lib/matrix: inline common Vector3f operators

PX4 ROS2 msg conformity and explicit topics
- .msg files are PascalCase - topics are still either per msg or explicitly listed in TOPICS - compatible structs are still generated (eg struct msg_s), but ROS2 style px4::msg::Msg is also available
2026-05-24 11:07:36 +08:00 · 2022-01-21 12:53:26 -05:00 · 2022-01-21 09:32:30 -05:00 · 2022-01-21 09:18:49 -05:00 · 2022-01-21 09:13:03 +01:00 · 2022-01-20 12:58:20 -05:00
537 changed files with 13570 additions and 3074 deletions
@@ -743,8 +743,10 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'

  // run logger
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
@@ -778,6 +780,7 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
@@ -789,7 +792,7 @@ void checkStatus() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sensors status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uavcan status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
@@ -33,6 +33,7 @@ jobs:
          holybro_can-gps-v1,
          holybro_durandal-v1,
          holybro_kakutef7,
+          holybro_kakuteh7,
          holybro_pix32v5,
          matek_h743-slim,
          modalai_fc-v1,
@@ -31,6 +31,11 @@ CONFIG:
      buildType: RelWithDebInfo
      settings:
        CONFIG: px4_sitl_test
+    px4_ros2_default:
+      short: px4_ros2
+      buildType: RelWithDebInfo
+      settings:
+        CONFIG: px4_ros2_default
    px4_io-v2_default:
      short: px4_io-v2
      buildType: MinSizeRel
@@ -6,7 +6,7 @@
        "C_Cpp.autoAddFileAssociations": false,
        "C_Cpp.clang_format_fallbackStyle": "none",
        "C_Cpp.default.browse.limitSymbolsToIncludedHeaders": true,
-        "C_Cpp.default.cppStandard": "c++14",
+        "C_Cpp.default.cppStandard": "c++17",
        "C_Cpp.default.cStandard": "c11",
        "C_Cpp.formatting": "Disabled",
        "C_Cpp.intelliSenseEngine": "Default",
@@ -121,6 +121,7 @@
                "variant": "cpp",
                "vector": "cpp"
        },
+        "ros.distro": "foxy",
        "search.exclude": {
                "${workspaceFolder}/build": true
        },
@@ -136,5 +137,7 @@
        "yaml.schemas": {
                "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
        },
-        "cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd"       // Added for rp2040
+        "python.autoComplete.extraPaths": [
+                "/opt/ros/foxy/lib/python3.8/site-packages"
+        ]
 }
@@ -101,6 +101,8 @@

 cmake_minimum_required(VERSION 3.2 FATAL_ERROR)

+cmake_policy(SET CMP0058 NEW)
+
 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)

@@ -124,7 +126,6 @@ define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                 BRIEF_DOCS "PX4 module libs"
                 FULL_DOCS "List of all PX4 module libraries"
                 )
-
 define_property(GLOBAL PROPERTY PX4_MODULE_PATHS
                 BRIEF_DOCS "PX4 module paths"
                 FULL_DOCS "List of paths to all PX4 modules"
@@ -133,29 +134,40 @@ define_property(GLOBAL PROPERTY PX4_SRC_FILES
                 BRIEF_DOCS "src files from all PX4 modules & libs"
                 FULL_DOCS "SRC files from px4_add_{module,library}"
                 )
-
+define_property(GLOBAL PROPERTY PX4_PUBLICATIONS
+                 BRIEF_DOCS "PX4 publication topics"
+                 FULL_DOCS "List of topics published by PX4 modules"
+                 )
+define_property(GLOBAL PROPERTY PX4_SUBSCRIPTIONS
+                 BRIEF_DOCS "PX4 subscription topics"
+                 FULL_DOCS "List of topics subscribed by PX4 modules"
+                 )
 #=============================================================================
 # configuration
 #

-set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
+# default to px4_ros2_default if building within a ROS2 colcon environment
+if((DEFINED ENV{COLCON_PREFIX_PATH}) AND (DEFINED ENV{ROS_VERSION}))
+	if("$ENV{ROS_VERSION}" MATCHES "2")
+		message(STATUS "ROS_VERSION: $ENV{ROS_VERSION}")
+		set(CONFIG "px4_ros2_default" CACHE STRING "desired configuration") # TODO
+	endif()
+endif()
+
+if(NOT CONFIG)
+	set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
+endif()

 include(px4_add_module)
 set(config_module_list)

 # Find Python
-# If using catkin, Python 2 is found since it points
-# to the Python libs installed with the ROS distro
-if (NOT CATKIN_DEVEL_PREFIX)
-	find_package(PythonInterp 3)
-	# We have a custom error message to tell users how to install python3.
-	if (NOT PYTHONINTERP_FOUND)
-		message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
-			"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
-			"    macOS: brew install python")
-	endif()
-else()
-	find_package(PythonInterp REQUIRED)
+find_package(PythonInterp 3)
+# We have a custom error message to tell users how to install python3.
+if(NOT PYTHONINTERP_FOUND)
+	message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
+		"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
+		"    macOS: brew install python")
 endif()

 option(PYTHON_COVERAGE "Python code coverage" OFF)
@@ -191,10 +203,6 @@ set_property(GLOBAL PROPERTY PX4_MODULE_CONFIG_FILES)
 include(platforms/${PX4_PLATFORM}/cmake/px4_impl_os.cmake)
 list(APPEND CMAKE_MODULE_PATH ${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake)

-if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
-	include(init)
-endif()
-
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if(NOT CMAKE_BUILD_TYPE)
 	if(${PX4_PLATFORM} STREQUAL "nuttx")
@@ -230,7 +238,7 @@ project(px4 CXX C ASM)

 set(package-contact "px4users@googlegroups.com")

-set(CMAKE_CXX_STANDARD 14)
+set(CMAKE_CXX_STANDARD 17)
 set(CMAKE_CXX_STANDARD_REQUIRED ON)
 set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
@@ -246,6 +254,10 @@ else()
 	SET(BUILD_SHARED_LIBS OFF)
 endif()

+if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
+	include(init)
+endif()
+
 #=============================================================================

 # gold linker - use if available (posix only for now)
@@ -315,13 +327,6 @@ if(NOT PX4_CHIP)
 	message(FATAL_ERROR "px4_os_determine_build_chip() needs to set PX4_CHIP")
 endif()

-#=============================================================================
-# build flags
-#
-include(px4_add_common_flags)
-px4_add_common_flags()
-px4_os_add_flags()
-
 #=============================================================================
 # board cmake init (optional)
 #
@@ -329,6 +334,13 @@ if(EXISTS ${PX4_BOARD_DIR}/cmake/init.cmake)
 	include(${PX4_BOARD_DIR}/cmake/init.cmake)
 endif()

+#=============================================================================
+# build flags
+#
+include(px4_add_common_flags)
+px4_add_common_flags()
+px4_os_add_flags()
+
 #=============================================================================
 # message, and airframe generation
 #
@@ -410,8 +422,13 @@ add_library(parameters_interface INTERFACE)
 include(px4_add_library)
 add_subdirectory(src/lib EXCLUDE_FROM_ALL)

-add_subdirectory(platforms/${PX4_PLATFORM}/src/px4)
-add_subdirectory(platforms EXCLUDE_FROM_ALL)
+add_subdirectory(platforms/${PX4_PLATFORM}/src/px4 EXCLUDE_FROM_ALL)
+
+if(${PX4_PLATFORM} MATCHES "ros2") # TODO: fix
+	add_subdirectory(platforms/common/work_queue EXCLUDE_FROM_ALL)
+else()
+	add_subdirectory(platforms EXCLUDE_FROM_ALL)
+endif()

 if(EXISTS "${PX4_BOARD_DIR}/CMakeLists.txt")
 	add_subdirectory(${PX4_BOARD_DIR})
@@ -433,6 +450,126 @@ target_link_libraries(parameters_interface INTERFACE parameters)
 # firmware added last to generate the builtin for included modules
 add_subdirectory(platforms/${PX4_PLATFORM})

+
+set(PX4_ORB_TOPIC_COUNT 0)
+
+if(${PX4_PLATFORM} MATCHES "ros2") # TODO: fix
+
+	configure_file(${CMAKE_SOURCE_DIR}/build/px4_fmu-v5x_default/uORBTopics.cpp ${CMAKE_BINARY_DIR}/uORBTopics.cpp COPYONLY)
+	configure_file(${CMAKE_SOURCE_DIR}/build/px4_fmu-v5x_default/uORBTopics.hpp ${CMAKE_BINARY_DIR}/uORBTopics.hpp COPYONLY)
+
+	set(PX4_ORB_TOPIC_COUNT 1)
+
+else()
+
+	get_property(publications GLOBAL PROPERTY PX4_PUBLICATIONS)
+	get_property(subscriptions GLOBAL PROPERTY PX4_SUBSCRIPTIONS)
+
+	# TODO: for now combine subsriptions and publications for complete topic list
+	list(APPEND publications ${subscriptions})
+
+	list(SORT publications)
+	list(REMOVE_DUPLICATES publications)
+
+	set(pub_all_topics)
+	set(PX4_MSG_TYPE_ID)
+	set(PX4_MSG_TOPIC_ID)
+	set(PX4_MSG_TOPIC_ID_STRING)
+	set(PX4_MSG_TOPIC_ORB_ID)
+
+	set(PX4_ORB_DECLARE_STR)
+	set(PX4_ORB_DEFINE_STR)
+	set(PX4_ORB_HEADER_INCLUDE_STR)
+
+
+	foreach(pub ${publications})
+		#message(STATUS "pub: ${pub}")
+		string(REPLACE " /" ";" pub ${pub})
+
+		list(GET pub 0 pub_type)
+		list(GET pub 1 pub_topic)
+
+		string(REPLACE "::" ";" pub_type_split ${pub_type})
+		list(GET pub_type_split 2 pub_type_simple_lower)
+
+		# Pascal case to snake case (PubType -> pub_type)
+		string(REGEX REPLACE "(.)([A-Z][a-z]+)" "\\1_\\2" pub_type_simple_lower "${pub_type_simple_lower}")
+		string(REGEX REPLACE "([a-z0-9])([A-Z])" "\\1_\\2" pub_type_simple_lower "${pub_type_simple_lower}")
+		string(TOLOWER "${pub_type_simple_lower}" pub_type_simple_lower)
+
+		#message(STATUS "pub: Type: ${pub_type}, Topic: ${pub_topic} (${pub_type_simple_lower})")
+
+
+
+
+		# pub_type to include path (eg px4::msg::VehicleStatus => px4/msg/vehicle_status.hpp)
+		#  temporary create px4/msg/vehicle_status.hpp which simply includes <uORB/topics/vehicle_status.h>
+
+
+
+
+		list(APPEND pub_all_topics ${pub_topic})
+
+		list(APPEND PX4_MSG_TYPE_ID ${pub_type})
+
+		#list(APPEND PX4_MSG_TOPIC_ID ${pub_topic})
+		set(PX4_MSG_TOPIC_ID "${PX4_MSG_TOPIC_ID}\t${pub_topic},\n")
+		#set(PX4_MSG_TOPIC_ID_STRING "${PX4_MSG_TOPIC_ID_STRING}\t"case ORB_ID::${pub_topic}: return \"${pub_topic}\";"\n")
+		set(PX4_MSG_TOPIC_ORB_ID "${PX4_MSG_TOPIC_ORB_ID}\tORB_ID(${pub_topic}),\n")
+
+		list(APPEND PX4_MSG_TOPIC_ID_STRING
+			"case ORB_ID::${pub_topic}: return \"${pub_topic}\";\n"
+		)
+
+		# PX4_MSG_TYPE_ID
+		# PX4_MSG_TOPIC_ID
+
+		# .h  ORB_DECLARE(actuator_controls_0);
+		# .c  ORB_DEFINE(actuator_controls_0, struct actuator_controls_s, 48, __orb_actuator_controls_fields, static_cast<uint8_t>(ORB_ID::actuator_controls_0));
+
+
+		set(PX4_ORB_DECLARE_STR
+			"${PX4_ORB_DECLARE_STR}ORB_DECLARE(${pub_topic});\n")
+
+		# ORB_DEFINE(actuator_armed, struct actuator_armed_s, 16, __orb_actuator_armed_fields, static_cast<uint8_t>(ORB_ID::actuator_armed));
+		set(PX4_ORB_DEFINE_STR
+			"${PX4_ORB_DEFINE_STR}ORB_DEFINE(${pub_topic}, ${pub_type}, px4_embedded::${pub_type_simple_lower}_s::SIZE_NO_PADDING, px4_embedded::${pub_type_simple_lower}_s::FIELDS, static_cast<uint8_t>(ORB_ID::${pub_topic}));\n")
+
+		set(PX4_ORB_HEADER_INCLUDE_STR
+			"${PX4_ORB_HEADER_INCLUDE_STR}#include <uORB/topics/${pub_type_simple_lower}.h>\n")
+
+		math(EXPR PX4_ORB_TOPIC_COUNT "${PX4_ORB_TOPIC_COUNT}+1")
+
+	endforeach()
+	list(REMOVE_DUPLICATES PX4_MSG_TYPE_ID)
+	#list(REMOVE_DUPLICATES PX4_MSG_TOPIC_ID)
+
+	#message(STATUS "PX4_MSG_TYPE_ID: ${PX4_MSG_TYPE_ID}")
+	#message(STATUS "PX4_MSG_TOPIC_ID: ${PX4_MSG_TOPIC_ID}")
+
+	if(PX4_ORB_TOPIC_COUNT GREATER 0)
+		configure_file(uORBTopics.cpp.in ${CMAKE_BINARY_DIR}/uORBTopics.cpp)
+		configure_file(uORBTopics.hpp.in ${CMAKE_BINARY_DIR}/uORBTopics.hpp)
+	endif()
+
+	# .hpp enum ORB_ID
+	# .cpp struct orb_metadat ORB_ID() array
+
+	foreach(f ${msg_files})
+		#message(STATUS "MSG: ${f}")
+	endforeach()
+endif()
+
+if(PX4_ORB_TOPIC_COUNT GREATER 0)
+	add_library(uorb_msgs ${uorb_headers} ${CMAKE_BINARY_DIR}/uORBTopics.cpp ${CMAKE_BINARY_DIR}/uORBTopics.hpp)
+	add_dependencies(uorb_msgs prebuild_targets uorb_headers)
+endif()
+
+if(${PX4_PLATFORM} MATCHES "ros2") # TODO: fix
+	ament_target_dependencies(uorb_msgs rclcpp std_msgs)
+	rosidl_target_interfaces(uorb_msgs ${PROJECT_NAME} "rosidl_typesupport_cpp")
+endif()
+
 #=============================================================================
 # uORB graph generation: add a custom target 'uorb_graph'
 #
@@ -460,17 +597,13 @@ include(doxygen)
 include(metadata)
 include(package)

-# print size
-add_custom_target(size
-	COMMAND size $<TARGET_FILE:px4>
-	DEPENDS px4
-	WORKING_DIRECTORY ${PX4_BINARY_DIR}
-	USES_TERMINAL
-	)
-
 # install python requirements using configured python
 add_custom_target(install_python_requirements
 	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )
+
+if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/finalize.cmake")
+	include(finalize)
+endif()
@@ -17,6 +17,8 @@ menu "Toolchain"
            bool "posix"
        config PLATFORM_QURT
            bool "qurt"
+        config PLATFORM_ROS2
+            bool "ros2"
    endchoice

    config BOARD_PLATFORM
@@ -24,6 +26,7 @@ menu "Toolchain"
        default "nuttx" if PLATFORM_NUTTX
        default "posix" if PLATFORM_POSIX
        default "qurt" if PLATFORM_QURT
+        default "ros2" if PLATFORM_ROS2

    config BOARD_LOCKSTEP
        bool "Force enable lockstep"
@@ -1,6 +1,6 @@
 BSD 3-Clause License

-Copyright (c) 2012 - 2021, PX4 Development Team
+Copyright (c) 2012 - 2022, PX4 Development Team
 All rights reserved.

