fixup! Update submodule nuttx

uavcan_v1: Add Publishers dir to includes
uavcan_v1: SocketCAN set 'can_fd' based on CONFIG
2026-05-24 14:27:34 +08:00 · 2022-03-18 10:56:44 -07:00 · 2022-03-18 09:03:48 -07:00 · 2022-03-18 09:03:06 -07:00 · 2022-03-18 09:02:00 -07:00 · 2022-03-17 17:01:54 -07:00
202 changed files with 2468 additions and 4994 deletions
@@ -24,8 +24,8 @@
 	branch = master
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
-	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.1.0+
+	url = https://github.com/JacobCrabill/incubator-nuttx.git
+	branch = dev-h7-socketcan
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
@@ -412,7 +412,6 @@ endif()
 # subdirectories
 #
 add_library(parameters_interface INTERFACE)
-add_library(kernel_parameters_interface INTERFACE)

 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)
@@ -435,13 +434,7 @@ add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)

 # must be the last module before firmware
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
-
-if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
-target_link_libraries(parameters_interface INTERFACE usr_parameters)
-target_link_libraries(kernel_parameters_interface INTERFACE parameters)
-else()
 target_link_libraries(parameters_interface INTERFACE parameters)
-endif()

 # firmware added last to generate the builtin for included modules
 add_subdirectory(platforms/${PX4_PLATFORM})
@@ -8,5 +8,8 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom
@@ -8,5 +8,8 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER_FILE etc/mixers-sitl/uuv_x_sitl.main.mix
 set MIXER custom
@@ -67,3 +67,4 @@ param set-default PWM_MAIN_FUNC7 107
 param set-default PWM_MAIN_FUNC8 108

 set MIXER skip
+
@@ -80,5 +80,7 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_B_TRANS_DUR 8
 param set-default VT_TYPE 2

+set MAV_TYPE 22
+
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom
@@ -7,8 +7,6 @@

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

-param set-default MAV_TYPE 20
-
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 4

@@ -80,5 +78,7 @@ param set-default VT_TYPE 0

 param set-default WV_EN 0

+set MAV_TYPE 20
+
 set MIXER_FILE etc/mixers-sitl/quad_x_vtol.main.mix
 set MIXER custom
@@ -7,8 +7,6 @@

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

-param set-default MAV_TYPE 21
-
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3

@@ -90,5 +88,7 @@ param set-default VT_MOT_ID 1234
 param set-default VT_TILT_TRANS 0.6
 param set-default VT_TYPE 1

+set MAV_TYPE 21
+
 set MIXER_FILE etc/mixers-sitl/tiltrotor_sitl.main.mix
 set MIXER custom
@@ -51,5 +51,7 @@ param set-default RC_MAP_AUX1 8
 param set-default RC_MAP_AUX2 9
 param set-default RC_MAP_AUX3 10

+set MAV_TYPE 22
+
 set MIXER_FILE etc/mixers-sitl/standard_vtol_sitl.main.mix
 set MIXER custom
@@ -37,4 +37,6 @@ param set-default PWM_MAIN_FUNC2 201
 param set-default PWM_MAIN_FUNC6 101
 param set-default PWM_MAIN_FUNC7 101

+set MAV_TYPE 10
+
 set MIXER_FILE skip
@@ -37,4 +37,6 @@ param set-default PWM_MAIN_FUNC2 101
 param set-default PWM_MAIN_FUNC6 102
 param set-default PWM_MAIN_FUNC7 102

+set MAV_TYPE 10
+
 set MIXER_FILE skip
@@ -10,8 +10,6 @@

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

-param set-default MAV_TYPE 10
-
 param set-default GND_L1_DIST 5
 param set-default GND_SP_CTRL_MODE 1
 param set-default GND_SPEED_D 3
@@ -35,4 +33,6 @@ param set-default CBRK_AIRSPD_CHK 162128
 param set-default GND_MAX_ANG 0.6
 param set-default GND_WHEEL_BASE 3.0

+set MAV_TYPE 10
+
 set MIXER_FILE etc/mixers-sitl/rover_ackermann_sitl.main.mix
@@ -47,4 +47,6 @@ param set-default CA_R_REV 3
 param set-default PWM_MAIN_FUNC1 101
 param set-default PWM_MAIN_FUNC2 102

+set MAV_TYPE 11
+
 set MIXER skip
@@ -9,8 +9,6 @@

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

-param set-default MAV_TYPE 13
-
 param set-default MC_PITCHRATE_P 0.1
 param set-default MC_PITCHRATE_I 0.05
 param set-default MC_PITCH_P 6.0
@@ -26,4 +24,6 @@ param set-default TRIG_MODE 4
 param set-default MNT_MODE_IN 4
 param set-default MNT_DO_STAB 2

+set MAV_TYPE 13
+
 set MIXER hexa_x
@@ -7,8 +7,6 @@

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

-param set-default MAV_TYPE 13
-
 param set-default MC_PITCHRATE_P 0.0800
 param set-default MC_PITCHRATE_I 0.0400
 param set-default MC_PITCHRATE_D 0.0010
@@ -28,4 +26,6 @@ param set-default MNT_MODE_IN 4
 param set-default MNT_MODE_OUT 2
 param set-default MAV_PROTO_VER 2

+set MAV_TYPE 13
+
 set MIXER hexa_x
@@ -7,8 +7,6 @@

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

-param set-default MAV_TYPE 13
-
 param set-default SYS_CTRL_ALLOC 1

 param set-default MC_PITCHRATE_P 0.0800
@@ -60,5 +58,7 @@ param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 105
 param set-default PWM_MAIN_FUNC6 106

+set MAV_TYPE 13
+
 set MIXER skip
 set MIXER_AUX none
@@ -24,6 +24,7 @@ fi

 # initialize script variables
 set IO_PRESENT                  no
+set MAV_TYPE                    none
 set MIXER                       none
 set MIXER_AUX                   none
 set MIXER_FILE                  none
@@ -36,5 +36,4 @@ 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
@@ -104,7 +104,7 @@ param set-default CBRK_SUPPLY_CHK 894281
 param set-default COM_PREARM_MODE 0
 param set-default CBRK_IO_SAFETY 22027

-param set-default MAV_TYPE 22
+set MAV_TYPE 22

 set MIXER standard_vtol_hitl

@@ -47,7 +47,7 @@ param set-default HIL_ACT_FUNC6 201
 param set-default HIL_ACT_REV 32

 param set-default MAV_TYPE 19
-
+set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo_sat

 set PWM_OUT 1234
@@ -54,8 +54,7 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
-
-param set-default MAV_TYPE 22
+set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -19,6 +19,7 @@

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

+
 param set-default MAV_TYPE 19

 param set-default MC_ROLL_P 6
@@ -37,6 +38,7 @@ param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_ID 12
 param set-default VT_TYPE 0
+set MAV_TYPE 19

 set MIXER vtol_tailsitter_duo

@@ -23,7 +23,6 @@

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

-param set-default MAV_TYPE 21

 param set-default MC_ROLL_P 7
 param set-default MC_ROLLRATE_P 0.19
@@ -46,6 +45,7 @@ param set-default VT_TILT_TRANS 0.5
 param set-default VT_TILT_FW 0.9
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
+set MAV_TYPE 21

 set MIXER firefly6
 set MIXER_AUX firefly6
@@ -13,8 +13,6 @@

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

-param set-default MAV_TYPE 20
-
 param set-default CA_AIRFRAME 4
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.15
@@ -40,6 +38,7 @@ param set-default PWM_MAIN_MAX 2000
 param set-default VT_MOT_ID 1234
 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0
+set MAV_TYPE 20

 set MIXER quad_x_vtol

@@ -22,13 +22,13 @@

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

-param set-default MAV_TYPE 20
-
 param set-default PWM_MAIN_MAX 2000

 param set-default VT_IDLE_PWM_MC  1080
 param set-default VT_TYPE 0

+set MAV_TYPE 20
+
 set MIXER quad_+_vtol

 set PWM_OUT 1234
@@ -52,6 +52,7 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
+set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -41,6 +41,7 @@ param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_F_TRANS_THR 0.75
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
+set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_delta
@@ -33,6 +33,7 @@ param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_TYPE 2
+set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAVVT
@@ -46,6 +46,7 @@ param set-default VT_IDLE_PWM_MC 1080
 param set-default VT_MOT_ID 1234
 param set-default VT_FW_MOT_OFFID 1234
 param set-default VT_TYPE 2
+set MAV_TYPE 22

 set MIXER quad_x
 set MIXER_AUX vtol_AAERT
@@ -77,6 +77,8 @@ param set-default VT_TRANS_MIN_TM 5
 param set-default VT_TRANS_TIMEOUT    30
 param set-default VT_TYPE 2

