog, estimator_status_flags: Dict[str, float], innov_fail_checks: List[str],
        sensor_checks: List[str], in_air: InAirDetector, in_air_no_ground_effects: InAirDetector,
        multi_instance: int = 0, red_thresh: float = 1.0, amb_thresh: float = 0.5) -> Tuple[dict, dict, dict, dict]:

@@ -20,7 +20,7 @@ def calculate_ecl_ekf_metrics(
        red_thresh=red_thresh, amb_thresh=amb_thresh)

    innov_fail_metrics = calculate_innov_fail_metrics(
-        innov_flags, innov_fail_checks, in_air, in_air_no_ground_effects)
+        estimator_status_flags, innov_fail_checks, in_air, in_air_no_ground_effects)

    imu_metrics = calculate_imu_metrics(ulog, multi_instance, in_air_no_ground_effects)

@@ -90,10 +90,10 @@ def calculate_sensor_metrics(


 def calculate_innov_fail_metrics(
-        innov_flags: dict, innov_fail_checks: List[str], in_air: InAirDetector,
+        estimator_status_flags: dict, innov_fail_checks: List[str], in_air: InAirDetector,
        in_air_no_ground_effects: InAirDetector) -> dict:
    """
-    :param innov_flags:
+    :param estimator_status_flags:
    :param innov_fail_checks:
    :param in_air:
    :param in_air_no_ground_effects:
@@ -103,17 +103,18 @@ def calculate_innov_fail_metrics(
    innov_fail_metrics = dict()

    # calculate innovation check fail metrics
-    for signal_id, signal, result in [('posv', 'posv_innov_fail', 'hgt_fail_percentage'),
-                                      ('magx', 'magx_innov_fail', 'magx_fail_percentage'),
-                                      ('magy', 'magy_innov_fail', 'magy_fail_percentage'),
-                                      ('magz', 'magz_innov_fail', 'magz_fail_percentage'),
-                                      ('yaw', 'yaw_innov_fail', 'yaw_fail_percentage'),
-                                      ('vel', 'vel_innov_fail', 'vel_fail_percentage'),
-                                      ('posh', 'posh_innov_fail', 'pos_fail_percentage'),
-                                      ('tas', 'tas_innov_fail', 'tas_fail_percentage'),
-                                      ('hagl', 'hagl_innov_fail', 'hagl_fail_percentage'),
-                                      ('ofx', 'ofx_innov_fail', 'ofx_fail_percentage'),
-                                      ('ofy', 'ofy_innov_fail', 'ofy_fail_percentage')]:
+    for signal_id, signal, result in [('posv', 'reject_ver_pos', 'hgt_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'),
+                                      ('posh', 'reject_hor_pos', 'pos_fail_percentage'),
+                                      ('tas', 'reject_airspeed', 'tas_fail_percentage'),
+                                      ('hagl', 'reject_hagl', 'hagl_fail_percentage'),
+                                      ('ofx', 'reject_optflow_x', 'ofx_fail_percentage'),
+                                      ('ofy', 'reject_optflow_y', 'ofy_fail_percentage')]:

        # only run innov fail checks, if they apply.
        if signal_id in innov_fail_checks:
@@ -125,7 +126,7 @@ def calculate_innov_fail_metrics(
                in_air_detector = in_air

            innov_fail_metrics[result] = calculate_stat_from_signal(
-                innov_flags, 'estimator_status', signal, in_air_detector,
+                estimator_status_flags, 'estimator_status_flags', signal, in_air_detector,
                lambda x: 100.0 * np.mean(x > 0.5))

    return innov_fail_metrics
@@ -144,17 +145,27 @@ def calculate_imu_metrics(ulog: ULog, multi_instance, in_air_no_ground_effects:
        imu_metrics[result] = calculate_stat_from_signal(
            estimator_status_data, 'estimator_status', signal, in_air_no_ground_effects, np.median)

+
    # calculates peak and mean for IMU vibration checks
-    for signal, result in [('vibe[0]', 'imu_coning'),
-                           ('vibe[1]', 'imu_hfdang'),
-                           ('vibe[2]', 'imu_hfdvel')]:
-        peak = calculate_stat_from_signal(
-            estimator_status_data, 'estimator_status', signal, in_air_no_ground_effects, np.amax)
-        if peak > 0.0:
-            imu_metrics['{:s}_peak'.format(result)] = peak
-            imu_metrics['{:s}_mean'.format(result)] = calculate_stat_from_signal(
-                estimator_status_data, 'estimator_status', signal,
-                in_air_no_ground_effects, np.mean)
+    for imu_status_instance in range(4):
+        try:
+            vehicle_imu_status_data = ulog.get_dataset('vehicle_imu_status', imu_status_instance).data
+
+            if vehicle_imu_status_data['accel_device_id'][0] == estimator_status_data['accel_device_id'][0]:
+
+                for signal, result in [('gyro_coning_vibration', 'imu_coning'),
+                                       ('gyro_vibration_metric', 'imu_hfgyro'),
+                                       ('accel_vibration_metric', 'imu_hfaccel')]:
+
+                    peak = calculate_stat_from_signal(vehicle_imu_status_data, 'vehicle_imu_status', signal, in_air_no_ground_effects, np.amax)
+
+                    if peak > 0.0:
+                        imu_metrics['{:s}_peak'.format(result)] = peak
+                        imu_metrics['{:s}_mean'.format(result)] = calculate_stat_from_signal(vehicle_imu_status_data, 'vehicle_imu_status', signal, in_air_no_ground_effects, np.mean)
+
+        except:
+            pass
+

    # IMU bias checks
    estimator_states_data = ulog.get_dataset('estimator_states', multi_instance).data
@@ -7,115 +7,6 @@ from typing import Tuple