 Redistribution and use in source and binary forms, with or without
@@ -479,7 +479,7 @@ clang-tidy-quiet: px4_sitl_default-clang
 # TODO: Fix cppcheck errors then try --enable=warning,performance,portability,style,unusedFunction or --enable=all
 cppcheck: px4_sitl_default
 	@mkdir -p "$(SRC_DIR)"/build/cppcheck
-	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++14 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
+	@cppcheck -i"$(SRC_DIR)"/src/examples --enable=performance --std=c++17 --std=c99 --std=posix --project="$(SRC_DIR)"/build/px4_sitl_default/compile_commands.json --xml-version=2 2> "$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml > /dev/null
 	@cppcheck-htmlreport --source-encoding=ascii --file="$(SRC_DIR)"/build/cppcheck/cppcheck-result.xml --report-dir="$(SRC_DIR)"/build/cppcheck --source-dir="$(SRC_DIR)"/src/

 shellcheck_all:
@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name Holybro X500 V2
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Farhang Naderi <farhang.nba@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default IMU_GYRO_CUTOFF 30
+
+param set-default MC_ROLLRATE_P 0.14
+param set-default MC_PITCHRATE_P 0.14
+param set-default MC_ROLLRATE_I 0.3
+param set-default MC_PITCHRATE_I 0.3
+param set-default MC_ROLLRATE_D 0.004
+param set-default MC_PITCHRATE_D 0.004
@@ -73,6 +73,7 @@ px4_add_romfs_files(
 	4016_holybro_px4vision
 	4017_nxp_hovergames
 	4018_s500_ctrlalloc
+	4019_x500_v2
 	4030_3dr_solo
 	4031_3dr_quad
 	4040_reaper
@@ -7,7 +7,10 @@

 set VEHICLE_TYPE mc

-param set-default IMU_GYRO_RATEMAX 800
+if param compare IMU_GYRO_RATEMAX 400
+then
+	param set-default IMU_GYRO_RATEMAX 800
+fi

 param set-default NAV_ACC_RAD 2

@@ -48,6 +48,7 @@ do

 	${DIR}/reboot.py --device ${SERIAL_DEVICE}

+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true

@@ -142,7 +142,6 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
        }
    if 'show_subgroups_if' in actuator_output_yaml:
        actuator_output['show-subgroups-if'] = actuator_output_yaml['show_subgroups_if']
-    add_reverse_range_param = actuator_output_yaml.get('add_reverse_range_param', False)

    # config parameters
    def get_config_params(param_list):
@@ -257,14 +256,13 @@ def get_actuator_output(yaml_config, output_functions, timer_config_file, verbos
                per_channel_params.append(param)


-        if add_reverse_range_param:
-            param = {
-                    'label': 'Rev Range\n(for Servos)',
-                    'name': param_prefix+'_REV',
-                    'index-offset': -1,
-                    'show-as': 'bitset',
-                }
-            per_channel_params.append(param)
+        param = {
+                'label': 'Rev Range\n(for Servos)',
+                'name': param_prefix+'_REV',
+                'index-offset': -1,
+                'show-as': 'bitset',
+            }
+        per_channel_params.append(param)

        # TODO: support non-standard per-channel parameters

@@ -178,7 +178,6 @@ def get_actuator_output_params(yaml_config, output_functions,
    all_params = {}
    group_idx = 0

-    add_reverse_range_param = yaml_config['actuator_output'].get('add_reverse_range_param', False)
    all_param_prefixes = {}

    def add_local_param(param_name, param_def):
@@ -299,13 +298,9 @@ Note that non-motor outputs might already be active in prearm state if COM_PREAR
 '''
        minimum_description = \
 '''Minimum output value (when not disarmed).
-
-The output range can be reversed by setting Min > Max.
 '''
        maximum_description = \
 '''Maxmimum output value (when not disarmed).
-
-The output range can be reversed by setting Min > Max.
 '''
        failsafe_description = \
 '''This is the output value that is set when in failsafe mode.
@@ -346,29 +341,29 @@ When set to -1 (default), the value depends on the function (see {:}).
                    }
                add_local_param(param_prefix+'_'+param_suffix+'${i}', param)

-    if add_reverse_range_param:
-        for param_prefix in all_param_prefixes:
-            groups = all_param_prefixes[param_prefix]
-            # collect the bits
-            channel_bits = {}
-            for instance_start, instance_start_label, num_instances, label in groups:
-                for instance in range(instance_start, instance_start+num_instances):
-                    instance_label = instance - instance_start + instance_start_label
-                    channel_bits[instance-1] = label + ' ' + str(instance_label)
+    # add reverse range param
+    for param_prefix in all_param_prefixes:
+        groups = all_param_prefixes[param_prefix]
+        # collect the bits
+        channel_bits = {}
+        for instance_start, instance_start_label, num_instances, label in groups:
+            for instance in range(instance_start, instance_start+num_instances):
+                instance_label = instance - instance_start + instance_start_label
+                channel_bits[instance-1] = label + ' ' + str(instance_label)

-            param = {
-                'description': {
-                    'short': 'Reverse Output Range for '+module_name,
-                    'long':
+        param = {
+            'description': {
+                'short': 'Reverse Output Range for '+module_name,
+                'long':
 '''Allows to reverse the output range for each channel.
 Note: this is only useful for servos.
 '''.format(channel_label),
-                    },
-                'type': 'bitmask',
-                'default': 0,
-                'bit': channel_bits
-                }
-            add_local_param(param_prefix+'_REV', param)
+                },
+            'type': 'bitmask',
+            'default': 0,
+            'bit': channel_bits
+            }
+        add_local_param(param_prefix+'_REV', param)

    if verbose: print('adding actuator params: {:}'.format(all_params))
    return all_params
@@ -48,7 +48,6 @@ echo "Installing PX4 general dependencies"
 sudo pacman -Sy --noconfirm --needed \
 	astyle \
 	base-devel \
-	ccache \
 	clang \
 	cmake \
 	cppcheck \
@@ -77,7 +77,6 @@ sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 	astyle \
 	build-essential \
-	ccache \
 	cmake \
 	cppcheck \
 	file \
@@ -101,12 +100,6 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i
 	zip \
 	;

-if [[ "${UBUNTU_RELEASE}" == "16.04" ]]; then
-	echo "Installing Ubuntu 16.04 PX4-compatible ccache version"
-	wget -O /tmp/ccache_3.4.1-1_amd64.deb http://launchpadlibrarian.net/356662933/ccache_3.4.1-1_amd64.deb
-	sudo dpkg -i /tmp/ccache_3.4.1-1_amd64.deb
-fi
-
 # Python3 dependencies
 echo
 echo "Installing PX4 Python3 dependencies"
@@ -44,4 +44,6 @@ px4_add_module(
 		syslink.c
 	DEPENDS
 		battery
+	SUBSCRIPTIONS
+		"px4::msg::BatteryStatus /battery_status"
 	)
@@ -3,4 +3,3 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT=""
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BOOTLOADERS=y
-CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
@@ -44,6 +44,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
 			nuttx_arch
 			nuttx_drivers
 			canbootloader
+			drivers__device
 	)
 	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/canbootloader)