+set MAV_TYPE 22
+
 set MIXER quad_x
 set MIXER_AUX vtol_AAERT

@@ -13,8 +13,6 @@

 . ${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
@@ -30,6 +28,7 @@ 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 MAV_TYPE 21

 set MIXER claire
 set MIXER_AUX claire
@@ -22,8 +22,6 @@

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

-param set-defualt MAV_TYPE 21
-
 param set-default CBRK_AIRSPD_CHK 162128

 param set-default FW_ARSP_MODE 1
@@ -66,6 +64,7 @@ param set-default VT_TRANS_MIN_TM 1.2
 param set-default VT_TRANS_P2_DUR 1.3
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 1
+set MAV_TYPE 21

 set MIXER vtol_convergence

@@ -22,8 +22,6 @@

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

-param set-default MAV_TYPE 22
-
 param set-default BAT1_CAPACITY 23000
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025
@@ -136,6 +134,7 @@ param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4

 param set-default COM_RC_OVERRIDE 0
+set MAV_TYPE 22

 set MIXER deltaquad
 set MIXER_AUX pass
@@ -23,8 +23,6 @@

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

-param set-default MAV_TYPE 22
-
 param set-default BAT1_N_CELLS 6

 param set-default FW_AIRSPD_MAX 30
@@ -96,6 +94,8 @@ param set-default VT_PSHER_RMP_DT 2
 param set-default VT_TRANS_MIN_TM 4
 param set-default VT_TYPE 2

+set MAV_TYPE 22
+
 set MIXER babyshark
 set MIXER_AUX pass

@@ -27,8 +27,6 @@

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

-param set-default MAV_TYPE 21
-
 param set-default VT_IDLE_PWM_MC 1100
 param set-default VT_TYPE 1
 param set-default VT_MOT_ID 1234
@@ -59,6 +57,8 @@ param set-default CA_SV_CS3_TRQ_Y 1.0
 param set-default CA_SV_CS3_TYPE 4
 param set-default CA_SV_TL_COUNT 4

+set MAV_TYPE 21
+
 set MIXER quad_x
 set MIXER_AUX vtol_TTTTAAER

@@ -31,6 +31,7 @@ param set-default PWM_AUX_DIS5 950
 param set-default VT_TYPE 2
 param set-default VT_MOT_ID 12345678
 param set-default VT_FW_MOT_OFFID 12345678
+set MAV_TYPE 22

 set MIXER octo_cox
 set MIXER_AUX vtol_AAERT
@@ -19,8 +19,6 @@

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

-param set-default MAV_TYPE 19
-
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
@@ -39,6 +37,8 @@ param set-default CA_SV_CS1_TRQ_P 0.5
 param set-default CA_SV_CS1_TRQ_Y -0.5
 param set-default CA_SV_CS1_TYPE 6

+param set-default MAV_TYPE 19
+set MAV_TYPE 19
 set MIXER vtol_tailsitter_duo

 set PWM_OUT 1234
@@ -18,7 +18,4 @@

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

-# MAV_TYPE_TRICOPTER 15
-param set-default MAV_TYPE 15
-
 set MIXER tri_y_yaw+
@@ -18,7 +18,4 @@

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

-# MAV_TYPE_TRICOPTER 15
-param set-default MAV_TYPE 15
-
 set MIXER tri_y_yaw-
@@ -17,9 +17,7 @@
 #

 . ${R}etc/init.d/rc.mc_defaults
-
-# MAV_TYPE_COAXIAL 3
-param set-default MAV_TYPE 3
+set MIXER coax

 param set-default MC_ROLLRATE_P 0.17
 param set-default MC_ROLLRATE_I 0.05
@@ -38,9 +36,6 @@ param set-default PWM_MAIN_RATE 400

 param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10
-
-set MIXER coax
-
 # This is the gimbal pass mixer
 set MIXER_AUX pass

@@ -20,7 +20,7 @@
 . ${R}etc/init.d/rc.mc_defaults

 # Configure as helicopter (number 4 defined in commander_helper.cpp)
-param set-default MAV_TYPE 4
+set MAV_TYPE 4

 set MIXER blade130

@@ -41,6 +41,5 @@ param set-default FW_R_LIM 40
 param set-default FW_P_LIM_MAX 25
 param set-default FW_P_LIM_MIN -5
 param set-default FW_P_RMAX_NEG 20
-
 set MIXER TF-G2
 set MIXER_AUX pass
@@ -24,5 +24,8 @@ param set-default MAV_0_CONFIG 102
 param set-default GPS_UBX_DYNMODEL 8
 param set-default SER_TEL2_BAUD 9600

+set MAV_TYPE 8
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER IO_pass
 set MIXER_AUX pass
@@ -26,7 +26,7 @@
 # @board px4_fmu-v2 exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+set VEHICLE_TYPE mc

 param set-default NAV_ACC_RAD 2

@@ -39,7 +39,6 @@ param set-default PWM_MAIN_RATE 400

 param set-default RTL_DESCEND_ALT 10
 param set-default RTL_RETURN_ALT 30
-
 set MIXER dodeca_top_cox
 set MIXER_AUX dodeca_bottom_cox

@@ -41,6 +41,9 @@ param set-default FW_RR_P 0.04

 param set-default PWM_MAIN_DISARM 1000

+# Configure this as plane.
+set MAV_TYPE 1
+
 # Set mixer.
 set MIXER fw_generic_wing

@@ -24,6 +24,8 @@

 set MIXER quad_s250aq

+set MAV_TYPE 2
+
 param set-default ATT_BIAS_MAX 0

 param set-default CBRK_IO_SAFETY 22027
@@ -21,7 +21,10 @@
 # @board cuav_x7pro exclude
 #

-. ${R}etc/init.d/rc.mc_defaults
+set VEHICLE_TYPE mc
+set MIXER quad_x
+set PWM_OUT 1234
+

 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
@@ -21,7 +21,10 @@
 # @maintainer Hyon Lim <lim@uvify.com>
 #

-. ${R}etc/init.d/rc.mc_defaults
+set VEHICLE_TYPE mc
+set MIXER quad_x
+set PWM_OUT 1234
+

 # Attitude & rate gains
 param set-default MC_ROLLRATE_D 0.0013
@@ -24,6 +24,10 @@

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

+
+# Configure this as Quadrotor
+# set MAV_TYPE 14
+
 # Set mixer
 set MIXER tilt_quad
 set MIXER_AUX tilt_quad
@@ -48,6 +48,8 @@ param set-default NAV_ACC_RAD 0.5
 param set-default PWM_MAIN_DISARM 1500
 param set-default PWM_MAIN_MAX 2000
 param set-default PWM_MAIN_MIN 1000
+# Configure this as rover
+set MAV_TYPE 10

 # Set mixer
 set MIXER rover_generic
@@ -76,6 +76,9 @@ param set-default RBCLW_SER_CFG 104
 # Start this driver after setting parameters, because the driver uses some of those parameters.
 # roboclaw start /dev/ttyS3

+# Configure this as rover
+set MAV_TYPE 10
+
 # Set mixer
 set MIXER generic_diff_rover

@@ -65,6 +65,9 @@ param set-default PWM_MAIN_MIN4 970
 # Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+# Configure this as rover
+set MAV_TYPE 10
+
 # Set mixer
 set MIXER rover_diff_and_servo

@@ -16,4 +16,7 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER uuv_x
@@ -16,4 +16,7 @@
 # disable circuit breaker for airspeed sensor
 param set-default CBRK_AIRSPD_CHK 162128

+set MAV_TYPE 12
+param set MAV_TYPE ${MAV_TYPE}
+
 set MIXER uuv_x
@@ -23,9 +23,6 @@

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

-# MAV_TYPE_HEXAROTOR 13
-param set-default MAV_TYPE 13
-
 param set-default CA_ROTOR_COUNT 6
 param set-default CA_ROTOR0_PX 0.0
 param set-default CA_ROTOR0_PY 0.5
@@ -27,8 +27,9 @@

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

-# MAV_TYPE_HEXAROTOR 13
-param set-default MAV_TYPE 13
+set MIXER hexa_x
+set PWM_OUT 12345678
+

 ###############################################
 # Attitude & rate gains
@@ -119,7 +120,3 @@ param set-default MAV_1_MODE 2
 param set-default MAV_1_FORWARD 1
 param set-default MAV_1_RATE 800000
 param set-default SER_TEL2_BAUD 921600
-
-
-set MIXER hexa_x
-set PWM_OUT 12345678
@@ -23,9 +23,6 @@

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

-# MAV_TYPE_HEXAROTOR 13
-param set-default MAV_TYPE 13
-
 param set-default CA_ROTOR_COUNT 6
 param set-default CA_ROTOR0_PX 0.5
 param set-default CA_ROTOR0_PY 0.0
@@ -25,9 +25,6 @@

