mixer_module always use MIN/MAX/DIS/FAIL parameters

2026-06-11 22:10:04 +08:00 · 2021-10-21 21:50:25 -04:00
164 changed files with 6546 additions and 10160 deletions
@@ -10,7 +10,6 @@ on:
 jobs:
  enumerate_targets:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-base-focal:2021-09-08
    outputs:
      matrix: ${{ steps.set-matrix.outputs.matrix }}
    steps:
@@ -128,9 +128,6 @@ config BOARD_KEYSTORE

 menu "Serial ports"

-    config BOARD_SERIAL_URT6
-        string "URT6 tty port"
-
    config BOARD_SERIAL_GPS1
        string "GPS1 tty port"

@@ -161,14 +158,8 @@ menu "Serial ports"
    config BOARD_SERIAL_TEL5
        string "TEL5 tty port"

-    config BOARD_SERIAL_RC
-        string "RC tty port"
-
    config BOARD_SERIAL_WIFI
        string "WIFI tty port"
-
-    config BOARD_SERIAL_PPB
-        string "PPB (Pixhawk Payload Bus) tty port"
 endmenu

 menu "drivers"
@@ -1,110 +0,0 @@
-#!/bin/sh
-#
-# @name Standard VTOL
-#
-# @type Standard VTOL
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default SYS_CTRL_ALLOC 1
-
-param set-default VM_MASS 1.5
-param set-default VM_INERTIA_XX 0.03
-param set-default VM_INERTIA_YY 0.03
-param set-default VM_INERTIA_ZZ 0.05
-
-param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
-param set-default FW_PR_FF 0.2
-param set-default FW_PR_P 0.9
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
-param set-default FW_P_LIM_MIN -15
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_P 0.3
-param set-default FW_THR_CRUISE 0.25
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_T_ALT_TC 2
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-param set-default FW_T_TAS_TC 2
-
-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_YAW_P 1.6
-
-param set-default MIS_TAKEOFF_ALT 10
-
-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
-
-param set-default NAV_ACC_RAD 5
-param set-default NAV_LOITER_RAD 80
-
-param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_B_TRANS_DUR 8
-param set-default VT_TYPE 2
-
-param set-default CA_AIRFRAME 1
-param set-default CA_METHOD 1
-
-# VTOL Motors
-param set-default CA_ACT0_MIN 0.0
-param set-default CA_ACT1_MIN 0.0
-param set-default CA_ACT2_MIN 0.0
-param set-default CA_ACT3_MIN 0.0
-param set-default CA_ACT0_MAX 1.0
-param set-default CA_ACT1_MAX 1.0
-param set-default CA_ACT2_MAX 1.0
-param set-default CA_ACT3_MAX 1.0
-
-# Throttle
-param set-default CA_ACT4_MIN 0.0
-param set-default CA_ACT4_MAX 1.0
-
-# Ailerons/Ruddervator
-param set-default CA_ACT5_MIN -1.0
-param set-default CA_ACT5_MAX 1.0
-param set-default CA_ACT6_MIN -1.0
-param set-default CA_ACT6_MAX 1.0
-param set-default CA_ACT7_MIN -1.0
-param set-default CA_ACT7_MAX 1.0
-
-param set-default CA_MC_R0_PX 0.177
-param set-default CA_MC_R0_PY 0.177
-param set-default CA_MC_R0_CT 6.5
-param set-default CA_MC_R0_KM 0.05
-param set-default CA_MC_R1_PX -0.177
-param set-default CA_MC_R1_PY -0.177
-param set-default CA_MC_R1_CT 6.5
-param set-default CA_MC_R1_KM 0.05
-param set-default CA_MC_R2_PX 0.177
-param set-default CA_MC_R2_PY -0.177
-param set-default CA_MC_R2_CT 6.5
-param set-default CA_MC_R2_KM -0.05
-param set-default CA_MC_R3_PX -0.177
-param set-default CA_MC_R3_PY 0.177
-param set-default CA_MC_R3_CT 6.5
-param set-default CA_MC_R3_KM -0.05
-
-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
-param set-default PWM_MAIN_FUNC5 105 # Setting pusher to Motor5 for now
-param set-default PWM_MAIN_FUNC6 201
-param set-default PWM_MAIN_FUNC7 202
-param set-default PWM_MAIN_FUNC8 203
-
-set MAV_TYPE 22
-
-set MIXER skip
@@ -67,7 +67,6 @@ px4_add_romfs_files(
 	1042_tiltrotor
 	1043_standard_vtol_drop
 	1043_standard_vtol_drop.post
-	1050_standard_vtol_ctrlalloc
 	1060_rover
 	1061_r1_rover
 	1062_tf-r1
@@ -84,8 +84,6 @@ param set-default MPC_Z_VEL_P_ACC 5
 param set-default MPC_Z_VEL_I_ACC 3
 param set-default MPC_LAND_ALT1 3
 param set-default MPC_LAND_ALT2 1
-param set-default MPC_POS_MODE 3
-param set-default CP_GO_NO_DATA 1

 # Navigator Parameters
 param set-default NAV_ACC_RAD 2
@@ -16,12 +16,6 @@ ekf2 start &
 fw_att_control start
 fw_pos_control_l1 start
 airspeed_selector start
-
-#
-# Start attitude control auto-tuner
-#
-fw_autotune_attitude_control start
-
 #
 # Start Land Detector.
 #
@@ -15,7 +15,7 @@ param set-default RTL_RETURN_ALT 30
 param set-default RTL_DESCEND_ALT 10

 param set-default PWM_MAIN_MAX 1950
-param set-default PWM_MAIN_MIN 1075
+param set-default PWM_MAIN_MIN1 1075
 param set-default PWM_MAIN_RATE 400

 param set-default GPS_UBX_DYNMODEL 6
@@ -15,22 +15,6 @@ ekf2 start &
 #                        End Estimator group selection                        #
 ###############################################################################

-if param compare SYS_CTRL_ALLOC 1
-then
-	#
-	# Start Control Allocator
-	#
-	control_allocator start
-
-	#
-	# Disable hover thrust estimator and prearming
-	# These features are currently incompatible with control allocation
-	#
-	# TODO: fix
-	#
-	param set MPC_USE_HTE 0
-fi
-
 airspeed_selector start

 vtol_att_control start
@@ -40,11 +24,9 @@ mc_att_control start vtol
 flight_mode_manager start
 mc_pos_control start vtol
 mc_hover_thrust_estimator start
-mc_autotune_attitude_control start

 fw_att_control start vtol
 fw_pos_control_l1 start vtol
-fw_autotune_attitude_control start vtol

 # Start Land Detector
 # Multicopter for now until we have something for VTOL
@@ -1,12 +1,6 @@
 #!/usr/bin/env bash
 set -eu

-PATTERN="-e ."
-
-if [ $# -gt 0 ]; then
-    PATTERN="$1"
-fi
-
 exec find boards msg src platforms test \
    -path msg/templates/urtps -prune -o \
    -path platforms/nuttx/NuttX -prune -o \
@@ -27,4 +21,4 @@ exec find boards msg src platforms test \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/crypto/libtomcrypt -prune -o \
    -path src/lib/crypto/libtommath -prune -o \
-    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
+    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \)
@@ -6,14 +6,6 @@ import os
 import sys
 import json
 import re
-from kconfiglib import Kconfig
-
-kconf = Kconfig()
-
-# Supress warning output
-kconf.warn_assign_undef = False
-kconf.warn_assign_override = False
-kconf.warn_assign_redun = False

 source_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..')

@@ -36,43 +28,42 @@ excluded_labels = [
    'uavcanv1' # TODO: fix and enable
    ]

-def process_target(px4board_file, target_name):
+def process_target(cmake_file, target_name):
    ret = None
+    is_board_def = False
    platform = None
    toolchain = None
+    for line in open(cmake_file, 'r'):
+        if 'px4_add_board' in line:
+            is_board_def = True
+        if not is_board_def:
+            continue

-    if px4board_file.endswith("default.px4board"):
-        kconf.load_config(px4board_file, replace=True)
-    else: # Merge config with default.px4board
-        default_kconfig = re.sub(r'[a-zA-Z\d_]+\.px4board', 'default.px4board', px4board_file)
-        kconf.load_config(default_kconfig, replace=True)
-        kconf.load_config(px4board_file, replace=False)
+        re_platform = re.search('PLATFORM\s+([^\s]+)', line)
+        if re_platform: platform = re_platform.group(1)

-    if "BOARD_TOOLCHAIN" in kconf.syms:
-        toolchain = kconf.syms["BOARD_TOOLCHAIN"].str_value
+        re_toolchain = re.search('TOOLCHAIN\s+([^\s]+)', line)
+        if re_toolchain: toolchain = re_toolchain.group(1)

-    if "BOARD_PLATFORM" in kconf.syms:
-        platform = kconf.syms["BOARD_PLATFORM"].str_value
+    if is_board_def:
+        assert platform, f"PLATFORM not found in {cmake_file}"

-    assert platform, f"PLATFORM not found in {px4board_file}"
-
-    if platform not in excluded_platforms:
-        # get the container based on the platform and toolchain
-        container = platform
-        if platform == 'posix':
-            container = 'base-focal'
-            if toolchain:
-                if toolchain.startswith('aarch64'):
-                    container = 'aarch64'
-                elif toolchain == 'arm-linux-gnueabihf':
-                    container = 'armhf'
-                else:
-                    if verbose: print(f'possibly unmatched toolchain: {toolchain}')
-        elif platform == 'nuttx':
-            container = 'nuttx-focal'
-
-        ret = {'target': target_name, 'container': container}
+        if platform not in excluded_platforms:
+            # get the container based on the platform and toolchain
+            container = platform
+            if platform == 'posix':
+                container = 'base-focal'
+                if toolchain:
+                    if toolchain.startswith('aarch64'):
+                        container = 'aarch64'
+                    elif toolchain == 'arm-linux-gnueabihf':
+                        container = 'armhf'
+                    else:
+                        if verbose: print(f'possibly unmatched toolchain: {toolchain}')
+            elif platform == 'nuttx':
+                container = 'nuttx-focal'

+            ret = {'target': target_name, 'container': container}
    return ret

 for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
@@ -86,8 +77,8 @@ for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
        if not board.is_dir():
            continue
        for files in os.scandir(board.path):
-            if files.is_file() and files.name.endswith('.px4board'):
-                label = files.name[:-9]
+            if files.is_file() and files.name.endswith('.cmake'):
+                label = files.name[:-6]
                target_name = manufacturer.name + '_' + board.name + '_' + label
                if label in excluded_labels:
                    if verbose: print(f'excluding label {label} ({target_name})')
@@ -110,16 +110,10 @@ def main(kconfig_file, config1, config2):

    for line in f:
        match = unset_match(line)
-        #pprint.pprint(line)
+        #pprint.pprint(match)
        if match is not None:
            sym_name = match.group(1)
            kconf.syms[sym_name].unset_value()
-
-            for default, cond in kconf.syms[sym_name].orig_defaults:
-                if(cond.str_value == 'y'):
-                    # Default is y, our diff is unset thus we've set it to no
-                    kconf.syms[sym_name].set_value(0)
-
    f.close()

    # Print warnings for symbols whose actual value doesn't match the assigned
@@ -48,7 +48,6 @@ 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
@@ -44,7 +44,6 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -29,7 +29,6 @@ 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
@@ -53,7 +53,6 @@ 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
@@ -38,7 +38,6 @@ 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
@@ -72,7 +71,6 @@ 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
@@ -85,6 +83,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
@@ -129,6 +129,16 @@ __EXPORT void board_on_reset(int status)
 ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	/* Reset PWM first thing */
 	board_on_reset(-1);

@@ -54,7 +54,6 @@ 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
@@ -38,7 +38,6 @@ 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
@@ -72,7 +71,6 @@ 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
@@ -85,6 +83,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
@@ -129,6 +129,16 @@ __EXPORT void board_on_reset(int status)
 ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	/* Reset PWM first thing */
 	board_on_reset(-1);

@@ -49,7 +49,6 @@ 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
@@ -39,7 +39,6 @@ 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
@@ -38,7 +38,6 @@ 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
@@ -120,6 +120,16 @@ __EXPORT void board_on_reset(int status)
 ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	/* Reset PWM first thing */
 	board_on_reset(-1);

@@ -48,7 +48,6 @@ 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
@@ -30,7 +30,6 @@ 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
@@ -38,6 +38,7 @@ CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -47,13 +48,13 @@ 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_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MAVLINK=y
@@ -98,3 +99,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_FAKE_GPS=y
@@ -38,7 +38,6 @@ 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
@@ -73,7 +72,6 @@ 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
@@ -86,6 +84,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
@@ -162,6 +162,16 @@ __EXPORT void board_on_reset(int status)
 __EXPORT void
 stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	board_on_reset(-1); /* Reset PWM first thing */

 	/* configure LEDs */
@@ -5,7 +5,6 @@ CONFIG_BOARD_EXTERNAL_METADATA=y
 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_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_DSHOT=y
@@ -53,7 +53,6 @@ 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
@@ -48,7 +48,6 @@ 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
@@ -47,7 +47,6 @@ 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
@@ -46,7 +46,6 @@ 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
@@ -46,7 +46,6 @@ 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
@@ -46,7 +46,6 @@ 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
@@ -38,7 +38,6 @@ 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
@@ -74,7 +73,6 @@ 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
@@ -87,6 +85,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
@@ -123,6 +123,16 @@ __EXPORT void board_on_reset(int status)
 ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	/* Reset PWM first thing */
 	board_on_reset(-1);

@@ -47,7 +47,6 @@ 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
@@ -38,7 +38,6 @@ 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
@@ -74,7 +73,6 @@ 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
@@ -87,6 +85,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
@@ -123,6 +123,16 @@ __EXPORT void board_on_reset(int status)
 ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	/* Reset PWM first thing */
 	board_on_reset(-1);