@@ -0,0 +1,3 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROMFSROOT=""
@@ -0,0 +1,92 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_COMMON_BAROMETERS=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+CONFIG_DRIVERS_OSD=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_PWM_OUT_SIM=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_ROBOCLAW=y
+CONFIG_DRIVERS_RPM=y
+CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
+CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_ESC_BATTERY=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIH=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_VMOUNT=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_GPIO=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_TEST=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_PWM=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_USB_CONNECTED=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -0,0 +1,13 @@
+{
+    "board_id": 1048,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the KakuteH7 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "KAKUTEH7",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1835008,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,27 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+param set-default BAT1_V_DIV 11.2
+param set-default BAT1_A_PER_V 59.5
+
+# system_power unavailable
+param set-default CBRK_SUPPLY_CHK 894281
+
+# Select the Generic 250 Racer by default
+param set-default SYS_AUTOSTART 4050
+
+# use the Q attitude estimator, it works w/o mag or GPS.
+param set-default SYS_MC_EST_GROUP 3
+param set-default ATT_ACC_COMP 0
+param set-default ATT_W_ACC 0.4000
+param set-default ATT_W_GYRO_BIAS 0.0000
+
+param set-default SYS_HAS_MAG 0
+
+# the startup tune is not great on a binary output buzzer, so disable it
+param set-default CBRK_BUZZER 782090
+
+param set-default IMU_GYRO_RATEMAX 2000
+
@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# KakuteH7 specific board extras init
+#------------------------------------------------------------------------------
+
+if ! param compare OSD_ATXXXX_CFG 0
+then
+	atxxxx start -s
+fi
+
+# DShot telemetry is always on UART7
+dshot telemetry /dev/ttyS5
+
@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# Holybro KakuteH7 specific board sensors init
+#------------------------------------------------------------------------------
+board_adc start
+
+# The default IMU is an ICM20689, but there might also be an MPU6000
+if ! mpu6000 -R 6 -s start
+then
+	icm20689 -R 6 -s start
+fi
+
+bmp280 -X start
@@ -0,0 +1,93 @@
+#
+# 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_DEV_CONSOLE is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_SPI_EXCHANGE is not set
+# CONFIG_STM32H7_SYSCFG is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/kakuteh7/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743VI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_INITTHREAD_PRIORITY=254
+CONFIG_BOARD_LATE_INITIALIZE=y
+CONFIG_BOARD_LOOPSPERMSEC=22114
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_C99_BOOL8=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x004b
+CONFIG_CDCACM_PRODUCTSTR="PX4 BL Holybro KakuteH7"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3162
+CONFIG_CDCACM_VENDORSTR="Holybro"
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=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=750
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LIB_BOARDCTL=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SDCLONE_DISABLE=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_SPI=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_USART3=y
+CONFIG_SYSTEMTICK_HOOK=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGINT_CHAR=0x03
+CONFIG_TTY_SIGTSTP=y
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_TXBUFSIZE=300
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="bootloader_main"
@@ -0,0 +1,419 @@
+/************************************************************************************
+ *
+ *   Copyright (C) 2016-2019 Gregory Nutt. 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 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.
+ *
+ ************************************************************************************/
+#pragma once
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include "board_dma_map.h"
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include "stm32_rcc.h"
+#include "stm32_sdmmc.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The holybro KakuteH7  board provides the following clock sources:
+ *
+ *   X1: 8 MHz crystal for HSE
+ *
+ * So we have these clock source available within the STM32
+ *
+ *   HSI: 16 MHz RC factory-trimmed
+ *   HSE:  8 MHz crystal for HSE
+ */
+
+#define STM32_BOARD_XTAL        8000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+#define STM32_LSE_FREQUENCY     32768
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE = 8,000,000
+ *
+ * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ * Subject to:
+ *
+ *     1 <= PLLM <= 63
+ *     4 <= PLLN <= 512
+ *   150 MHz <= PLL_VCOL <= 420MHz
+ *   192 MHz <= PLL_VCOH <= 836MHz
+ *
+ * SYSCLK  = PLL_VCO / PLLP
+ * CPUCLK  = SYSCLK / D1CPRE
+ * Subject to
+ *
+ *   PLLP1   = {2, 4, 6, 8, ..., 128}
+ *   PLLP2,3 = {2, 3, 4, ..., 128}
+ *   CPUCLK <= 480 MHz
+ */
+
+#define STM32_BOARD_USEHSE
+
+#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
+
+/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
+ *
+ *   PLL1_VCO = (8,000,000 / 1) * 120 = 960 MHz
+ *
+ *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
+ *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
+ *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
+ */
+
+#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVP1EN | \
+				 RCC_PLLCFGR_DIVQ1EN | \
+				 RCC_PLLCFGR_DIVR1EN)
+#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
+#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(120)
+#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
+#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(4)
+#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
+
+#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 120)
+#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
+#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
+#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
+
+/* PLL2 */
+
+#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
+				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
+				  RCC_PLLCFGR_DIVP2EN | \
+				  RCC_PLLCFGR_DIVQ2EN | \
+				  RCC_PLLCFGR_DIVR2EN)
+#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(2)
+#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(48)
+#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
+#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
+#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
+
+#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 2) * 48)
+#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+
+/* PLL3 */
+
+#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVQ3EN)
+#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(2)
+#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(48)
+#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
+#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
+#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
+
+#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 2) * 48)
+#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
+#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+
+/* SYSCLK = PLL1P = 480MHz
+ * CPUCLK = SYSCLK / 1 = 480 MHz
+ */
+
+#define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
+#define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
+#define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
+
+/* Configure Clock Assignments */
+
+/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
+ * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
+ */
+
+#define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
+#define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
+#define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
+#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */
+
+#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
+#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* Timer clock frequencies */
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#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)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Kernel Clock Configuration
+ *
+ * Note: look at Table 54 in ST Manual
+ */
+
+/* I2C123 clock source */
+
+#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
+
+/* I2C4 clock source */
+
+#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
+
+/* SPI123 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
+
+/* SPI45 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2
+
+/* SPI6 clock source */
+
+#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2
+
+/* USB 1 and 2 clock source */
+
+#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3
+
+/* ADC 1 2 3 clock source */
+
+#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
+
+/* FDCAN 1 2 clock source */
+
+#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
+
+#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
+
+/* FLASH wait states
+ *
+ *  ------------ ---------- -----------
+ *  Vcore        MAX ACLK   WAIT STATES
+ *  ------------ ---------- -----------
+ *  1.15-1.26 V     70 MHz    0
+ *  (VOS1 level)   140 MHz    1
+ *                 210 MHz    2
+ *  1.05-1.15 V     55 MHz    0
+ *  (VOS2 level)   110 MHz    1
+ *                 165 MHz    2
+ *                 220 MHz    3
+ *  0.95-1.05 V     45 MHz    0
+ *  (VOS3 level)    90 MHz    1
+ *                 135 MHz    2
+ *                 180 MHz    3
+ *                 225 MHz    4
+ *  ------------ ---------- -----------
+ */
+
+#define BOARD_FLASH_WAITSTATES 2
+
+/* SDMMC definitions ********************************************************/
+
+/* Init 400kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
+
+#define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+
+/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
+ * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
+ */
+
+#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
+#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+
+#define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
+
+/* LED definitions ******************************************************************/
+/* The holybro KakuteH7 board has three, LED_GREEN a Green LED, LED_BLUE
+ * a Blue LED and LED_RED a Red LED, that can be controlled by software.
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
+ * The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+#define BOARD_LED1        0
+#define BOARD_NLEDS       1
+
+#define BOARD_LED_RED     BOARD_LED1
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+
+/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
+ * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
+ * events as follows:
+ *
+ *
+ *   SYMBOL                     Meaning                      LED state
+ *                                                        Red   Green Blue
+ *   ----------------------  --------------------------  ------ ------ ----*/
+
+#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
+#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
+#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
+#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
+#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
+#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
+#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
+#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
+#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
+
+/* Thus if the Green LED is statically on, NuttX has successfully booted and
+ * is, apparently, running normally.  If the Red LED is flashing at
+ * approximately 2Hz, then a fatal error has been detected and the system
+ * has halted.
+ */
+
+/* Alternate function pin selections ************************************************/
+
+
+#define GPIO_USART1_RX   GPIO_USART1_RX_2    /* PA10 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_2    /* PA9 */
+
+#define GPIO_USART2_RX   GPIO_USART2_RX_2   /* PD6 */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5 */
+
+#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9  */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8  */
+
+#define GPIO_UART4_RX    GPIO_UART4_RX_5    /* PD0 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_5    /* PD1 */
+
+#define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7  */
+#define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6 */
+
+#define GPIO_UART7_RX    GPIO_UART7_RX_3    /* PE7 */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8 */
+
+/* SPI
+ * SPI1 SD Card
+ * SPI2 is OSD AT7456E
+ * SPI4 is IMU
+ */
+
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6 */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1   /* PA7 */
+#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_1    /* PA5 */
+
+#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_4    /* PB13 */
+
+#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_2   /* PE5 */
+#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2   /* PE6 */
+#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_2    /* PE2 */
+
+/* I2C
+ */
+
+#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1       /* PB6  */
+#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1       /* PB7  */
+
+#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)
+
+/* SDMMC1
+ *
+ *      VDD 3.3
+ *      GND
+ *      SDMMC1_CK                           PC12
+ *      SDMMC1_CMD                          PD2
+ *      SDMMC1_D0                           PC8
+ *      SDMMC1_D1                           PC9
+ *      SDMMC1_D2                           PC10
+ *      SDMMC1_D3                           PC11
+ *      GPIO_SDMMC1_NCD                     PG0
+ */
+
+/* USB
+ *
+ *      OTG_FS_DM                           PA11
+ *      OTG_FS_DP                           PA12
+ *      VBUS                                PA9
+ */
+
+
+/* Board provides GPIO or other Hardware for signaling to timing analyzer */
+
+# define PROBE_INIT(mask)
+# define PROBE(n,s)
+# define PROBE_MARK(n)
+
@@ -0,0 +1,40 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_1 /* DMA2 */
+#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_1 /* DMA2 */
+
+#define DMAMAP_USART2_RX   DMAMAP_DMA12_USART2RX_1 /* DMA2 */
+
@@ -0,0 +1,224 @@
+#
+# 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_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_SPI_CALLBACK is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/holybro/kakuteh7/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+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
+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=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x004b
+CONFIG_CDCACM_PRODUCTSTR="PX4 KakuteH7"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3162
+CONFIG_CDCACM_VENDORSTR="Holybro"
+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_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_FLOATINGPOINT=y
+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_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_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_MMCSDSPIPORTNO=1
+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_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_BDMA=y
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32H7_I2C1=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_AUTO_LSECLOCK_START_DRV_CAPABILITY=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_SPI2=y
+CONFIG_STM32H7_SPI4=y
+CONFIG_STM32H7_SPI4_DMA=y
+CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI_DMA=y
+CONFIG_STM32H7_UART4=y
+CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_USART1=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_TXBUFSIZE=1500
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=2500
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_SERIAL_CONSOLE=y
+CONFIG_USART3_TXBUFSIZE=1500
+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 +1,213 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2019 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 KakuteH7 uses an STM32H743VI has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743VI, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * The KakuteH7 has a Swtich on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
+ * drepresed, then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743VI also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * 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.
+ */
+
+MEMORY
+{
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08000000, LENGTH = 2048K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * 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(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.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 +1,222 @@
+/****************************************************************************
+ * scripts/script.ld
+ *
+ *   Copyright (C) 2016, 2019 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 KakuteH7 uses an STM32H743VI has 2048Kb of main FLASH memory.
+ * The flash memory is partitioned into a User Flash memory and a System
+ * Flash memory. Each of these memories has two banks:
+ *
+ *   1) User Flash memory:
+ *
+ *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
+ *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
+ *
+ *   2) System Flash memory:
+ *
+ *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
+ *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
+ *
+ *   3) User option bytes for user configuration, only in Bank 1.
+ *
+ * In the STM32H743VI, two different boot spaces can be selected through
+ * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
+ * BOOT_ADD1 option bytes:
+ *
+ *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
+ *      ST programmed value: Flash memory at 0x0800:0000
+ *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
+ *      ST programmed value: System bootloader at 0x1FF0:0000
+ *
+ * The KakuteH7 has a Swtich on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
+ * drepresed, then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743VI also has 1024Kb of data SRAM.
+ * SRAM is split up into several blocks and into three power domains:
+ *
+ *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
+ *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
+ *
+ *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
+ *
+ *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
+ *           DTCM ports. The DTCM-RAM could be used for critical real-time
+ *           data, such as interrupt service routines or stack / heap memory.
+ *           Both DTCM-RAMs can be used in parallel (for load/store operations)
+ *           thanks to the Cortex-M7 dual issue capability.
+ *
+ *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
+ *
+ *           This RAM is connected to ITCM 64-bit interface designed for
+ *           execution of critical real-times routines by the CPU.
+ *
+ *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
+ *      through D1 domain AXI bus matrix
+ *
+ *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
+ *
+ *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
+ *      through D2 domain AHB bus matrix
+ *
+ *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
+ *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
+ *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
+ *
+ *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
+ *
+ *   4) AHB SRAM (D3 domain) accessible by most of system masters
+ *      through D3 domain AHB bus matrix
+ *
+ *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
+ *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
+ *
+ * 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.
+ */
+
+MEMORY
+{
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+}
+
+OUTPUT_ARCH(arm)
+EXTERN(_vectors)
+ENTRY(_stext)
+
+/*
+ * 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(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.glue_7)
+		*(.glue_7t)
+		*(.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
+
+	/* Emit the the D3 power domain section for locating BDMA data */
+
+	.sram4_reserve (NOLOAD) :
+	{
+		*(.sram4)
+		. = ALIGN(4);
+		_sram4_heap_start = ABSOLUTE(.);
+	} > sram4
+
+	/* 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 +1,66 @@
+############################################################################
+#
+#   Copyright (c) 2016 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  "bootloader")
+	add_library(drivers_board
+		bootloader_main.c
+		usb.c
+	)
+	target_link_libraries(drivers_board
+		PRIVATE
+			nuttx_arch # sdio
+			nuttx_drivers # sdio
+			bootloader
+	)
+	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
+
+else()
+	add_library(drivers_board
+		i2c.cpp
+		init.c
+		led.c
+		spi.cpp
+		timer_config.cpp
+		usb.c
+	)
+	add_dependencies(drivers_board arch_board_hw_info)
+
+	target_link_libraries(drivers_board
+		PRIVATE
+			arch_spi
+			arch_board_hw_info
+			drivers__led # drv_led_start
+			nuttx_arch # sdio
+			nuttx_drivers # sdio
+			px4_layer
+	)
+endif()
@@ -0,0 +1,211 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 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
+ *
+ * holybro KakuteH7 internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+#include <stm32_gpio.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+
+/* Configuration ************************************************************************************/
+
+#  define BOARD_HAS_USB_VALID           1
+#  define BOARD_HAS_NBAT_V              1
+#  define BOARD_HAS_NBAT_I              1
+
+/* Holybro KakuteH7 GPIOs ************************************************************************/
+
+/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
+
+#define GPIO_nLED_RED        /* PC2 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN2)
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS      1
+#define BOARD_OVERLOAD_LED     LED_RED
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that
+ * can be used by the Px4 Firmware in the adc driver
+ */
+
+/* ADC defines to be used in sensors.cpp to read from a particular channel */
+
+#define ADC1_CH(n)                  (n)
+
+/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
+
+#define PX4_ADC_GPIO  \
+	/* PC0 */  GPIO_ADC123_INP10, \
+	/* PC1 */  GPIO_ADC123_INP11, \
+	/* PC5 */  GPIO_ADC12_INP8
+
+/* Define Channel numbers must match above GPIO pin IN(n)*/
+
+#define ADC_BATTERY_VOLTAGE_CHANNEL        /* PC0 */  ADC1_CH(10)
+#define ADC_BATTERY_CURRENT_CHANNEL        /* PC1 */  ADC1_CH(11)
+#define ADC_RSSI_IN_CHANNEL                /* PC5 */  ADC1_CH(8)
+
+#define ADC_CHANNELS \
+	((1 << ADC_BATTERY_VOLTAGE_CHANNEL)       | \
+	 (1 << ADC_BATTERY_CURRENT_CHANNEL)       | \
+	 (1 << ADC_RSSI_IN_CHANNEL))
+
+#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
+
+
+
+/* PWM
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS  8
+
+#define BOARD_NUM_IO_TIMERS 4
+
+
+/* Tone alarm output */
+
+#define GPIO_TONE_ALARM_IDLE    /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
+#define GPIO_TONE_ALARM_GPIO    /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN13)
+
+/* USB OTG FS
+ *
+ * PA9  OTG_FS_VBUS VBUS sensing
+ */
+#define GPIO_OTGFS_VBUS         /* PA8 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN8)
+
+/* High-resolution timer */
+#define HRT_TIMER               4  /* use timer3 for the HRT */
+#define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 1 */
+
+/* RC Serial port */
+
+/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
+
+#define PWMIN_TIMER                       5
+#define PWMIN_TIMER_CHANNEL    /* T5C1 */ 1
+#define GPIO_PWM_IN            /* PA0  */ GPIO_TIM5_CH1IN
+
+#define GPIO_RSSI_IN                       /* PC5  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTC|GPIO_PIN5)
+
+/* Power switch controls ******************************************************/
+
+#define SDIO_SLOTNO                    0  /* Only one slot */
+#define SDIO_MINOR                     0
+
+/* SD card bringup does not work if performed on the IDLE thread because it
+ * will cause waiting.  Use either:
+ *
+ *  CONFIG_LIB_BOARDCTL=y, OR
+ *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
+ */
+
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
+   !defined(CONFIG_BOARD_INITTHREAD)
+#  warning SDIO initialization cannot be perfomed on the IDLE thread
+#endif
+
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+
+/* Board never powers off the Servo rail */
+
+#define BOARD_ADC_SERVO_VALID     (1)
+
+#define BOARD_ADC_BRICK1_VALID  (1)
+
+
+
+/* This board provides a DMA pool and APIs */
+#define BOARD_DMA_ALLOC_POOL_SIZE 5120
+
+/* This board provides the board_on_reset interface */
+
+#define BOARD_HAS_ON_RESET 1
+
+#define PX4_GPIO_INIT_LIST { \
+		PX4_ADC_GPIO,                     \
+		GPIO_TONE_ALARM_IDLE,             \
+		GPIO_RSSI_IN,                     \
+	}
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
+// not working on h7 yet, due to ECC
+//#define FLASH_BASED_PARAMS
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+extern void stm32_usbinitialize(void);
+
+extern void board_peripheral_reset(int ms);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019, 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 bootloader_main.c
+ *
+ * FMU-specific early startup code for bootloader
+*/
+
+#include "board_config.h"
+#include "bl.h"
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+#include <px4_platform_common/init.h>
+
+extern int sercon_main(int c, char **argv);
+
+__EXPORT void board_on_reset(int status) {}
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	/* configure USB interfaces */
+	stm32_usbinitialize();
+}
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	return 0;
+}
+
+void board_late_initialize(void)
+{
+	sercon_main(0, NULL);
+}
+
+extern void sys_tick_handler(void);
+void board_timerhook(void)
+{
+	sys_tick_handler();
+}
@@ -0,0 +1,124 @@
+/*
+ * hw_config.h
+ *
+ *  Created on: May 17, 2015
+ *      Author: david_s5
+ */
+
+#ifndef HW_CONFIG_H_
+#define HW_CONFIG_H_
+
+/****************************************************************************
+ * 10-8--2016:
+ *  To simplify the ripple effect on the tools, we will be using
+ *  /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
+ *  moving forward all Bootloaders must contain the prefix "PX4 BL "
+ *  in the USBDEVICESTRING
+ *  This Change will be made in an upcoming BL release
+ ****************************************************************************/
+/*
+ * Define usage to configure a bootloader
+ *
+ *
+ * Constant                example          Usage
+ * APP_LOAD_ADDRESS     0x08004000            - The address in Linker Script, where the app fw is org-ed
+ * BOOTLOADER_DELAY     5000                  - Ms to wait while under USB pwr or bootloader request
+ * BOARD_FMUV2
+ * INTERFACE_USB        1                     - (Optional) Scan and use the USB interface for bootloading
+ * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
+ * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
+ * USBPRODUCTID         0x0011                - PID Should match defconfig
+ * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
+ *                                               delay provided by an APP FW
+ * BOARD_TYPE           9                     - Must match .prototype boad_id
+ * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
+ * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
+ * BOARD_FLASH_SECTORS   11                   - Hard coded zero based last sector
+ * BOARD_FLASH_SIZE     (_FLASH_KBYTES*1024)-   Total Flash size of device, determined at run time.
+ *                         (1024 * 1024)      - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
+ *                                              programmatically
+ *
+ * BOARD_FIRST_FLASH_SECTOR_TO_ERASE  2        - Optional sectors index in the flash_sectors table  (F4 only), to begin erasing.
+ *                                               This is to allow sectors to be reserved for app fw usage. That will NOT be erased
+ *                                               during a FW upgrade.
+ *                                               The default is 0, and selects the first sector to be erased, as the 0th entry in the
+ *                                               flash_sectors table. Which is the second physical sector of FLASH in the device.
+ *                                               The first physical sector of FLASH is used by the bootloader, and is not defined
+ *                                               in the table.
+ *
+ * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
+ *                                                                        BOOTLOADER_RESERVATION_SIZE  will be deducted from
+ *                                                                        BOARD_FLASH_SIZE to determine the size of the App FW
+ *                                                                        and hence the address space of FLASH to erase and program.
+ * USBMFGSTRING            "PX4 AP"            - Optional USB MFG string (default is '3D Robotics' if not defined.)
+ * SERIAL_BREAK_DETECT_DISABLED                -  Optional prevent break selection on Serial port from entering or staying in BL
+ *
+ * * Other defines are somewhat self explanatory.
+ */
+
+/* Boot device selection list*/
+#define USB0_DEV       0x01
+#define SERIAL0_DEV    0x02
+#define SERIAL1_DEV    0x04
+
+#define APP_LOAD_ADDRESS               0x08020000
+#define BOOTLOADER_DELAY               3000
+#define INTERFACE_USB                  1
+#define INTERFACE_USB_CONFIG           "/dev/ttyACM0"
+#define BOARD_VBUS                     MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
+
+//#define USE_VBUS_PULL_DOWN
+#define BOOT_DELAY_ADDRESS             0x000001a0
+#define BOARD_TYPE                     1048
+#define BOARD_FLASH_SECTORS            (14)
+#define BOARD_FLASH_SIZE               ((16-2) * 128 * 1024)
+
+#define OSC_FREQ                       8
+
+#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_RED
+#define BOARD_LED_ON                   0
+#define BOARD_LED_OFF                  1
+
+#define SERIAL_BREAK_DETECT_DISABLED   1
+
+/*
+ * Uncommenting this allows to force the bootloader through
+ * a PWM output pin. As this can accidentally initialize
+ * an ESC prematurely, it is not recommended. This feature
+ * has not been used and hence defaults now to off.
+ *
+ * # define BOARD_FORCE_BL_PIN_OUT         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14)
+ * # define BOARD_FORCE_BL_PIN_IN          (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
+ *
+ * # define BOARD_POWER_PIN_OUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
+ * # define BOARD_POWER_ON                 1
+ * # define BOARD_POWER_OFF                0
+ * # undef  BOARD_POWER_PIN_RELEASE        // Leave pin enabling Power - un comment to release (disable power)
+ *
+*/
+
+#if !defined(ARCH_SN_MAX_LENGTH)
+# define ARCH_SN_MAX_LENGTH 12
+#endif
+
+#if !defined(APP_RESERVATION_SIZE)
+#  define APP_RESERVATION_SIZE 0
+#endif
+
+#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
+#  define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
+#endif
+
+#if !defined(USB_DATA_ALIGN)
+# define USB_DATA_ALIGN
+#endif
+
+#ifndef BOOT_DEVICES_SELECTION
+#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+#ifndef BOOT_DEVICES_FILTER_ONUSB
+#  define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+#endif /* HW_CONFIG_H_ */
@@ -0,0 +1,38 @@
+/****************************************************************************
+ *
+ *   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.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(1),
+};
@@ -0,0 +1,268 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2019 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 init.c
+ *
+ * PX4FMU-specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialisation.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include "board_config.h"
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/mm/gran.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+#include <systemlib/px4_macros.h>
+#include <px4_arch/io_timer.h>
+#include <px4_platform_common/init.h>
+#include <px4_platform/gpio.h>
+#include <px4_platform/board_determine_hw_info.h>
+#include <px4_platform/board_dma_alloc.h>
+
+#include <mpu.h>
+
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
+#endif
+
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int ms)
+{
+}
+
+/************************************************************************************
+ * Name: board_on_reset
+ *
+ * Description:
+ * Optionally provided function called on entry to board_system_reset
+ * It should perform any house keeping prior to the rest.
+ *
+ * status - 1 if resetting to boot loader
+ *          0 if just resetting
+ *
+ ************************************************************************************/
+__EXPORT void board_on_reset(int status)
+{
+	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
+		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
+	}
+
+	if (status >= 0) {
+		up_mdelay(6);
+	}
+}
+
+/************************************************************************************
+ * 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)
+{
+	board_on_reset(-1); /* Reset PWM first thing */
+
+	/* configure LEDs */
+
+	board_autoled_initialize();
+
+	/* configure pins */
+
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	board_control_spi_sensors_power_configgpio();
+
+	/* configure USB interfaces */
+
+	stm32_usbinitialize();
+
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	/* Power on Interfaces */
+	board_control_spi_sensors_power(true, 0xffff);
+
+	/* Need hrt running before using the ADC */
+
+	px4_platform_init();
+
+	/* configure SPI interfaces */
+
+	stm32_spiinitialize();
+
+	/* configure the DMA allocator */
+
+	if (board_dma_alloc_init() < 0) {
+		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
+	}
+
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_RED);
+	}
+
+	/* Get the SPI port for the microSD slot */
+	struct spi_dev_s *spi_dev = stm32_spibus_initialize(CONFIG_NSH_MMCSDSPIPORTNO);
+
+	if (!spi_dev) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO);
+		led_on(LED_BLUE);
+	}
+
+	/* Now bind the SPI interface to the MMCSD driver */
+	int result = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi_dev);
+
+	if (result != OK) {
+		led_on(LED_BLUE);
+		syslog(LOG_ERR, "[boot] FAILED to bind SPI port 1 to the MMCSD driver\n");
+	}
+
+	up_udelay(20);
+
+
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{15, 128 * 1024, 0x081E0000},
+		{0, 0, 0},
+	};
+
+	/* Initialize the flashfs layer to use heap allocated memory */
+	result = parameter_flashfs_init(params_sector_map, NULL, 0);
+
+	if (result != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
+		led_on(LED_AMBER);
+	}
+
+#endif
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
+	return OK;
+}
@@ -0,0 +1,223 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 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 <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+#ifdef CONFIG_ARCH_LEDS
+static bool nuttx_owns_leds = true;
+//                                B  R  S  G
+//                                0  1  2  3
+static const uint8_t xlatpx4[] = {1, 2, 4, 0};
+#  define xlat(p) xlatpx4[(p)]
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
+};
+
+#else
+
+#  define xlat(p) (p)
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_RED,                      // Indexed by LED_RED, LED_AMBER
+};
+
+#endif
+
+__EXPORT void led_init(void)
+{
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		if (g_ledmap[l] != 0) {
+			stm32_configgpio(g_ledmap[l]);
+		}
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Drive Low to switch on */
+
+	if (g_ledmap[led] != 0) {
+		stm32_gpiowrite(g_ledmap[led], !state);
+	}
+}
+
+static bool phy_get_led(int led)
+{
+	/* If Low it is on */
+	if (g_ledmap[led] != 0) {
+		return !stm32_gpioread(g_ledmap[led]);
+	}
+
+	return false;
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(xlat(led), true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(xlat(led), false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
+}
+
+#ifdef CONFIG_ARCH_LEDS
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_autoled_initialize
+ ****************************************************************************/
+
+void board_autoled_initialize(void)
+{
+	led_init();
+}
+
+/****************************************************************************
+ * Name: board_autoled_on
+ ****************************************************************************/
+
+void board_autoled_on(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_HEAPALLOCATE:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_IRQSENABLED:
+		phy_set_led(BOARD_LED_BLUE, false);
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_STACKCREATED:
+		phy_set_led(BOARD_LED_GREEN, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+
+	case LED_IDLE : /* IDLE */
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+	}
+}
+
+/****************************************************************************
+ * Name: board_autoled_off
+ ****************************************************************************/
+
+void board_autoled_off(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, false);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, false);
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+
+	case LED_IDLE : /* IDLE */
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+	}
+}
+
+#endif /* CONFIG_ARCH_LEDS */
@@ -0,0 +1,51 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020, 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.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortA, GPIO::Pin4})
+	}),
+	initSPIBus(SPI::Bus::SPI2, {
+		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),
+	}),
+	initSPIBus(SPI::Bus::SPI4, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
+		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 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 <px4_arch/io_timer_hw_description.h>
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer2, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer8, DMA{DMA::Index1}),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel2}, {GPIO::PortB, GPIO::Pin3}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortB, GPIO::Pin10}),
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortA, GPIO::Pin2}),
+	initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel3}, {GPIO::PortC, GPIO::Pin8}),
+	initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel4}, {GPIO::PortC, GPIO::Pin9}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016 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 px4fmu_usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <arm_arch.h>
+#include <chip.h>
+#include <stm32_gpio.h>
+#include <stm32_otg.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the PX4FMU board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32H7_OTGFS
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+#endif
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}
@@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
+CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
@@ -25,6 +26,7 @@ CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
@@ -43,7 +45,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
@@ -0,0 +1 @@
+CONFIG_PLATFORM_ROS2=y
@@ -0,0 +1,36 @@
+############################################################################
+#
+#   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.
+#
+############################################################################
+
+add_library(drivers_board
+	init.cpp
+)
@@ -1,7 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
- *   Author: @author Lorenz Meier <lm@inf.ethz.ch>
+ *   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
@@ -33,25 +32,19 @@
 ****************************************************************************/