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

-# MAV_TYPE_OCTOROTOR 14
-param set-default MAV_TYPE 14
-
 param set-default CA_ROTOR_COUNT 8
 param set-default CA_ROTOR0_KM -0.05
 param set-default CA_ROTOR0_PX 0.46
@@ -25,9 +25,6 @@

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

-# MAV_TYPE_OCTOROTOR 14
-param set-default MAV_TYPE 14
-
 set MIXER octo_+

 set PWM_OUT 12345678
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE airship

-# MAV_TYPE_AIRSHIP 7
-param set-default MAV_TYPE 7
-
 #
 # This is the gimbal pass mixer.
 #
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE fw

-# MAV_TYPE_FREE_BALLOON 8
-param set-default MAV_TYPE 8
-
 #
 # Default parameters for balloon UAVs.
 #
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE rover

-# MAV_TYPE_SURFACE_BOAT 11
-param set-default MAV_TYPE 11
-
 #
 # Default parameters for UGVs.
 #
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE fw

-# MAV_TYPE_FIXED_WING 1
-param set-default MAV_TYPE 1
-
 #
 # Default parameters for fixed wing UAVs.
 #
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE mc

-# MAV_TYPE_QUADROTOR 2
-param set-default MAV_TYPE 2
-
 if param compare IMU_GYRO_RATEMAX 400
 then
 	param set-default IMU_GYRO_RATEMAX 800
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE rover

-# MAV_TYPE_GROUND_ROVER 10
-param set-default MAV_TYPE 10
-
 #
 # Default parameters for UGVs.
 #
@@ -155,13 +155,6 @@ 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
-
 # PCF8583 counter (RPM sensor)
 if param compare -s SENS_EN_PCF8583 1
 then
@@ -7,9 +7,6 @@

 set VEHICLE_TYPE uuv

-# MAV_TYPE_SUBMARINE 12
-param set-default MAV_TYPE 12
-
 param set-default PWM_MAIN_MAX 1950
 param set-default PWM_MAIN_MIN 1050
 param set-default PWM_MAIN_DISARM 1500
@@ -12,9 +12,19 @@ if [ $VEHICLE_TYPE = fw ]
 then
 	if [ $MIXER = none ]
 	then
-		echo "FW mixer undefined"
+		# Set default mixer for fixed wing if not defined.
+		set MIXER AERT
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set a default MAV_TYPE = 1 if not defined.
+		set MAV_TYPE 1
+	fi
+
+	# Set the mav type parameter.
+	param set MAV_TYPE ${MAV_TYPE}
+
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -32,6 +42,41 @@ then
 		echo "MC mixer undefined"
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set a default MAV_TYPE = 2 if not defined.
+		set MAV_TYPE 2
+
+		# Use mixer to detect vehicle type
+		if [ $MIXER = coax ]
+		then
+			set MAV_TYPE 3
+		fi
+		if [ $MIXER = hexa_x -o $MIXER = hexa_+ ]
+		then
+			set MAV_TYPE 13
+		fi
+		if [ $MIXER = hexa_cox ]
+		then
+			set MAV_TYPE 13
+		fi
+		if [ $MIXER = octo_x -o $MIXER = octo_+ ]
+		then
+			set MAV_TYPE 14
+		fi
+		if [ $MIXER = octo_cox -o $MIXER = octo_cox_w ]
+		then
+			set MAV_TYPE 14
+		fi
+		if [ $MIXER = tri_y_yaw- -o $MIXER = tri_y_yaw+ ]
+		then
+			set MAV_TYPE 15
+		fi
+	fi
+
+	# Set the mav type parameter.
+	param set MAV_TYPE ${MAV_TYPE}
+
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -46,9 +91,19 @@ if [ $VEHICLE_TYPE = rover ]
 then
 	if [ $MIXER = none ]
 	then
-		echo "rover mixer undefined"
+		# Set default mixer for UGV if not defined.
+		set MIXER rover_generic
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set a default MAV_TYPE = 10 if not defined.
+		set MAV_TYPE 10
+	fi
+
+	# Set the mav type parameter.
+	param set MAV_TYPE ${MAV_TYPE}
+
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -66,6 +121,25 @@ then
 		echo "VTOL mixer undefined"
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set a default MAV_TYPE = 19 if not defined.
+		set MAV_TYPE 19
+
+		# Use mixer to detect vehicle type.
+		if [ $MIXER = firefly6 ]
+		then
+			set MAV_TYPE 21
+		fi
+		if [ $MIXER = quad_x_pusher_vtol ]
+		then
+			set MAV_TYPE 22
+		fi
+	fi
+
+	# Set the mav type parameter.
+	param set MAV_TYPE ${MAV_TYPE}
+
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -83,6 +157,15 @@ then
 		echo "Airship mixer undefined"
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set a default MAV_TYPE = 7 if not defined.
+		set MAV_TYPE 7
+	fi
+
+	# Set the mav type parameter.
+	param set MAV_TYPE ${MAV_TYPE}
+
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

@@ -100,11 +183,19 @@ then
 		echo "UUV mixer undefined"
 	fi

+	if [ $MAV_TYPE = none ]
+	then
+		# Set default MAV_TYPE to submarine if not defined
+		set MAV_TYPE 12
+	fi
+
+	param set MAV_TYPE ${MAV_TYPE}
 	# Load mixer and configure outputs.
 	. ${R}etc/init.d/rc.interface

 	# Start standard vtol apps.
 	. ${R}etc/init.d/rc.uuv_apps
+
 fi


@@ -7,9 +7,6 @@

 set VEHICLE_TYPE vtol

-# MAV_TYPE_VTOL_RESERVED2 22
-param set-default MAV_TYPE 22
-
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_YAW_TMT 10

@@ -29,6 +29,7 @@ set IOFW "/etc/extras/px4_io-v2_default.bin"
 set IO_PRESENT no
 set LOGGER_ARGS ""
 set LOGGER_BUF 8
+set MAV_TYPE none
 set MIXER none
 set MIXER_AUX none
 set MIXER_FILE none
@@ -572,6 +573,7 @@ unset IO_PRESENT
 unset IOFW
 unset LOGGER_ARGS
 unset LOGGER_BUF
+unset MAV_TYPE
 unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE
@@ -1,7 +1,5 @@
 Mixer for Tailsitter with x motor configuration and elevons
 ===========================================================
-# @board px4_fmu-v2 exclude
-# @board omnibus_f4sd exclude