 import numpy as np

-
-def get_estimator_check_flags(estimator_status: dict) -> Tuple[dict, dict, dict]:
-    """
-    :param estimator_status:
-    :return:
-    """
-    control_mode = get_control_mode_flags(estimator_status)
-    innov_flags = get_innovation_check_flags(estimator_status)
-    gps_fail_flags = get_gps_check_fail_flags(estimator_status)
-    return control_mode, innov_flags, gps_fail_flags
-
-
-def get_control_mode_flags(estimator_status: dict) -> dict:
-    """
-    :param estimator_status:
-    :return:
-    """
-
-    control_mode = dict()
-    # extract control mode metadata from estimator_status.control_mode_flags
-    # 0 - true if the filter tilt alignment is complete
-    # 1 - true if the filter yaw alignment is complete
-    # 2 - true if GPS measurements are being fused
-    # 3 - true if optical flow measurements are being fused
-    # 4 - true if a simple magnetic yaw heading is being fused
-    # 5 - true if 3-axis magnetometer measurement are being fused
-    # 6 - true if synthetic magnetic declination measurements are being fused
-    # 7 - true when the vehicle is airborne
-    # 8 - true when wind velocity is being estimated
-    # 9 - true when baro height is being fused as a primary height reference
-    # 10 - true when range finder height is being fused as a primary height reference
-    # 11 - true when range finder height is being fused as a primary height reference
-    # 12 - true when local position data from external vision is being fused
-    # 13 - true when yaw data from external vision measurements is being fused
-    # 14 - true when height data from external vision measurements is being fused
-    # 15 - true when synthetic sideslip measurements are being fused
-    # 16 - true true when the mag field does not match the expected strength
-    # 17 - true true when the vehicle is operating as a fixed wing vehicle
-    # 18 - true when the magnetometer has been declared faulty and is no longer being used
-    # 19 - true true when airspeed measurements are being fused
-    # 20 - true true when protection from ground effect induced static pressure rise is active
-    # 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
-    # 22 - true when yaw (not ground course) data from a GPS receiver is being fused
-    # 23 - true when the in-flight mag field alignment has been completed
-    # 24 - true when local earth frame velocity data from external vision measurements are being fused
-    # 25 - true when we are using a synthesized measurement for the magnetometer Z component
-    control_mode['tilt_aligned'] = ((2 ** 0 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['yaw_aligned'] = ((2 ** 1 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['using_gps'] = ((2 ** 2 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['using_optflow'] = ((2 ** 3 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['using_magyaw'] = ((2 ** 4 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['using_mag3d'] = ((2 ** 5 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['using_magdecl'] = ((2 ** 6 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['airborne'] = ((2 ** 7 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['estimating_wind'] = ((2 ** 8 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['using_barohgt'] = ((2 ** 9 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['using_rnghgt'] = ((2 ** 10 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['using_gpshgt'] = ((2 ** 11 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['using_evpos'] = ((2 ** 12 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['using_evyaw'] = ((2 ** 13 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['using_evhgt'] = ((2 ** 14 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['fuse_beta'] = ((2 ** 15 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['mag_field_disturbed'] = ((2 ** 16 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['fixed_wing'] = ((2 ** 17 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['mag_fault'] = ((2 ** 18 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['fuse_aspd'] = ((2 ** 19 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['gnd_effect'] = ((2 ** 20 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['rng_stuck'] = ((2 ** 21 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['gps_yaw'] = ((2 ** 22 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['mag_aligned_in_flight'] = ((2 ** 23 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['ev_vel'] = ((2 ** 24 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['synthetic_mag_z'] = ((2 ** 25 & estimator_status['control_mode_flags']) > 0) * 1
-    return control_mode
-
-def get_innovation_check_flags(estimator_status: dict) -> dict:
-    """
-    :param estimator_status:
-    :return:
-    """
-
-    innov_flags = dict()
-    # innovation_check_flags summary
-    # 0 - true if velocity observations have been rejected
-    # 1 - true if horizontal position observations have been rejected
-    # 2 - true if true if vertical position observations have been rejected
-    # 3 - true if the X magnetometer observation has been rejected
-    # 4 - true if the Y magnetometer observation has been rejected
-    # 5 - true if the Z magnetometer observation has been rejected
-    # 6 - true if the yaw observation has been rejected
-    # 7 - true if the airspeed observation has been rejected
-    # 8 - true if synthetic sideslip observation has been rejected
-    # 9 - true if the height above ground observation has been rejected
-    # 10 - true if the X optical flow observation has been rejected
-    # 11 - true if the Y optical flow observation has been rejected
-    innov_flags['vel_innov_fail'] = ((2 ** 0 & estimator_status['innovation_check_flags']) > 0) * 1
-    innov_flags['posh_innov_fail'] = ((2 ** 1 & estimator_status['innovation_check_flags']) > 0) * 1
-    innov_flags['posv_innov_fail'] = ((2 ** 2 & estimator_status['innovation_check_flags']) > 0) * 1
-    innov_flags['magx_innov_fail'] = ((2 ** 3 & estimator_status['innovation_check_flags']) > 0) * 1
-    innov_flags['magy_innov_fail'] = ((2 ** 4 & estimator_status['innovation_check_flags']) > 0) * 1
-    innov_flags['magz_innov_fail'] = ((2 ** 5 & estimator_status['innovation_check_flags']) > 0) * 1
-    innov_flags['yaw_innov_fail'] = ((2 ** 6 & estimator_status['innovation_check_flags']) > 0) * 1
-    innov_flags['tas_innov_fail'] = ((2 ** 7 & estimator_status['innovation_check_flags']) > 0) * 1
-    innov_flags['sli_innov_fail'] = ((2 ** 8 & estimator_status['innovation_check_flags']) > 0) * 1
-    innov_flags['hagl_innov_fail'] = ((2 ** 9 & estimator_status['innovation_check_flags']) > 0) * 1
-    innov_flags['ofx_innov_fail'] = ((2 ** 10 & estimator_status['innovation_check_flags']) > 0) * 1
-    innov_flags['ofy_innov_fail'] = ((2 ** 11 & estimator_status['innovation_check_flags']) > 0) * 1
-    return innov_flags
-
-
 def get_gps_check_fail_flags(estimator_status: dict) -> dict:
    """
    :param estimator_status:
@@ -48,7 +48,7 @@ for filename in os.listdir(metadata_directory):

 #        # print out the check levels
 #        print('\n'+'The following metadata loaded from '+filename+' were used'+'\n')
-#        val = population_data.get(filename, {}).get('imu_hfdang_mean')
+#        val = population_data.get(filename, {}).get('imu_hfgyro_mean')
 #        print(val)

 # Open pdf file for plotting
@@ -90,10 +90,10 @@ population_results = {
 'ofy_fail_pct_avg':[float('NaN'),'The mean percentage of innovation test fails for the Y axis optical flow sensor'],
 'imu_coning_max_avg':[float('NaN'),'The mean of the maximum in-flight values of the IMU delta angle coning vibration level (mrad)'],
 'imu_coning_mean_avg':[float('NaN'),'The mean of the mean in-flight value of the IMU delta angle coning vibration level (mrad)'],
-'imu_hfdang_max_avg':[float('NaN'),'The mean of the maximum in-flight values of the IMU high frequency delta angle vibration level (mrad)'],
-'imu_hfdang_mean_avg':[float('NaN'),'The mean of the mean in-flight value of the IMU delta high frequency delta angle vibration level (mrad)'],
-'imu_hfdvel_max_avg':[float('NaN'),'The mean of the maximum in-flight values of the IMU high frequency delta velocity vibration level (m/s)'],
-'imu_hfdvel_mean_avg':[float('NaN'),'The mean of the mean in-flight value of the IMU delta high frequency delta velocity vibration level (m/s)'],
+'imu_hfgyro_max_avg':[float('NaN'),'The mean of the maximum in-flight values of the IMU high frequency gyro vibration level (rad/s)'],
+'imu_hfgyro_mean_avg':[float('NaN'),'The mean of the mean in-flight value of the IMU delta high frequency gyro vibration level (rad/s)'],
+'imu_hfaccel_max_avg':[float('NaN'),'The mean of the maximum in-flight values of the IMU high frequency accel vibration level (m/s/s)'],
+'imu_hfaccel_mean_avg':[float('NaN'),'The mean of the mean in-flight value of the IMU delta high frequency accel vibration level (m/s/s)'],
 'obs_ang_median_avg':[float('NaN'),'The mean of the median in-flight value of the output observer angular tracking error magnitude (mrad)'],
 'obs_vel_median_avg':[float('NaN'),'The mean of the median in-flight value of the output observer velocity tracking error magnitude (m/s)'],
 'obs_pos_median_avg':[float('NaN'),'The mean of the median in-flight value of the output observer position tracking error magnitude (m)'],
@@ -360,54 +360,54 @@ if (len(result1) > 0 and len(result2) > 0):
    plt.close(8)