@@ -45,7 +45,6 @@ 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
@@ -38,7 +38,6 @@ 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
@@ -72,7 +71,6 @@ 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
@@ -85,6 +83,7 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
@@ -123,6 +123,16 @@ __EXPORT void board_on_reset(int status)
 ************************************************************************************/
 __EXPORT void stm32_boardinitialize(void)
 {
+	// clear all existing MPU configuration from bootloader
+	for (int region = 0; region < CONFIG_ARM_MPU_NREGIONS; region++) {
+		putreg32(region, MPU_RNR);
+		putreg32(0, MPU_RBAR);
+		putreg32(0, MPU_RASR);
+
+		// save
+		putreg32(0, MPU_CTRL);
+	}
+
 	/* Reset PWM first thing */
 	board_on_reset(-1);

@@ -48,7 +48,6 @@ 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
@@ -49,7 +49,6 @@ 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
@@ -48,7 +48,6 @@ 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
@@ -53,7 +53,6 @@ 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
@@ -103,7 +103,8 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
-CONFIG_SPITOOL_MAXBUS=2
+CONFIG_SPITOOL_DEFFREQ=400000
+CONFIG_SPITOOL_MAXBUS=0
 CONFIG_STACK_COLORATION=y
 CONFIG_START_DAY=18
 CONFIG_START_MONTH=8
@@ -62,7 +62,7 @@ else()
 		init.c
 		mtd.cpp
 		periphclocks.c
-		spi.cpp
+		spi.c
 		timer_config.cpp
 		userleds.c
 	)
@@ -160,9 +160,8 @@ int s32k1xx_bringup(void);
 *
 ****************************************************************************/

-#ifdef CONFIG_S32K1XX_LPSPI0
+#ifdef CONFIG_S32K1XX_LPSPI
 void s32k1xx_spidev_initialize(void);
-int s32k1xx_spi_bus_initialize(void);
 #endif

 /****************************************************************************************************
@@ -124,13 +124,12 @@ int s32k1xx_bringup(void)
 	s32k1xx_eeeprom_register(0, 4096);
 #endif

-#ifdef CONFIG_S32K1XX_LPSPI0
+#ifdef CONFIG_S32K1XX_LPSPI
 	/* Configure SPI chip selects if 1) SPI is not disabled, and 2) the weak
 	 * function s32k1xx_spidev_initialize() has been brought into the link.
 	 */

 	s32k1xx_spidev_initialize();
-	s32k1xx_spi_bus_initialize();
 #endif

 #if defined(CONFIG_S32K1XX_LPI2C0)
@@ -34,5 +34,6 @@
 #include <px4_arch/i2c_hw_description.h>

 constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusInternal(PX4_BUS_NUMBER_TO_PX4(1)),
 	initI2CBusExternal(PX4_BUS_NUMBER_TO_PX4(0)),
 };
@@ -1,230 +0,0 @@
-/************************************************************************************
- *
- *   Copyright (C) 2016, 2018, 2021 Gregory Nutt. All rights reserved.
- *   Authors: Gregory Nutt <gnutt@nuttx.org>
- *            David Sidrane <david_s5@nscdg.com>
- *            Landon Haugh <landon.haugh@nxp.com>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************************************/
-
-#include <nuttx/config.h>
-
-#include <px4_arch/spi_hw_description.h>
-#include <px4_platform_common/px4_config.h>
-
-#include <stdint.h>
-#include <stdbool.h>
-#include <errno.h>
-#include <debug.h>
-
-#include <nuttx/spi/spi.h>
-#include <arch/board/board.h>
-
-#include "arm_arch.h"
-#include "chip.h"
-#include <systemlib/px4_macros.h>
-
-#include "s32k1xx_config.h"
-#include "s32k1xx_lpspi.h"
-#include "s32k1xx_pin.h"
-#include "board_config.h"
-
-#if defined(CONFIG_S32K1XX_LPSPI0)
-// Only LPSPI0 is defined in defconfig. cont. || defined(CONFIG_S32K1XX_LPSPI1) || defined(CONFIG_S32K1XX_LPSPI2)
-
-// UCANS32K146 has only one external SPI @ PTB5
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBusExternal(SPI::Bus::SPI0, {
-		// Going to assume PTB5 means PortB, Pin5
-		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin5})
-	}),
-};
-
-static constexpr bool unused = validateSPIConfig(px4_spi_buses);
-
-#define PX4_MK_GPIO(pin_ftmx, io)    ((((uint32_t)(pin_ftmx)) & ~(_PIN_MODE_MASK | _PIN_OPTIONS_MASK)) |(io))
-
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-
-__EXPORT void board_spi_reset(int ms, int bus_mask)
-{
-	/* Goal not to back feed the chips on the bus via IO lines */
-
-	/* Next Change CS to inputs with pull downs */
-	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
-		if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {
-			for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
-				if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
-					// s32k1xx_pinconfig is defined
-					// Only one argument, (uint32_t cfgset)
-					s32k1xx_pinconfig(PX4_MK_GPIO(px4_spi_buses[bus].devices[i].cs_gpio, GPIO_PULLDOWN));
-				}
-			}
-		}
-	}
-
-	/* Restore all the CS to ouputs inactive */
-	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
-		if (px4_spi_buses[bus].bus == PX4_BUS_NUMBER_TO_PX4(1)) {
-			for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
-				if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
-					s32k1xx_pinconfig(px4_spi_buses[bus].devices[i].cs_gpio);
-				}
-			}
-		}
-	}
-}
-
-/************************************************************************************
- * Name: s32k1xx_spidev_initialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the NXP UCANS32K146 board.
- *
- ************************************************************************************/
-
-void s32k1xx_spidev_initialize(void)
-{
-	board_spi_reset(10, 0xffff);
-
-	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
-		for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
-			if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
-				s32k1xx_pinconfig(px4_spi_buses[bus].devices[i].cs_gpio);
-			}
-		}
-	}
-}
-
-/************************************************************************************
- * Name: s32k1xx_spi_bus_initialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the NXP UCANS32K146 board.
- *
- ************************************************************************************/
-
-static const px4_spi_bus_t *_spi_bus0;
-
-__EXPORT int s32k1xx_spi_bus_initialize(void)
-{
-
-	for (int i = 0; i < SPI_BUS_MAX_BUS_ITEMS; ++i) {
-		switch (px4_spi_buses[i].bus) {
-		case 1: _spi_bus0 = &px4_spi_buses[i]; break;
-		}
-	}
-
-	struct spi_dev_s *spi_ext = px4_spibus_initialize(1);
-
-	if (!spi_ext) {
-		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 2);
-		return -ENODEV;
-	}
-
-	/* Default external bus to 1MHz and de-assert the known chip selects.
-	 */
-
-	SPI_SETFREQUENCY(spi_ext, 8 * 1000 * 1000);
-	SPI_SETBITS(spi_ext, 8);
-	SPI_SETMODE(spi_ext, SPIDEV_MODE3);
-
-	/* deselect all */
-	for (int bus = 0; bus < SPI_BUS_MAX_BUS_ITEMS; ++bus) {
-		for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
-			if (px4_spi_buses[bus].devices[i].cs_gpio != 0) {
-				SPI_SELECT(spi_ext, px4_spi_buses[bus].devices[i].devid, false);
-			}
-		}
-	}
-
-	return OK;
-
-}
-
-/************************************************************************************
- * Name: s32k1xx_spi[n]select, s32k1xx_spi[n]status, and s32k1xx_spi[n]cmddata
- *
- * Description:
- *   These external functions must be provided by board-specific logic.  They are
- *   implementations of the select, status, and cmddata methods of the SPI interface
- *   defined by struct spi_ops_s (see include/nuttx/spi/spi.h). All other methods
- *   including s32k1xx_spibus_initialize()) are provided by common s32k1xx logic.
- *   To use this common SPI logic on your board:
- *
- *   1. Provide logic in s32k1xx_boardinitialize() to configure SPI chip select
- *      pins.
- *   2. Provide s32k1xx_spi[n]select() and s32k1xx_spi[n]status() functions
- *      in your board-specific logic.  These functions will perform chip selection
- *      and status operations using GPIOs in the way your board is configured.
- *   2. If CONFIG_SPI_CMDDATA is defined in the NuttX configuration, provide
- *      s32k1xx_spi[n]cmddata() functions in your board-specific logic.  These
- *      functions will perform cmd/data selection operations using GPIOs in the way
- *      your board is configured.
- *   3. Add a call to s32k1xx_spibus_initialize() in your low level application
- *      initialization logic
- *   4. The handle returned by s32k1xx_spibus_initialize() may then be used to bind the
- *      SPI driver to higher level logic (e.g., calling
- *      mmcsd_spislotinitialize(), for example, will bind the SPI driver to
- *      the SPI MMC/SD driver).
- *
- ************************************************************************************/
-
-static inline void s32k1xx_spixselect(const px4_spi_bus_t *bus, struct spi_dev_s *dev, uint32_t devid, bool selected)
-{
-	for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
-		if (bus->devices[i].cs_gpio == 0) {
-			break;
-		}
-
-		if (devid == bus->devices[i].devid) {
-			// SPI select is active low, so write !selected to select the device
-			// s32k1xx_gpiowrite is defined (uint32_t pinset, bool value)
-			s32k1xx_gpiowrite(bus->devices[i].cs_gpio, !selected);
-		}
-	}
-}
-
-
-void s32k1xx_lpspi0select(FAR struct spi_dev_s *dev, uint32_t devid, bool selected)
-{
-	spiinfo("devid: %d CS: %s\n", (int)devid, selected ? "assert" : "de-assert");
-	s32k1xx_spixselect(_spi_bus0, dev, devid, selected);
-}
-
-uint8_t s32k1xx_lpspi0status(FAR struct spi_dev_s *dev, uint32_t devid)
-{
-	return SPI_STATUS_PRESENT;
-}
-
-#endif /* CONFIG_S32K1XX_LPSPI0 */
@@ -3,7 +3,6 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_DSHOT=y
@@ -53,7 +52,6 @@ CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
@@ -34,8 +34,8 @@
 #include <px4_arch/io_timer_hw_description.h>

 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
 	initIOTimer(Timer::Timer2, DMA{DMA::Index1, DMA::Stream1, DMA::Channel3}),
+	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
 };

 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -52,7 +52,6 @@ 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
@@ -52,7 +52,6 @@ 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
@@ -50,7 +50,6 @@ 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
@@ -54,7 +54,6 @@ CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
@@ -7,7 +7,6 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_PPB="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -57,7 +56,6 @@ 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
@@ -50,7 +50,6 @@ 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
@@ -47,7 +47,6 @@ 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
@@ -29,7 +29,6 @@ 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
@@ -17,7 +17,6 @@ CONFIG_MODULES_EKF2=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
@@ -29,7 +29,6 @@ CONFIG_MODULES_EKF2=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
@@ -210,9 +210,6 @@ if(EXISTS ${BOARD_DEFCONFIG})

 	# Serial ports
 	set(board_serial_ports)
-	if(SERIAL_URT6)
-		list(APPEND board_serial_ports URT6:${SERIAL_URT6})
-	endif()
 	if(SERIAL_GPS1)
        list(APPEND board_serial_ports GPS1:${SERIAL_GPS1})
 	endif()
@@ -243,15 +240,9 @@ if(EXISTS ${BOARD_DEFCONFIG})
 	if(SERIAL_TEL5)
        list(APPEND board_serial_ports TEL5:${SERIAL_TEL5})
 	endif()
-	if(SERIAL_RC)
-		list(APPEND board_serial_ports RC:${SERIAL_RC})
-	endif()
 	if(SERIAL_WIFI)
        list(APPEND board_serial_ports WIFI:${SERIAL_WIFI})
 	endif()
-	if(SERIAL_PPB)
-        list(APPEND board_serial_ports PPB:${SERIAL_PPB})
-	endif()


 	# ROMFS
@@ -7,4 +7,3 @@ bool lockdown		# Set to true if actuators are forced to being disabled (due to e
 bool manual_lockdown    # Set to true if manual throttle kill switch is engaged
 bool force_failsafe	# Set to true if the actuators are forced to the failsafe position
 bool in_esc_calibration_mode # IO/FMU should ignore messages from the actuator controls topics
-bool soft_stop # Set to true if we need to ESCs to remove the idle constraint
@@ -9,11 +9,7 @@ float32 variance_east		# Wind estimate error variance in east / Y direction (m/s

 float32 tas_innov 		# True airspeed innovation
 float32 tas_innov_var 		# True airspeed innovation variance
-
-float32 tas_scale_raw 		# Estimated true airspeed scale factor (not validated)
-float32 tas_scale_raw_var 	# True airspeed scale factor variance
-
-float32 tas_scale_validated	# Estimated true airspeed scale factor after validation
+float32 tas_scale 		# Estimated true airspeed scale factor

 float32 beta_innov 		# Sideslip measurement innovation
 float32 beta_innov_var 		# Sideslip measurement innovation variance
@@ -1,71 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-#pragma once
-
-#include "../../../s32k1xx/include/px4_arch/spi_hw_description.h"
-
-constexpr bool validateSPIConfig(const px4_spi_bus_t spi_busses_conf[SPI_BUS_MAX_BUS_ITEMS])
-{
-	const bool nuttx_enabled_spi_buses[] = {
-#ifdef CONFIG_S32K1XX_LPSPI0
-		true,
-#else
-		false,
-#endif
-#ifdef CONFIG_S32K1XX_LPSPI1
-		true,
-#else
-		false,
-#endif
-#ifdef CONFIG_S32K1XX_LPSPI2
-		true,
-#else
-		false,
-#endif
-	};
-
-	for (unsigned i = 0; i < sizeof(nuttx_enabled_spi_buses) / sizeof(nuttx_enabled_spi_buses[0]); ++i) {
-		bool found_bus = false;
-
-		for (int j = 0; j < SPI_BUS_MAX_BUS_ITEMS; ++j) {
-			if (spi_busses_conf[j].bus == (int)i + 1) {
-				found_bus = true;
-			}
-		}
-
-		// Either the bus is enabled in NuttX and configured in spi_busses_conf, or disabled and not configured
-		constexpr_assert(found_bus == nuttx_enabled_spi_buses[i], "SPI bus config mismatch (CONFIG_S32K1XX_LPSPIn)");
-	}
-
-	return false;
-}
@@ -240,22 +240,3 @@ static inline constexpr uint32_t getGPIOPin(GPIO::Pin pin)