 This file defines a single mixer for tailsitter with motors in X configuration.  All controls
 are mixed 100%.
@@ -0,0 +1,245 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NET_CAN_CANFD is not set
+# CONFIG_NET_ETHERNET is not set
+# CONFIG_NET_IPv4 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_REBOOT is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_SHUTDOWN is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cubepilot/cubeorange/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743ZI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=79954
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CANUTILS_CANDUMP=y
+CONFIG_CANUTILS_CANSEND=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x1016
+CONFIG_CDCACM_PRODUCTSTR="CubeOrange"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x2DAE
+CONFIG_CDCACM_VENDORSTR="CubePilot"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_EXAMPLES_CALIB_UDELAY=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
+CONFIG_MM_REGIONS=4
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NET=y
+CONFIG_NETDEV_CAN_BITRATE_IOCTL=y
+CONFIG_NETDEV_IFINDEX=y
+CONFIG_NETDEV_PHY_IOCTL=y
+CONFIG_NET_CAN=y
+CONFIG_NET_CAN_RAW_TX_DEADLINE=y
+CONFIG_NET_CAN_SOCK_OPTS=y
+CONFIG_NET_TIMESTAMP=y
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SDMMC1_SDIO_PULLUP=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
+CONFIG_STM32H7_BBSRAM=y
+CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_FDCAN1=y
+CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32H7_I2C1=y
+CONFIG_STM32H7_I2C2=y
+CONFIG_STM32H7_I2C_DYNTIMEO=y
+CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_RTC=y
+CONFIG_STM32H7_RTC_HSECLOCK=y
+CONFIG_STM32H7_RTC_MAGIC_REG=1
+CONFIG_STM32H7_SAVE_CRASHDUMP=y
+CONFIG_STM32H7_SDMMC1=y
+CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_SPI1=y
+CONFIG_STM32H7_SPI1_DMA=y
+CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI2=y
+CONFIG_STM32H7_SPI4=y
+CONFIG_STM32H7_SPI4_DMA=y
+CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI_DMA=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM3=y
+CONFIG_STM32H7_TIM4=y
+CONFIG_STM32H7_UART4=y
+CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_UART8=y
+CONFIG_STM32H7_USART2=y
+CONFIG_STM32H7_USART3=y
+CONFIG_STM32H7_USART6=y
+CONFIG_STM32H7_USART_BREAKS=y
+CONFIG_STM32H7_USART_INVERT=y
+CONFIG_STM32H7_USART_SINGLEWIRE=y
+CONFIG_STM32H7_USART_SWAP=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGTSTP=y
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_SERIAL_CONSOLE=y
+CONFIG_UART7_TXBUFSIZE=1500
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_IFLOWCONTROL=y
+CONFIG_USART3_OFLOWCONTROL=y
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_WATCHDOG=y
@@ -0,0 +1,22 @@
+CONFIG_DRIVERS_ADC_ADS1115=n
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
+CONFIG_DRIVERS_IRLOCK=n
+CONFIG_DRIVERS_PCA9685=n
+CONFIG_DRIVERS_PCA9685_PWM_OUT=n
+CONFIG_DRIVERS_RPM=n
+CONFIG_DRIVERS_UAVCAN=n
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
+CONFIG_MODULES_ROVER_POS_CONTROL=n
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
+CONFIG_DRIVERS_UAVCAN_V1=y
+CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
+CONFIG_UAVCAN_V1_ESC_CONTROLLER=y
+CONFIG_UAVCAN_V1_ESC_SUBSCRIBER=y
+CONFIG_UAVCAN_V1_GNSS_PUBLISHER=y
+CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_0=y
+CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_1=y
+CONFIG_UAVCAN_V1_READINESS_PUBLISHER=y
+CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER=y
+CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER=y
+CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y
@@ -7,11 +7,13 @@
 #
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_FS_PROCFS_EXCLUDE_ENVIRON is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
 # CONFIG_MMCSD_MMCSUPPORT is not set
 # CONFIG_MMCSD_SPI is not set
+# CONFIG_NET_CAN_CANFD is not set
+# CONFIG_NET_ETHERNET is not set
+# CONFIG_NET_IPv4 is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
 # CONFIG_NSH_DISABLE_DF is not set
@@ -25,12 +27,12 @@
 # CONFIG_NSH_DISABLE_TIME is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fmu-v5/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/mro/ctrl-zero-h7-oem/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32f7"
-CONFIG_ARCH_CHIP_STM32F765II=y
-CONFIG_ARCH_CHIP_STM32F7=y
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743II=y
+CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_BASEPRI_WAR=y
@@ -39,34 +41,32 @@ CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU=y
 CONFIG_ARM_MPU_EARLY_RESET=y
-CONFIG_ARM_MPU_NREGIONS=8
-CONFIG_BOARDCTL_IOCTL=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=22114
+CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILD_PROTECTED=y
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x0032
-CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v5.x"
+CONFIG_CDCACM_PRODUCTID=0x1024
+CONFIG_CDCACM_PRODUCTSTR="mRoControlZeroH7 OEM"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_VENDORSTR="3D Robotics"
+CONFIG_CDCACM_VENDORSTR="mRo"
 CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_MEMFAULT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
 CONFIG_DISABLE_MQUEUE=y
+CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
@@ -91,19 +91,27 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_LIB_USRWORK=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_KERNEL_HEAPSIZE=131072
-CONFIG_MM_REGIONS=3
+CONFIG_MM_REGIONS=4
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
 CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
+CONFIG_NET=y
+CONFIG_NETDEV_CAN_BITRATE_IOCTL=y
+CONFIG_NETDEV_IFINDEX=y
+CONFIG_NETDEV_PHY_IOCTL=y
+CONFIG_NET_CAN=y
+CONFIG_NET_CAN_RAW_TX_DEADLINE=y
+CONFIG_NET_CAN_SOCK_OPTS=y
+CONFIG_NET_TIMESTAMP=y
+CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
@@ -119,7 +127,6 @@ CONFIG_NSH_ROMFSETC=y
 CONFIG_NSH_ROMFSSECTSIZE=128
 CONFIG_NSH_STRERROR=y
 CONFIG_NSH_VARS=y
-CONFIG_NUTTX_USERSPACE=0x08100000
 CONFIG_OTG_ID_GPIO_DISABLE=y
 CONFIG_PIPES=y
 CONFIG_PREALLOC_TIMERS=50
@@ -144,7 +151,6 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0
@@ -159,93 +165,85 @@ CONFIG_STACK_COLORATION=y
 CONFIG_START_DAY=30
 CONFIG_START_MONTH=11
 CONFIG_STDIO_BUFFER_SIZE=256
-CONFIG_STM32F7_ADC1=y
-CONFIG_STM32F7_BBSRAM=y
-CONFIG_STM32F7_BBSRAM_FILES=5
-CONFIG_STM32F7_BKPSRAM=y
-CONFIG_STM32F7_DMA1=y
-CONFIG_STM32F7_DMA2=y
-CONFIG_STM32F7_DMACAPABLE=y
-CONFIG_STM32F7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32F7_I2C1=y
-CONFIG_STM32F7_I2C2=y
-CONFIG_STM32F7_I2C3=y
-CONFIG_STM32F7_I2C4=y
-CONFIG_STM32F7_I2C_DYNTIMEO=y
-CONFIG_STM32F7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32F7_OTGFS=y
-CONFIG_STM32F7_PROGMEM=y
-CONFIG_STM32F7_PWR=y
-CONFIG_STM32F7_RTC=y
-CONFIG_STM32F7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
-CONFIG_STM32F7_RTC_MAGIC_REG=1
-CONFIG_STM32F7_SAVE_CRASHDUMP=y
-CONFIG_STM32F7_SDMMC1=y
-CONFIG_STM32F7_SDMMC_DMA=y
-CONFIG_STM32F7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32F7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32F7_SPI1=y
-CONFIG_STM32F7_SPI1_DMA=y
-CONFIG_STM32F7_SPI1_DMA_BUFFER=1024
-CONFIG_STM32F7_SPI2=y
-CONFIG_STM32F7_SPI4=y
-CONFIG_STM32F7_SPI5=y
-CONFIG_STM32F7_SPI6=y
-CONFIG_STM32F7_SPI_DMA=y
-CONFIG_STM32F7_SPI_DMATHRESHOLD=8
-CONFIG_STM32F7_TIM10=y
-CONFIG_STM32F7_TIM11=y
-CONFIG_STM32F7_UART4=y
-CONFIG_STM32F7_UART7=y
-CONFIG_STM32F7_UART8=y
-CONFIG_STM32F7_USART1=y
-CONFIG_STM32F7_USART2=y
-CONFIG_STM32F7_USART3=y
-CONFIG_STM32F7_USART6=y
-CONFIG_STM32F7_USART_BREAKS=y
-CONFIG_STM32F7_USART_INVERT=y
-CONFIG_STM32F7_USART_SINGLEWIRE=y
-CONFIG_STM32F7_USART_SWAP=y
-CONFIG_STM32F7_WWDG=y
+CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
+CONFIG_STM32H7_BBSRAM=y
+CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_FDCAN1=y
+CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32H7_I2C1=y
+CONFIG_STM32H7_I2C3=y
+CONFIG_STM32H7_I2C4=y
+CONFIG_STM32H7_I2C_DYNTIMEO=y
+CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_RTC=y
+CONFIG_STM32H7_RTC_HSECLOCK=y
+CONFIG_STM32H7_RTC_MAGIC_REG=1
+CONFIG_STM32H7_SAVE_CRASHDUMP=y
+CONFIG_STM32H7_SDMMC1=y
+CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_SPI1=y
+CONFIG_STM32H7_SPI1_DMA=y
+CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI2=y
+CONFIG_STM32H7_SPI5=y
+CONFIG_STM32H7_SPI5_DMA=y
+CONFIG_STM32H7_SPI5_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI_DMA=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM2=y
+CONFIG_STM32H7_TIM3=y
+CONFIG_STM32H7_TIM4=y
+CONFIG_STM32H7_TIM8=y
+CONFIG_STM32H7_UART4=y
+CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_UART8=y
+CONFIG_STM32H7_USART2=y
+CONFIG_STM32H7_USART3=y
+CONFIG_STM32H7_USART6=y
+CONFIG_STM32H7_USART_BREAKS=y
+CONFIG_STM32H7_USART_INVERT=y
+CONFIG_STM32H7_USART_SINGLEWIRE=y
+CONFIG_STM32H7_USART_SWAP=y
 CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
-CONFIG_SYS_RESERVED=9
 CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGTSTP=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_RXDMA=y
 CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_SERIAL_CONSOLE=y
 CONFIG_UART7_TXBUFSIZE=1500
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_RXDMA=y
+CONFIG_UART8_SERIAL_CONSOLE=y
 CONFIG_UART8_TXBUFSIZE=1500
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1500
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_IFLOWCONTROL=y
 CONFIG_USART2_OFLOWCONTROL=y
 CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_RXDMA=y
 CONFIG_USART2_TXBUFSIZE=1500
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_IFLOWCONTROL=y
 CONFIG_USART3_OFLOWCONTROL=y
 CONFIG_USART3_RXBUFSIZE=600
-CONFIG_USART3_RXDMA=y
 CONFIG_USART3_TXBUFSIZE=3000
-CONFIG_USART3_TXDMA=y
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
 CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="px4_entry"
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -0,0 +1,13 @@
+CONFIG_DRIVERS_UAVCAN=n
+CONFIG_DRIVERS_UAVCAN_V1=y
+CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
+CONFIG_UAVCAN_V1_CLIENT=y
+CONFIG_UAVCAN_V1_ESC_CONTROLLER=y
+CONFIG_UAVCAN_V1_ESC_SUBSCRIBER=y
+CONFIG_UAVCAN_V1_GNSS_PUBLISHER=y
+CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_0=y
+CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_1=y
+CONFIG_UAVCAN_V1_READINESS_PUBLISHER=y
+CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER=y
+CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER=y
+CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y
@@ -1,17 +1,20 @@
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525=n
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
 CONFIG_MODULES_MC_POS_CONTROL=n
 CONFIG_MODULES_MC_RATE_CONTROL=n
 CONFIG_SYSTEMCMDS_BL_UPDATE=n
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_ETS=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS5525=y
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_SDP3X=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
-CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_VER=y
@@ -1,7 +1,16 @@
+CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525=n
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL_L1=n
 CONFIG_SYSTEMCMDS_BL_UPDATE=n
+CONFIG_DRIVERS_CAMERA_CAPTURE=n
+CONFIG_DRIVERS_CAMERA_TRIGGER=n
+CONFIG_DRIVERS_DISTANCE_SENSOR_CM8JL65=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LEDDAR_ONE=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_TFMINI=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
 CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
@@ -1,44 +0,0 @@
-CONFIG_BOARD_PROTECTED=y
-CONFIG_COMMON_BAROMETERS=n
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
-CONFIG_COMMON_DISTANCE_SENSOR=n
-CONFIG_COMMON_OPTICAL_FLOW=n
-CONFIG_COMMON_TELEMETRY=n
-CONFIG_DRIVERS_BAROMETER_MS5611=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
-CONFIG_DRIVERS_OSD=n
-CONFIG_DRIVERS_ROBOCLAW=n
-CONFIG_DRIVERS_RPM=n
-CONFIG_DRIVERS_UAVCAN=n
-CONFIG_EXAMPLES_FAKE_GPS=n
-CONFIG_MODULES_AIRSPEED_SELECTOR=n
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
-CONFIG_MODULES_CAMERA_FEEDBACK=n
-CONFIG_MODULES_ESC_BATTERY=n
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL_L1=n
-CONFIG_MODULES_ROVER_POS_CONTROL=n
-CONFIG_MODULES_SIH=n
-CONFIG_MODULES_UUV_ATT_CONTROL=n
-CONFIG_MODULES_UUV_POS_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=n
-CONFIG_SYSTEMCMDS_BL_UPDATE=n
-CONFIG_SYSTEMCMDS_DMESG=n
-CONFIG_SYSTEMCMDS_DUMPFILE=n
-CONFIG_SYSTEMCMDS_ESC_CALIB=n
-CONFIG_SYSTEMCMDS_GPIO=n
-CONFIG_SYSTEMCMDS_I2CDETECT=n
-CONFIG_SYSTEMCMDS_LED_CONTROL=n
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=n
-CONFIG_SYSTEMCMDS_MOTOR_TEST=n
-CONFIG_SYSTEMCMDS_MTD=n
-CONFIG_SYSTEMCMDS_NSHTERM=n
-CONFIG_SYSTEMCMDS_REFLECT=n
-CONFIG_SYSTEMCMDS_SD_BENCH=n
-CONFIG_SYSTEMCMDS_SD_STRESS=n
-CONFIG_SYSTEMCMDS_SERIAL_TEST=n
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=n
-CONFIG_SYSTEMCMDS_USB_CONNECTED=n
@@ -31,23 +31,19 @@
 #
 ############################################################################