 # IMU high frequency delta angle vibration levels
-temp = np.asarray([population_data[k].get('imu_hfdang_peak') for k in found_keys])
+temp = np.asarray([population_data[k].get('imu_hfgyro_peak') for k in found_keys])
 result1 = 1000.0 * temp[np.isfinite(temp)]
-temp = np.asarray([population_data[k].get('imu_hfdang_mean') for k in found_keys])
+temp = np.asarray([population_data[k].get('imu_hfgyro_mean') for k in found_keys])
 result2 = 1000.0 * temp[np.isfinite(temp)]

 if (len(result1) > 0 and len(result2) > 0):
-    population_results['imu_hfdang_max_avg'][0] = np.mean(result1)
-    population_results['imu_hfdang_mean_avg'][0] = np.mean(result2)
+    population_results['imu_hfgyro_max_avg'][0] = np.mean(result1)
+    population_results['imu_hfgyro_mean_avg'][0] = np.mean(result2)

    plt.figure(9,figsize=(20,13))

    plt.subplot(2,1,1)
    plt.hist(result1)
-    plt.title("Gaussian Histogram - IMU HF Delta Angle Vibration Peak")
-    plt.xlabel("imu_hfdang_max (mrad)")
+    plt.title("Gaussian Histogram - IMU HF Gyroscope Vibration Peak")
+    plt.xlabel("imu_hfgyro_max (rad/s)")
    plt.ylabel("Frequency")

    plt.subplot(2,1,2)
    plt.hist(result2)
-    plt.title("Gaussian Histogram - IMU HF Delta Angle Vibration Mean")
-    plt.xlabel("imu_hfdang_mean (mrad)")
+    plt.title("Gaussian Histogram - IMU HF Gyroscope Vibration Mean")
+    plt.xlabel("imu_hfgyro_mean (rad/s)")
    plt.ylabel("Frequency")

    pp.savefig()
    plt.close(9)

-# IMU high frequency delta velocity vibration levels
-temp = np.asarray([population_data[k].get('imu_hfdvel_peak') for k in found_keys])
+# IMU high frequency accel vibration levels
+temp = np.asarray([population_data[k].get('imu_hfaccel_peak') for k in found_keys])
 result1 = temp[np.isfinite(temp)]
-temp = np.asarray([population_data[k].get('imu_hfdvel_mean') for k in found_keys])
+temp = np.asarray([population_data[k].get('imu_hfaccel_mean') for k in found_keys])
 result2 = temp[np.isfinite(temp)]

 if (len(result1) > 0 and len(result2) > 0):
-    population_results['imu_hfdvel_max_avg'][0] = np.mean(result1)
-    population_results['imu_hfdvel_mean_avg'][0] = np.mean(result2)
+    population_results['imu_hfaccel_max_avg'][0] = np.mean(result1)
+    population_results['imu_hfaccel_mean_avg'][0] = np.mean(result2)

    plt.figure(10,figsize=(20,13))

    plt.subplot(2,1,1)
    plt.hist(result1)
-    plt.title("Gaussian Histogram - IMU HF Delta Velocity Vibration Peak")
-    plt.xlabel("imu_hfdvel_max (m/s)")
+    plt.title("Gaussian Histogram - IMU HF Accelerometer Vibration Peak")
+    plt.xlabel("imu_hfaccel_max (m/s/s)")
    plt.ylabel("Frequency")

    plt.subplot(2,1,2)
    plt.hist(result2)
-    plt.title("Gaussian Histogram - IMU HF Delta Velocity Vibration Mean")
-    plt.xlabel("imu_hfdvel_mean (m/s)")
+    plt.title("Gaussian Histogram - IMU HF Accelerometer Vibration Mean")
+    plt.xlabel("imu_hfaccel_mean (m/s/s)")
    plt.ylabel("Frequency")