 	return 0;
 }
-
-namespace SPI
-{
-
-enum class Bus {
-	SPI0 = 1,
-	SPI1,
-	SPI2,
-};
-
-using CS = GPIO::GPIOPin;
-using DRDY = GPIO::GPIOPin;
-
-struct bus_device_external_cfg_t {
-	CS cs_gpio;
-	DRDY drdy_gpio;
-};
-
-} // namespace SPI
@@ -1,133 +0,0 @@
-/****************************************************************************
- *
- *   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
-
-#include <px4_arch/hw_description.h>
-#include <px4_platform_common/spi.h>
-
-#include "s32k1xx_config.h"
-#include "s32k1xx_lpspi.h"
-#include "s32k1xx_pin.h"
-
-static inline constexpr px4_spi_bus_device_t initSPIDevice(uint32_t devid, SPI::CS cs_gpio, SPI::DRDY drdy_gpio = {})
-{
-	px4_spi_bus_device_t ret{};
-	ret.cs_gpio = getGPIOPort(cs_gpio.port) | getGPIOPin(cs_gpio.pin) | (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE);
-
-	if (drdy_gpio.port != GPIO::PortInvalid) {
-		ret.drdy_gpio = getGPIOPort(drdy_gpio.port) | getGPIOPin(drdy_gpio.pin) | (GPIO_PULLUP | PIN_INT_BOTH);
-	}
-
-	if (PX4_SPIDEVID_TYPE(devid) == 0) { // it's a PX4 device (internal or external)
-		ret.devid = PX4_SPIDEV_ID(PX4_SPI_DEVICE_ID, devid);
-
-	} else { // it's a NuttX device (e.g. SPIDEV_FLASH(0))
-		ret.devid = devid;
-	}
-
-	ret.devtype_driver = PX4_SPI_DEV_ID(devid);
-	return ret;
-}
-
-static inline constexpr px4_spi_bus_t initSPIBus(SPI::Bus bus, const px4_spi_bus_devices_t &devices,
-		GPIO::GPIOPin power_enable = {})
-{
-	px4_spi_bus_t ret{};
-	ret.requires_locking = false;
-
-	for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
-		ret.devices[i] = devices.devices[i];
-
-
-		if (ret.devices[i].cs_gpio != 0) {
-			if (PX4_SPI_DEVICE_ID == PX4_SPIDEVID_TYPE(ret.devices[i].devid)) {
-				int same_devices_count = 0;
-
-				for (int j = 0; j < i; ++j) {
-					if (ret.devices[j].cs_gpio != 0) {
-						same_devices_count += (ret.devices[i].devid & 0xff) == (ret.devices[j].devid & 0xff);
-					}
-				}
-
-				// increment the 2. LSB byte to allow multiple devices of the same type
-				ret.devices[i].devid |= same_devices_count << 8;
-
-			} else {
-				// A bus potentially requires locking if it is accessed by non-PX4 devices (i.e. NuttX drivers)
-				ret.requires_locking = true;
-			}
-		}
-	}
-
-	ret.bus = (int)bus;
-	ret.is_external = false;
-
-	if (power_enable.port != GPIO::PortInvalid) {
-		ret.power_enable_gpio = getGPIOPort(power_enable.port) | getGPIOPin(power_enable.pin) |
-					(GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE);
-	}
-
-	return ret;
-}
-
-// just a wrapper since we cannot pass brace-enclosed initialized arrays directly as arguments
-struct bus_device_external_cfg_array_t {
-	SPI::bus_device_external_cfg_t devices[SPI_BUS_MAX_DEVICES];
-};
-
-static inline constexpr px4_spi_bus_t initSPIBusExternal(SPI::Bus bus, const bus_device_external_cfg_array_t &devices)
-{
-	px4_spi_bus_t ret{};
-
-	for (int i = 0; i < SPI_BUS_MAX_DEVICES; ++i) {
-		if (devices.devices[i].cs_gpio.port == GPIO::PortInvalid) {
-			break;
-		}
-
-		ret.devices[i] = initSPIDevice(i, devices.devices[i].cs_gpio, devices.devices[i].drdy_gpio);
-	}
-
-	ret.bus = (int)bus;
-	ret.is_external = true;
-	ret.requires_locking = false; // external buses are never accessed by NuttX drivers
-	return ret;
-}
-
-static inline constexpr SPI::bus_device_external_cfg_t initSPIConfigExternal(SPI::CS cs_gpio, SPI::DRDY drdy_gpio = {})
-{
-	SPI::bus_device_external_cfg_t ret{};
-	ret.cs_gpio = cs_gpio;
-	ret.drdy_gpio = drdy_gpio;
-	return ret;
-}
@@ -144,7 +144,6 @@ set(models
 	solo
 	standard_vtol
 	standard_vtol_drop
-	standard_vtol_ctrlalloc
 	tailsitter
 	techpod
 	tiltrotor
@@ -118,11 +118,6 @@ struct pwm_output_values {

 #endif // not PX4_PWM_ALTERNATE_RANGES

-/**
- * Do not output a channel with this value
- */
-#define PWM_IGNORE_THIS_CHANNEL UINT16_MAX
-
 /**
 * Servo output signal type, value is actual servo output pulse
 * width in microseconds.
@@ -170,15 +165,9 @@ typedef uint16_t	servo_position_t;
 /** start DSM bind */
 #define DSM_BIND_START	_PX4_IOC(_PWM_SERVO_BASE, 10)

-/** set the PWM value for failsafe */
-#define PWM_SERVO_SET_FAILSAFE_PWM	_PX4_IOC(_PWM_SERVO_BASE, 12)
-
 /** get the PWM value for failsafe */
 #define PWM_SERVO_GET_FAILSAFE_PWM	_PX4_IOC(_PWM_SERVO_BASE, 13)

-/** set the PWM value when disarmed - should be no PWM (zero) by default */
-#define PWM_SERVO_SET_DISARMED_PWM	_PX4_IOC(_PWM_SERVO_BASE, 14)
-
 /** get the PWM value when disarmed */
 #define PWM_SERVO_GET_DISARMED_PWM	_PX4_IOC(_PWM_SERVO_BASE, 15)

@@ -197,21 +186,9 @@ typedef uint16_t	servo_position_t;
 /** get the TRIM value the output will send */
 #define PWM_SERVO_GET_TRIM_PWM	_PX4_IOC(_PWM_SERVO_BASE, 21)

-/** set the lockdown override flag to enable outputs in HIL */
-#define PWM_SERVO_SET_DISABLE_LOCKDOWN		_PX4_IOC(_PWM_SERVO_BASE, 23)
-
-/** get the lockdown override flag to enable outputs in HIL */
-#define PWM_SERVO_GET_DISABLE_LOCKDOWN		_PX4_IOC(_PWM_SERVO_BASE, 24)
-
 /** force safety switch off (to disable use of safety switch) */
 #define PWM_SERVO_SET_FORCE_SAFETY_OFF		_PX4_IOC(_PWM_SERVO_BASE, 25)

-/** force failsafe mode (failsafe values are set immediately even if failsafe condition not met) */
-#define PWM_SERVO_SET_FORCE_FAILSAFE		_PX4_IOC(_PWM_SERVO_BASE, 26)
-
-/** make failsafe non-recoverable (termination) if it occurs */
-#define PWM_SERVO_SET_TERMINATION_FAILSAFE	_PX4_IOC(_PWM_SERVO_BASE, 27)
-
 /** force safety switch on (to enable use of safety switch) */
 #define PWM_SERVO_SET_FORCE_SAFETY_ON		_PX4_IOC(_PWM_SERVO_BASE, 28)

@@ -44,10 +44,6 @@ LinuxPWMOut::LinuxPWMOut() :
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
 	_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": interval"))
 {
-	if (!_mixing_output.useDynamicMixing()) {
-		_mixing_output.setAllMinValues(PWM_DEFAULT_MIN);
-		_mixing_output.setAllMaxValues(PWM_DEFAULT_MAX);
-	}
 }

 LinuxPWMOut::~LinuxPWMOut()
@@ -161,128 +157,6 @@ void LinuxPWMOut::update_params()
 		return;
 	}

-	int32_t pwm_min_default = PWM_DEFAULT_MIN;
-	int32_t pwm_max_default = PWM_DEFAULT_MAX;
-	int32_t pwm_disarmed_default = 0;
-
-	const char *prefix;
-
-	if (_class_instance == CLASS_DEVICE_PRIMARY) {
-		prefix = "PWM_MAIN";
-
-		param_get(param_find("PWM_MAIN_MIN"), &pwm_min_default);
-		param_get(param_find("PWM_MAIN_MAX"), &pwm_max_default);
-		param_get(param_find("PWM_MAIN_DISARM"), &pwm_disarmed_default);
-
-	} else if (_class_instance == CLASS_DEVICE_SECONDARY) {
-		prefix = "PWM_AUX";
-
-		param_get(param_find("PWM_AUX_MIN"), &pwm_min_default);
-		param_get(param_find("PWM_AUX_MAX"), &pwm_max_default);
-		param_get(param_find("PWM_AUX_DISARM"), &pwm_disarmed_default);
-
-	} else if (_class_instance == CLASS_DEVICE_TERTIARY) {
-		prefix = "PWM_EXTRA";
-
-		param_get(param_find("PWM_EXTRA_MIN"), &pwm_min_default);
-		param_get(param_find("PWM_EXTRA_MAX"), &pwm_max_default);
-		param_get(param_find("PWM_EXTRA_DISARM"), &pwm_disarmed_default);
-
-	} else {
-		PX4_ERR("invalid class instance %d", _class_instance);
-		return;
-	}
-
-	char str[17];
-
-	for (unsigned i = 0; i < MAX_ACTUATORS; i++) {
-		// PWM_MAIN_MINx
-		{
-			sprintf(str, "%s_MIN%u", prefix, i + 1);
-			int32_t pwm_min = -1;
-
-			if (param_get(param_find(str), &pwm_min) == PX4_OK && pwm_min >= 0) {
-				_mixing_output.minValue(i) = math::constrain(pwm_min, PWM_LOWEST_MIN, PWM_HIGHEST_MIN);
-
-				if (pwm_min != _mixing_output.minValue(i)) {
-					int32_t pwm_min_new = _mixing_output.minValue(i);
-					param_set(param_find(str), &pwm_min_new);
-				}
-
-			} else {
-				_mixing_output.minValue(i) = pwm_min_default;
-			}
-		}
-
-		// PWM_MAIN_MAXx
-		{
-			sprintf(str, "%s_MAX%u", prefix, i + 1);
-			int32_t pwm_max = -1;
-
-			if (param_get(param_find(str), &pwm_max) == PX4_OK && pwm_max >= 0) {
-				_mixing_output.maxValue(i) = math::constrain(pwm_max, PWM_LOWEST_MAX, PWM_HIGHEST_MAX);
-
-				if (pwm_max != _mixing_output.maxValue(i)) {
-					int32_t pwm_max_new = _mixing_output.maxValue(i);
-					param_set(param_find(str), &pwm_max_new);
-				}
-
-			} else {
-				_mixing_output.maxValue(i) = pwm_max_default;
-			}
-		}
-
-		// PWM_MAIN_FAILx
-		{
-			sprintf(str, "%s_FAIL%u", prefix, i + 1);
-			int32_t pwm_failsafe = -1;
-
-			if (param_get(param_find(str), &pwm_failsafe) == PX4_OK && pwm_failsafe >= 0) {
-				_mixing_output.failsafeValue(i) = math::constrain(pwm_failsafe, 0, PWM_HIGHEST_MAX);
-
-				if (pwm_failsafe != _mixing_output.failsafeValue(i)) {
-					int32_t pwm_fail_new = _mixing_output.failsafeValue(i);
-					param_set(param_find(str), &pwm_fail_new);
-				}
-			}
-		}
-
-		// PWM_MAIN_DISx
-		{
-			sprintf(str, "%s_DIS%u", prefix, i + 1);
-			int32_t pwm_dis = -1;
-
-			if (param_get(param_find(str), &pwm_dis) == PX4_OK && pwm_dis >= 0) {
-				_mixing_output.disarmedValue(i) = math::constrain(pwm_dis, 0, PWM_HIGHEST_MAX);
-
-				if (pwm_dis != _mixing_output.disarmedValue(i)) {
-					int32_t pwm_dis_new = _mixing_output.disarmedValue(i);
-					param_set(param_find(str), &pwm_dis_new);
-				}
-
-			} else {
-				_mixing_output.disarmedValue(i) = pwm_disarmed_default;
-			}
-		}
-
-		// PWM_MAIN_REVx
-		{
-			sprintf(str, "%s_REV%u", prefix, i + 1);
-			int32_t pwm_rev = 0;
-
-			if (param_get(param_find(str), &pwm_rev) == PX4_OK) {
-				uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
-
-				if (pwm_rev >= 1) {
-					reverse_pwm_mask = reverse_pwm_mask | (2 << i);
-
-				} else {
-					reverse_pwm_mask = reverse_pwm_mask & ~(2 << i);
-				}
-			}
-		}
-	}
-
 	if (_mixing_output.mixers()) {
 		int16_t values[MAX_ACTUATORS] {};

@@ -124,10 +124,6 @@ PCA9685Wrapper::PCA9685Wrapper(int schd_rate_limit) :
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
 	_schd_rate_limit(schd_rate_limit)
 {
-	if (!_mixing_output.useDynamicMixing()) {
-		_mixing_output.setAllMinValues(PWM_DEFAULT_MIN);
-		_mixing_output.setAllMaxValues(PWM_DEFAULT_MAX);
-	}
 }

 PCA9685Wrapper::~PCA9685Wrapper()
@@ -179,151 +175,6 @@ void PCA9685Wrapper::updatePWMParams()
 		return;
 	}