 /**
- * @file conversions.c
- * Implementation of commonly used conversions.
+ * @file board_config.h
+ *
+ * SITL internal definitions
 */

-#include <px4_platform_common/px4_config.h>
-#include <float.h>
+#pragma once

-#include "conversions.h"
+#define BOARD_OVERRIDE_UUID "SIMULATIONID0000" // must be of length 16
+#define PX4_SOC_ARCH_ID     PX4_SOC_ARCH_ID_SITL

-int16_t
-int16_t_from_bytes(uint8_t bytes[])
-{
-	union {
-		uint8_t    b[2];
-		int16_t    w;
-	} u;
+#define BOARD_HAS_POWER_CONTROL 1

-	u.b[1] = bytes[0];
-	u.b[0] = bytes[1];
+#define BOARD_NUMBER_BRICKS     0

-	return u.w;
-}
+#include <system_config.h>
+#include <px4_platform_common/board_common.h>
@@ -57,4 +57,7 @@ else()
 endif()

 include(CPack)
-include(bloaty)
+
+if(${PX4_PLATFORM} MATCHES "nuttx")
+	include(bloaty)
+endif()
@@ -71,11 +71,11 @@ function(px4_add_common_flags)
 		-Werror

 		-Warray-bounds
-		-Wcast-align
+		#-Wcast-align # TODO
 		-Wdisabled-optimization
 		-Wdouble-promotion
 		-Wfatal-errors
-		-Wfloat-equal
+		#-Wfloat-equal
 		-Wformat-security
 		-Winit-self
 		-Wlogical-op
@@ -156,9 +156,6 @@ function(px4_add_common_flags)
 	# CXX only flags
 	set(cxx_flags)
 	list(APPEND cxx_flags
-		-fno-exceptions
-		-fno-threadsafe-statics
-
 		-Wreorder

 		# disabled warnings
@@ -175,16 +172,19 @@ function(px4_add_common_flags)
 		add_compile_options($<$<COMPILE_LANGUAGE:CXX>:${flag}>)
 	endforeach()

+	if(NOT (${PX4_PLATFORM} MATCHES "ros2")) # TODO: fix
+		include_directories(
+			${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/${PX4_CHIP_MANUFACTURER}/${PX4_CHIP}/include
+			${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/common/include
+			${PX4_SOURCE_DIR}/platforms/common
+			${PX4_SOURCE_DIR}/platforms/common/include
+		)
+	endif()

 	include_directories(
 		${PX4_BINARY_DIR}
 		${PX4_BINARY_DIR}/src/lib

-		${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/${PX4_CHIP_MANUFACTURER}/${PX4_CHIP}/include
-		${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/src/px4/common/include
-		${PX4_SOURCE_DIR}/platforms/common
-		${PX4_SOURCE_DIR}/platforms/common/include
-
 		${PX4_SOURCE_DIR}/src
 		${PX4_SOURCE_DIR}/src/include
 		${PX4_SOURCE_DIR}/src/lib
@@ -39,7 +39,10 @@ include(px4_list_make_absolute)
 #	Like add_library but with PX4 platform dependencies
 #
 function(px4_add_library target)
-	add_library(${target} EXCLUDE_FROM_ALL ${ARGN})
+	add_library(${target} STATIC
+		EXCLUDE_FROM_ALL
+		${ARGN}
+	)

 	target_compile_definitions(${target} PRIVATE MODULE_NAME="${target}")