-add_library(board_bus_info
-	i2c.cpp
-	spi.cpp
-)
-add_dependencies(board_bus_info nuttx_context)
-
 add_library(drivers_board
 	can.c
+	i2c.cpp
 	init.c
 	led.c
 	manifest.c
 	sdio.c
+	spi.cpp
 	timer_config.cpp
 	usb.c
 	toc.c
 )
-add_dependencies(drivers_board nuttx_context)
+add_dependencies(drivers_board arch_board_hw_info)

 target_link_libraries(drivers_board
 	PRIVATE
@@ -56,16 +52,5 @@ target_link_libraries(drivers_board
 		drivers__led # drv_led_start
 		nuttx_arch # sdio
 		nuttx_drivers # sdio
+		px4_layer
 )
-
-if (NOT DEFINED CONFIG_BUILD_FLAT)
-	target_link_libraries(drivers_board PRIVATE px4_kernel_layer)
-else()
-	target_link_libraries(drivers_board PRIVATE px4_layer board_bus_info)
-endif()
-
-add_library(drivers_userspace
-	stm32_userspace.c
-)
-
-add_dependencies(drivers_userspace nuttx_context)
@@ -49,11 +49,6 @@

 #include <stm32_gpio.h>

-#if !defined(CONFIG_BUILD_FLAT)
-#include <sys/boardctl.h>
-#include <px4_platform/board_ctrl.h>
-#endif
-
 /****************************************************************************************************
 * Definitions
 ****************************************************************************************************/
@@ -216,26 +211,8 @@
 #define GPIO_nARMED_INIT     /* PI0 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTI|GPIO_PIN0)
 #define GPIO_nARMED          /* PI0 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0)

-/* For protected build, define the LOCKOUT_STATE macros as function calls */
-#ifdef CONFIG_BUILD_FLAT
 #define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled)  px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
 #define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED)
-#else
-static inline void board_indicate_external_lockout_state(bool enable)
-{
-	platformioclockoutstate_t state = {enable};
-	boardctl(PLATFORMIOCINDICATELOCKOUT, (uintptr_t)&state);
-}
-
-static inline bool board_get_external_lockout_state(void)
-{
-	platformioclockoutstate_t state = {false};
-	boardctl(PLATFORMIOCGETLOCKOUT, (uintptr_t)&state);
-	return state.enabled;
-}
-#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled) board_indicate_external_lockout_state(enabled)
-#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() board_get_external_lockout_state()
-#endif

 /* PWM
 */
@@ -264,13 +241,13 @@ static inline bool board_get_external_lockout_state(void)
 #define GPIO_nVDD_5V_PERIPH_OC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
 #define GPIO_nVDD_5V_HIPOWER_EN         /* PF12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTF|GPIO_PIN12)
 #define GPIO_nVDD_5V_HIPOWER_OC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS_EN         /* PE3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN3)
 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PE4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
 #define GPIO_VDD_3V3_SPEKTRUM_PASSIVE   /* PE4  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN4)
 #define GPIO_VDD_5V_RC_EN               /* PG5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)
 #define GPIO_VDD_5V_WIFI_EN             /* PG6  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN5)
 #define GPIO_VDD_3V3_SD_CARD_EN         /* PG7  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN7)