-	// update pwm params
-	const char *pname_format_pwm_ch_max[2] = {"PWM_MAIN_MAX%d", "PWM_AUX_MAX%d"};
-	const char *pname_format_pwm_ch_min[2] = {"PWM_MAIN_MIN%d", "PWM_AUX_MIN%d"};
-	const char *pname_format_pwm_ch_fail[2] = {"PWM_MAIN_FAIL%d", "PWM_AUX_FAIL%d"};
-	const char *pname_format_pwm_ch_dis[2] = {"PWM_MAIN_DIS%d", "PWM_AUX_DIS%d"};
-	const char *pname_format_pwm_ch_rev[2] = {"PWM_MAIN_REV%d", "PWM_AUX_REV%d"};
-
-	int32_t default_pwm_max = PWM_DEFAULT_MAX,
-		default_pwm_min = PWM_DEFAULT_MIN,
-		default_pwm_fail = PWM_DEFAULT_MIN,
-		default_pwm_dis = PWM_MOTOR_OFF;
-
-	param_t param_h = param_find("PWM_MAIN_MAX");
-
-	if (param_h != PARAM_INVALID) {
-		param_get(param_h, &default_pwm_max);
-
-	} else {
-		PX4_DEBUG("PARAM_INVALID: %s", "PWM_MAIN_MAX");
-	}
-
-	param_h = param_find("PWM_MAIN_MIN");
-
-	if (param_h != PARAM_INVALID) {
-		param_get(param_h, &default_pwm_min);
-
-	} else {
-		PX4_DEBUG("PARAM_INVALID: %s", "PWM_MAIN_MIN");
-	}
-
-	param_h = param_find("PWM_MAIN_RATE");
-
-	if (param_h != PARAM_INVALID) {
-		int32_t pval = 0;
-		param_get(param_h, &pval);
-
-		if (_last_fetched_Freq != pval) {
-			_last_fetched_Freq = pval;
-			_targetFreq = (float)pval;  // update only if changed
-		}
-
-	} else {
-		PX4_DEBUG("PARAM_INVALID: %s", "PWM_MAIN_RATE");
-	}
-
-	for (int i = 0; i < PCA9685_PWM_CHANNEL_COUNT; i++) {
-		char pname[16];
-		uint8_t param_group, param_index;
-
-		if (i <= 7) {	// Main channel
-			param_group = 0;
-			param_index = i + 1;
-
-		} else {	// AUX
-			param_group = 1;
-			param_index = i - 8 + 1;
-		}
-
-		sprintf(pname, pname_format_pwm_ch_max[param_group], param_index);
-		param_h = param_find(pname);
-
-		if (param_h != PARAM_INVALID) {
-			int32_t pval = 0;
-			param_get(param_h, &pval);
-
-			if (pval != -1) {
-				_mixing_output.maxValue(i) = pval;
-
-			} else {
-				_mixing_output.maxValue(i) = default_pwm_max;
-			}
-
-		} else {
-			PX4_DEBUG("PARAM_INVALID: %s", pname);
-		}
-
-		sprintf(pname, pname_format_pwm_ch_min[param_group], param_index);
-		param_h = param_find(pname);
-
-		if (param_h != PARAM_INVALID) {
-			int32_t pval = 0;
-			param_get(param_h, &pval);
-
-			if (pval != -1) {
-				_mixing_output.minValue(i) = pval;
-
-			} else {
-				_mixing_output.minValue(i) = default_pwm_min;
-			}
-
-		} else {
-			PX4_DEBUG("PARAM_INVALID: %s", pname);
-		}
-
-		sprintf(pname, pname_format_pwm_ch_fail[param_group], param_index);
-		param_h = param_find(pname);
-
-		if (param_h != PARAM_INVALID) {
-			int32_t pval = 0;
-			param_get(param_h, &pval);
-
-			if (pval != -1) {
-				_mixing_output.failsafeValue(i) = pval;
-
-			} else {
-				_mixing_output.failsafeValue(i) = default_pwm_fail;
-			}
-
-		} else {
-			PX4_DEBUG("PARAM_INVALID: %s", pname);
-		}
-
-		sprintf(pname, pname_format_pwm_ch_dis[param_group], param_index);
-		param_h = param_find(pname);
-
-		if (param_h != PARAM_INVALID) {
-			int32_t pval = 0;
-			param_get(param_h, &pval);
-
-			if (pval != -1) {
-				_mixing_output.disarmedValue(i) = pval;
-
-			} else {
-				_mixing_output.disarmedValue(i) = default_pwm_dis;
-			}
-
-		} else {
-			PX4_DEBUG("PARAM_INVALID: %s", pname);
-		}
-
-		sprintf(pname, pname_format_pwm_ch_rev[param_group], param_index);
-		param_h = param_find(pname);
-
-		if (param_h != PARAM_INVALID) {
-			uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
-			int32_t pval = 0;
-			param_get(param_h, &pval);
-			reverse_pwm_mask &= (0xfffe << i);  // clear this bit
-			reverse_pwm_mask |= (((uint16_t)(pval != 0)) << i); // set to new val
-
-		} else {
-			PX4_DEBUG("PARAM_INVALID: %s", pname);
-		}
-	}
-
 	if (_mixing_output.mixers()) { // only update trims if mixer loaded
 		updatePWMParamTrim();
 	}
@@ -56,10 +56,6 @@ PWMOut::PWMOut(int instance, uint8_t output_base) :
 	_cycle_perf(perf_alloc(PC_ELAPSED, MODULE_NAME": cycle")),
 	_interval_perf(perf_alloc(PC_INTERVAL, MODULE_NAME": interval"))
 {
-	if (!_mixing_output.useDynamicMixing()) {
-		_mixing_output.setAllMinValues(PWM_DEFAULT_MIN);
-		_mixing_output.setAllMaxValues(PWM_DEFAULT_MAX);
-	}
 }

 PWMOut::~PWMOut()
@@ -487,10 +483,6 @@ void PWMOut::Run()
 		}
 	}

-	if (_pwm_initialized && _current_update_rate == 0 && !_mixing_output.useDynamicMixing()) {
-		update_current_rate();
-	}
-
 	// check at end of cycle (updateSubscriptions() can potentially change to a different WorkQueue thread)
 	_mixing_output.updateSubscriptions(true, true);

@@ -505,9 +497,6 @@ void PWMOut::update_params()
 		return;
 	}

-	int32_t pwm_min_default = PWM_DEFAULT_MIN;
-	int32_t pwm_max_default = PWM_DEFAULT_MAX;
-	int32_t pwm_disarmed_default = 0;
 	int32_t pwm_rate_default = 50;
 	int32_t pwm_default_channels = 0;

@@ -516,28 +505,20 @@ void PWMOut::update_params()
 	if (_class_instance == CLASS_DEVICE_PRIMARY) {
 		prefix = "PWM_MAIN";

-		param_get(param_find("PWM_MAIN_MIN"), &pwm_min_default);
-		param_get(param_find("PWM_MAIN_MAX"), &pwm_max_default);
-		param_get(param_find("PWM_MAIN_DISARM"), &pwm_disarmed_default);
 		param_get(param_find("PWM_MAIN_RATE"), &pwm_rate_default);
 		param_get(param_find("PWM_MAIN_OUT"), &pwm_default_channels);

 	} else if (_class_instance == CLASS_DEVICE_SECONDARY) {
 		prefix = "PWM_AUX";

-		param_get(param_find("PWM_AUX_MIN"), &pwm_min_default);
-		param_get(param_find("PWM_AUX_MAX"), &pwm_max_default);
-		param_get(param_find("PWM_AUX_DISARM"), &pwm_disarmed_default);
 		param_get(param_find("PWM_AUX_RATE"), &pwm_rate_default);
 		param_get(param_find("PWM_AUX_OUT"), &pwm_default_channels);

 	} else if (_class_instance == CLASS_DEVICE_TERTIARY) {
 		prefix = "PWM_EXTRA";

-		param_get(param_find("PWM_EXTRA_MIN"), &pwm_min_default);
-		param_get(param_find("PWM_EXTRA_MAX"), &pwm_max_default);
-		param_get(param_find("PWM_EXTRA_DISARM"), &pwm_disarmed_default);
 		param_get(param_find("PWM_EXTRA_RATE"), &pwm_rate_default);
+		param_get(param_find("PWM_EXTRA_OUT"), &pwm_default_channels);

 	} else {
 		PX4_ERR("invalid class instance %d", _class_instance);
@@ -558,106 +539,6 @@ void PWMOut::update_params()

 	char str[17];

-	for (unsigned i = 0; i < _num_outputs; i++) {
-		// PWM_MAIN_MINx
-		{
-			sprintf(str, "%s_MIN%u", prefix, i + 1);
-			int32_t pwm_min = -1;
-
-			if (param_get(param_find(str), &pwm_min) == PX4_OK) {
-				if (pwm_min >= 0 && pwm_min != 1000) {
-					_mixing_output.minValue(i) = math::constrain(pwm_min, (int32_t) PWM_LOWEST_MIN, (int32_t) PWM_HIGHEST_MIN);
-
-					if (pwm_min != _mixing_output.minValue(i)) {
-						int32_t pwm_min_new = _mixing_output.minValue(i);
-						param_set(param_find(str), &pwm_min_new);
-					}
-
-				} else if (pwm_default_channel_mask & 1 << i) {
-					_mixing_output.minValue(i) = pwm_min_default;
-				}
-			}
-		}
-
-		// PWM_MAIN_MAXx
-		{
-			sprintf(str, "%s_MAX%u", prefix, i + 1);
-			int32_t pwm_max = -1;
-
-			if (param_get(param_find(str), &pwm_max) == PX4_OK) {
-				if (pwm_max >= 0 && pwm_max != 2000) {
-					_mixing_output.maxValue(i) = math::constrain(pwm_max, (int32_t) PWM_LOWEST_MAX, (int32_t) PWM_HIGHEST_MAX);
-
-					if (pwm_max != _mixing_output.maxValue(i)) {
-						int32_t pwm_max_new = _mixing_output.maxValue(i);
-						param_set(param_find(str), &pwm_max_new);
-					}
-
-				} else if (pwm_default_channel_mask & 1 << i) {
-					_mixing_output.maxValue(i) = pwm_max_default;
-				}
-			}
-		}
-
-		// PWM_MAIN_FAILx
-		{
-			sprintf(str, "%s_FAIL%u", prefix, i + 1);
-			int32_t pwm_failsafe = -1;
-
-			if (param_get(param_find(str), &pwm_failsafe) == PX4_OK) {
-				if (pwm_failsafe >= 0) {
-					_mixing_output.failsafeValue(i) = math::constrain(pwm_failsafe, (int32_t) 0, (int32_t) PWM_HIGHEST_MAX);
-
-					if (pwm_failsafe != _mixing_output.failsafeValue(i)) {
-						int32_t pwm_fail_new = _mixing_output.failsafeValue(i);
-						param_set(param_find(str), &pwm_fail_new);
-					}
-				}
-			}
-		}
-
-		// PWM_MAIN_DISx
-		{
-			sprintf(str, "%s_DIS%u", prefix, i + 1);
-			int32_t pwm_dis = -1;
-
-			if (param_get(param_find(str), &pwm_dis) == PX4_OK) {
-				if (pwm_dis >= 0 && pwm_dis != 900) {
-					_mixing_output.disarmedValue(i) = math::constrain(pwm_dis, (int32_t) 0, (int32_t) PWM_HIGHEST_MAX);
-
-					if (pwm_dis != _mixing_output.disarmedValue(i)) {
-						int32_t pwm_dis_new = _mixing_output.disarmedValue(i);
-						param_set(param_find(str), &pwm_dis_new);
-					}
-
-				} else if (pwm_default_channel_mask & 1 << i) {
-					_mixing_output.disarmedValue(i) = pwm_disarmed_default;
-				}
-			}
-
-			if (_mixing_output.disarmedValue(i) > 0) {
-				num_disarmed_set++;
-			}
-		}
-
-		// PWM_MAIN_REVx
-		{
-			sprintf(str, "%s_REV%u", prefix, i + 1);
-			int32_t pwm_rev = 0;
-
-			if (param_get(param_find(str), &pwm_rev) == PX4_OK) {
-				uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
-
-				if (pwm_rev >= 1) {
-					reverse_pwm_mask = reverse_pwm_mask | (1 << i);
-
-				} else {
-					reverse_pwm_mask = reverse_pwm_mask & ~(1 << i);
-				}
-			}
-		}
-	}
-
 	if (_mixing_output.mixers()) {
 		int16_t values[FMU_MAX_ACTUATORS] {};

@@ -736,40 +617,6 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 		*(uint32_t *)arg = _pwm_alt_rate_channels;
 		break;

-	case PWM_SERVO_SET_FAILSAFE_PWM: {
-			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
-
-			/* discard if too many values are sent */
-			if (pwm->channel_count > FMU_MAX_ACTUATORS || _mixing_output.useDynamicMixing()) {
-				ret = -EINVAL;
-				break;
-			}
-
-			for (unsigned i = 0; i < pwm->channel_count; i++) {
-				if (pwm->values[i] == 0) {
-					/* ignore 0 */
-				} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
-					_mixing_output.failsafeValue(i) = PWM_HIGHEST_MAX;
-
-				}
-
-#if PWM_LOWEST_MIN > 0
-
-				else if (pwm->values[i] < PWM_LOWEST_MIN) {
-					_mixing_output.failsafeValue(i) = PWM_LOWEST_MIN;
-
-				}
-
-#endif
-
-				else {
-					_mixing_output.failsafeValue(i) = pwm->values[i];
-				}
-			}
-
-			break;
-		}
-
 	case PWM_SERVO_GET_FAILSAFE_PWM: {
 			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;

@@ -781,50 +628,6 @@ int PWMOut::pwm_ioctl(file *filp, int cmd, unsigned long arg)
 			break;
 		}

-	case PWM_SERVO_SET_DISARMED_PWM: {
-			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
-
-			/* discard if too many values are sent */
-			if (pwm->channel_count > FMU_MAX_ACTUATORS || _mixing_output.useDynamicMixing()) {
-				ret = -EINVAL;
-				break;
-			}
-
-			for (unsigned i = 0; i < pwm->channel_count; i++) {
-				if (pwm->values[i] == 0) {
-					/* ignore 0 */
-				} else if (pwm->values[i] > PWM_HIGHEST_MAX) {
-					_mixing_output.disarmedValue(i) = PWM_HIGHEST_MAX;
-				}
-
-#if PWM_LOWEST_MIN > 0
-
-				else if (pwm->values[i] < PWM_LOWEST_MIN) {
-					_mixing_output.disarmedValue(i) = PWM_LOWEST_MIN;
-				}
-
-#endif
-
-				else {
-					_mixing_output.disarmedValue(i) = pwm->values[i];
-				}
-			}
-
-			/*
-			 * update the counter
-			 * this is needed to decide if disarmed PWM output should be turned on or not
-			 */
-			_num_disarmed_set = 0;
-
-			for (unsigned i = 0; i < FMU_MAX_ACTUATORS; i++) {
-				if (_mixing_output.disarmedValue(i) > 0) {
-					_num_disarmed_set++;
-				}
-			}
-
-			break;
-		}
-
 	case PWM_SERVO_GET_DISARMED_PWM: {
 			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;