@@ -48,6 +48,7 @@ include(px4_list_make_absolute)
 #			[ DEPENDS <string> ]
 #			[ SRCS <list> ]
 #			[ MODULE_CONFIG <list> ]
+#			[ PUBLICATIONS <list> ]
 #			[ EXTERNAL ]
 #			[ DYNAMIC ]
 #			)
@@ -64,6 +65,8 @@ include(px4_list_make_absolute)
 #		MODULE_CONFIG		: yaml config file(s)
 #		INCLUDES		: include directories
 #		DEPENDS			: targets which this module depends on
+#		PUBLICATIONS		: List of publications from this module
+#               SUBSCRIPTIONS		: List of subsriptions used by this module
 #		EXTERNAL		: flag to indicate that this module is out-of-tree
 #		DYNAMIC			: don't compile into the px4 binary, but build a separate dynamically loadable module (posix)
 #		UNITY_BUILD		: merge all source files and build this module as a single compilation unit
@@ -86,7 +89,7 @@ function(px4_add_module)
 	px4_parse_function_args(
 		NAME px4_add_module
 		ONE_VALUE MODULE MAIN STACK_MAIN STACK_MAX PRIORITY
-		MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS MODULE_CONFIG
+		MULTI_VALUE COMPILE_FLAGS LINK_FLAGS SRCS INCLUDES DEPENDS MODULE_CONFIG PUBLICATIONS SUBSCRIPTIONS
 		OPTIONS EXTERNAL DYNAMIC UNITY_BUILD
 		REQUIRED MODULE MAIN
 		ARGN ${ARGN})
@@ -165,7 +168,7 @@ function(px4_add_module)

 	# set defaults if not set
 	set(MAIN_DEFAULT MAIN-NOTFOUND)
-	set(STACK_MAIN_DEFAULT 2048)
+	set(STACK_MAIN_DEFAULT 4096)
 	set(PRIORITY_DEFAULT SCHED_PRIORITY_DEFAULT)

 	foreach(property MAIN STACK_MAIN PRIORITY)
@@ -214,7 +217,21 @@ function(px4_add_module)
 		endforeach()
 	endif()

-	foreach (prop LINK_FLAGS STACK_MAIN MAIN PRIORITY)
+	if(PUBLICATIONS)
+		foreach(publication ${PUBLICATIONS})
+			#message(STATUS "${MODULE} PUBLICATION: ${publication}")
+			set_property(GLOBAL APPEND PROPERTY PX4_PUBLICATIONS ${publication})
+		endforeach()
+	endif()
+
+	if(SUBSCRIPTIONS)
+		foreach(subscription ${SUBSCRIPTIONS})
+			#message(STATUS "${MODULE} SUBSCRIPTION: ${subscription}")
+			set_property(GLOBAL APPEND PROPERTY PX4_SUBSCRIPTIONS ${subscription})
+		endforeach()
+	endif()
+
+	foreach(prop LINK_FLAGS STACK_MAIN MAIN PRIORITY)
 		if (${prop})
 			set_target_properties(${MODULE} PROPERTIES ${prop} ${${prop}})
 		endif()
@@ -63,9 +63,9 @@ if(NOT PX4_CONFIG_FILE)
 			)
 				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
 				set(PX4_BOARD_DIR "${PX4_SOURCE_DIR}/boards/${vendor}/${model}" CACHE STRING "PX4 board directory" FORCE)
-                set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
-                set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
-                set(LABEL "${label}" CACHE STRING "PX4 board vendor" FORCE)
+				set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
+				set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
+				set(LABEL "${label}" CACHE STRING "PX4 board vendor" FORCE)
 				break()
 			endif()

@@ -76,9 +76,9 @@ if(NOT PX4_CONFIG_FILE)
 			)
 				set(PX4_CONFIG_FILE "${PX4_SOURCE_DIR}/boards/${filename}" CACHE FILEPATH "path to PX4 CONFIG file" FORCE)
 				set(PX4_BOARD_DIR "${PX4_SOURCE_DIR}/boards/${vendor}/${model}" CACHE STRING "PX4 board directory" FORCE)
-                set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
-                set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
-                set(LABEL "${label}" CACHE STRING "PX4 board vendor" FORCE)
+				set(MODEL "${model}" CACHE STRING "PX4 board model" FORCE)
+				set(VENDOR "${vendor}" CACHE STRING "PX4 board vendor" FORCE)
+				set(LABEL "${label}" CACHE STRING "PX4 board vendor" FORCE)
 				break()
 			endif()
 		endif()
@@ -1,114 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    <!-- MAVROS posix SITL environment launch script -->
-    <!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
-    <!-- vehicle model and world -->
-    <arg name="est" default="ekf2"/>
-    <arg name="vehicle" default="iris"/>
-    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
-    <!-- gazebo configs -->
-    <arg name="gui" default="true"/>
-    <arg name="debug" default="false"/>
-    <arg name="verbose" default="false"/>
-    <arg name="paused" default="false"/>
-    <!-- Gazebo sim -->
-    <include file="$(find gazebo_ros)/launch/empty_world.launch">
-        <arg name="gui" value="$(arg gui)"/>
-        <arg name="world_name" value="$(arg world)"/>
-        <arg name="debug" value="$(arg debug)"/>
-        <arg name="verbose" value="$(arg verbose)"/>
-        <arg name="paused" value="$(arg paused)"/>
-    </include>
-    <!-- UAV0 -->
-    <group ns="uav0">
-        <!-- MAVROS and vehicle configs -->
-        <arg name="ID" value="0"/>
-        <arg name="fcu_url" default="udp://:14540@localhost:14580"/>
-        <!-- PX4 SITL and vehicle spawn -->
-        <include file="$(find px4)/launch/single_vehicle_spawn.launch">
-            <arg name="x" value="0"/>
-            <arg name="y" value="0"/>
-            <arg name="z" value="0"/>
-            <arg name="R" value="0"/>
-            <arg name="P" value="0"/>
-            <arg name="Y" value="0"/>
-            <arg name="vehicle" value="$(arg vehicle)"/>
-            <arg name="mavlink_udp_port" value="14560"/>
-            <arg name="mavlink_tcp_port" value="4560"/>
-            <arg name="ID" value="$(arg ID)"/>
-            <arg name="gst_udp_port" value="$(eval 5600 + arg('ID'))"/>
-            <arg name="video_uri" value="$(eval 5600 + arg('ID'))"/>
-            <arg name="mavlink_cam_udp_port" value="$(eval 14530 + arg('ID'))"/>
-        </include>
-        <!-- MAVROS -->
-        <include file="$(find mavros)/launch/px4.launch">
-            <arg name="fcu_url" value="$(arg fcu_url)"/>
-            <arg name="gcs_url" value=""/>
-            <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
-            <arg name="tgt_component" value="1"/>
-        </include>
-    </group>
-    <!-- UAV1 -->
-    <group ns="uav1">
-        <!-- MAVROS and vehicle configs -->
-        <arg name="ID" value="1"/>
-        <arg name="fcu_url" default="udp://:14541@localhost:14581"/>
-        <!-- PX4 SITL and vehicle spawn -->
-        <include file="$(find px4)/launch/single_vehicle_spawn.launch">
-            <arg name="x" value="1"/>
-            <arg name="y" value="0"/>
-            <arg name="z" value="0"/>
-            <arg name="R" value="0"/>
-            <arg name="P" value="0"/>
-            <arg name="Y" value="0"/>
-            <arg name="vehicle" value="$(arg vehicle)"/>
-            <arg name="mavlink_udp_port" value="14561"/>
-            <arg name="mavlink_tcp_port" value="4561"/>
-            <arg name="ID" value="$(arg ID)"/>
-            <arg name="gst_udp_port" value="$(eval 5600 + arg('ID'))"/>
-            <arg name="video_uri" value="$(eval 5600 + arg('ID'))"/>
-            <arg name="mavlink_cam_udp_port" value="$(eval 14530 + arg('ID'))"/>
-        </include>
-        <!-- MAVROS -->
-        <include file="$(find mavros)/launch/px4.launch">
-            <arg name="fcu_url" value="$(arg fcu_url)"/>
-            <arg name="gcs_url" value=""/>
-            <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
-            <arg name="tgt_component" value="1"/>
-        </include>
-    </group>
-    <!-- UAV2 -->
-    <group ns="uav2">
-        <!-- MAVROS and vehicle configs -->
-        <arg name="ID" value="2"/>
-        <arg name="fcu_url" default="udp://:14542@localhost:14582"/>
-        <!-- PX4 SITL and vehicle spawn -->
-        <include file="$(find px4)/launch/single_vehicle_spawn.launch">
-            <arg name="x" value="0"/>
-            <arg name="y" value="1"/>
-            <arg name="z" value="0"/>
-            <arg name="R" value="0"/>
-            <arg name="P" value="0"/>
-            <arg name="Y" value="0"/>
-            <arg name="vehicle" value="$(arg vehicle)"/>
-            <arg name="mavlink_udp_port" value="14562"/>
-            <arg name="mavlink_tcp_port" value="4562"/>
-            <arg name="ID" value="$(arg ID)"/>
-            <arg name="gst_udp_port" value="$(eval 5600 + arg('ID'))"/>
-            <arg name="video_uri" value="$(eval 5600 + arg('ID'))"/>
-            <arg name="mavlink_cam_udp_port" value="$(eval 14530 + arg('ID'))"/>
-        </include>
-        <!-- MAVROS -->
-        <include file="$(find mavros)/launch/px4.launch">
-            <arg name="fcu_url" value="$(arg fcu_url)"/>
-            <arg name="gcs_url" value=""/>
-            <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
-            <arg name="tgt_component" value="1"/>
-        </include>
-    </group>
-</launch>
-<!-- to add more UAVs (up to 10):
-Increase the id
-Change the name space
-Set the FCU to default="udp://:14540+id@localhost:14550+id"
-Set the malink_udp_port to 14560+id) -->
@@ -1,105 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    <!-- MAVROS posix SITL environment launch script -->
-    <!-- launches Gazebo environment and 2x: MAVROS, PX4 SITL, and spawns vehicle -->
-    <!-- vehicle model and world -->
-    <arg name="est" default="ekf2"/>
-    <arg name="vehicle" default="plane"/>
-    <arg name="world" default="$(find mavlink_sitl_gazebo)/worlds/empty.world"/>
-    <!-- gazebo configs -->
-    <arg name="gui" default="true"/>
-    <arg name="debug" default="false"/>
-    <arg name="verbose" default="false"/>
-    <arg name="paused" default="false"/>
-    <!-- Gazebo sim -->
-    <include file="$(find gazebo_ros)/launch/empty_world.launch">
-        <arg name="gui" value="$(arg gui)"/>
-        <arg name="world_name" value="$(arg world)"/>
-        <arg name="debug" value="$(arg debug)"/>
-        <arg name="verbose" value="$(arg verbose)"/>
-        <arg name="paused" value="$(arg paused)"/>
-    </include>
-    <!-- UAV0 -->
-    <group ns="uav0">
-        <!-- MAVROS and vehicle configs -->
-        <arg name="ID" value="0"/>
-        <arg name="fcu_url" default="udp://:14540@localhost:14580"/>
-        <!-- PX4 SITL and vehicle spawn -->
-        <include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
-            <arg name="x" value="0"/>
-            <arg name="y" value="0"/>
-            <arg name="z" value="0"/>
-            <arg name="R" value="0"/>
-            <arg name="P" value="0"/>
-            <arg name="Y" value="0"/>
-            <arg name="vehicle" value="$(arg vehicle)"/>
-            <arg name="mavlink_udp_port" value="14560"/>
-            <arg name="mavlink_tcp_port" value="4560"/>
-            <arg name="ID" value="$(arg ID)"/>
-        </include>
-        <!-- MAVROS -->
-        <include file="$(find mavros)/launch/px4.launch">
-            <arg name="fcu_url" value="$(arg fcu_url)"/>
-            <arg name="gcs_url" value=""/>
-            <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
-            <arg name="tgt_component" value="1"/>
-        </include>
-    </group>
-    <!-- UAV1 -->
-    <group ns="uav1">
-        <!-- MAVROS and vehicle configs -->
-        <arg name="ID" value="1"/>
-        <arg name="fcu_url" default="udp://:14541@localhost:14581"/>
-        <!-- PX4 SITL and vehicle spawn -->
-        <include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
-            <arg name="x" value="1"/>
-            <arg name="y" value="0"/>
-            <arg name="z" value="0"/>
-            <arg name="R" value="0"/>
-            <arg name="P" value="0"/>
-            <arg name="Y" value="0"/>
-            <arg name="vehicle" value="$(arg vehicle)"/>
-            <arg name="mavlink_udp_port" value="14561"/>
-            <arg name="mavlink_tcp_port" value="4561"/>
-            <arg name="ID" value="$(arg ID)"/>
-        </include>
-        <!-- MAVROS -->
-        <include file="$(find mavros)/launch/px4.launch">
-            <arg name="fcu_url" value="$(arg fcu_url)"/>
-            <arg name="gcs_url" value=""/>
-            <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
-            <arg name="tgt_component" value="1"/>
-        </include>
-    </group>
-    <!-- UAV2 -->
-    <group ns="uav2">
-        <!-- MAVROS and vehicle configs -->
-        <arg name="ID" value="2"/>
-        <arg name="fcu_url" default="udp://:14542@localhost:14582"/>
-        <!-- PX4 SITL and vehicle spawn -->
-        <include file="$(find px4)/launch/single_vehicle_spawn_sdf.launch">
-            <arg name="x" value="0"/>
-            <arg name="y" value="1"/>
-            <arg name="z" value="0"/>
-            <arg name="R" value="0"/>
-            <arg name="P" value="0"/>
-            <arg name="Y" value="0"/>
-            <arg name="vehicle" value="$(arg vehicle)"/>
-            <arg name="mavlink_udp_port" value="14562"/>
-            <arg name="mavlink_tcp_port" value="4562"/>
-            <arg name="ID" value="$(arg ID)"/>
-        </include>
-        <!-- MAVROS -->
-        <include file="$(find mavros)/launch/px4.launch">
-            <arg name="fcu_url" value="$(arg fcu_url)"/>
-            <arg name="gcs_url" value=""/>
-            <arg name="tgt_system" value="$(eval 1 + arg('ID'))"/>
-            <arg name="tgt_component" value="1"/>
-        </include>
-    </group>
-</launch>
-<!-- to add more UAVs (up to 10):
-Increase the id
-Change the name space
-Set the FCU to default="udp://:14540+id@localhost:14550+id"
-Set the malink_udp_port to 14560+id) -->
@@ -1,13 +0,0 @@
-<launch>
-    <!-- Test mavros posix sitl publishes pose at 30 Hz -->
-    <include file="$(find px4)/launch/mavros_posix_sitl.launch">
-        <arg name="gui" value="false"/>
-        <arg name="interactive" value="false"/>
-        <arg name="verbose" value="true"/>
-    </include>
-    <param name="pub_test/topic" value="/mavros/local_position/pose"/>
-    <param name="pub_test/hz" value="30.0"/>
-    <param name="pub_test/hzerror" value="1.0"/>
-    <param name="pub_test/test_duration" value="10.0"/>
-    <test test-name="pub_test" pkg="rostest" type="hztest" name="pub_test"/>
-</launch>
@@ -1,18 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    <!-- Posix SITL PX4 launch script -->
-    <!-- Launches Only PX4 SITL. This can be used by external projects -->
-
-    <!-- PX4 config arguments -->
-    <arg name="est" default="ekf2"/>
-    <arg name="vehicle" default="iris"/>
-    <arg name="ID" default="0"/>
-    <arg name="interactive" default="true"/>
-
-    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
-    <env name="PX4_ESTIMATOR" value="$(arg est)" />
-    <arg unless="$(arg interactive)" name="px4_command_arg1" value="-d"/>
-    <arg     if="$(arg interactive)" name="px4_command_arg1" value=""/>
-    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) $(arg px4_command_arg1)">
-    </node>
-</launch>
@@ -1,36 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    <!-- Posix SITL environment launch script -->
-    <!-- launchs PX4 SITL and spawns vehicle -->
-    <!-- vehicle pose -->
-    <arg name="x" default="0"/>
-    <arg name="y" default="0"/>
-    <arg name="z" default="0"/>
-    <arg name="R" default="0"/>
-    <arg name="P" default="0"/>
-    <arg name="Y" default="0"/>
-    <!-- vehicle model and config -->
-    <arg name="est" default="ekf2"/>
-    <arg name="vehicle" default="iris"/>
-    <arg name="ID" default="1"/>
-    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
-    <env name="PX4_ESTIMATOR" value="$(arg est)" />
-    <arg name="mavlink_udp_port" default="14560"/>
-    <arg name="mavlink_tcp_port" default="4560"/>
-    <arg name="gst_udp_port" default="5600"/>
-    <arg name="video_uri" default="5600"/>
-    <arg name="mavlink_cam_udp_port" default="14530"/>
-    <arg name="mavlink_id" value="$(eval 1 + arg('ID'))" />
-    <!-- PX4 configs -->
-    <arg name="interactive" default="true"/>
-    <!-- generate sdf vehicle model -->
-    <arg name="cmd" default="$(find mavlink_sitl_gazebo)/scripts/jinja_gen.py --stdout --mavlink_id=$(arg mavlink_id) --mavlink_udp_port=$(arg mavlink_udp_port) --mavlink_tcp_port=$(arg mavlink_tcp_port) --gst_udp_port=$(arg gst_udp_port) --video_uri=$(arg video_uri) --mavlink_cam_udp_port=$(arg mavlink_cam_udp_port) $(find mavlink_sitl_gazebo)/models/$(arg vehicle)/$(arg vehicle).sdf.jinja $(find mavlink_sitl_gazebo)"/>
-    <param command="$(arg cmd)" name="sdf_$(arg vehicle)$(arg ID)"/>
-    <!-- PX4 SITL -->
-    <arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
-    <arg     if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
-    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
-    </node>
-    <!-- spawn vehicle -->
-    <node name="$(anon vehicle_spawn)" pkg="gazebo_ros" type="spawn_model" output="screen" args="-sdf -param sdf_$(arg vehicle)$(arg ID) -model $(arg vehicle)$(arg ID) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
-</launch>
@@ -1,32 +0,0 @@
-<?xml version="1.0"?>
-<launch>
-    <!-- Posix SITL environment launch script -->
-    <!-- launchs PX4 SITL and spawns vehicle -->
-    <!-- vehicle pose -->
-    <arg name="x" default="0"/>
-    <arg name="y" default="0"/>
-    <arg name="z" default="0"/>
-    <arg name="R" default="0"/>
-    <arg name="P" default="0"/>
-    <arg name="Y" default="0"/>
-    <!-- vehcile model and config -->
-    <arg name="est" default="ekf2"/>
-    <arg name="vehicle" default="plane"/>
-    <arg name="ID" default="1"/>
-    <env name="PX4_SIM_MODEL" value="$(arg vehicle)" />
-    <env name="PX4_ESTIMATOR" value="$(arg est)" />
-    <arg name="mavlink_udp_port" default="14560"/>
-    <arg name="mavlink_tcp_port" default="4560"/>
-    <!-- PX4 configs -->
-    <arg name="interactive" default="true"/>
-    <!-- generate sdf vehicle model -->
-    <arg name="cmd" default="xmlstarlet ed -d '//plugin[@name=&quot;mavlink_interface&quot;]/mavlink_tcp_port' -s '//plugin[@name=&quot;mavlink_interface&quot;]' -t elem -n mavlink_tcp_port -v $(arg mavlink_tcp_port) $(find px4)/Tools/sitl_gazebo/models/$(arg vehicle)/$(arg vehicle).sdf"/>
-    <param command="$(arg cmd)" name="model_description"/>
-    <!-- PX4 SITL -->
-    <arg unless="$(arg interactive)" name="px4_command_arg1" value=""/>
-    <arg     if="$(arg interactive)" name="px4_command_arg1" value="-d"/>
-    <node name="sitl_$(arg ID)" pkg="px4" type="px4" output="screen" args="$(find px4)/build/px4_sitl_default/etc -s etc/init.d-posix/rcS -i $(arg ID) -w sitl_$(arg vehicle)_$(arg ID) $(arg px4_command_arg1)">
-    </node>
-    <!-- spawn vehicle -->
-    <node name="$(arg vehicle)_$(arg ID)_spawn" output="screen" pkg="gazebo_ros" type="spawn_model" args="-sdf -param model_description -model $(arg vehicle)_$(arg ID) -x $(arg x) -y $(arg y) -z $(arg z) -R $(arg R) -P $(arg P) -Y $(arg Y)"/>
-</launch>
@@ -20,6 +20,3 @@ uint8 GROUP_INDEX_PAYLOAD = 6