+
 /* Define True logic Power Control in arch agnostic form */

 #define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_nVDD_5V_PERIPH_EN, !(on_true))
@@ -425,7 +402,6 @@ static inline bool board_get_external_lockout_state(void)
 		PX4_ADC_GPIO,                     \
 		GPIO_HW_REV_DRIVE,                \
 		GPIO_HW_VER_DRIVE,                \
-		GPIO_VDD_3V3_SENSORS_EN,          \
 		GPIO_CAN1_TX,                     \
 		GPIO_CAN1_RX,                     \
 		GPIO_CAN2_TX,                     \
@@ -1,146 +0,0 @@
-/****************************************************************************
- * boards/px4/fmu-v5/src/stm32_userspace.c
- *
- *   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.
- *
- ****************************************************************************/
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <stdlib.h>
-
-#include <nuttx/arch.h>
-#include <nuttx/mm/mm.h>
-#include <nuttx/wqueue.h>
-#include <nuttx/userspace.h>
-#include <sys/boardctl.h>
-
-#if !defined(CONFIG_BUILD_FLAT) && !defined(__KERNEL__)
-
-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
-
-/* Configuration ************************************************************/
-
-#ifndef CONFIG_NUTTX_USERSPACE
-#  error "CONFIG_NUTTX_USERSPACE not defined"
-#endif
-
-#if CONFIG_NUTTX_USERSPACE != 0x08100000
-#  error "CONFIG_NUTTX_USERSPACE must be 0x08100000 to match memory.ld"
-#endif
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/* These 'addresses' of these values are setup by the linker script. They are
- * not actual uint32_t storage locations! They are only used meaningfully in
- * the following way:
- *
- *  - The linker script defines, for example, the symbol_sdata.
- *  - The declaration extern uint32_t _sdata; makes C happy.  C will believe
- *    that the value _sdata is the address of a uint32_t variable _data (it
- *    is not!).
- *  - We can recover the linker value then by simply taking the address of
- *    of _data.  like:  uint32_t *pdata = &_sdata;
- */
-
-extern uint32_t _stext;           /* Start of .text */
-extern uint32_t _etext;           /* End_1 of .text + .rodata */
-extern const uint32_t _eronly;    /* End+1 of read only section (.text + .rodata) */
-extern uint32_t _sdata;           /* Start of .data */
-extern uint32_t _edata;           /* End+1 of .data */
-extern uint32_t _sbss;            /* Start of .bss */
-extern uint32_t _ebss;            /* End+1 of .bss */
-
-/* This is the user space entry point */
-
-int CONFIG_USER_ENTRYPOINT(int argc, char *argv[]);
-int nsh_main(int argc, char *argv[]);
-
-const struct userspace_s userspace __attribute__((section(".userspace"))) = {
-	/* General memory map */
-
-	.us_entrypoint    = (main_t)CONFIG_USER_ENTRYPOINT,
-	.us_textstart     = (uintptr_t) &_stext,
-	.us_textend       = (uintptr_t) &_etext,
-	.us_datasource    = (uintptr_t) &_eronly,
-	.us_datastart     = (uintptr_t) &_sdata,
-	.us_dataend       = (uintptr_t) &_edata,
-	.us_bssstart      = (uintptr_t) &_sbss,
-	.us_bssend        = (uintptr_t) &_ebss,
-
-	/* Memory manager heap structure */
-
-	.us_heap          = &g_mmheap,
-
-	/* Task/thread startup routines */
-
-	.task_startup     = nxtask_startup,
-
-	/* Signal handler trampoline */
-
-	.signal_handler   = up_signal_handler,
-
-	/* User-space work queue support (declared in include/nuttx/wqueue.h) */
-
-#ifdef CONFIG_LIB_USRWORK
-	.work_usrstart    = work_usrstart,
-#endif
-};
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-void px4_userspace_init(void);
-
-int CONFIG_USER_ENTRYPOINT(int argc, char *argv[])
-{
-
-#ifdef CONFIG_NSH_ARCHINIT
-#error CONFIG_NSH_ARCHINIT must not be defined!
-#endif
-
-	boardctl(BOARDIOC_INIT, 0);
-
-	px4_userspace_init();
-
-	return nsh_main(argc, argv);
-}
-
-#endif /* !CONFIG_BUILD_FLAT && !__KERNEL__ */
@@ -31,8 +31,6 @@ CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
-CONFIG_MODULES_UUV_ATT_CONTROL=n
-CONFIG_MODULES_UUV_POS_CONTROL=n
 CONFIG_SYSTEMCMDS_SERIAL_TEST=n
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_TESTING=y
@@ -166,12 +166,12 @@ function(px4_add_module)
 	endif()

 	if(NOT DYNAMIC)
-		target_link_libraries(${MODULE} PRIVATE prebuild_targets px4_platform systemlib perf)
+		target_link_libraries(${MODULE} PRIVATE prebuild_targets parameters_interface px4_platform systemlib perf)
 		if (${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT AND KERNEL)
-			target_link_libraries(${MODULE} PRIVATE kernel_parameters_interface px4_kernel_layer uORB_kernel)
+			target_link_libraries(${MODULE} PRIVATE px4_kernel_layer uORB_kernel)
 			set_property(GLOBAL APPEND PROPERTY PX4_KERNEL_MODULE_LIBRARIES ${MODULE})
 		else()
-			target_link_libraries(${MODULE} PRIVATE parameters_interface px4_layer uORB)
+			target_link_libraries(${MODULE} PRIVATE px4_layer uORB)
 			set_property(GLOBAL APPEND PROPERTY PX4_MODULE_LIBRARIES ${MODULE})
 		endif()
 		set_property(GLOBAL APPEND PROPERTY PX4_MODULE_PATHS ${CMAKE_CURRENT_SOURCE_DIR})
@@ -502,14 +502,7 @@ static inline bool board_rc_invert_input(const char *device, bool invert) { retu
 *
 ************************************************************************************/

-#if defined(__PX4_NUTTX) && !defined(CONFIG_BUILD_FLAT)
-inline static int board_read_VBUS_state(void)
-{
-	platformiocvbusstate_t state = {false};
-	boardctl(PLATFORMIOCVBUSSTATE, (uintptr_t)&state);
-	return state.ret;
-}
-#elif defined(GPIO_OTGFS_VBUS)
+#if defined(GPIO_OTGFS_VBUS)
 #  define board_read_VBUS_state() (px4_arch_gpioread(GPIO_OTGFS_VBUS) ? 0 : 1)
 #else
 int board_read_VBUS_state(void);
@@ -79,7 +79,7 @@ public:
 	 * @param config The WorkQueue configuration (see WorkQueueManager.hpp).
 	 * @return true if initialization was successful
 	 */
-	bool ChangeWorkQueue(const wq_config_t &config) { return Init(config); }
+	bool ChangeWorkQeue(const wq_config_t &config) { return Init(config); }

 	const char *ItemName() const { return _item_name; }

@@ -105,8 +105,11 @@ int board_ioctl(unsigned int cmd, uintptr_t arg)
 *
 ************************************************************************************/

-static int launch_kernel_builtin(int argc, char **argv)
+int launch_kernel_builtin(unsigned int cmd, unsigned long arg)
 {
+	builtinioclaunch_t *kcmd = (builtinioclaunch_t *)arg;
+	int argc = kcmd->argc;
+	char **argv = kcmd->argv;
 	int i;
 	FAR const struct builtin_s *builtin = NULL;

@@ -120,58 +123,13 @@ static int launch_kernel_builtin(int argc, char **argv)
 	if (builtin) {
 		/* This is running in the userspace thread, created by nsh, and
 		   called via boardctl. Call the main directly */
-		return builtin->main(argc, argv);
+		kcmd->ret = builtin->main(argc, argv);
+		return OK;
 	}

 	return ENOENT;
 }

-/************************************************************************************
- * Name: platform_ioctl
- *
- * Description:
- *   handle all miscellaneous platform level ioctls
- *
- ************************************************************************************/
-
-static int platform_ioctl(unsigned int cmd, unsigned long arg)
-{
-	int ret = PX4_OK;
-
-	switch (cmd) {
-	case PLATFORMIOCLAUNCH: {
-			platformioclaunch_t *data = (platformioclaunch_t *)arg;
-			data->ret = launch_kernel_builtin(data->argc, data->argv);
-		}
-		break;
-
-	case PLATFORMIOCVBUSSTATE: {
-			platformiocvbusstate_t *data = (platformiocvbusstate_t *)arg;
-			data->ret = px4_arch_gpioread(GPIO_OTGFS_VBUS) ? 0 : 1;
-		}
-		break;
-
-	case PLATFORMIOCINDICATELOCKOUT: {
-			platformioclockoutstate_t *data = (platformioclockoutstate_t *)arg;
-			px4_arch_configgpio(data->enabled ? GPIO_nARMED : GPIO_nARMED_INIT);
-		}
-		break;
-
-	case PLATFORMIOCGETLOCKOUT: {
-			platformioclockoutstate_t *data = (platformioclockoutstate_t *)arg;
-			data->enabled = px4_arch_gpioread(GPIO_nARMED);
-		}
-		break;
-
-	default:
-		ret = -ENOTTY;
-		break;
-	}
-
-	return ret;
-}
-
-
 /************************************************************************************
 * Name: kernel_ioctl_initialize
 *
@@ -186,5 +144,5 @@ void kernel_ioctl_initialize(void)
 		ioctl_ptrs[i].ioctl_func = NULL;
 	}

-	px4_register_boardct_ioctl(_PLATFORMIOCBASE, platform_ioctl);
+	px4_register_boardct_ioctl(_BUILTINIOCBASE, launch_kernel_builtin);
 }
@@ -34,8 +34,6 @@

 #pragma once

-#include <px4_platform_common/defines.h>
-
 /* Encode the px4 boardctl ioctls in the following way:
 * the highest 4-bits identifies the boardctl's used by this if
 * the next 4-bits identifies the module which handles the ioctl
@@ -49,43 +47,20 @@
 #define _ORBIOCDEVBASE				IOCTL_IDX_TO_BASE(0)
 #define _HRTIOCBASE				IOCTL_IDX_TO_BASE(1)
 #define _CRYPTOIOCBASE			IOCTL_IDX_TO_BASE(2)
-#define _PARAMIOCBASE			IOCTL_IDX_TO_BASE(3)
-#define _PLATFORMIOCBASE			IOCTL_IDX_TO_BASE(4)
-#define MAX_IOCTL_PTRS 5
+#define _BUILTINIOCBASE			IOCTL_IDX_TO_BASE(3)
+#define MAX_IOCTL_PTRS 4