@@ -178,7 +178,6 @@ private:

 	static int checkcrc(int argc, char *argv[]);
 	static int bind(int argc, char *argv[]);
-	static int lockdown(int argc, char *argv[]);
 	static int monitor();

 	static constexpr int PX4IO_MAX_ACTUATORS = 8;
@@ -239,12 +238,6 @@ private:

 	MixingOutput _mixing_output{"PWM_MAIN", PX4IO_MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, true};

-	bool _pwm_min_configured{false};
-	bool _pwm_max_configured{false};
-	bool _pwm_fail_configured{false};
-	bool _pwm_dis_configured{false};
-	bool _pwm_rev_configured{false};
-
 	/**
 	 * Update IO's arming-related state
 	 */
@@ -366,11 +359,6 @@ PX4IO::PX4IO(device::Device *interface) :
 	OutputModuleInterface(MODULE_NAME, px4::serial_port_to_wq(PX4IO_SERIAL_DEVICE)),
 	_interface(interface)
 {
-	if (!_mixing_output.useDynamicMixing()) {
-		_mixing_output.setAllMinValues(PWM_DEFAULT_MIN);
-		_mixing_output.setAllMaxValues(PWM_DEFAULT_MAX);
-	}
-
 	_mixing_output.setLowrateSchedulingInterval(20_ms);
 }

@@ -757,11 +745,14 @@ void PX4IO::updateTimerRateGroups()

 void PX4IO::update_params()
 {
+	if (!_mixing_output.armed().armed) {
+		updateFailsafe();
+		updateDisarmed();
+	}
+
 	if (!_mixing_output.armed().armed && _mixing_output.useDynamicMixing()) {
 		// sync params to IO
 		updateTimerRateGroups();
-		updateFailsafe();
-		updateDisarmed();
 		return;
 	}

@@ -770,17 +761,11 @@ void PX4IO::update_params()
 		return;
 	}

-	int32_t pwm_min_default = PWM_DEFAULT_MIN;
-	int32_t pwm_max_default = PWM_DEFAULT_MAX;
-	int32_t pwm_disarmed_default = 0;
 	int32_t pwm_rate_default = 50;
 	int32_t pwm_default_channels = 0;

 	const char *prefix = "PWM_MAIN";

-	param_get(param_find("PWM_MAIN_MIN"), &pwm_min_default);
-	param_get(param_find("PWM_MAIN_MAX"), &pwm_max_default);
-	param_get(param_find("PWM_MAIN_DISARM"), &pwm_disarmed_default);
 	param_get(param_find("PWM_MAIN_RATE"), &pwm_rate_default);
 	param_get(param_find("PWM_MAIN_OUT"), &pwm_default_channels);

@@ -794,125 +779,6 @@ void PX4IO::update_params()

 	char str[17];

-	// PWM_MAIN_MINx
-	if (!_pwm_min_configured) {
-		for (unsigned i = 0; i < _max_actuators; i++) {
-			sprintf(str, "%s_MIN%u", prefix, i + 1);
-			int32_t pwm_min = -1;
-
-			if (param_get(param_find(str), &pwm_min) == PX4_OK) {
-				if (pwm_min >= 0 && pwm_min != 1000) {
-					_mixing_output.minValue(i) = math::constrain(pwm_min, static_cast<int32_t>(PWM_LOWEST_MIN),
-								     static_cast<int32_t>(PWM_HIGHEST_MIN));
-
-					if (pwm_min != _mixing_output.minValue(i)) {
-						int32_t pwm_min_new = _mixing_output.minValue(i);
-						param_set(param_find(str), &pwm_min_new);
-					}
-
-				} else if (pwm_default_channel_mask & 1 << i) {
-					_mixing_output.minValue(i) = pwm_min_default;
-				}
-			}
-		}
-
-		_pwm_min_configured = true;
-	}
-
-	// PWM_MAIN_MAXx
-	if (!_pwm_max_configured) {
-		for (unsigned i = 0; i < _max_actuators; i++) {
-			sprintf(str, "%s_MAX%u", prefix, i + 1);
-			int32_t pwm_max = -1;
-
-			if (param_get(param_find(str), &pwm_max) == PX4_OK) {
-				if (pwm_max >= 0 && pwm_max != 2000) {
-					_mixing_output.maxValue(i) = math::constrain(pwm_max, static_cast<int32_t>(PWM_LOWEST_MAX),
-								     static_cast<int32_t>(PWM_HIGHEST_MAX));
-
-					if (pwm_max != _mixing_output.maxValue(i)) {
-						int32_t pwm_max_new = _mixing_output.maxValue(i);
-						param_set(param_find(str), &pwm_max_new);
-					}
-
-				} else if (pwm_default_channel_mask & 1 << i) {
-					_mixing_output.maxValue(i) = pwm_max_default;
-				}
-			}
-		}
-
-		_pwm_max_configured = true;
-	}
-
-	// PWM_MAIN_FAILx
-	if (!_pwm_fail_configured) {
-		for (unsigned i = 0; i < _max_actuators; i++) {
-			sprintf(str, "%s_FAIL%u", prefix, i + 1);
-			int32_t pwm_fail = -1;
-
-			if (param_get(param_find(str), &pwm_fail) == PX4_OK) {
-				if (pwm_fail >= 0) {
-					_mixing_output.failsafeValue(i) = math::constrain(pwm_fail, static_cast<int32_t>(0),
-									  static_cast<int32_t>(PWM_HIGHEST_MAX));
-
-					if (pwm_fail != _mixing_output.failsafeValue(i)) {
-						int32_t pwm_fail_new = _mixing_output.failsafeValue(i);
-						param_set(param_find(str), &pwm_fail_new);
-					}
-				}
-			}
-		}
-
-		_pwm_fail_configured = true;
-		updateFailsafe();
-	}
-
-	// PWM_MAIN_DISx
-	if (!_pwm_dis_configured) {
-		for (unsigned i = 0; i < _max_actuators; i++) {
-			sprintf(str, "%s_DIS%u", prefix, i + 1);
-			int32_t pwm_dis = -1;
-
-			if (param_get(param_find(str), &pwm_dis) == PX4_OK) {
-				if (pwm_dis >= 0 && pwm_dis != 900) {
-					_mixing_output.disarmedValue(i) = math::constrain(pwm_dis, static_cast<int32_t>(0),
-									  static_cast<int32_t>(PWM_HIGHEST_MAX));
-
-					if (pwm_dis != _mixing_output.disarmedValue(i)) {
-						int32_t pwm_dis_new = _mixing_output.disarmedValue(i);
-						param_set(param_find(str), &pwm_dis_new);
-					}
-
-				} else if (pwm_default_channel_mask & 1 << i) {
-					_mixing_output.disarmedValue(i) = pwm_disarmed_default;
-				}
-			}
-		}
-
-		_pwm_dis_configured = true;
-		updateDisarmed();
-	}
-
-	// PWM_MAIN_REVx
-	if (!_pwm_rev_configured) {
-		uint16_t &reverse_pwm_mask = _mixing_output.reverseOutputMask();
-		reverse_pwm_mask = 0;
-
-		for (unsigned i = 0; i < _max_actuators; i++) {
-			sprintf(str, "%s_REV%u", prefix, i + 1);
-			int32_t pwm_rev = -1;
-
-			if (param_get(param_find(str), &pwm_rev) == PX4_OK) {
-				if (pwm_rev >= 1) {
-					reverse_pwm_mask |= (1 << i);
-				}
-
-			}
-		}
-
-		_pwm_rev_configured = true;
-	}
-
 	// PWM_MAIN_TRIMx
 	if (_mixing_output.mixers()) {
 		int16_t values[8] {};
@@ -1648,27 +1514,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		*(unsigned *)arg = io_reg_get(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_PWM_RATES);
 		break;

-	case PWM_SERVO_SET_FAILSAFE_PWM: {
-			PX4_DEBUG("PWM_SERVO_SET_FAILSAFE_PWM");
-			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
-
-			if (pwm->channel_count > _max_actuators)
-				/* fail with error */
-			{
-				return -E2BIG;
-			}
-
-			for (unsigned i = 0; i < pwm->channel_count; i++) {
-				if (pwm->values[i] != 0 && !_mixing_output.useDynamicMixing()) {
-					_mixing_output.failsafeValue(i) = math::constrain(pwm->values[i], (uint16_t)PWM_LOWEST_MIN, (uint16_t)PWM_HIGHEST_MAX);
-				}
-			}
-
-			updateFailsafe();
-
-			break;
-		}
-
 	case PWM_SERVO_GET_FAILSAFE_PWM: {
 			PX4_DEBUG("PWM_SERVO_GET_FAILSAFE_PWM");
 			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
@@ -1683,26 +1528,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 			break;
 		}

-	case PWM_SERVO_SET_DISARMED_PWM: {
-			PX4_DEBUG("PWM_SERVO_SET_DISARMED_PWM");
-			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
-
-			if (pwm->channel_count > _max_actuators) {
-				/* fail with error */
-				return -E2BIG;
-			}
-
-			for (unsigned i = 0; i < pwm->channel_count; i++) {
-				if (pwm->values[i] != 0 && !_mixing_output.useDynamicMixing()) {
-					_mixing_output.disarmedValue(i) = math::constrain(pwm->values[i], (uint16_t)PWM_LOWEST_MIN, (uint16_t)PWM_HIGHEST_MAX);
-				}
-			}
-
-			updateDisarmed();
-
-			break;
-		}
-
 	case PWM_SERVO_GET_DISARMED_PWM: {
 			PX4_DEBUG("PWM_SERVO_GET_DISARMED_PWM");
 			struct pwm_output_values *pwm = (struct pwm_output_values *)arg;
@@ -1794,16 +1619,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		*(unsigned *)arg = _max_actuators;
 		break;

-	case PWM_SERVO_SET_DISABLE_LOCKDOWN:
-		PX4_DEBUG("PWM_SERVO_SET_DISABLE_LOCKDOWN");
-		_lockdown_override = arg;
-		break;
-
-	case PWM_SERVO_GET_DISABLE_LOCKDOWN:
-		PX4_DEBUG("PWM_SERVO_GET_DISABLE_LOCKDOWN");
-		*(unsigned *)arg = _lockdown_override;
-		break;
-
 	case PWM_SERVO_SET_FORCE_SAFETY_OFF:
 		PX4_DEBUG("PWM_SERVO_SET_FORCE_SAFETY_OFF");
 		/* force safety swith off */
@@ -1816,36 +1631,6 @@ int PX4IO::ioctl(file *filep, int cmd, unsigned long arg)
 		ret = io_reg_set(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_FORCE_SAFETY_ON, PX4IO_FORCE_SAFETY_MAGIC);
 		break;

-	case PWM_SERVO_SET_FORCE_FAILSAFE:
-		PX4_DEBUG("PWM_SERVO_SET_FORCE_FAILSAFE");
-
-		/* force failsafe mode instantly */
-		if (arg == 0) {
-			/* clear force failsafe flag */
-			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE, 0);
-
-		} else {
-			/* set force failsafe flag */
-			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_FORCE_FAILSAFE);
-		}
-
-		break;
-
-	case PWM_SERVO_SET_TERMINATION_FAILSAFE:
-		PX4_DEBUG("PWM_SERVO_SET_TERMINATION_FAILSAFE");
-
-		/* if failsafe occurs, do not allow the system to recover */
-		if (arg == 0) {
-			/* clear termination failsafe flag */
-			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE, 0);
-
-		} else {
-			/* set termination failsafe flag */
-			ret = io_reg_modify(PX4IO_PAGE_SETUP, PX4IO_P_SETUP_ARMING, 0, PX4IO_P_SETUP_ARMING_TERMINATION_FAILSAFE);
-		}
-
-		break;
-
 	case DSM_BIND_START:
 		/* bind a DSM receiver */
 		ret = dsm_bind_ioctl(arg);
@@ -2211,60 +1996,6 @@ int PX4IO::monitor()
 	return 0;
 }

-int PX4IO::lockdown(int argc, char *argv[])
-{
-	if (argc > 1 && !strcmp(argv[1], "disable")) {
-
-		PX4_WARN("WARNING: ACTUATORS WILL BE LIVE IN HIL! PROCEED?");
-		PX4_WARN("Press 'y' to enable, any other key to abort.");
-
-		/* check if user wants to abort */
-		char c;
-
-		struct pollfd fds;
-		int ret;
-		hrt_abstime start = hrt_absolute_time();
-		const unsigned long timeout = 5000000;
-
-		while (hrt_elapsed_time(&start) < timeout) {
-			fds.fd = 0; /* stdin */
-			fds.events = POLLIN;
-			ret = ::poll(&fds, 1, 0);
-
-			if (ret > 0) {
-
-				if (::read(0, &c, 1) > 0) {
-
-					if (c != 'y') {
-						return 0;
-
-					} else if (c == 'y') {
-						break;
-					}
-				}
-			}
-
-			px4_usleep(10000);
-		}
-
-		if (hrt_elapsed_time(&start) > timeout) {
-			PX4_ERR("TIMEOUT! ABORTED WITHOUT CHANGES.");
-			return 1;
-		}
-
-		get_instance()->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 1);
-
-		PX4_WARN("ACTUATORS ARE NOW LIVE IN HIL!");
-
-	} else {
-		get_instance()->ioctl(0, PWM_SERVO_SET_DISABLE_LOCKDOWN, 0);
-		PX4_WARN("ACTUATORS ARE NOW SAFE IN HIL.");
-	}
-
-	return 0;
-}
-
-
 int PX4IO::task_spawn(int argc, char *argv[])
 {
 	device::Device *interface = get_interface();
@@ -2468,10 +2199,6 @@ int PX4IO::custom_command(int argc, char *argv[])
 		return bind(argc - 1, argv + 1);
 	}