 uint64 timestamp_sample	    # the timestamp the data this control response is based on was sampled
 float32[8] control
-
-# TOPICS actuator_controls actuator_controls_0 actuator_controls_1 actuator_controls_2 actuator_controls_3
-# TOPICS actuator_controls_virtual_fw actuator_controls_virtual_mc
@@ -6,5 +6,3 @@ uint8 INDEX_YAW = 2
 uint8 INDEX_THROTTLE = 3

 float32[4] control_power
-
-# TOPICS actuator_controls_status actuator_controls_status_0 actuator_controls_status_1
@@ -22,7 +22,7 @@ uint16 cycle_count			# number of discharge cycles the battery has experienced
 uint16 average_time_to_empty	# predicted remaining battery capacity based on the average rate of discharge in min
 uint16 serial_number		# serial number of the battery pack
 uint16 manufacture_date		# manufacture date, part of serial number of the battery pack. formated as: Day + Month×32 + (Year–1980)×512
-uint16 state_of_health		# state of health. FullChargeCapacity/DesignCapacity.
+uint16 state_of_health		# state of health. FullChargeCapacity/DesignCapacity, 0-100%.
 uint16 max_error			# max error, expected margin of error in % in the state-of-charge calculation with a range of 1 to 100%
 uint8 id					# ID number of a battery. Should be unique and consistent for the lifetime of a vehicle. 1-indexed.
 uint16 interface_error		# interface error counter
@@ -31,6 +31,7 @@ float32[14] voltage_cell_v		# Battery individual cell voltages, 0 if unknown
 float32 max_cell_voltage_delta	# Max difference between individual cell voltages

 bool is_powering_off			# Power off event imminent indication, false if unknown
+bool is_required			# Set if the battery is explicitly required before arming


 uint8 BATTERY_WARNING_NONE = 0		# no battery low voltage warning active
@@ -38,8 +39,31 @@ uint8 BATTERY_WARNING_LOW = 1		# warning of low voltage
 uint8 BATTERY_WARNING_CRITICAL = 2	# critical voltage, return / abort immediately
 uint8 BATTERY_WARNING_EMERGENCY = 3	# immediate landing required
 uint8 BATTERY_WARNING_FAILED = 4	# the battery has failed completely
+uint8 BATTERY_STATE_UNHEALTHY = 6 # Battery is diagnosed to be defective or an error occurred, usage is discouraged / prohibited. Possible causes (faults) are listed in faults field.
+uint8 BATTERY_STATE_CHARGING = 7 # Battery is charging

-uint8 warning						# current battery warning
+uint8 BATTERY_FAULT_DEEP_DISCHARGE = 0 # Battery has deep discharged
+uint8 BATTERY_FAULT_SPIKES = 1 # Voltage spikes
+uint8 BATTERY_FAULT_CELL_FAIL= 2 # One or more cells have failed
+uint8 BATTERY_FAULT_OVER_CURRENT = 3 # Over-current
+uint8 BATTERY_FAULT_OVER_TEMPERATURE = 4 # Over-temperature
+uint8 BATTERY_FAULT_UNDER_TEMPERATURE = 5 # Under-temperature fault
+uint8 BATTERY_FAULT_INCOMPATIBLE_VOLTAGE = 6 # Vehicle voltage is not compatible with battery one
+uint8 BATTERY_FAULT_INCOMPATIBLE_FIRMWARE = 7 # Battery firmware is not compatible with current autopilot firmware
+uint8 BATTERY_FAULT_INCOMPATIBLE_MODEL = 8 # Battery model is not supported by the system
+uint8 BATTERY_FAULT_HARDWARE_FAILURE = 9 # hardware problem
+uint8 BATTERY_WARNING_OVER_TEMPERATURE = 10 # Over-temperature
+uint8 BATTERY_FAULT_COUNT = 11 # Counter - keep it as last element!
+
+uint16 faults		# Smart battery supply status/fault flags (bitmask) for health indication.
+uint32 custom_faults 	# Bitmask indicating smart battery internal manufacturer faults, those are not user actionable.
+uint8 warning		# Current battery warning
+uint8 mode 		# Battery mode. Note, the normal operation mode
+
+uint8 BATTERY_MODE_UNKNOWN = 0 # Battery does not support a mode, or if it does, is operational
+uint8 BATTERY_MODE_AUTO_DISCHARGING = 1 # Battery is auto discharging (towards storage level)
+uint8 BATTERY_MODE_HOT_SWAP = 2 # Battery in hot-swap mode
+uint8 BATTERY_MODE_COUNT = 3 # Counter - keep it as last element (once we're fully migrated to events interface we can just comment this)!


 uint8 MAX_INSTANCES = 4
@@ -1,6 +1,6 @@
 ############################################################################
 #
-#   Copyright (c) 2016 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2016-2022 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
@@ -37,211 +37,178 @@ cmake_policy(SET CMP0057 NEW)
 include(px4_list_make_absolute)