    pp.savefig()
@@ -535,12 +535,12 @@ single_log_results = {
 'hgt_sensor_status':['Pass','Height sensor check summary. This sensor data can be sourced from either Baro, GPS, range fidner or external vision system. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required'],
 'hgt_test_max':[float('NaN'),'The maximum in-flight value of the height sensor innovation consistency test ratio.'],
 'hgt_test_mean':[float('NaN'),'The mean in-flight value of the height sensor innovation consistency test ratio.'],
-'imu_coning_mean':[float('NaN'),'Mean in-flight value of the IMU delta angle coning vibration metric (rad)'],
-'imu_coning_peak':[float('NaN'),'Peak in-flight value of the IMU delta angle coning vibration metric (rad)'],
-'imu_hfdang_mean':[float('NaN'),'Mean in-flight value of the IMU delta angle high frequency vibration metric (rad)'],
-'imu_hfdang_peak':[float('NaN'),'Peak in-flight value of the IMU delta angle high frequency vibration metric (rad)'],
-'imu_hfdvel_mean':[float('NaN'),'Mean in-flight value of the IMU delta velocity high frequency vibration metric (m/s)'],
-'imu_hfdvel_peak':[float('NaN'),'Peak in-flight value of the IMU delta velocity high frequency vibration metric (m/s)'],
+'imu_coning_mean':[float('NaN'),'Mean in-flight value of the IMU delta angle coning vibration metric (rad^2)'],
+'imu_coning_peak':[float('NaN'),'Peak in-flight value of the IMU delta angle coning vibration metric (rad^2)'],
+'imu_hfgyro_mean':[float('NaN'),'Mean in-flight value of the IMU gyro high frequency vibration metric (rad/s)'],
+'imu_hfgyro_peak':[float('NaN'),'Peak in-flight value of the IMU gyro high frequency vibration metric (rad/s)'],
+'imu_hfaccel_mean':[float('NaN'),'Mean in-flight value of the IMU accel high frequency vibration metric (m/s/s)'],
+'imu_hfaccel_peak':[float('NaN'),'Peak in-flight value of the IMU accel high frequency vibration metric (m/s/s)'],
 'imu_sensor_status':['Pass','IMU sensor check summary. A Fail result indicates a significant error that caused a significant reduction in vehicle navigation performance was detected. A Warning result indicates that error levels higher than normal were detected but these errors did not significantly impact navigation performance. A Pass result indicates that no amonalies were detected and no further investigation is required'],
 'in_air_transition_time':[float('NaN'),'The time in seconds measured from startup that the EKF transtioned into in-air mode. Set to a nan if a transition event is not detected.'],
 'mag_percentage_amber':[float('NaN'),'The percentage of in-flight consolidated magnetic field sensor innovation consistency test values > 0.5.'],
@@ -21,10 +21,10 @@ hagl_amber_warn_pct,5.0
 tas_amber_warn_pct,5.0
 imu_coning_peak_warn,1.8E-5
 imu_coning_mean_warn,3.6E-6
-imu_hfdang_peak_warn,3.0E-3
-imu_hfdang_mean_warn,6.0E-4
-imu_hfdvel_peak_warn,9.0E-2
-imu_hfdvel_mean_warn,1.8E-2
+imu_hfgyro_peak_warn,12
+imu_hfgyro_mean_warn,2.4
+imu_hfaccel_peak_warn,360
+imu_hfaccel_mean_warn,72
 obs_ang_err_median_warn,8.0E-3
 obs_vel_err_median_warn,0.05
 obs_pos_err_median_warn,0.15
@@ -49,12 +49,12 @@ hagl_test_mean, The mean in-flight value of the height above ground sensor innov
 ofx_fail_percentage, The percentage of in-flight recorded failure events for the optical flow sensor X-axis innovation consistency test.
 ofy_fail_percentage, The percentage of in-flight recorded failure events for the optical flow sensor Y-axis innovation consistency test.
 filter_faults_max, Largest recorded value of the filter internal fault bitmask. Should always be zero.
-imu_coning_peak, Peak in-flight value of the IMU delta angle coning vibration metric (rad)
-imu_coning_mean, Mean in-flight value of the IMU delta angle coning vibration metric (rad)
-imu_hfdang_peak, Peak in-flight value of the IMU delta angle high frequency vibration metric (rad)
-imu_hfdang_mean, Mean in-flight value of the IMU delta angle high frequency vibration metric (rad)
-imu_hfdvel_peak, Peak in-flight value of the IMU delta velocity high frequency vibration metric (m/s)
-imu_hfdvel_mean, Mean in-flight value of the IMU delta velocity high frequency vibration metric (m/s)
+imu_coning_peak, Peak in-flight value of the IMU delta angle coning vibration metric (rad^2)
+imu_coning_mean, Mean in-flight value of the IMU delta angle coning vibration metric (rad^2)
+imu_hfgyro_peak, Peak in-flight value of the IMU accel high frequency vibration metric (rad/s)
+imu_hfgyro_mean, Mean in-flight value of the IMU accel high frequency vibration metric (rad/s)
+imu_hfaccel_peak, Peak in-flight value of the IMU accel high frequency vibration metric (m/s/s)
+imu_hfaccel_mean, Mean in-flight value of the IMU accel high frequency vibration metric (m/s/s)
 output_obs_ang_err_median, Median in-flight value of the output observer angular error (rad)
 output_obs_vel_err_median, Median in-flight value of the output observer velocity error (m/s)
 output_obs_pos_err_median, Median in-flight value of the output observer position error (m)
@@ -11,7 +11,7 @@ import numpy as np
 from matplotlib.backends.backend_pdf import PdfPages
 from pyulog import ULog

-from analysis.post_processing import magnetic_field_estimates_from_states, get_estimator_check_flags
+from analysis.post_processing import magnetic_field_estimates_from_states, get_gps_check_fail_flags
 from plotting.data_plots import TimeSeriesPlot, InnovationPlot, ControlModeSummaryPlot, \
    CheckFlagsPlot
 from analysis.detectors import PreconditionError
@@ -33,6 +33,11 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
    except:
        raise PreconditionError('could not find estimator_status instance', multi_instance)

+    try:
+        estimator_status_flags = ulog.get_dataset('estimator_status_flags', multi_instance).data
+    except:
+        raise PreconditionError('could not find estimator_status_flags instance', multi_instance)
+
    try:
        estimator_states = ulog.get_dataset('estimator_states', multi_instance).data
    except:
@@ -68,12 +73,13 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
    except:
        raise PreconditionError('could not find innovation data')

-    control_mode, innov_flags, gps_fail_flags = get_estimator_check_flags(estimator_status)
+    gps_fail_flags = get_gps_check_fail_flags(estimator_status)

    status_time = 1e-6 * estimator_status['timestamp']
+    status_flags_time = 1e-6 * estimator_status_flags['timestamp']

    b_finishes_in_air, b_starts_in_air, in_air_duration, in_air_transition_time, \
-    on_ground_transition_time = detect_airtime(control_mode, status_time)
+    on_ground_transition_time = detect_airtime(estimator_status_flags, status_flags_time)

    with PdfPages(output_plot_filename) as pdf_pages:

@@ -173,9 +179,9 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str

        # plot control mode summary A
        data_plot = ControlModeSummaryPlot(
-            status_time, control_mode, [['tilt_aligned', 'yaw_aligned'],
-            ['using_gps', 'using_optflow', 'using_evpos'], ['using_barohgt', 'using_gpshgt',
-             'using_rnghgt', 'using_evhgt'], ['using_magyaw', 'using_mag3d', 'using_magdecl']],
+            status_flags_time, estimator_status_flags, [['cs_tilt_align', 'cs_yaw_align'],
+            ['cs_gps', 'cs_opt_flow', 'cs_ev_pos'], ['cs_baro_hgt', 'cs_gps_hgt',
+             'cs_rng_hgt', 'cs_ev_hgt'], ['cs_mag_hdg', 'cs_mag_3d', 'cs_mag_dec']],
            x_label='time (sec)', y_labels=['aligned', 'pos aiding', 'hgt aiding', 'mag aiding'],
            annotation_text=[['tilt alignment', 'yaw alignment'], ['GPS aiding', 'optical flow aiding',
             'external vision aiding'], ['Baro aiding', 'GPS aiding', 'rangefinder aiding',
@@ -188,7 +194,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
        # plot control mode summary B
        # construct additional annotations for the airborne plot
        airborne_annotations = list()
-        if np.amin(np.diff(control_mode['airborne'])) > -0.5:
+        if np.amin(np.diff(estimator_status_flags['cs_in_air'])) > -0.5:
            airborne_annotations.append(
                (on_ground_transition_time, 'air to ground transition not detected'))
        else:
@@ -197,7 +203,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
        if in_air_duration > 0.0:
            airborne_annotations.append(((in_air_transition_time + on_ground_transition_time) / 2,
                                         'duration = {:.1f} sec'.format(in_air_duration)))
-        if np.amax(np.diff(control_mode['airborne'])) < 0.5:
+        if np.amax(np.diff(estimator_status_flags['cs_in_air'])) < 0.5:
            airborne_annotations.append(
                (in_air_transition_time, 'ground to air transition not detected'))
        else:
@@ -205,7 +211,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
                (in_air_transition_time, 'in-air at {:.1f} sec'.format(in_air_transition_time)))

        data_plot = ControlModeSummaryPlot(
-            status_time, control_mode, [['airborne'], ['estimating_wind']],
+            status_flags_time, estimator_status_flags, [['cs_in_air'], ['cs_wind']],
            x_label='time (sec)', y_labels=['airborne', 'estimating wind'], annotation_text=[[], []],
            additional_annotation=[airborne_annotations, []],
            plot_title='EKF Control Status - Figure B', pdf_handle=pdf_pages)
@@ -214,15 +220,15 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str