-	if (!strcmp(verb, "lockdown")) {
-		return lockdown(argc, argv);
-	}
-
 	if (!strcmp(verb, "sbus1_out")) {
 		int ret = get_instance()->ioctl(nullptr, SBUS_SET_PROTO_VERSION, 1);

@@ -2534,8 +2261,6 @@ Output driver communicating with the IO co-processor.
 	PRINT_MODULE_USAGE_COMMAND_DESCR("monitor", "continuously monitor status");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("bind", "DSM bind");
 	PRINT_MODULE_USAGE_ARG("dsm2|dsmx|dsmx8", "protocol", false);
-	PRINT_MODULE_USAGE_COMMAND_DESCR("lockdown", "enable (or disable) lockdown");
-	PRINT_MODULE_USAGE_ARG("disable", "disable lockdown", true);
 	PRINT_MODULE_USAGE_COMMAND_DESCR("sbus1_out", "enable sbus1 out");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("sbus2_out", "enable sbus2 out");
 	PRINT_MODULE_USAGE_COMMAND_DESCR("test_fmu_fail", "test: turn off IO updates");
@@ -676,17 +676,6 @@ UavcanNode::init(uavcan::NodeID node_id, UAVCAN_DRIVER::BusEvent &bus_events)
 		return -EINVAL;
 	}

-	_mixing_interface_esc.mixingOutput().setAllDisarmedValues(UavcanEscController::DISARMED_OUTPUT_VALUE);
-
-	if (!_mixing_interface_esc.mixingOutput().useDynamicMixing()) {
-		// these are configurable with dynamic mixing
-		_mixing_interface_esc.mixingOutput().setAllMinValues(0); // Can be changed to 1 later, according to UAVCAN_ESC_IDLT
-		_mixing_interface_esc.mixingOutput().setAllMaxValues(UavcanEscController::max_output_value());
-
-		param_get(param_find("UAVCAN_ESC_IDLT"), &_idle_throttle_when_armed_param);
-		enable_idle_throttle_when_armed(true);
-	}
-
 	/*  Start the Node   */
 	return _node.start();
 }
@@ -791,10 +780,6 @@ UavcanNode::Run()

 	node_spin_once(); // expected to be non-blocking

-	// Check arming state
-	const actuator_armed_s &armed = _mixing_interface_esc.mixingOutput().armed();
-	enable_idle_throttle_when_armed(!armed.soft_stop);
-
 	// check for parameter updates
 	if (_parameter_update_sub.updated()) {
 		// clear update
@@ -838,19 +823,6 @@ UavcanNode::Run()
 	}
 }

-void
-UavcanNode::enable_idle_throttle_when_armed(bool value)
-{
-	value &= _idle_throttle_when_armed_param > 0;
-
-	if (!_mixing_interface_esc.mixingOutput().useDynamicMixing()) {
-		if (value != _idle_throttle_when_armed) {
-			_mixing_interface_esc.mixingOutput().setAllMinValues(value ? 1 : 0);
-			_idle_throttle_when_armed = value;
-		}
-	}
-}
-
 int
 UavcanNode::teardown()
 {
@@ -1205,7 +1177,7 @@ int uavcan_main(int argc, char *argv[])
 	}

 	if (!std::strcmp(argv[1], "hardpoint")) {
-		if (argc > 4 && !std::strcmp(argv[2], "set")) {
+		if (!std::strcmp(argv[2], "set") && argc > 4) {
 			const int hardpoint_id = atoi(argv[3]);
 			const int command = atoi(argv[4]);

@@ -216,8 +216,6 @@ private:
 	void		set_setget_response(uavcan::protocol::param::GetSet::Response *resp) { _setget_response = resp; }
 	void		free_setget_response(void) { _setget_response = nullptr; }

-	void enable_idle_throttle_when_armed(bool value);
-
 	px4::atomic_bool	_task_should_exit{false};	///< flag to indicate to tear down the CAN driver
 	px4::atomic<int>	_fw_server_action{None};
 	int			 _fw_server_status{-1};
@@ -77,15 +77,6 @@ PARAM_DEFINE_INT32(UAVCAN_NODE_ID, 1);
 */
 PARAM_DEFINE_INT32(UAVCAN_BITRATE, 1000000);

-/**
- * UAVCAN ESC will spin at idle throttle when armed, even if the mixer outputs zero setpoints.
- *
- * @boolean
- * @reboot_required true
- * @group UAVCAN
- */
-PARAM_DEFINE_INT32(UAVCAN_ESC_IDLT, 1);
-
 /**
 * UAVCAN rangefinder minimum range
 *
@@ -73,7 +73,7 @@ if DRIVERS_UAVCAN_V1
            default n

        config UAVCAN_V1_GNSS_SUBSCRIBER_0
-            bool "GNSS Subscriber 0"
+            bool "GNSS Subscriber 0 "
            default n

        config UAVCAN_V1_GNSS_SUBSCRIBER_1
@@ -1,92 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file NodeClient.hpp
- *
- * Defines basic implementation of UAVCAN PNP for dynamic Node ID
- *
- * @author Peter van der Perk <peter.vanderperk@nxp.com>
- */
-
-#pragma once
-
-
-#include <px4_platform_common/defines.h>
-#include <drivers/drv_hrt.h>
-
-#include "CanardInterface.hpp"
-
-#include <uavcan/node/ID_1_0.h>
-#include <uavcan/pnp/NodeIDAllocationData_1_0.h>
-#include <uavcan/pnp/NodeIDAllocationData_2_0.h>
-
-#include "Services/AccessRequest.hpp"
-#include "Services/ListRequest.hpp"
-
-#define PNP1_PORT_ID                                 uavcan_pnp_NodeIDAllocationData_1_0_FIXED_PORT_ID_
-#define PNP1_PAYLOAD_SIZE                            uavcan_pnp_NodeIDAllocationData_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_
-#define PNP2_PORT_ID                                 uavcan_pnp_NodeIDAllocationData_2_0_FIXED_PORT_ID_
-#define PNP2_PAYLOAD_SIZE                            uavcan_pnp_NodeIDAllocationData_2_0_SERIALIZATION_BUFFER_SIZE_BYTES_
-
-class NodeClient : public UavcanBaseSubscriber
-{
-public:
-	NodeClient(CanardInstance &ins, UavcanParamManager &pmgr) : UavcanBaseSubscriber(ins, "NodeIDAllocationData", 0),
-		_canard_instance(ins) { };
-
-	void subscribe() override
-	{
-
-		canardRxSubscribe(&_canard_instance,
-				  CanardTransferKindMessage,
-				  (_canard_instance.mtu_bytes == CANARD_MTU_CAN_FD ? PNP2_PORT_ID : PNP1_PORT_ID),  // The fixed Subject-ID
-				  (_canard_instance.mtu_bytes == CANARD_MTU_CAN_FD ? PNP2_PAYLOAD_SIZE : PNP1_PAYLOAD_SIZE),
-				  CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
-				  &_subj_sub._canard_sub);
-	}
-
-	bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_1_0 &msg);
-	bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_2_0 &msg);
-
-	void callback(const CanardTransfer &receive); // NodeIDAllocation callback
-
-	void update();
-
-private:
-
-	CanardInstance &_canard_instance;
-	CanardTransferID _node_id_alloc_transfer_id{0};
-
-	hrt_abstime _nodealloc_request_last{0};
-};
@@ -36,7 +36,6 @@
 #include "UavcanPublisherBase.hpp"

 #include <com/hex/equipment/flow/Measurement.hpp>
-#include <conversion/rotation.h>

 #include <uORB/SubscriptionCallback.hpp>
 #include <uORB/topics/optical_flow.h>
@@ -54,16 +53,7 @@ public:
 		UavcanPublisherBase(com::hex::equipment::flow::Measurement::DefaultDataTypeID),
 		uORB::SubscriptionCallbackWorkItem(work_item, ORB_ID(optical_flow)),
 		uavcan::Publisher<com::hex::equipment::flow::Measurement>(node)
-	{
-		_rotation = matrix::Dcmf{matrix::Eulerf{0.f, 0.f, 0.f}};
-
-		param_t rot = param_find("CANNODE_FLOW_ROT");
-		int32_t val = 0;
-
-		if (param_get(rot, &val) == PX4_OK) {
-			_rotation = get_rot_matrix((enum Rotation)val);
-		}
-	}
+	{}

 	void PrintInfo() override
 	{
@@ -83,16 +73,10 @@ public:
 		if (uORB::SubscriptionCallbackWorkItem::update(&optical_flow)) {
 			com::hex::equipment::flow::Measurement measurement{};
 			measurement.integration_interval  = optical_flow.integration_timespan * 1e-6f; // us -> s
-
-			// rotate measurements in yaw from sensor frame to body frame
-			const matrix::Vector3f gyro_flow_rotated = _rotation * matrix::Vector3f{optical_flow.gyro_x_rate_integral, optical_flow.gyro_y_rate_integral, 0.f};
-			const matrix::Vector3f pixel_flow_rotated = _rotation * matrix::Vector3f{optical_flow.pixel_flow_x_integral, optical_flow.pixel_flow_y_integral, 0.f};
-
-			measurement.rate_gyro_integral[0] = gyro_flow_rotated(0);
-			measurement.rate_gyro_integral[1] = gyro_flow_rotated(1);
-			measurement.flow_integral[0] = pixel_flow_rotated(0);
-			measurement.flow_integral[1] = pixel_flow_rotated(1);
-
+			measurement.rate_gyro_integral[0] = optical_flow.gyro_x_rate_integral;
+			measurement.rate_gyro_integral[1] = optical_flow.gyro_y_rate_integral;
+			measurement.flow_integral[0] = optical_flow.pixel_flow_x_integral;
+			measurement.flow_integral[1] = optical_flow.pixel_flow_y_integral;
 			measurement.quality = optical_flow.quality;

 			uavcan::Publisher<com::hex::equipment::flow::Measurement>::broadcast(measurement);
@@ -101,7 +85,5 @@ public:
 			uORB::SubscriptionCallbackWorkItem::registerCallback();
 		}
 	}
-private:
-	matrix::Dcmf _rotation;
 };
 } // namespace uavcannode
@@ -59,24 +59,3 @@ PARAM_DEFINE_INT32(CANNODE_BITRATE, 1000000);
 * @group UAVCAN
 */
 PARAM_DEFINE_INT32(CANNODE_TERM, 0);
-
-/**
- * Cannode flow board rotation
- *
- * This parameter defines the yaw rotation of the Cannode flow board relative to the vehicle body frame.
- * Zero rotation is defined as X on flow board pointing towards front of vehicle.
- *
- * @value 0 No rotation
- * @value 1 Yaw 45°
- * @value 2 Yaw 90°
- * @value 3 Yaw 135°
- * @value 4 Yaw 180°
- * @value 5 Yaw 225°
- * @value 6 Yaw 270°
- * @value 7 Yaw 315°
- *
- * @reboot_required true
- *
- * @group UAVCAN
- */
-PARAM_DEFINE_INT32(CANNODE_FLOW_ROT, 0);
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2013-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2013-2020 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
@@ -276,9 +276,7 @@ ECL_L1_Pos_Controller::navigate_loiter(const Vector2d &vector_A, const Vector2d
 	float tangent_vel = xtrack_vel_center * loiter_direction;

 	/* prevent PD output from turning the wrong way when in circle mode */
-	const float l1_op_tan_vel = 2.f; // hard coded max tangential velocity in the opposite direction
-
-	if (tangent_vel < -l1_op_tan_vel && _circle_mode) {
+	if (tangent_vel < 0.0f && _circle_mode) {
 		lateral_accel_sp_circle_pd = math::max(lateral_accel_sp_circle_pd, 0.0f);
 	}

@@ -104,15 +104,13 @@ _param_prefix(param_prefix)

 	_use_dynamic_mixing = _param_sys_ctrl_alloc.get();

-	if (_use_dynamic_mixing) {
-		initParamHandles();
+	initParamHandles();

-		for (unsigned i = 0; i < MAX_ACTUATORS; i++) {
-			_failsafe_value[i] = UINT16_MAX;
-		}
-
-		updateParams();
+	for (unsigned i = 0; i < MAX_ACTUATORS; i++) {
+		_failsafe_value[i] = UINT16_MAX;
 	}
+
+	updateParams();
 }

 MixingOutput::~MixingOutput()
@@ -129,8 +127,6 @@ void MixingOutput::initParamHandles()
 	char param_name[17];

 	for (unsigned i = 0; i < _max_num_outputs; ++i) {
-		snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "FUNC", i + 1);
-		_param_handles[i].function = param_find(param_name);
 		snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "DIS", i + 1);
 		_param_handles[i].disarmed = param_find(param_name);
 		snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "MIN", i + 1);
@@ -140,6 +136,13 @@ void MixingOutput::initParamHandles()
 		snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "FAIL", i + 1);
 		_param_handles[i].failsafe = param_find(param_name);
 	}
+
+	if (_use_dynamic_mixing) {
+		for (unsigned i = 0; i < _max_num_outputs; ++i) {
+			snprintf(param_name, sizeof(param_name), "%s_%s%d", _param_prefix, "FUNC", i + 1);
+			_param_handles[i].function = param_find(param_name);
+		}
+	}
 }

 void MixingOutput::printStatus() const
@@ -190,13 +193,40 @@ void MixingOutput::updateParams()
 		_mixers->set_airmode((Mixer::Airmode)_param_mc_airmode.get());
 	}