 set(msg_files
-	action_request.msg
-	actuator_armed.msg
-	actuator_controls.msg
-	actuator_controls_status.msg
-	actuator_motors.msg
-	actuator_outputs.msg
-	actuator_servos.msg
-	actuator_servos_trim.msg
-	actuator_test.msg
-	adc_report.msg
-	airspeed.msg
-	airspeed_validated.msg
-	airspeed_wind.msg
-	autotune_attitude_control_status.msg
-	battery_status.msg
-	camera_capture.msg
-	camera_status.msg
-	camera_trigger.msg
-	cellular_status.msg
-	collision_constraints.msg
-	collision_report.msg
-	commander_state.msg
-	control_allocator_status.msg
-	cpuload.msg
-	differential_pressure.msg
-	distance_sensor.msg
-	ekf2_timestamps.msg
-	ekf_gps_drift.msg
-	esc_report.msg
-	esc_status.msg
-	estimator_baro_bias.msg
-	estimator_event_flags.msg
-	estimator_innovations.msg
-	estimator_optical_flow_vel.msg
-	estimator_selector_status.msg
-	estimator_sensor_bias.msg
-	estimator_states.msg
-	estimator_status.msg
-	estimator_status_flags.msg
-	event.msg
-	follow_target.msg
-	failure_detector_status.msg
-	generator_status.msg
-	geofence_result.msg
-	gimbal_device_attitude_status.msg
-	gimbal_device_information.msg
-	gimbal_device_set_attitude.msg
-	gimbal_manager_information.msg
-	gimbal_manager_set_attitude.msg
-	gimbal_manager_set_manual_control.msg
-	gimbal_manager_status.msg
-	gps_dump.msg
-	gps_inject_data.msg
-	heater_status.msg
-	home_position.msg
-	hover_thrust_estimate.msg
-	internal_combustion_engine_status.msg
-	input_rc.msg
-	iridiumsbd_status.msg
-	irlock_report.msg
-	landing_gear.msg
-	landing_target_innovations.msg
-	landing_target_pose.msg
-	led_control.msg
-	log_message.msg
-	logger_status.msg
-	mag_worker_data.msg
-	magnetometer_bias_estimate.msg
-	manual_control_setpoint.msg
-	manual_control_switches.msg
-	mavlink_log.msg
-	mission.msg
-	mission_result.msg
-	mount_orientation.msg
-	navigator_mission_item.msg
-	obstacle_distance.msg
-	offboard_control_mode.msg
-	onboard_computer_status.msg
-	optical_flow.msg
-	orbit_status.msg
-	parameter_update.msg
-	ping.msg
-	pps_capture.msg
-	position_controller_landing_status.msg
-	position_controller_status.msg
-	position_setpoint.msg
-	position_setpoint_triplet.msg
-	power_button_state.msg
-	power_monitor.msg
-	pwm_input.msg
-	px4io_status.msg
-	radio_status.msg
-	rate_ctrl_status.msg
-	rc_channels.msg
-	rc_parameter_map.msg
-	rpm.msg
-	rtl_time_estimate.msg
-	safety.msg
-	satellite_info.msg
-	sensor_accel.msg
-	sensor_accel_fifo.msg
-	sensor_baro.msg
-	sensor_combined.msg
-	sensor_correction.msg
-	sensor_gps.msg
-	sensor_gyro.msg
-	sensor_gyro_fft.msg
-	sensor_gyro_fifo.msg
-	sensor_hygrometer.msg
-	sensor_mag.msg
-	sensor_preflight_mag.msg
-	sensor_selection.msg
-	sensors_status_imu.msg
-	system_power.msg
-	takeoff_status.msg
-	task_stack_info.msg
-	tecs_status.msg
-	telemetry_status.msg
-	test_motor.msg
-	timesync.msg
-	timesync_status.msg
-	trajectory_bezier.msg
-	trajectory_waypoint.msg
-	transponder_report.msg
-	tune_control.msg
-	uavcan_parameter_request.msg
-	uavcan_parameter_value.msg
-	ulog_stream.msg
-	ulog_stream_ack.msg
-	vehicle_acceleration.msg
-	vehicle_air_data.msg
-	vehicle_angular_acceleration.msg
-	vehicle_angular_acceleration_setpoint.msg
-	vehicle_angular_velocity.msg
-	vehicle_attitude.msg
-	vehicle_attitude_setpoint.msg
-	vehicle_command.msg
-	vehicle_command_ack.msg
-	vehicle_constraints.msg
-	vehicle_control_mode.msg
-	vehicle_global_position.msg
-	vehicle_gps_position.msg
-	vehicle_imu.msg
-	vehicle_imu_status.msg
-	vehicle_land_detected.msg
-	vehicle_local_position.msg
-	vehicle_local_position_setpoint.msg
-	vehicle_magnetometer.msg
-	vehicle_odometry.msg
-	vehicle_rates_setpoint.msg
-	vehicle_roi.msg
-	vehicle_status.msg
-	vehicle_status_flags.msg
-	vehicle_thrust_setpoint.msg
-	vehicle_torque_setpoint.msg
-	vehicle_trajectory_bezier.msg
-	vehicle_trajectory_waypoint.msg
-	vtol_vehicle_status.msg
-	wheel_encoders.msg
-	wind.msg
-	yaw_estimator_status.msg
+	ActionRequest.msg
+	ActuatorArmed.msg
+	ActuatorControls.msg
+	ActuatorControlsStatus.msg
+	ActuatorMotors.msg
+	ActuatorOutputs.msg
+	ActuatorServos.msg
+	ActuatorServosTrim.msg
+	ActuatorTest.msg
+	AdcReport.msg
+	Airspeed.msg
+	AirspeedValidated.msg
+	AirspeedWind.msg
+	AutotuneAttitudeControlStatus.msg
+	BatteryStatus.msg
+	CameraCapture.msg
+	CameraStatus.msg
+	CameraTrigger.msg
+	CellularStatus.msg
+	CollisionConstraints.msg
+	CollisionReport.msg
+	CommanderState.msg
+	ControlAllocatorStatus.msg
+	Cpuload.msg
+	DebugArray.msg
+	DebugKeyValue.msg
+	DebugValue.msg
+	DebugVect.msg
+	DifferentialPressure.msg
+	DistanceSensor.msg
+	Ekf2Timestamps.msg
+	EkfGpsDrift.msg
+	EscReport.msg
+	EscStatus.msg
+	EstimatorBaroBias.msg
+	EstimatorEventFlags.msg
+	EstimatorInnovations.msg
+	EstimatorOpticalFlowVel.msg
+	EstimatorSelectorStatus.msg
+	EstimatorSensorBias.msg
+	EstimatorStates.msg
+	EstimatorStatus.msg
+	EstimatorStatusFlags.msg
+	Event.msg
+	FailureDetectorStatus.msg
+	FollowTarget.msg
+	GeneratorStatus.msg
+	GeofenceResult.msg
+	GimbalDeviceAttitudeStatus.msg
+	GimbalDeviceInformation.msg
+	GimbalDeviceSetAttitude.msg
+	GimbalManagerInformation.msg
+	GimbalManagerSetAttitude.msg
+	GimbalManagerSetManualControl.msg
+	GimbalManagerStatus.msg
+	GpsDump.msg
+	GpsInjectData.msg
+	HeaterStatus.msg
+	HomePosition.msg
+	HoverThrustEstimate.msg
+	InputRc.msg
+	InternalCombustionEngineStatus.msg
+	IridiumsbdStatus.msg
+	IrlockReport.msg
+	LandingGear.msg
+	LandingTargetInnovations.msg
+	LandingTargetPose.msg
+	LedControl.msg
+	LoggerStatus.msg
+	LogMessage.msg
+	MagnetometerBiasEstimate.msg
+	MagWorkerData.msg
+	ManualControlSetpoint.msg
+	ManualControlSwitches.msg
+	MavlinkLog.msg
+	Mission.msg
+	MissionResult.msg
+	MountOrientation.msg
+	NavigatorMissionItem.msg
+	NpfgStatus.msg
+	ObstacleDistance.msg
+	OffboardControlMode.msg
+	OnboardComputerStatus.msg
+	OpticalFlow.msg
+	OrbitStatus.msg
+	OrbTest.msg
+	OrbTestLarge.msg
+	OrbTestMedium.msg
+	ParameterUpdate.msg
+	Ping.msg
+	PpsCapture.msg
+	PositionControllerLandingStatus.msg
+	PositionControllerStatus.msg
+	PositionSetpoint.msg
+	PositionSetpointTriplet.msg
+	PowerButtonState.msg
+	PowerMonitor.msg
+	PwmInput.msg
+	Px4ioStatus.msg
+	RadioStatus.msg
+	RateCtrlStatus.msg
+	RcChannels.msg
+	RcParameterMap.msg
+	Rpm.msg
+	RtlTimeEstimate.msg
+	Safety.msg
+	SatelliteInfo.msg
+	SensorAccel.msg
+	SensorAccelFifo.msg
+	SensorBaro.msg
+	SensorCombined.msg
+	SensorCorrection.msg
+	SensorGps.msg
+	SensorGyro.msg
+	SensorGyroFft.msg
+	SensorGyroFifo.msg
+	SensorHygrometer.msg
+	SensorMag.msg
+	SensorPreflightMag.msg
+	SensorSelection.msg
+	SensorsStatusImu.msg
+	SystemPower.msg
+	TakeoffStatus.msg
+	TaskStackInfo.msg
+	TecsStatus.msg
+	TelemetryStatus.msg
+	TestMotor.msg
+	Timesync.msg
+	TimesyncStatus.msg
+	TrajectoryBezier.msg
+	TrajectoryWaypoint.msg
+	TransponderReport.msg
+	TuneControl.msg
+	UavcanParameterRequest.msg
+	UavcanParameterValue.msg
+	UlogStream.msg
+	UlogStreamAck.msg
+	VehicleAcceleration.msg
+	VehicleAirData.msg
+	VehicleAngularAcceleration.msg
+	VehicleAngularAccelerationSetpoint.msg
+	VehicleAngularVelocity.msg
+	VehicleAttitude.msg
+	VehicleAttitudeSetpoint.msg
+	VehicleCommand.msg
+	VehicleCommandAck.msg
+	VehicleConstraints.msg
+	VehicleControlMode.msg
+	VehicleGlobalPosition.msg
+	VehicleGpsPosition.msg
+	VehicleImu.msg
+	VehicleImuStatus.msg
+	VehicleLandDetected.msg
+	VehicleLocalPosition.msg
+	VehicleLocalPositionSetpoint.msg
+	VehicleMagnetometer.msg
+	VehicleOdometry.msg
+	VehicleRatesSetpoint.msg
+	VehicleRoi.msg
+	VehicleStatus.msg
+	VehicleStatusFlags.msg
+	VehicleThrustSetpoint.msg
+	VehicleTorqueSetpoint.msg
+	VehicleTrajectoryBezier.msg
+	VehicleTrajectoryWaypoint.msg
+	VtolVehicleStatus.msg
+	WheelEncoders.msg
+	Wind.msg
+	YawEstimatorStatus.msg
 )
-
-if(NOT px4_constrained_flash_build)
-	list(APPEND msg_files
-		debug_array.msg
-		debug_key_value.msg
-		debug_value.msg
-		debug_vect.msg
-	)
-endif()
-
-if(PX4_TESTING)
-	list(APPEND msg_files
-		orb_test.msg
-		orb_test_large.msg
-		orb_test_medium.msg
-	)
-endif()
-
 list(SORT msg_files)

-set(deprecated_msgs
-	ekf2_innovations.msg	# 2019-11-22, Updated estimator interface and logging; replaced by 'estimator_innovations'.
-	)
-
-foreach(msg IN LISTS deprecated_msgs)
-	if(msg IN_LIST msg_files)
-		get_filename_component(msg_we ${msg} NAME_WE)
-		list(APPEND invalid_msgs ${msg_we})
-	endif()
-endforeach()
-if(invalid_msgs)
-	list(LENGTH invalid_msgs invalid_msgs_size)
-	if(${invalid_msgs_size} GREATER 1)
-		foreach(msg IN LISTS invalid_msgs)
-			string(CONCAT invalid_msgs_cs ${invalid_msgs_cs} "'${msg}', ")
-		endforeach()
-		STRING(REGEX REPLACE ", +$" "" invalid_msgs_cs ${invalid_msgs_cs})
-		message(FATAL_ERROR "${invalid_msgs_cs} are listed as deprecated. Please use different names for the messages.")
-	else()
-		message(FATAL_ERROR "'${invalid_msgs}' is listed as deprecated. Please use a different name for the message.")
-	endif()
-endif()
-
 px4_list_make_absolute(msg_files ${CMAKE_CURRENT_SOURCE_DIR} ${msg_files})

 if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
@@ -256,40 +223,40 @@ if(NOT EXTERNAL_MODULES_LOCATION STREQUAL "")
 	endif()
 endif()

+# set parent scope msg_files for other modules to consume (eg topic_listener)
+set(msg_files ${msg_files} PARENT_SCOPE)
+
 # headers
 set(msg_out_path ${PX4_BINARY_DIR}/uORB/topics)
 set(msg_source_out_path	${CMAKE_CURRENT_BINARY_DIR}/topics_sources)

-set(uorb_headers ${msg_out_path}/uORBTopics.hpp)
-set(uorb_sources ${msg_source_out_path}/uORBTopics.cpp)
+set(uorb_headers)
 foreach(msg_file ${msg_files})
 	get_filename_component(msg ${msg_file} NAME_WE)
+
+	# Pascal case to snake case (MsgFile -> msg_file)
+	string(REGEX REPLACE "(.)([A-Z][a-z]+)" "\\1_\\2" msg "${msg}")
+	string(REGEX REPLACE "([a-z0-9])([A-Z])" "\\1_\\2" msg "${msg}")
+	string(TOLOWER "${msg}" msg)
+
 	list(APPEND uorb_headers ${msg_out_path}/${msg}.h)
-	list(APPEND uorb_sources ${msg_source_out_path}/${msg}.cpp)
 endforeach()

-if (px4_constrained_flash_build)
+if(px4_constrained_flash_build)
 	set(added_arguments --constrained-flash)
 endif()

-# set parent scope msg_files for other modules to consume (eg topic_listener)
-set(msg_files ${msg_files} PARENT_SCOPE)
-
 # Generate uORB headers
 add_custom_command(OUTPUT ${uorb_headers}
 	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
-		--headers
 		-f ${msg_files}
 		-i ${CMAKE_CURRENT_SOURCE_DIR}
 		-o ${msg_out_path}
 		-e templates/uorb
-		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/headers
-		-q
 		${added_arguments}
 	DEPENDS
 		${msg_files}
 		templates/uorb/msg.h.em
-		templates/uorb/uORBTopics.hpp.em
 		tools/px_generate_uorb_topic_files.py
 		tools/px_generate_uorb_topic_helper.py
 	COMMENT "Generating uORB topic headers"
@@ -297,28 +264,3 @@ add_custom_command(OUTPUT ${uorb_headers}
 	VERBATIM
 	)
 add_custom_target(uorb_headers DEPENDS ${uorb_headers})
-
-# Generate uORB sources
-add_custom_command(OUTPUT ${uorb_sources}
-	COMMAND ${PYTHON_EXECUTABLE} tools/px_generate_uorb_topic_files.py
-		--sources
-		-f ${msg_files}
-		-i ${CMAKE_CURRENT_SOURCE_DIR}
-		-o ${msg_source_out_path}
-		-e templates/uorb
-		-t ${CMAKE_CURRENT_BINARY_DIR}/tmp/sources
-		-q
-		${added_arguments}
-	DEPENDS
-		${msg_files}
-		templates/uorb/msg.cpp.em
-		templates/uorb/uORBTopics.cpp.em
-		tools/px_generate_uorb_topic_files.py
-		tools/px_generate_uorb_topic_helper.py
-	COMMENT "Generating uORB topic sources"
-	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
-	VERBATIM
-	)
-
-add_library(uorb_msgs ${uorb_sources})
-add_dependencies(uorb_msgs prebuild_targets uorb_headers)
@@ -5,5 +5,3 @@ uint32 seq		# Image sequence number
 bool feedback	# Trigger feedback from camera

 uint32 ORB_QUEUE_LENGTH = 2
-
-# TOPICS camera_trigger
@@ -0,0 +1,23 @@
+uint64 timestamp					# time since system start (microseconds)
+uint32 esc_errorcount					# Number of reported errors by ESC - if supported
+int32 esc_rpm						# Motor RPM, negative for reverse rotation [RPM] - if supported
+float32 esc_voltage					# Voltage measured from current ESC [V] - if supported
+float32 esc_current					# Current measured from current ESC [A] - if supported
+float32 esc_temperature					# Temperature measured from current ESC [degC] - if supported
+uint8 esc_address					# Address of current ESC (in most cases 1-8 / must be set by driver)
+
+uint8 esc_state					# State of ESC - depend on Vendor
+
+uint16 failures					# Bitmask to indicate the internal ESC faults
+
+uint8 FAILURE_OVER_CURRENT = 0 			# (1 << 0)
+uint8 FAILURE_OVER_VOLTAGE = 1 			# (1 << 1)
+uint8 FAILURE_MOTOR_OVER_TEMPERATURE = 2 	# (1 << 2)
+uint8 FAILURE_OVER_RPM = 3			# (1 << 3)
+uint8 FAILURE_INCONSISTENT_CMD = 4 		# (1 << 4)  Set if ESC received an inconsistent command (i.e out of boundaries)
+uint8 FAILURE_MOTOR_STUCK = 5			# (1 << 5)
+uint8 FAILURE_GENERIC = 6			# (1 << 6)
+uint8 FAILURE_MOTOR_WARN_TEMPERATURE = 7	# (1 << 7)
+uint8 FAILURE_WARN_ESC_TEMPERATURE = 8		# (1 << 8)
+uint8 FAILURE_OVER_ESC_TEMPERATURE = 9		# (1 << 9)
+uint8 ESC_FAILURE_COUNT = 10 			# Counter - keep it as last element!
@@ -25,4 +25,4 @@ uint8 esc_online_flags					# Bitmask indicating which ESC is online/offline

 uint8 esc_armed_flags					# Bitmask indicating which ESC is armed. For ESC's where the arming state is not known (returned by the ESC), the arming bits should always be set.