        # plot innovation_check_flags summary
        data_plot = CheckFlagsPlot(
-            status_time, innov_flags, [['vel_innov_fail', 'posh_innov_fail'], ['posv_innov_fail',
-                                                                               'hagl_innov_fail'],
-                                       ['magx_innov_fail', 'magy_innov_fail', 'magz_innov_fail',
-                                        'yaw_innov_fail'], ['tas_innov_fail'], ['sli_innov_fail'],
-                                       ['ofx_innov_fail',
-                                        'ofy_innov_fail']], x_label='time (sec)',
+            status_flags_time, estimator_status_flags, [['reject_hor_vel', 'reject_hor_pos'], ['reject_ver_vel', 'reject_ver_pos',
+                                                                               'reject_hagl'],
+                                       ['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)',
            y_labels=['failed', 'failed', 'failed', 'failed', 'failed', 'failed'],
            y_lim=(-0.1, 1.1),
-            legend=[['vel NED', 'pos NE'], ['hgt absolute', 'hgt above ground'],
+            legend=[['vel NE', 'pos NE'], ['vel D', 'hgt absolute', 'hgt above ground'],
                    ['mag_x', 'mag_y', 'mag_z', 'yaw'], ['airspeed'], ['sideslip'],
                    ['flow X', 'flow Y']],
            plot_title='EKF Innovation Test Fails', annotate=False, pdf_handle=pdf_pages)
@@ -250,18 +256,32 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
        data_plot.save()
        data_plot.close()

+
        # Plot the EKF IMU vibration metrics
-        scaled_estimator_status = {'vibe[0]': 1000. * estimator_status['vibe[0]'],
-                                   'vibe[1]': 1000. * estimator_status['vibe[1]'],
-                                   'vibe[2]': estimator_status['vibe[2]']
-                                   }
-        data_plot = CheckFlagsPlot(
-            status_time, scaled_estimator_status, [['vibe[0]'], ['vibe[1]'], ['vibe[2]']],
-            x_label='time (sec)', y_labels=['Del Ang Coning (mrad)', 'HF Del Ang (mrad)',
-                                            'HF Del Vel (m/s)'], plot_title='IMU Vibration Metrics',
-            pdf_handle=pdf_pages, annotate=True)
-        data_plot.save()
-        data_plot.close()
+        for imu_status_instance in range(4):
+            try:
+                vehicle_imu_status_data = ulog.get_dataset('vehicle_imu_status', imu_status_instance).data
+
+                imu_status_time = 1e-6 * vehicle_imu_status_data['timestamp']
+
+                if vehicle_imu_status_data['accel_device_id'][0] == estimator_status['accel_device_id'][0]:
+
+                    scaled_estimator_status = {'delta_angle_coning_metric': 1000. * vehicle_imu_status_data['delta_angle_coning_metric'],
+                                               'gyro_vibration_metric': vehicle_imu_status_data['gyro_vibration_metric'],
+                                               'accel_vibration_metric': vehicle_imu_status_data['accel_vibration_metric']
+                                              }
+                    data_plot = CheckFlagsPlot(
+                        imu_status_time, scaled_estimator_status, [['delta_angle_coning_metric'], ['gyro_vibration_metric'], ['accel_vibration_metric']],
+                        x_label='time (sec)',
+                        y_labels=['Del Ang Coning (mrad^2)', 'HF Gyro (rad/s)', 'HF accel (m/s/s)'],
+                        plot_title='IMU Vibration Metrics',
+                        pdf_handle=pdf_pages, annotate=True)
+                    data_plot.save()
+                    data_plot.close()
+
+            except:
+                pass
+

        # Plot the EKF output observer tracking errors
        scaled_innovations = {
@@ -330,33 +350,33 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
        data_plot.close()


-def detect_airtime(control_mode, status_time):
+def detect_airtime(estimator_status_flags, status_flags_time):
    # define flags for starting and finishing in air
    b_starts_in_air = False
    b_finishes_in_air = False
    # calculate in-air transition time
-    if (np.amin(control_mode['airborne']) < 0.5) and (np.amax(control_mode['airborne']) > 0.5):
-        in_air_transtion_time_arg = np.argmax(np.diff(control_mode['airborne']))
-        in_air_transition_time = status_time[in_air_transtion_time_arg]
-    elif (np.amax(control_mode['airborne']) > 0.5):
-        in_air_transition_time = np.amin(status_time)
+    if (np.amin(estimator_status_flags['cs_in_air']) < 0.5) and (np.amax(estimator_status_flags['cs_in_air']) > 0.5):
+        in_air_transtion_time_arg = np.argmax(np.diff(estimator_status_flags['cs_in_air']))
+        in_air_transition_time = status_flags_time[in_air_transtion_time_arg]
+    elif (np.amax(estimator_status_flags['cs_in_air']) > 0.5):
+        in_air_transition_time = np.amin(status_flags_time)
        print('log starts while in-air at ' + str(round(in_air_transition_time, 1)) + ' sec')
        b_starts_in_air = True
    else:
        in_air_transition_time = float('NaN')
        print('always on ground')
    # calculate on-ground transition time
-    if (np.amin(np.diff(control_mode['airborne'])) < 0.0):
-        on_ground_transition_time_arg = np.argmin(np.diff(control_mode['airborne']))
-        on_ground_transition_time = status_time[on_ground_transition_time_arg]
-    elif (np.amax(control_mode['airborne']) > 0.5):
-        on_ground_transition_time = np.amax(status_time)
+    if (np.amin(np.diff(estimator_status_flags['cs_in_air'])) < 0.0):
+        on_ground_transition_time_arg = np.argmin(np.diff(estimator_status_flags['cs_in_air']))
+        on_ground_transition_time = status_flags_time[on_ground_transition_time_arg]
+    elif (np.amax(estimator_status_flags['cs_in_air']) > 0.5):
+        on_ground_transition_time = np.amax(status_flags_time)
        print('log finishes while in-air at ' + str(round(on_ground_transition_time, 1)) + ' sec')
        b_finishes_in_air = True
    else:
        on_ground_transition_time = float('NaN')
        print('always on ground')
-    if (np.amax(np.diff(control_mode['airborne'])) > 0.5) and (np.amin(np.diff(control_mode['airborne'])) < -0.5):
+    if (np.amax(np.diff(estimator_status_flags['cs_in_air'])) > 0.5) and (np.amin(np.diff(estimator_status_flags['cs_in_air'])) < -0.5):
        if ((on_ground_transition_time - in_air_transition_time) > 0.0):
            in_air_duration = on_ground_transition_time - in_air_transition_time
        else:
@@ -0,0 +1,7 @@
+if SWD
+speed 1000
+r
+loadbin /Users/landon/git/px4/build/nxp_ucans32k146_nxp_demo/deploy/34.bin,0x6000
+r
+g
+q
@@ -0,0 +1,3 @@
+#!/bin/zsh
+
+JLinkExe -device S32K146 -CommandFile /Users/landon/git/px4/Tools/flash_nxp/flash_ucan.jlink
@@ -139,6 +139,7 @@ mc_hover_thrust_estimator,CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 mc_pos_control,CONFIG_MODULES_MC_POS_CONTROL=y
 mc_rate_control,CONFIG_MODULES_MC_RATE_CONTROL=y
 micrortps_bridge,CONFIG_MODULES_MICRORTPS_BRIDGE=y
+microdds_client,CONFIG_MODULES_MICRODDS_CLIENT=y
 navigator,CONFIG_MODULES_NAVIGATOR=y
 px4iofirmware,CONFIG_MODULES_PX4IOFIRMWARE=y
 rc_update,CONFIG_MODULES_RC_UPDATE=y
@@ -200,13 +200,12 @@ if [[ $INSTALL_SIM == "true" ]]; then