-/* The PLATFORMIOCLAUNCH IOCTL is used to launch kernel side modules
+/* The BUILTINIOCLAUNCH IOCTL is used to launch kernel side modules
 * from the user side code
 */

-#define PLATFORMIOCLAUNCH		(_PX4_IOC(_PLATFORMIOCBASE, 1))
+#define BUILTINIOCLAUNCH               (_PX4_IOC(_BUILTINIOCBASE, 1))

-typedef struct platformioclaunch {
+typedef struct builtinioclaunch {
 	int argc;
 	char **argv;
 	int ret;
-} platformioclaunch_t;
-
-/* The PLATFORMIOCVBUSSTATE IOCTL is used to read USB VBUS state
- * from the user side code
- */
-
-#define PLATFORMIOCVBUSSTATE	(_PX4_IOC(_PLATFORMIOCBASE, 2))
-
-typedef struct platformiocvbusstate {
-	int ret;
-} platformiocvbusstate_t;
-
-
-/* These IOCTLs are used to set and read external lockout state
- * from the user side code
- */
-#define PLATFORMIOCINDICATELOCKOUT	(_PX4_IOC(_PLATFORMIOCBASE, 3))
-#define PLATFORMIOCGETLOCKOUT		(_PX4_IOC(_PLATFORMIOCBASE, 4))
-
-typedef struct platformioclockoutstate {
-	bool enabled;
-} platformioclockoutstate_t;
-
+} builtinioclaunch_t;

 typedef int (*ioctl_ptr_t)(unsigned int, unsigned long);

@@ -62,42 +62,12 @@

 extern void cdcacm_init(void);

-#if !defined(CONFIG_BUILD_FLAT)
-typedef CODE void (*initializer_t)(void);
-extern initializer_t _sinit;
-extern initializer_t _einit;
-extern uint32_t _stext;
-extern uint32_t _etext;
-
-static void cxx_initialize(void)
-{
-	initializer_t *initp;
-
-	/* Visit each entry in the initialization table */
-
-	for (initp = &_sinit; initp != &_einit; initp++) {
-		initializer_t initializer = *initp;
-
-		/* Make sure that the address is non-NULL and lies in the text
-		* region defined by the linker script.  Some toolchains may put
-		* NULL values or counts in the initialization table.
-		*/
-
-		if ((FAR void *)initializer >= (FAR void *)&_stext &&
-		    (FAR void *)initializer < (FAR void *)&_etext) {
-			initializer();
-		}
-	}
-}
-#endif
-
 int px4_platform_init()
 {

 #if !defined(CONFIG_BUILD_FLAT)
-	cxx_initialize();
-
 	/* initialize userspace-kernelspace call gate interface */
+
 	kernel_ioctl_initialize();
 #endif

@@ -2,8 +2,6 @@
 # Build the user side px4_layer

 add_library(px4_layer
-	board_dma_alloc.c
-	board_fat_dma_alloc.c
 	tasks.cpp
 	console_buffer_usr.cpp
 	usr_mcu_version.cpp
@@ -11,7 +9,6 @@ add_library(px4_layer
 	${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/print_load.cpp
 	${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/cpuload.cpp
 	usr_hrt.cpp
-	px4_userspace_init.cpp
 )

 target_link_libraries(px4_layer
@@ -29,11 +26,6 @@ add_library(px4_board_ctrl

 add_dependencies(px4_board_ctrl nuttx_context px4_kernel_builtin_list_target)

-target_link_libraries(px4_layer
-	PUBLIC
-		board_bus_info
-)
-
 # Build the kernel side px4_kernel_layer

 add_library(px4_kernel_layer
@@ -48,11 +40,6 @@ target_link_libraries(px4_kernel_layer
 		nuttx_kmm
 )

-target_link_libraries(px4_kernel_layer
-	PUBLIC
-		board_bus_info
-)
-
 if (DEFINED PX4_CRYPTO)
 	target_link_libraries(px4_kernel_layer PUBLIC crypto_backend)
 endif()
@@ -1,59 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2022 Technology Innovation Institute. 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 px4_userspace_init.cpp
- *
- * Initialize px4 userspace in NuttX protected build
- */
-
-#include <drivers/drv_hrt.h>
-#include <lib/parameters/param.h>
-#include <px4_platform_common/px4_work_queue/WorkQueueManager.hpp>
-#include <uORB/uORB.h>
-#include <sys/boardctl.h>
-
-extern void cdcacm_init(void);
-
-extern "C" void px4_userspace_init(void)
-{
-	hrt_init();
-
-	px4::WorkQueueManagerStart();
-
-	uorb_start();
-
-#if defined(CONFIG_SYSTEM_CDCACM)
-	cdcacm_init();
-#endif
-}
@@ -116,6 +116,7 @@ void print_load(int fd, struct print_load_s *print_state)
 	mach_msg_type_number_t thread_info_count;

 	thread_basic_info_t basic_info_th;
+	uint32_t stat_thread = 0;

 	// get all threads of the PX4 main task
 	kr = task_threads(task_handle, &thread_list, &th_cnt);
@@ -125,6 +126,10 @@ void print_load(int fd, struct print_load_s *print_state)
 		return;
 	}

+	if (th_cnt > 0) {
+		stat_thread += th_cnt;
+	}
+
 	long tot_sec = 0;
 	long tot_usec = 0;
 	long tot_cpu = 0;
@@ -18,7 +18,6 @@ param set IMU_GYRO_FFT_EN 1
 param set IMU_GYRO_FFT_MIN 10
 param set IMU_GYRO_FFT_MAX 1000
 param set IMU_GYRO_FFT_LEN 512
-param set IMU_GYRO_FFT_SNR 10

 # dynamic notches ESC/FFT/both
 #param set IMU_GYRO_DNF_EN 1
@@ -28,8 +27,8 @@ param set IMU_GYRO_DNF_EN 3
 # test values
 param set IMU_GYRO_CUTOFF 60
 param set IMU_DGYRO_CUTOFF 40
-#param set IMU_GYRO_NF0_FRQ 60
-#param set IMU_GYRO_NF0_BW 5
+#param set IMU_GYRO_NF_FREQ 60
+#param set IMU_GYRO_NF_BW 5