-esc_report[8] esc
+px4/EscReport[8] esc
@@ -34,5 +34,3 @@ float32 hagl		# height of ground innovation (m) and innovation variance (m**2)

 # The innovation test ratios are scalar values. In case the field is a vector,
 # the test ratio will be put in the first component of the vector.
-
-# TOPICS estimator_innovations estimator_innovation_variances estimator_innovation_test_ratios
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	61778511ea	lib/matrix: inline common Vector3f operators	2022-01-21 12:53:26 -05:00
Daniel Agar	56de0e27d8	PX4 ROS2 msg conformity and explicit topics - .msg files are PascalCase - topics are still either per msg or explicitly listed in TOPICS - compatible structs are still generated (eg struct msg_s), but ROS2 style px4::msg::Msg is also available	2022-01-21 09:32:30 -05:00
Daniel Agar	7cb8ed3a1f	sensors/vehicle_gps_position: don't work with 64 time with 32 bit floats	2022-01-21 09:18:49 -05:00
JaeyoungLim	0607982b23	Publish orbit status also when the waypoint is a loiter waypoint (#19048 ) * Publish orbit status also when the waypoint is a loiter waypoint * Remove redundant orbit status publishing	2022-01-21 09:13:03 +01:00
Beat Küng	bcd057ac3e	uORB: fix copy-paste mistake in orb_print_message_internal Could have led to invalid memory access.	2022-01-20 12:58:20 -05:00
bresch	a2260e53da	ekf2: replace yaw failure detection criteria The existing logic using the angle between velocity vectors failed to determine a yaw failure in practice because the state velocity is often too small compared to its uncertainty to be used. In all the failures reported, the yaw emergency estimator converged properly and yaw reset would have fixed the issue. A much simpler check using the yaw difference between the main EKF and the emergency estimator is now used to tell if the vel/pos update failure is most likely caused by a wrong heading.	2022-01-20 11:54:24 +01:00
Daniel Agar	446729566d	platforms/nuttx: px4io_serial always cleanup DMA before next bus exchange - this really shouldn't be necessary, but worst case it's harmless and much better than potentially falling out of the sky	2022-01-19 18:00:18 -05:00
Jaeyoung Lim	0dea56f88b	Use current_sp for publishing orbit status	2022-01-19 12:00:03 -05:00
Jaeyoung-Lim	dec5e7e9c8	Publish orbit status whenever the vehicle is in loiter This commit moves the publish orbit status to be published whenever the vehicle is considering a loiter setpoint	2022-01-19 12:00:03 -05:00
Thomas Stastny	19c98b8841	npfg: fix typo in Vector2f indexing	2022-01-19 11:17:44 -05:00
bresch	e89e3c1b0c	ekf2: extract logic to test yaw emergency estimate quality	2022-01-19 09:05:41 -05:00
bresch	ea80c5027e	ekf2: split yaw estimator state getter into several functions	2022-01-19 09:05:41 -05:00
dagar	476c1e5c09	[AUTO COMMIT] update change indication	2022-01-19 09:04:53 -05:00
bresch	ffebd8e771	ekf2: initialize cos tilt variable assuming no tilt	2022-01-19 09:04:53 -05:00
Daniel Agar	92a5bbe97f	ekf2: improve ring buffer sizing and dynamically allocate	2022-01-19 09:04:53 -05:00
Daniel Agar	36605bfff6	sensors: lower SENS_MAG_RATE default - reduce estimator 3D mag fusion cpu load (-3% on Pixhawk4)	2022-01-19 08:51:57 -05:00
Matthias Grob	c9f7c20d46	MulticoperPositionController: time failsafe messages together The following output instead of printing the action "stop and wait" just once: WARN [mc_pos_control] invalid setpoints WARN [mc_pos_control] invalid setpoints WARN [mc_pos_control] Failsafe: stop and wait WARN [mc_pos_control] invalid setpoints WARN [mc_pos_control] Failsafe: stop and wait WARN [mc_pos_control] invalid setpoints WARN [mc_pos_control] Failsafe: stop and wait	2022-01-19 14:31:19 +01:00
Matthias Grob	d4e356a1ac	PosititionControl: fix integrator windup with invalid setpoint	2022-01-19 14:31:19 +01:00
Matthias Grob	8811482f1d	PositionControlTest: add integrator windup with invalid setpoint combination unit test This bug was by chance found during simulation testing and debugging. The unit test is to easily reproduce and cover this case.	2022-01-19 14:31:19 +01:00
Silvan Fuhrer	632dfa55e6	FW Pos C: add option to disable airspeed setpoint via stick input -rename FW_POSCTL_INV_ST to FW_POS_STK_CONF and make bitmask out of it: - bit 0: alternative mapping (height rate on throttle stick, airspeed on pitch) - bit 1: enable/disable airspeed setpoints via stick Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-01-19 10:13:07 +01:00
Silvan Fuhrer	cbb8c90245	ControlAllocation: fix calculation of roll/pitch normalization scale Take into account the actual number of roll and pitch acutators, instead of assuming that all actuators have a roll/pitch component. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-01-19 08:22:12 +01:00
Silvan Fuhrer	0950bb81ab	ControlAllocation: update normalization scale only if matrix updated is forced The forced flag is used to distinguish between updates due to a configuration (parameter) change (only enabled when disarmed), and matrix updates due to motor tilt change. Only update the normalization scale if the forced flag is true, and use a tilt angle of vertical position for it to have the scales tilt-invariant. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-01-19 08:22:12 +01:00
CUAVmengxiao	258a563dd5	barometer: Add ICP10100 and ICP1011	2022-01-18 19:14:40 -05:00
FARHANG	fe44e281e5	ROMFS: Holybro X500 v2 airframe addition	2022-01-18 15:11:41 -05:00
Daniel Agar	dd6b7fa98f	sensors: switch status PX4_INFO -> PX4_INFO_RAW	2022-01-18 15:00:18 -05:00
Daniel Agar	b1d2a0cc4e	sensors: simplify timestamp data validator handling	2022-01-18 14:57:18 -05:00
Daniel Agar	8067207ea6	px4_work_queue: rename serial port WQs	2022-01-18 14:56:15 -05:00
bresch	953c90d3a6	failure detector: change imbalanced propeller metric Use standard deviations instead of variances to get a linear metric	2022-01-18 12:24:35 -05:00
bresch	408cf011b2	failure detector: fix dt computation	2022-01-18 12:24:35 -05:00
Daniel Agar	7eee949a81	Jenkins: hardware tolerate irrelevant uorb status failure	2022-01-18 12:23:05 -05:00
Daniel Agar	548b7d5ece	sensors/vehicle_imu: on calibration change don't resume in flight calibration learning immediately	2022-01-18 11:22:41 -05:00
Daniel Agar	ece09064c4	parameters: perform verification pass twice - on NuttX with MTD storage this is to ensure we are verifying what's actually stored on ramtron or eeprom, not just what's cached by bchlib	2022-01-18 09:47:28 -05:00
alexklimaj	cdb6a437a0	Fix UAVCAN beep not started	2022-01-17 21:49:53 -05:00
PX4 BuildBot	0bb9cce1ce	Update submodule mavlink to latest Tue Jan 18 00:39:07 UTC 2022 - mavlink in PX4/Firmware (37e04f56da3916dcb518eeba66b0888db1cd8c32): https://github.com/mavlink/mavlink/commit/75204adad281e017e58e0a68fdb0a478c2b74d6f - mavlink current upstream: https://github.com/mavlink/mavlink/commit/3d8092006ec1b2321f74e84039dadb1ebd3d1f37 - Changes: https://github.com/mavlink/mavlink/compare/75204adad281e017e58e0a68fdb0a478c2b74d6f...3d8092006ec1b2321f74e84039dadb1ebd3d1f37 3d809200 2022-01-14 Hamish Willee - MAV_PROTOCOL_CAPABILITY_FLIGHT_INFORMATION - mark as reserved capability (#1775) 68ff649f 2022-01-13 Hamish Willee - MAV_PROTOCOL_CAPABILITY_MISSION_FLOAT - deprecate (#1768) ae531d97 2022-01-13 Peter Barker - Move "external" dialects to be normal dialects (#1761) 00a3f8ed 2022-01-12 Julian Oes - Revert "Delete unused cmake tree (#1760)" (#1782) aa0764bd 2022-01-12 Hamish Willee - MAV_PROTOCOL_CAPABILITY_PARAM_UNION - rename/reserved (#1771) c3b46620 2022-01-12 Hamish Willee - Update mavlink_udp.c example readme to use mavlink 2 (#1780) 0449a5ec 2022-01-12 Tatsuya Yamaguchi - add extended sensor status bits to MAVLink UDP example (#1778) fc3539e1 2022-01-10 Josh Henderson - ardupilotmega: Sync to ArduPilot downstream 10-JAN-2022 (#1777) 27395aa7 2022-01-06 Julian Oes - pymavlink: update submodule to latest master (#1776) 2180611b 2022-01-06 Hamish Willee - MAV_WINCH_STATUS_CLUTCH_ENGAGED: Winch clutch is engaged allowing motor to move freely 7c6f104f 2022-01-05 Jacob Dahl - Extend WINCH_STATUS_FLAG and WINCH_ACTION (#1766) dcb44e75 2022-01-06 Hamish Willee - Delete unused cmake tree (#1760) 5b8bec5b 2022-01-05 Hamish Willee - common.xml: AUTOTUNE_AXIS_YAW - fix value to correct one for bitmask (#1767)	2022-01-17 21:36:02 -05:00
Julian Oes	be9385ef06	cmake: use at least 1 core to build SITL If we use -j 0, ninja fails with invalid argument.	2022-01-17 17:07:31 -05:00
Daniel Agar	2fb82789fe	lib/wind_estimator: pass q_att as const reference	2022-01-17 16:59:28 -05:00
Beat Küng	4cbee44220	rc.mc_defaults: only set IMU_GYRO_RATEMAX if default Allows boards to set a higher rate.	2022-01-17 10:41:33 -05:00
Beat Küng	425b268feb	boards: add holybro/kakuteh7 known issues: - flash-based params does not work on H7 (due to ECC), so params are on SD card. The last flash sector is still reserved however. - output channel 6 does not support DShot (the implementation does not handle channel gaps) - flashing of the 2. flash bank is much slower (around 3x), than the 1. bank for some unknown reason. - after the BL jumps to the app, there's several seconds passing until stm32_boardinitialize() is called.	2022-01-17 10:41:33 -05:00
Beat Küng	cd2bb14f9b	stm32h7/micro_hal.h: add RCC_APB1ENR_TIM4EN	2022-01-17 10:41:33 -05:00
Berker Canatar	9249d3ae3d	Update current year in LICENSE	2022-01-17 08:10:57 +01:00
Silvan Fuhrer	0ce44cebb7	WindEstimator: use vehicle heading instead of ground course for initialisation Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-01-14 17:42:01 -05:00
Silvan Fuhrer	1a4b2b37bb	AirspeedValidator: remove unused variable _tas_gate Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-01-14 17:42:01 -05:00
Thomas Stastny	3b6c9448aa	npfg: fix format CMakeLists	2022-01-14 22:05:53 +01:00
Thomas Stastny	13c36155ce	fw_pos_ctrl: allow npfg to operate without wind estimate, dont switch controllers	2022-01-14 22:05:53 +01:00
Thomas Stastny	082e320191	integrate optional NPFG library for wind-aware fixed-wing guidance	2022-01-14 22:05:53 +01:00
Beat Küng	66cbbf9f2e	control_allocator: use 'bidirectional' to clarify reversible motors	2022-01-14 12:18:29 -05:00
Beat Küng	9ca58f5e97	actuator outputs: always add reverse range param and remove the possibility to set min > max to reverse. Initially the idea was to add the checkbox on the UI side, to avoid adding another param, but I don't think I'll go through the extra effort on the QGC side.	2022-01-14 12:18:29 -05:00
Daniel Agar	98a9748bb8	drivers/dshot: use uORB::PublicationMulti for ORB_ID(esc_status) - there can be multiple different outupt modules publishing esc_status (eg dshot & uavcan)	2022-01-14 12:17:49 -05:00
Daniel Agar	81ecd130fc	uavcan: ESC publish esc_status in callback instead of timer - this ensures every ESC status gets published with minimal latency - also prevents publishing ORB_ID(esc_status) when there's no actual data (bug)	2022-01-14 12:17:49 -05:00
David Sidrane	25099ce11f	fmurt1062-v1:Added GPS driver dropped in move to boardconfig	2022-01-14 07:04:06 -08:00
Julian Oes	651702c2c1	setup: don't install ccache I don't think the PX4 setup script should decide whether a user is to use ccache or not. Anecdotally, I've heard from some in the dev team that they are not using it themselves, so I don't think there is a good basis to push it onto others. That being said, we can of course still use ccache as part of the CI builds nevertheless.	2022-01-14 10:01:23 -05:00
Roman Bapst	dc6067ed12	Update src/modules/fw_att_control/fw_att_control_params.c Co-authored-by: Silvan Fuhrer <silvan@auterion.com>	2022-01-14 16:34:44 +03:00
RomanBapst	34bb671a73	improve parameter descriptions for fw maximum/minimum roll/pitch angles Signed-off-by: RomanBapst <bapstroman@gmail.com>	2022-01-14 16:34:44 +03:00
RomanBapst	555ee371e8	FixedWingPositionControl: consistently use the same roll and pitch angle limits for autonomous and semi-autonomous modes (altitude & position control) Signed-off-by: RomanBapst <bapstroman@gmail.com>	2022-01-14 16:34:44 +03:00
Thomas Stastny	f8c2ee73db	handle line segment termination in navigator - if following line segment (fixed-wing position control) switch waypoint when in acceptance radius OR passed the second waypoint. this handles the case of being beyond the second waypoint but not within the acceptance radius without the need to fly back to the waypoint (e.g. after a loiter up to waypoint alt) - sync navigator and fw pos ctrl waypoint acceptance altitude	2022-01-13 13:43:02 +01:00
Claudio Micheli	8a01135a93	Commander: more changes to use events with escs and battery failures Signed-off-by: Claudio Micheli <claudio@auterion.com>	2022-01-13 08:40:34 +01:00
Claudio Micheli	d122513197	extend support for Battery status message Signed-off-by: Claudio Micheli <claudio@auterion.com>	2022-01-13 08:40:34 +01:00