 	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
 		java_version=11
-		gazebo_version=9
 	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 		java_version=13
-		gazebo_version=11
+	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+		java_version=11
 	else
 		java_version=14
-		gazebo_version=11
 	fi
 	# Java (jmavsim or fastrtps)
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -220,20 +219,30 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")

 	# Gazebo
+	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+		gazebo_version=9
+		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
+	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+		gazebo_packages="gazebo libgazebo-dev"
+	else
+		# default and Ubuntu 20.04
+		gazebo_version=11
+		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
+	fi
+
 	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
 	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 	# Update list, since new gazebo-stable.list has been added
 	sudo apt-get update -y --quiet
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		dmidecode \
-		gazebo$gazebo_version \
+		$gazebo_packages \
 		gstreamer1.0-plugins-bad \
 		gstreamer1.0-plugins-base \
 		gstreamer1.0-plugins-good \
 		gstreamer1.0-plugins-ugly \
 		gstreamer1.0-libav \
 		libeigen3-dev \
-		libgazebo$gazebo_version-dev \
 		libgstreamer-plugins-base1.0-dev \
 		libimage-exiftool-perl \
 		libopencv-dev \
@@ -0,0 +1,6 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT=""
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_DRIVERS_BOOTLOADERS=y
+CONFIG_NSH_BUILTIN_APPS=y
@@ -0,0 +1,37 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m4"
+CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+#CONFIG_BOARD_NO_HELP=y
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
+CONFIG_BOARD_EXTERNAL_METADATA=y
+CONFIG_COMMON_BAROMETERS=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_COMMON_HYGROMETERS=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_BOOTLOADERS=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_IRLOCK=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+#CONFIG_MODULES_SENSORS=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_PWM=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -0,0 +1,13 @@
+{
+    "board_id": 83,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the ARK CANnode board",
+    "image": "",
+    "build_time": 0,
+    "summary": "ARKCANNODE",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 2080768,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+pwm_out start
+
+control_allocator start
@@ -0,0 +1,118 @@
+#!/bin/sh
+#
+# board sensors init
+#------------------------------------------------------------------------------
+icm42688p -R 0 -s start
+
+if param compare -s SENS_EN_BATT 1
+then
+	batt_smbus start -X
+fi
+
+# Lidar-Lite on I2C
+if param compare -s SENS_EN_LL40LS 2
+then
+	ll40ls start -X
+fi
+
+# mappydot lidar sensor
+if param compare -s SENS_EN_MPDT 1
+then
+	mappydot start -X
+fi
+
+# mb12xx sonar sensor
+if param greater -s SENS_EN_MB12XX 0
+then
+	mb12xx start -X
+fi
+
+# Lightware i2c lidar sensor
+if param greater -s SENS_EN_SF1XX 0
+then
+	lightware_laser_i2c start -X
+fi
+
+# vl53l1x i2c distance sensor
+if param compare -s SENS_EN_VL53L1X 1
+then
+	vl53l1x start -X
+fi
+
+# ADIS16448 spi external IMU
+if param compare -s SENS_EN_ADIS164X 1
+then
+	if param compare -s SENS_OR_ADIS164X 0
+	then
+		adis16448 -S start
+	fi
+	if param compare -s SENS_OR_ADIS164X 4
+	then
+		adis16448 -S start -R 4
+	fi
+fi
+
+# Eagle Tree airspeed sensor external I2C
+if param compare -s SENS_EN_ETSASPD 1
+then
+	ets_airspeed start -X
+fi
+
+# Sensirion SDP3X differential pressure sensor external I2C
+if param compare -s SENS_EN_SDP3X 1
+then
+	if ! sdp3x start -X
+	then
+		# try another common address
+		sdp3x start -X -a 0x22
+	fi
+fi
+
+# SHT3x temperature and hygrometer sensor, external I2C
+if param compare -s SENS_EN_SHT3X 1
+then
+	sht3x start -X
+	sht3x start -X -a 0x45
+fi
+
+# TE MS4525DO differential pressure sensor external I2C
+if param compare -s SENS_EN_MS4525DO 1
+then
+	ms4525do start -X
+fi
+
+# TE MS5525DSO differential pressure sensor external I2C
+if param compare -s SENS_EN_MS5525DS 1
+then
+	ms5525dso start -X
+fi
+
+# IR-LOCK sensor external I2C
+if param compare -s SENS_EN_IRLOCK 1
+then
+	irlock start -X
+fi
+
+# SPL06 sensor external I2C
+if param compare -s SENS_EN_SPL06 1
+then
+	spl06 -X start
+	spl06 -X -a 0x77 start
+fi
+
+gps start -d /dev/ttyS0 -p ubx
+
+# probe for optional external I2C devices
+icm20948_i2c_passthrough -X -q start
+
+# compasses
+hmc5883 -T -X -q start
+ist8308 -X -q start
+ist8310 -X -q start
+lis2mdl -X -q start
+lis3mdl -X -q start
+qmc5883l -X -q start
+rm3100 -X -q start
+
+# start last (wait for possible icm20948 passthrough mode)
+ak09916 -X -q start
@@ -0,0 +1,61 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/cannode/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=4096
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BINFMT_DISABLE=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_C99_BOOL8=y
+CONFIG_CLOCK_MONOTONIC=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_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=4096
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LIB_BOARDCTL=y
+CONFIG_FS_PROCFS_MAX_TASKS=0
+CONFIG_MM_REGIONS=2
+CONFIG_NAME_MAX=0
+CONFIG_NUNGET_CHARS=0
+CONFIG_PREALLOC_TIMERS=0
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=262144
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_DISABLE_BUFFERING=y
+CONFIG_STM32_FLASH_CONFIG_G=y
+CONFIG_STM32_NOEXT_VECTORS=y
+CONFIG_TASK_NAME_SIZE=0
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=4096
@@ -0,0 +1,149 @@
+/************************************************************************************
+ * configs/px4fmu/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2009 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+#include "board_dma_map.h"
+
+#ifndef __ARCH_BOARD_BOARD_H
+#define __ARCH_BOARD_BOARD_H
+
+#include <nuttx/config.h>
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include <stm32.h>
+
+/* HSI - 8 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - 8  MHz Crystal
+ * LSE - not installed
+ */
+#define STM32_BOARD_USEHSE      1
+#define STM32_BOARD_XTAL        8000000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+
+/* Main PLL Configuration */
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(384)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_4
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(8)
+#define STM32_PLLCFG_PLLR       RCC_PLLCFG_PLLR(2)
+
+#define STM32_RCC_PLLI2SCFGR_PLLI2SM RCC_PLLI2SCFGR_PLLI2SM(16)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SN RCC_PLLI2SCFGR_PLLI2SN(192)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SQ RCC_PLLI2SCFGR_PLLI2SQ(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SR RCC_PLLI2SCFGR_PLLI2SR(2)
+#define STM32_RCC_PLLI2SCFGR_PLLI2SSRC RCC_PLLI2SCFGR_PLLI2SSRC(0) /* HSE or HSI depending on PLLSRC of PLLCFGR*/
+
+#define STM32_RCC_DCKCFGR2_CK48MSEL RCC_DCKCFGR2_CK48MSEL_PLL