+	_reverse_output_mask = 0;
+
+	for (unsigned i = 0; i < _max_num_outputs; i++) {
+		int32_t val;
+
+		if (_param_handles[i].disarmed != PARAM_INVALID && param_get(_param_handles[i].disarmed, &val) == 0) {
+			_disarmed_value[i] = val;
+		}
+
+		if (_param_handles[i].min != PARAM_INVALID && param_get(_param_handles[i].min, &val) == 0) {
+			_min_value[i] = val;
+		}
+
+		if (_param_handles[i].max != PARAM_INVALID && param_get(_param_handles[i].max, &val) == 0) {
+			_max_value[i] = val;
+		}
+
+		if (_min_value[i] > _max_value[i]) {
+			_reverse_output_mask |= 1 << i;
+			uint16_t tmp = _min_value[i];
+			_min_value[i] = _max_value[i];
+			_max_value[i] = tmp;
+		}
+
+		if (_param_handles[i].failsafe != PARAM_INVALID && param_get(_param_handles[i].failsafe, &val) == 0) {
+			_failsafe_value[i] = val;
+		}
+	}
+
 	if (_use_dynamic_mixing) {
 		_param_mot_ordering.set(0); // not used with dynamic mixing

 		bool function_changed = false;

-		_reverse_output_mask = 0;
-
 		for (unsigned i = 0; i < _max_num_outputs; i++) {
 			int32_t val;

@@ -207,29 +237,6 @@ void MixingOutput::updateParams()

 				// we set _function_assignment[i] later to ensure _functions[i] is updated at the same time
 			}
-
-			if (_param_handles[i].disarmed != PARAM_INVALID && param_get(_param_handles[i].disarmed, &val) == 0) {
-				_disarmed_value[i] = val;
-			}
-
-			if (_param_handles[i].min != PARAM_INVALID && param_get(_param_handles[i].min, &val) == 0) {
-				_min_value[i] = val;
-			}
-
-			if (_param_handles[i].max != PARAM_INVALID && param_get(_param_handles[i].max, &val) == 0) {
-				_max_value[i] = val;
-			}
-
-			if (_min_value[i] > _max_value[i]) {
-				_reverse_output_mask |= 1 << i;
-				uint16_t tmp = _min_value[i];
-				_min_value[i] = _max_value[i];
-				_max_value[i] = tmp;
-			}
-
-			if (_param_handles[i].failsafe != PARAM_INVALID && param_get(_param_handles[i].failsafe, &val) == 0) {
-				_failsafe_value[i] = val;
-			}
 		}

 		if (function_changed) {
@@ -120,13 +120,16 @@ float VelocitySmoothing::computeT1(float T123, float a0, float v3, float j_max,
 	float T3_plus = a0 / j_max + T1_plus;
 	float T3_minus = a0 / j_max + T1_minus;

+	float T13_plus = T1_plus + T3_plus;
+	float T13_minus = T1_minus + T3_minus;
+
 	float T1 = 0.f;

-	if ((T1_plus >= 0.f && T3_plus >= 0.f) && ((T1_plus + T3_plus) <= T123)) {
-		T1 = T1_plus;
-
-	} else if ((T1_minus >= 0.f && T3_minus >= 0.f) && ((T1_minus + T3_minus) <= T123)) {
+	if (T13_plus > T123) {
 		T1 = T1_minus;
+
+	} else if (T13_minus > T123) {
+		T1 = T1_plus;
 	}

 	T1 = saturateT1ForAccel(a0, j_max, T1, a_max);
@@ -279,8 +282,7 @@ void VelocitySmoothing::timeSynchronization(VelocitySmoothing *traj, int n_traj)

 	if (desired_time > FLT_EPSILON) {
 		for (int i = 0; i < n_traj; i++) {
-			if ((i != longest_traj_index)
-			    && (traj[i].getTotalTime() < desired_time)) {
+			if (i != longest_traj_index) {
 				traj[i].updateDurationsGivenTotalTime(desired_time);
 			}
 		}
@@ -112,38 +112,6 @@ TEST_F(VelocitySmoothingTest, testTimeSynchronization)
 	EXPECT_LE(fabsf(_trajectories[0].getTotalTime() - _trajectories[1].getTotalTime()), 0.0001);
 }

-TEST_F(VelocitySmoothingTest, testTimeSynchronizationSameDelta)
-{
-	// GIVEN: a set of initial conditions
-	Vector3f a0(0.f, 0.f, 0.f);
-	Vector3f v0(0.5f, -0.2f, 0.f);
-	Vector3f x0(0.f, 0.f, 0.f);
-
-	setInitialConditions(a0, v0, x0);
-
-	// WHEN: the same delta velocity is set to the XY-axes
-	const float delta_v = 0.3f;
-	Vector3f velocity_setpoints{v0(0) + delta_v, v0(1) + delta_v, 0.f};
-
-	for (int i = 0; i < 3; i++) {
-		_trajectories[i].updateDurations(velocity_setpoints(i));
-	}
-
-	VelocitySmoothing::timeSynchronization(_trajectories, 3);
-
-	// THEN: they should have the same T1, T2 and T3 dirations
-	EXPECT_FLOAT_EQ(_trajectories[0].getTotalTime(), _trajectories[1].getTotalTime());
-	EXPECT_FLOAT_EQ(_trajectories[0].getT1(), _trajectories[1].getT1());
-	EXPECT_FLOAT_EQ(_trajectories[0].getT2(), _trajectories[1].getT2());
-	EXPECT_FLOAT_EQ(_trajectories[0].getT3(), _trajectories[1].getT3());
-
-	// AND: the Z axis should have the same duration but spend all its time in T2 (constant phase)
-	EXPECT_FLOAT_EQ(_trajectories[2].getTotalTime(), _trajectories[0].getTotalTime());
-	EXPECT_FLOAT_EQ(_trajectories[2].getT1(), 0.f);
-	EXPECT_FLOAT_EQ(_trajectories[2].getT2(), _trajectories[0].getTotalTime());
-	EXPECT_FLOAT_EQ(_trajectories[2].getT3(), 0.f);
-}
-
 TEST_F(VelocitySmoothingTest, testConstantSetpoint)
 {
 	// GIVEN: A set of constraints
@@ -155,29 +155,6 @@ bool param_modify_on_import(bson_node_t node)
 		}
 	}

-	// 2021-01-31 (v1.12 alpha): translate PWM_MIN/PWM_MAX/PWM_DISARMED to PWM_MAIN
-	{
-		if (strcmp("PWM_MIN", node->name) == 0) {
-			strcpy(node->name, "PWM_MAIN_MIN");
-			PX4_INFO("copying %s -> %s", "PWM_MIN", "PWM_MAIN_MIN");
-		}
-
-		if (strcmp("PWM_MAX", node->name) == 0) {
-			strcpy(node->name, "PWM_MAIN_MAX");
-			PX4_INFO("copying %s -> %s", "PWM_MAX", "PWM_MAIN_MAX");
-		}
-
-		if (strcmp("PWM_RATE", node->name) == 0) {
-			strcpy(node->name, "PWM_MAIN_RATE");
-			PX4_INFO("copying %s -> %s", "PWM_RATE", "PWM_MAIN_RATE");
-		}
-
-		if (strcmp("PWM_DISARMED", node->name) == 0) {
-			strcpy(node->name, "PWM_MAIN_DISARM");
-			PX4_INFO("copying %s -> %s", "PWM_DISARMED", "PWM_MAIN_DISARM");
-		}
-	}
-
 	// 2021-04-30: translate ASPD_STALL to FW_AIRSPD_STALL
 	{
 		if (strcmp("ASPD_STALL", node->name) == 0) {
@@ -29,40 +29,6 @@ parameters:
            max: 2000
            default: 50

-        PWM_AUX_MIN:
-            description:
-                short: PWM aux minimum value
-                long: |
-                    Set to 1000 for industry default or 900 to increase servo travel.
-            type: int32
-            unit: us
-            min: 800
-            max: 1400
-            default: 1000
-
-        PWM_AUX_MAX:
-            description:
-                short: PWM aux maximum value
-                long: |
-                    Set to 2000 for industry default or 2100 to increase servo travel.
-            type: int32
-            unit: us
-            min: 1600
-            max: 2200
-            default: 2000
-
-        PWM_AUX_DISARM:
-            description:
-                short: PWM aux disarmed value
-                long: |
-                    This is the PWM pulse the autopilot is outputting if not armed.
-                    The main use of this parameter is to silence ESCs when they are disarmed.
-            type: int32
-            unit: us
-            min: 0
-            max: 2200
-            default: 1500
-
        PWM_AUX_TRIM${i}:
            description:
                short: PWM aux ${i} trim value
@@ -75,27 +41,3 @@ parameters:
            num_instances: *max_num_config_instances
            instance_start: 1
            default: 0
-
-        PWM_AUX_REV${i}:
-            description:
-                short: PWM aux ${i} reverse value
-                long: |
-                    Enable to invert the channel.
-                    Warning: Use this parameter when connected to a servo only.
-                    For a brushless motor, invert manually two phases to reverse the direction.
-            type: boolean
-            num_instances: *max_num_config_instances
-            instance_start: 1
-            default: 0
-
-        PWM_AUX_RATE${i}:
-            description:
-                short: PWM aux ${i} rate
-                long: |
-                    Set the default PWM output frequency for the aux outputs
-            type: int32
-            unit: Hz
-            min: 0
-            max: 400
-            instance_start: 1
-            default: 50
@@ -121,27 +121,3 @@ parameters:
            num_instances: *max_num_config_instances
            instance_start: 1
            default: 0
-
-        PWM_EXTRA_REV${i}:
-            description:
-                short: PWM extra ${i} reverse value
-                long: |
-                    Enable to invert the channel.
-                    Warning: Use this parameter when connected to a servo only.
-                    For a brushless motor, invert manually two phases to reverse the direction.
-            type: boolean
-            num_instances: *max_num_config_instances
-            instance_start: 1
-            default: 0
-
-        PWM_EXTRA_RATE${i}:
-            description:
-                short: PWM extra ${i} rate
-                long: |
-                    Set the default PWM output frequency for the main outputs
-            type: int32
-            unit: Hz
-            min: 0
-            max: 400
-            instance_start: 1
-            default: 50
@@ -29,40 +29,6 @@ parameters:
            max: 2000
            default: 400

-        PWM_MAIN_MIN:
-            description:
-                short: PWM main minimum value
-                long: |
-                    Set to 1000 for industry default or 900 to increase servo travel.
-            type: int32
-            unit: us
-            min: 800
-            max: 1400
-            default: 1000
-
-        PWM_MAIN_MAX:
-            description:
-                short: PWM main maximum value
-                long: |
-                    Set to 2000 for industry default or 2100 to increase servo travel.
-            type: int32
-            unit: us
-            min: 1600
-            max: 2200
-            default: 2000
-
-        PWM_MAIN_DISARM:
-            description:
-                short: PWM main disarmed value
-                long: |
-                    This is the PWM pulse the autopilot is outputting if not armed.
-                    The main use of this parameter is to silence ESCs when they are disarmed.
-            type: int32
-            unit: us
-            min: 0
-            max: 2200
-            default: 900
-
        PWM_MAIN_TRIM${i}:
            description:
                short: PWM main ${i} trim value
@@ -75,27 +41,3 @@ parameters:
            num_instances: *max_num_config_instances
            instance_start: 1
            default: 0
-
-        PWM_MAIN_REV${i}:
-            description:
-                short: PWM main ${i} reverse value
-                long: |
-                    Enable to invert the channel.
-                    Warning: Use this parameter when connected to a servo only.
-                    For a brushless motor, invert manually two phases to reverse the direction.
-            type: boolean
-            num_instances: *max_num_config_instances
-            instance_start: 1
-            default: 0
-
-        PWM_MAIN_RATE${i}:
-            description:
-                short: PWM main ${i} rate
-                long: |
-                    Set the default PWM output frequency for the main outputs
-            type: int32
-            unit: Hz
-            min: 0
-            max: 400
-            instance_start: 1
-            default: 50
@@ -56,7 +56,7 @@ WindEstimator::initialise(const matrix::Vector3f &velI, const matrix::Vector2f &
 	// initilaise wind states assuming zero side slip and horizontal flight
 	_state(INDEX_W_N) = velI(INDEX_W_N) - tas_meas * cosf(heading_est);
 	_state(INDEX_W_E) = velI(INDEX_W_E) - tas_meas * sinf(heading_est);
-	_state(INDEX_TAS_SCALE) = _scale_init;
+	_state(INDEX_TAS_SCALE) = 1.0f;

 	// compute jacobian of states wrt north/each earth velocity states and true airspeed measurement
 	float L0 = v_e * v_e;
@@ -104,7 +104,7 @@ WindEstimator::update(uint64_t time_now)
 	_wind_estimator_reset = false;

 	// run covariance prediction at 1Hz
-	if (time_now - _time_last_update < 1_s || _time_last_update == 0) {
+	if (time_now - _time_last_update < 1000 * 1000 || _time_last_update == 0) {
 		if (_time_last_update == 0) {
 			_time_last_update = time_now;
 		}
@@ -149,7 +149,7 @@ WindEstimator::fuse_airspeed(uint64_t time_now, const float true_airspeed, const
 	}

 	// don't fuse faster than 10Hz
-	if (time_now - _time_last_airspeed_fuse < 100_ms) {
+	if (time_now - _time_last_airspeed_fuse < 100 * 1000) {
 		return;
 	}

@@ -160,28 +160,28 @@ WindEstimator::fuse_airspeed(uint64_t time_now, const float true_airspeed, const
 	const float v_e = velI(1);
 	const float v_d = velI(2);

-	// calculate airspeed from ground speed and wind states (without scale)
-	const float airspeed_predicted_raw = sqrtf((v_n - _state(INDEX_W_N)) * (v_n - _state(INDEX_W_N)) +
-					     (v_e - _state(INDEX_W_E)) * (v_e - _state(INDEX_W_E)) + v_d * v_d);
+	const float k_tas = _state(INDEX_TAS_SCALE);

-	// compute state observation matrix H
-	const float HH0 = airspeed_predicted_raw;
-	const float HH1 = _state(INDEX_TAS_SCALE) / math::max(HH0, 0.1f);
+	// compute kalman gain K
+	const float HH0 = sqrtf(v_d * v_d + (v_e - _state(INDEX_W_E)) * (v_e - _state(INDEX_W_E)) + (v_n - _state(
+					INDEX_W_N)) * (v_n - _state(INDEX_W_N)));
+	const float HH1 = k_tas / HH0;

 	matrix::Matrix<float, 1, 3> H_tas;
 	H_tas(0, 0) = HH1 * (-v_n + _state(INDEX_W_N));
 	H_tas(0, 1) = HH1 * (-v_e + _state(INDEX_W_E));
 	H_tas(0, 2) = HH0;