 # log nearly everything
 param set SDLOG_PROFILE 859
@@ -42,4 +42,3 @@ add_subdirectory(maiertek)
 add_subdirectory(ms5611)
 #add_subdirectory(tcbp001ta) # only for users who really need this
 add_subdirectory(invensense)
-add_subdirectory(goertek)
@@ -9,7 +9,6 @@ menu "barometer"
        select DRIVERS_BAROMETER_LPS33HW
        select DRIVERS_BAROMETER_MS5611
        select DRIVERS_BAROMETER_MAIERTEK_MPC2520
-	select DRIVERS_BAROMETER_GOERTEK_SPL06 
        ---help---
            Enable default set of barometer drivers
    rsource "*/Kconfig"
@@ -1,34 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2022 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-add_subdirectory(spl06)
@@ -1,3 +0,0 @@
-menu "Goertek"
-rsource "*/Kconfig"
-endmenu #Goertek
@@ -1,46 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2022 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.
-#
-############################################################################
-
-px4_add_module(
-	MODULE drivers__barometer__spl06
-	MAIN spl06
-	SRCS
-		SPL06.cpp
-		SPL06.hpp
-		SPL06_I2C.cpp
-		SPL06_SPI.cpp
-		spl06_main.cpp
-	DEPENDS
-		drivers_barometer
-		px4_work_queue
-	)
@@ -1,5 +0,0 @@
-menuconfig DRIVERS_BAROMETER_GOERTEK_SPL06
-	bool "spl06"
-	default n
-	---help---
-		Enable support for spl06
@@ -1,243 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include "SPL06.hpp"
-
-SPL06::SPL06(const I2CSPIDriverConfig &config, spl06::ISPL06 *interface) :
-	I2CSPIDriver(config),
-	_px4_baro(interface->get_device_id()),
-	_interface(interface),
-	_sample_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": sample")),
-	_measure_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": measure")),
-	_comms_errors(perf_alloc(PC_COUNT, MODULE_NAME": comms errors"))
-{
-}
-
-SPL06::~SPL06()
-{
-	// free perf counters
-	perf_free(_sample_perf);
-	perf_free(_measure_perf);
-	perf_free(_comms_errors);
-
-	delete _interface;
-}
-
-/*
-float
-SPL06::scale_factor(int oversampling_rate)
-{
-	float k;
-
-	switch (oversampling_rate) {
-	case 1:
-		k = 524288.0f;
-		break;
-
-	case 2:
-		k = 1572864.0f;
-		break;
-
-	case 4:
-		k = 3670016.0f;
-		break;
-
-	case 8:
-		k = 7864320.0f;
-		break;
-
-	case 16:
-		k = 253952.0f;
-		break;
-
-	case 32:
-		k = 516096.0f;
-		break;
-
-	case 64:
-		k = 1040384.0f;
-		break;
-
-	case 128:
-		k = 2088960.0f;
-		break;
-
-	default:
-		k = 0;
-		break;
-	}
-
-	return k;
-}
-*/
-
-int
-SPL06::calibrate()
-{
-	uint8_t buf[18];
-
-	_interface->read(SPL06_ADDR_CAL, buf, sizeof(buf));
-
-	_cal.c0 = (uint16_t)buf[0] << 4 | (uint16_t)buf[1] >> 4;
-	_cal.c0 = (_cal.c0 & 1 << 11) ? (0xf000 | _cal.c0) : _cal.c0;
-
-	_cal.c1 = (uint16_t)(buf[1] & 0x0f) << 8 | (uint16_t)buf[2];
-	_cal.c1 = (_cal.c1 & 1 << 11) ? (0xf000 | _cal.c1) : _cal.c1;
-
-	_cal.c00 = (uint32_t)buf[3] << 12 | (uint32_t)buf[4] << 4 | (uint16_t)buf[5] >> 4;
-	_cal.c00 = (_cal.c00 & 1 << 19) ? (0xfff00000 | _cal.c00) : _cal.c00;
-
-	_cal.c10 = (uint32_t)(buf[5] & 0x0f) << 16 | (uint32_t)buf[6] << 8 | (uint32_t)buf[7];
-	_cal.c10 = (_cal.c10 & 1 << 19) ? (0xfff00000 | _cal.c10) : _cal.c10;
-
-	_cal.c01 = (uint16_t)buf[8] << 8 | buf[9];
-	_cal.c11 = (uint16_t)buf[10] << 8 | buf[11];
-	_cal.c20 = (uint16_t)buf[12] << 8 | buf[13];
-	_cal.c21 = (uint16_t)buf[14] << 8 | buf[15];
-	_cal.c30 = (uint16_t)buf[16] << 8 | buf[17];
-
-	// PX4_INFO("c0:%d \nc1:%d \nc00:%d \nc10:%d \nc01:%d \nc11:%d \nc20:%d \nc21:%d \nc30:%d\n",
-	// _cal.c0,_cal.c1,
-	// _cal.c00,_cal.c10,
-	// _cal.c01,_cal.c11,_cal.c20,_cal.c21,_cal.c30
-	// );
-	//PX4_DEBUG("c0:%f",_cal.c0);
-	return OK;
-}
-int
-SPL06::init()
-{
-	int8_t tries = 5;
-	// reset sensor
-	_interface->set_reg(SPL06_VALUE_RESET, SPL06_ADDR_RESET);
-	usleep(10000);
-
-	// check id
-	if (_interface->get_reg(SPL06_ADDR_ID) != SPL06_VALUE_ID) {
-		PX4_DEBUG("id of your baro is not: 0x%02x", SPL06_VALUE_ID);
-		return -EIO;
-	}
-
-	while (tries--) {
-		uint8_t meas_cfg = _interface->get_reg(SPL06_ADDR_MEAS_CFG);
-
-		if (meas_cfg & (1 << 7) && meas_cfg & (1 << 6)) {
-			break;
-		}
-
-		usleep(10000);
-	}
-
-	if (tries < 0) {
-		PX4_DEBUG("spl06 cal failed");
-		return -EIO;
-	}
-
-	// get calibration and pre process them
-	calibrate();
-
-	// set config, recommended settings
-	_interface->set_reg(_curr_prs_cfg, SPL06_ADDR_PRS_CFG);
-	kp = 253952.0f; // refer to scale_factor()
-	_interface->set_reg(_curr_tmp_cfg, SPL06_ADDR_TMP_CFG);
-	kt = 524288.0f;
-
-
-	_interface->set_reg(1 << 2, SPL06_ADDR_CFG_REG);
-	_interface->set_reg(7, SPL06_ADDR_MEAS_CFG);
-
-	Start();
-
-	return OK;
-}
-
-void
-SPL06::Start()
-{
-	// schedule a cycle to start things
-	ScheduleNow();
-}
-
-void
-SPL06::RunImpl()
-{
-	collect();
-
-	ScheduleDelayed(_measure_interval);
-}
-int
-SPL06::collect()
-{
-	perf_begin(_sample_perf);
-
-	// this should be fairly close to the end of the conversion, so the best approximation of the time
-	const hrt_abstime timestamp_sample = hrt_absolute_time();
-
-	if (_interface->read(SPL06_ADDR_DATA, (uint8_t *)&_data, sizeof(_data)) != OK) {
-		perf_count(_comms_errors);
-		perf_cancel(_sample_perf);
-		return -EIO;
-	}
-
-	int32_t temp_raw = (uint32_t)_data.t_msb << 16 | (uint32_t)_data.t_lsb << 8 | (uint32_t)_data.t_xlsb;
-	temp_raw = (temp_raw & 1 << 23) ? (0xff000000 | temp_raw) : temp_raw;
-
-	int32_t press_raw = (uint32_t)_data.p_msb << 16 | (uint32_t) _data.p_lsb << 8 | (uint32_t) _data.p_xlsb;
-	press_raw = (press_raw & 1 << 23) ? (0xff000000 | press_raw) : press_raw;
-
-	// calculate
-	float ftsc = (float)temp_raw / kt;
-	float fpsc = (float)press_raw / kp;
-	float qua2 = (float)_cal.c10 + fpsc * ((float)_cal.c20 + fpsc * (float)_cal.c30);
-	float qua3 = ftsc * fpsc * ((float)_cal.c11 + fpsc * (float)_cal.c21);
-
-	float fp = (float)_cal.c00 + fpsc * qua2 + ftsc * (float)_cal.c01 + qua3;
-	float temperature = (float)_cal.c0 * 0.5f + (float)_cal.c1 * ftsc;
-
-	_px4_baro.set_error_count(perf_event_count(_comms_errors));
-	_px4_baro.set_temperature(temperature);
-	_px4_baro.update(timestamp_sample, fp / 100.0f);   // to millbar
-	//PX4_DEBUG("%d",(int)fp);
-	perf_end(_sample_perf);
-
-	return OK;
-}
-
-void
-SPL06::print_status()
-{
-	I2CSPIDriverBase::print_status();
-	perf_print_counter(_sample_perf);
-	perf_print_counter(_measure_perf);
-	perf_print_counter(_comms_errors);
-}
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
JacobCrabill	8e01fe661a	fixup! Update submodule nuttx	2022-03-18 10:56:44 -07:00
JacobCrabill	64863fe54e	uavcan_v1: Add Publishers dir to includes	2022-03-18 09:03:48 -07:00
JacobCrabill	73b1de85cb	uavcan_v1: SocketCAN set 'can_fd' based on CONFIG	2022-03-18 09:03:06 -07:00
JacobCrabill	fd3662097f	fixup! Update submodule nuttx	2022-03-18 09:02:00 -07:00
JacobCrabill	76da12fce3	uavcan_v1: Immediate transmit() from Publishers Add 'do_transmit()' to UavcanNode Add 'transmit()' to Publisher base class to call do_transmit() Call transmit() after canardTxPush from Publishers	2022-03-17 17:01:54 -07:00
JacobCrabill	9531900afa	mro/ctrl-zero-h7-oem: Start adding socketcan support	2022-03-16 10:21:10 -07:00
JacobCrabill	25271a3f04	fixup! Update submodule nuttx	2022-03-16 10:20:29 -07:00
JacobCrabill	4048ac57bf	fixup! Update submodule nuttx	2022-03-15 18:53:13 -07:00
JacobCrabill	399ab35a4f	fixup! HACK: Disable SO_TIMESTAMP in uavcan_v1 temporarily while bringing up H7 SocketCAN driver	2022-03-15 18:52:00 -07:00
JacobCrabill	f4f8eee02d	cubeorange: Add TX_DEADLINE support	2022-03-15 18:24:03 -07:00
JacobCrabill	dec15b4fa9	Update submodule nuttx	2022-03-15 18:23:22 -07:00
JacobCrabill	7db8d3ad78	HACK: Disable SO_TIMESTAMP in uavcan_v1 temporarily while bringing up H7 SocketCAN driver	2022-03-15 17:45:34 -07:00
JacobCrabill	7e34806046	mavlink: Replace CONFIG_NET with CONFIG_NET_UDP Allows use of SocketCAN w/o also enabling UDP support in NuttX	2022-03-15 17:22:27 -07:00
JacobCrabill	9f18ef6688	Orange Cube: Add socketcan target	2022-03-15 17:11:42 -07:00