+#define STM32_RCC_DCKCFGR2_FMPI2C1SEL RCC_DCKCFGR2_FMPI2C1SEL_APB
+#define STM32_RCC_DCKCFGR2_SDIOSEL RCC_DCKCFGR2_SDIOSEL_48MHZ
+
+#define STM32_SYSCLK_FREQUENCY  96000000ul
+
+/* AHB clock (HCLK) is SYSCLK (96MHz) */
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK      /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY      /* Same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (48MHz) */
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd2     /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB1 will be twice PCLK1 (see page 112 of reference manual) */
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* APB2 clock (PCLK2) is HCLK (96MHz) */
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLK       /* PCLK2 = HCLK */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY)
+
+/* Timers driven from APB2 will be PCLK2 since no prescale division */
+#define STM32_APB2_TIM1_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx otherwise frequency is 2xAPBx. */
+#define BOARD_TIM2_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM3_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM4_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM5_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM6_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM7_FREQUENCY    (2 * STM32_PCLK1_FREQUENCY)
+#define BOARD_TIM8_FREQUENCY    (2 * STM32_PCLK2_FREQUENCY)
+
+/* Alternate function pin selections ************************************************/
+
+/* UARTs */
+#define GPIO_USART1_RX	GPIO_USART1_RX_2
+#define GPIO_USART1_TX	GPIO_USART1_TX_3
+
+#define GPIO_USART2_RX	GPIO_USART2_RX_1
+#define GPIO_USART2_TX	GPIO_USART2_TX_1
+
+/* CAN */
+#define GPIO_CAN1_RX	GPIO_CAN1_RX_1
+#define GPIO_CAN1_TX	GPIO_CAN1_TX_1
+
+/* SPI */
+#define GPIO_SPI1_MISO  GPIO_SPI1_MISO_1
+#define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
+#define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1
+
+#define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1 /* PB14 */
+#define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1 /* PB15 */
+#define GPIO_SPI2_SCK   GPIO_SPI2_SCK_2  /* PB13 */
+
+/* I2C */
+#define GPIO_MCU_I2C1_SCL
+#define GPIO_MCU_I2C1_SDA
+
+#define GPIO_I2C1_SCL	GPIO_I2C1_SCL_1
+#define GPIO_I2C1_SDA	GPIO_I2C1_SDA_2
+
+#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
+#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
+
+#endif /* __ARCH_BOARD_BOARD_H */
@@ -0,0 +1,44 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// DMA1 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMACHAN_SPI2_RX    DMAMAP_SPI2_RX   // DMA1, Stream 3, Channel 0
+#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX   // DMA1, Stream 4, Channel 0
+
+//  DMA2 Channel/Stream Selections
+//--------------------------------------------//---------------------------//----------------
+#define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
+#define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_2   // DMA2, Stream 5, Channel 3
@@ -0,0 +1,161 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_OS_API is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_TIME 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"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F412CE=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=2
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_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=254
+CONFIG_SCHED_HPWORKSTACKSIZE=3000
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLASH_CONFIG_G=y
+CONFIG_STM32_FLASH_PREFETCH=y
+CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_RTC=y
+CONFIG_STM32_RTC_HSECLOCK=y
+CONFIG_STM32_RTC_MAGIC=0xfacefeee
+CONFIG_STM32_RTC_MAGIC_REG=1
+CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
+CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_SPI1_DMA=y
+CONFIG_STM32_SPI1_DMA_BUFFER=2048
+CONFIG_STM32_SPI2=y
+CONFIG_STM32_SPI2_DMA=y
+CONFIG_STM32_SPI2_DMA_BUFFER=2048
+CONFIG_STM32_SPI_DMA=y
+CONFIG_STM32_USART1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART_BREAKS=y
+CONFIG_STM32_WWDG=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=1100
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_SERIAL_CONSOLE=y
+CONFIG_USART2_TXBUFSIZE=1100
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2624
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -0,0 +1,134 @@
+/****************************************************************************
+ * nuttx-config/scripts/canbootloader_script.ld
+ *
+ *   Copyright (C) 2015 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F412 has 512Kb of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08000000, LENGTH = 32K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,146 @@
+/****************************************************************************
+ * scripts/ld.script
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F412CG has 1Mb of FLASH beginning at address 0x0800:0000 and
+ * 256Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of SRAM beginning at address 0x2002:0000
+ * 4)  64Kb of TCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x10000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08010000, LENGTH = 928K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 192K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+EXTERN(_bootdelay_signature)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(8);
+		/*
+		* This section positions the app_descriptor_t used
+		* by the make_can_boot_descriptor.py tool to set
+		* the application image's descriptor so that the
+		* uavcan bootloader has the ability to validate the
+		* image crc, size etc
+		*/
+		KEEP(*(.app_descriptor))
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,68 @@
+############################################################################
+#
+#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
+
+	add_library(drivers_board
+		boot_config.h
+		boot.c
+		led.c
+		led.h
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch
+			nuttx_drivers
+			canbootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)
+
+else()
+	add_library(drivers_board
+		can.c
+		i2c.cpp
+		init.c
+		led.c
+		spi.cpp
+		timer_config.cpp
+	)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_spi
+			drivers__led # drv_led_start
+			nuttx_arch
+			nuttx_drivers
+			px4_layer
+	)
+endif()
@@ -0,0 +1,114 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * board internal definitions
+ */
+
+#pragma once
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/* CAN  Silent mode control */
+#define GPIO_CAN1_SILENT_S0   /* PC14  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN14)
+
+/* CAN termination software control */
+#define GPIO_CAN1_TERMINATION /* PC15 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN15)
+#define GPIO_CAN_TERM                    GPIO_CAN1_TERMINATION
+
+/* Boot config */
+#define GPIO_BOOT_CONFIG      /* PH1 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTH|GPIO_PIN1|GPIO_EXTI)
+
+/* ICM42688p FSYNC */
+#define GPIO_42688P_FSYNC     /* PB8  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN8)
+
+/* LEDs are driven with open drain to support Anode to 5V or 3.3V */
+#define GPIO_TIM1_CH1         /* PA8  */  (GPIO_TIM1_CH1_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH2         /* PA9  */  (GPIO_TIM1_CH2_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+#define GPIO_TIM1_CH3         /* PA10 */  (GPIO_TIM1_CH3_1|GPIO_OPENDRAIN|GPIO_SPEED_2MHz)
+
+/* PWM Outputs */
+#define DIRECT_PWM_OUTPUT_CHANNELS  6 // Actually 8
+
+#define GPIO_TIM2_CH1_RESET   /* PA0  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)
+#define GPIO_TIM2_CH2_RESET   /* PA1  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_TIM2_CH3_RESET   /* PB10 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
+#define GPIO_TIM3_CH1_RESET   /* PB4  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN4)
+#define GPIO_TIM3_CH2_RESET   /* PB5  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_TIM3_CH3_RESET   /* PB0  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
+#define GPIO_TIM3_CH4_RESET   /* PB1  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
+#define GPIO_TIM4_CH4_RESET   /* PB7  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN7)
+
+#define GPIO_I2C1_SCL_RESET   /* PB6  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN6)
+#define GPIO_I2C1_SDA_RESET   /* PB9  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN9)
+
+#define GPIO_USART1_RX_GPIO   /* PB3  */  (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTB|GPIO_PIN3)
+#define GPIO_USART1_TX_GPIO   /* PA15  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN15)
+
+#define GPIO_USART2_RX_GPIO   /* PA3  */  (GPIO_INPUT|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN3)
+#define GPIO_USART2_TX_GPIO   /* PA2  */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_PULLUP|GPIO_SPEED_50MHz|GPIO_PORTA|GPIO_PIN2)
+
+#define FLASH_BASED_PARAMS
+
+/* High-resolution timer */
+#define HRT_TIMER                    8  /* use timer 8 for the HRT */
+#define HRT_TIMER_CHANNEL            1  /* use capture/compare channel 1 */
+
+#define PX4_GPIO_INIT_LIST { \
+		GPIO_CAN1_SILENT_S0,              \
+		GPIO_CAN1_TERMINATION,            \
+		GPIO_42688P_FSYNC,                \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+		GPIO_I2C1_SCL_RESET,              \
+		GPIO_I2C1_SDA_RESET,              \
+	}
+
+__BEGIN_DECLS
+
+#define BOARD_HAS_N_S_RGB_LED       1
+#define BOARD_MAX_LEDS              BOARD_HAS_N_S_RGB_LED
+
+#ifndef __ASSEMBLY__
+
+extern void stm32_spiinitialize(void);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,188 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
+ *       Author: Ben Dyer <ben_dyer@mac.com>
+ *               Pavel Kirienko <pavel.kirienko@zubax.com>
+ *               David Sidrane <david_s5@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_config.h>
+#include <stdint.h>
+#include "boot_config.h"
+#include "board.h"
+
+#include <debug.h>
+#include <string.h>
+#include <arch/board/board.h>
+
+#include <nuttx/board.h>
+#include "led.h"
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
+	stm32_configgpio(GPIO_CAN1_RX);
+	stm32_configgpio(GPIO_CAN1_TX);
+	stm32_configgpio(GPIO_CAN1_SILENT_S0);
+	stm32_configgpio(GPIO_CAN1_TERMINATION);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+
+#if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
+	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
+#endif
+
+}
+
+/************************************************************************************
+ * Name: board_deinitialize
+ *
+ * Description:
+ *   This function is called by the bootloader code prior to booting
+ *   the application. Is should place the HW into an benign initialized state.
+ *
+ ************************************************************************************/
+
+void board_deinitialize(void)
+{
+	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
+}
+
+/****************************************************************************
+ * Name: board_get_product_name
+ *
+ * Description:
+ *   Called to retrieve the product name. The returned value is a assumed
+ *   to be written to a pascal style string that will be length prefixed
+ *   and not null terminated
+ *
+ * Input Parameters:
+ *    product_name - A pointer to a buffer to write the name.
+ *    maxlen       - The maximum number of charter that can be written
+ *
+ * Returned Value:
+ *   The length of characters written to the buffer.
+ *
+ ****************************************************************************/
+
+uint8_t board_get_product_name(uint8_t *product_name, size_t maxlen)
+{
+	DEBUGASSERT(maxlen > UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	memcpy(product_name, HW_UAVCAN_NAME, UAVCAN_STRLEN(HW_UAVCAN_NAME));
+	return UAVCAN_STRLEN(HW_UAVCAN_NAME);
+}
+
+/****************************************************************************
+ * Name: board_get_hardware_version
+ *
+ * Description:
+ *   Called to retrieve the hardware version information. The function
+ *   will first initialize the the callers struct to all zeros.
+ *
+ * Input Parameters:
+ *    hw_version - A pointer to a uavcan_hardwareversion_t.
+ *
+ * Returned Value:
+ *   Length of the unique_id
+ *
+ ****************************************************************************/
+
+size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
+{
+	memset(hw_version, 0, sizeof(uavcan_HardwareVersion_t));
+
+	hw_version->major = HW_VERSION_MAJOR;
+	hw_version->minor = HW_VERSION_MINOR;
+
+	return board_get_mfguid(*(mfguid_t *) hw_version->unique_id);
+}
+
+/****************************************************************************
+ * Name: board_indicate
+ *
+ * Description:
+ *   Provides User feedback to indicate the state of the bootloader
+ *   on board specific  hardware.
+ *
+ * Input Parameters:
+ *    indication - A member of the uiindication_t
+ *
+ * Returned Value:
+ *   None
+ *
+ ****************************************************************************/
+#define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
+
+typedef begin_packed_struct struct led_t {
+	uint8_t red;
+	uint8_t green;
+	uint8_t blue;
+	uint8_t hz;
+} end_packed_struct led_t;
+
+static const  led_t i2l[] = {
+
+	led(0, off,                             0,     0,     0,     0),
+	led(1, reset,                          128,   128,   128,   30),
+	led(2, autobaud_start,                  0,   128,     0,     1),
+	led(3, autobaud_end,                    0,   128,     0,     2),
+	led(4, allocation_start,                0,     0,    64,     2),
+	led(5, allocation_end,                  0,   128,    64,     3),
+	led(6, fw_update_start,                32,   128,    64,     3),
+	led(7, fw_update_erase_fail,           32,   128,    32,     3),
+	led(8, fw_update_invalid_response,     64,     0,     0,     1),
+	led(9, fw_update_timeout,              64,     0,     0,     2),
+	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
+	led(b, jump_to_app,                     0,   128,     0,    10),
+
+};
+
+void board_indicate(uiindication_t indication)
+{
+	rgb_led(i2l[indication].red,
+		i2l[indication].green,
+		i2l[indication].blue,
+		i2l[indication].hz);
+}
--- a/Show More
+++ b/Show More