-	// compute innovation covariance S
+	matrix::Matrix<float, 3, 1> K = _P * H_tas.transpose();
+
 	const matrix::Matrix<float, 1, 1> S = H_tas * _P * H_tas.transpose() + _tas_var;

-	// compute Kalman gain
-	matrix::Matrix<float, 3, 1> K = _P * H_tas.transpose();
 	K /= S(0, 0);
-
 	// compute innovation
-	const float airspeed_pred = _state(INDEX_TAS_SCALE) * airspeed_predicted_raw;
+	const float airspeed_pred = k_tas * sqrtf((v_n - _state(INDEX_W_N)) * (v_n - _state(INDEX_W_N)) + (v_e - _state(
+					    INDEX_W_E)) *
+				    (v_e - _state(INDEX_W_E)) + v_d * v_d);
+
 	_tas_innov = true_airspeed - airspeed_pred;

 	// innovation variance
@@ -190,13 +190,13 @@ WindEstimator::fuse_airspeed(uint64_t time_now, const float true_airspeed, const
 	bool reinit_filter = false;
 	bool meas_is_rejected = false;

-	// note: _time_rejected_tas and reinit_filter are not used anymore as filter can't get reset due to tas rejection
 	meas_is_rejected = check_if_meas_is_rejected(time_now, _tas_innov, _tas_innov_var, _tas_gate, _time_rejected_tas,
 			   reinit_filter);

-	if (meas_is_rejected || _tas_innov_var < 0.f) {
-		// only reset filter if _tas_innov_var gets unfeasible, but not never if tas measurement is rejected
-		if (_tas_innov_var < 0.0f) {
+	reinit_filter |= _tas_innov_var < 0.0f;
+
+	if (meas_is_rejected || reinit_filter) {
+		if (reinit_filter) {
 			_initialised =	initialise(velI, matrix::Vector2f(0.1f, 0.1f), true_airspeed);
 		}

@@ -224,7 +224,7 @@ WindEstimator::fuse_beta(uint64_t time_now, const matrix::Vector3f &velI, const
 	}

 	// don't fuse faster than 10Hz
-	if (time_now - _time_last_beta_fuse < 100_ms) {
+	if (time_now - _time_last_beta_fuse < 100 * 1000) {
 		return;
 	}

@@ -259,11 +259,11 @@ WindEstimator::fuse_beta(uint64_t time_now, const matrix::Vector3f &velI, const
 	H_beta(0, 1) = HB15 * (HB12 - HB7 + HB8) + HB16 * HB5;
 	H_beta(0, 2) = 0;

-	// compute innovation covariance S
+	// compute kalman gain
+	matrix::Matrix<float, 3, 1> K = _P * H_beta.transpose();
+
 	const matrix::Matrix<float, 1, 1> S = H_beta * _P * H_beta.transpose() + _beta_var;

-	// compute Kalman gain
-	matrix::Matrix<float, 3, 1> K = _P * H_beta.transpose();
 	K /= S(0, 0);

 	// compute predicted side slip angle
@@ -333,6 +333,16 @@ WindEstimator::run_sanity_checks()
 		return;
 	}

+	// check if we should inhibit learning of airspeed scale factor and rather use a pre-set value.
+	// airspeed scale factor errors arise from sensor installation which does not change and only needs
+	// to be computed once for a perticular installation.
+	if (_enforced_airspeed_scale < 0) {
+		_state(INDEX_TAS_SCALE) = math::max(0.0f, _state(INDEX_TAS_SCALE));
+
+	} else {
+		_state(INDEX_TAS_SCALE) = _enforced_airspeed_scale;
+	}
+
 	// attain symmetry
 	for (unsigned row = 0; row < 3; row++) {
 		for (unsigned column = 0; column < row; column++) {
@@ -354,7 +364,7 @@ WindEstimator::check_if_meas_is_rejected(uint64_t time_now, float innov, float i
 		time_meas_rejected = 0;
 	}

-	reinit_filter = time_now - time_meas_rejected > 5_s && time_meas_rejected != 0;
+	reinit_filter = time_now - time_meas_rejected > 5 * 1000 * 1000 && time_meas_rejected != 0;

 	return time_meas_rejected != 0;
 }
@@ -41,8 +41,6 @@
 #include <mathlib/mathlib.h>
 #include <matrix/math.hpp>

-using namespace time_literals;
-
 class WindEstimator
 {
 public:
@@ -61,21 +59,27 @@ public:
 			   const matrix::Vector2f &velIvar);
 	void fuse_beta(uint64_t time_now, const matrix::Vector3f &velI, const matrix::Quatf &q_att);

+	void get_wind(float wind[2])
+	{
+		wind[0] = _state(INDEX_W_N);
+		wind[1] = _state(INDEX_W_E);
+	}
+
 	bool is_estimate_valid() { return _initialised; }

 	bool check_if_meas_is_rejected(uint64_t time_now, float innov, float innov_var, uint8_t gate_size,
 				       uint64_t &time_meas_rejected, bool &reinit_filter);

-	matrix::Vector2f get_wind() { return matrix::Vector2f{_state(INDEX_W_N), _state(INDEX_W_E)}; }
-
-	// invert scale (CAS = IAS * scale), protect agains division by 0, constrain to [0.1, 10]
-	float get_tas_scale() { return 1.f / math::constrain(_state(INDEX_TAS_SCALE), 0.1f, 10.0f); }
-	float get_tas_scale_var() { return _P(2, 2); }
+	float get_tas_scale() { return _state(INDEX_TAS_SCALE); }
 	float get_tas_innov() { return _tas_innov; }
 	float get_tas_innov_var() { return _tas_innov_var; }
 	float get_beta_innov() { return _beta_innov; }
 	float get_beta_innov_var() { return _beta_innov_var; }
-	matrix::Vector2f  get_wind_var() { return matrix::Vector2f{_P(0, 0), _P(1, 1)}; }
+	void get_wind_var(float wind_var[2])
+	{
+		wind_var[0] = _P(0, 0);
+		wind_var[1] = _P(1, 1);
+	}
 	bool get_wind_estimator_reset() { return _wind_estimator_reset; }

 	void set_wind_p_noise(float wind_sigma) { _wind_p_var = wind_sigma * wind_sigma; }
@@ -84,7 +88,10 @@ public:
 	void set_beta_noise(float beta_var) { _beta_var = beta_var * beta_var; }
 	void set_tas_gate(uint8_t gate_size) {_tas_gate = gate_size; }
 	void set_beta_gate(uint8_t gate_size) {_beta_gate = gate_size; }
-	void set_scale_init(float scale_init) {_scale_init = 1.f / math::constrain(scale_init, 0.1f, 10.f); }
+
+	// Inhibit learning of the airspeed scale factor and force the estimator to use _enforced_airspeed_scale as scale factor.
+	// Negative input values enable learning of the airspeed scale factor.
+	void enforce_airspeed_scale(float scale) {_enforced_airspeed_scale = scale; }

 private:
 	enum {
@@ -93,7 +100,7 @@ private:
 		INDEX_TAS_SCALE
 	};	///< enum which can be used to access state.

-	matrix::Vector3f _state{0.f, 0.f, 1.f};
+	matrix::Vector3f _state;		///< state vector
 	matrix::Matrix3f _P;		///< state covariance matrix

 	float _tas_innov{0.0f};	///< true airspeed innovation
@@ -111,16 +118,15 @@ private:
 	uint8_t _tas_gate{3};	///< airspeed fusion gate size
 	uint8_t _beta_gate{1};	///< sideslip fusion gate size

-	float _scale_init{1.f};
-
 	uint64_t _time_last_airspeed_fuse = 0;	///< timestamp of last airspeed fusion
-	uint64_t _time_last_beta_fuse = 0;	///< timestamp of last sideslip fusion
-	uint64_t _time_last_update = 0;		///< timestamp of last covariance prediction
-	uint64_t _time_rejected_beta = 0;	///< timestamp of when sideslip measurements have consistently started to be rejected
+	uint64_t _time_last_beta_fuse = 0;		///< timestamp of last sideslip fusion
+	uint64_t _time_last_update = 0;			///< timestamp of last covariance prediction
+	uint64_t _time_rejected_beta = 0;		///< timestamp of when sideslip measurements have consistently started to be rejected
 	uint64_t _time_rejected_tas =
-		0;	///< timestamp of when true airspeed measurements have consistently started to be rejected
+		0;		///<timestamp of when true airspeed measurements have consistently started to be rejected

 	bool _wind_estimator_reset = false; ///< wind estimator was reset in this cycle
+	float _enforced_airspeed_scale{-1.0f}; ///< by default we want to estimate the true airspeed scale factor (see enforce_airspeed_scale(...) )

 	// initialise state and state covariance matrix
 	bool initialise(const matrix::Vector3f &velI, const matrix::Vector2f &velIvar, const float tas_meas);
@@ -31,22 +31,6 @@
 #
 ############################################################################

-add_custom_target(world_magnetic_model_update
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/fetch_noaa_table.py > ${CMAKE_CURRENT_SOURCE_DIR}/geo_magnetic_tables.hpp
-	DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/fetch_noaa_table.py
-	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
-	USES_TERMINAL
-	COMMENT "Updating world magnetic model from NOAA (${CMAKE_CURRENT_SOURCE_DIR}/geo_magnetic_tables.hpp)"
-)
-
-add_custom_target(world_magnetic_model_tests_update
-	COMMAND ${PYTHON_EXECUTABLE} ${CMAKE_CURRENT_SOURCE_DIR}/generate_gtest.py > ${CMAKE_CURRENT_SOURCE_DIR}/test_geo_lookup.cpp
-	DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/generate_gtest.py
-	WORKING_DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
-	USES_TERMINAL
-	COMMENT "Updating world magnetic model unit tests from NOAA (${CMAKE_CURRENT_SOURCE_DIR}/test_geo_lookup.cpp)"
-)
-
 add_library(world_magnetic_model
 	geo_mag_declination.cpp
 	geo_mag_declination.h
@@ -47,80 +47,80 @@ static constexpr int LON_DIM = 37;
 // Magnetic declination data in radians * 10^-4
 // Model: WMM-2020,
 // Version: 0.5.1.11,
-// Date: 2021.8164,
+// Date: 2021.6383,
 static constexpr const int16_t declination_table[19][37] {
 	//    LONGITUDE:   -180,  -170,  -160,  -150,  -140,  -130,  -120,  -110,  -100,   -90,   -80,   -70,   -60,   -50,   -40,   -30,   -20,   -10,     0,    10,    20,    30,    40,    50,    60,    70,    80,    90,   100,   110,   120,   130,   140,   150,   160,   170,   180,
-	/* LAT: -90 */ {  26005, 24260, 22514, 20769, 19024, 17278, 15533, 13788, 12042, 10297,  8552,  6807,  5061,  3316,  1571,  -175, -1920, -3665, -5410, -7156, -8901,-10646,-12392,-14137,-15882,-17628,-19373,-21118,-22864,-24609,-26354,-28100,-29845, 31241, 29496, 27751, 26005, },
-	/* LAT: -80 */ {  22574, 20439, 18497, 16721, 15080, 13540, 12076, 10664,  9288,  7938,  6606,  5287,  3978,  2673,  1365,    47, -1294, -2664, -4073, -5523, -7016, -8551,-10127,-11744,-13407,-15124,-16908,-18779,-20760,-22877,-25150,-27583,-30153, 30038, 27417, 24908, 22574, },
-	/* LAT: -70 */ {  14970, 13574, 12450, 11491, 10624,  9795,  8955,  8069,  7117,  6099,  5029,  3935,  2849,  1792,   769,  -241, -1277, -2380, -3577, -4874, -6251, -7678, -9123,-10564,-11989,-13404,-14830,-16314,-17933,-19839,-22347,-26128, 30786, 24176, 19626, 16843, 14970, },
-	/* LAT: -60 */ {   8393,  8153,  7878,  7608,  7360,  7110,  6805,  6376,  5764,  4946,  3947,  2836,  1714,   682,  -204,  -966, -1695, -2514, -3511, -4701, -6025, -7391, -8710, -9920,-10986,-11886,-12604,-13099,-13271,-12822,-10729, -3567,  4821,  7600,  8386,  8521,  8393, },
-	/* LAT: -50 */ {   5464,  5503,  5451,  5365,  5295,  5262,  5230,  5106,  4766,  4107,  3101,  1830,   488,  -699, -1579, -2152, -2553, -2991, -3666, -4666, -5899, -7171, -8311, -9216, -9820,-10066, -9880, -9130, -7628, -5271, -2370,   376,  2485,  3909,  4783,  5258,  5464, },
-	/* LAT: -40 */ {   3939,  4033,  4044,  4003,  3947,  3916,  3923,  3915,  3744,  3215,  2199,   762,  -804, -2126, -3001, -3464, -3656, -3720, -3881, -4431, -5391, -6460, -7348, -7895, -8012, -7646, -6766, -5386, -3672, -1966,  -503,   719,  1762,  2625,  3279,  3708,  3939, },
-	/* LAT: -30 */ {   2970,  3057,  3091,  3081,  3027,  2951,  2894,  2862,  2737,  2265,  1238,  -274, -1883, -3146, -3898, -4254, -4343, -4145, -3714, -3473, -3812, -4550, -5253, -5613, -5499, -4923, -3970, -2762, -1547,  -597,    84,   685,  1307,  1906,  2413,  2772,  2970, },
-	/* LAT: -20 */ {   2328,  2375,  2397,  2404,  2365,  2275,  2170,  2096,  1951,  1461,   415, -1067, -2548, -3620, -4167, -4295, -4103, -3557, -2700, -1891, -1594, -1934, -2582, -3059, -3105, -2754, -2122, -1303,  -521,   -27,   239,   542,   980,  1454,  1872,  2177,  2328, },
-	/* LAT: -10 */ {   1934,  1929,  1912,  1914,  1891,  1810,  1705,  1616,  1433,   887,  -166, -1539, -2817, -3659, -3942, -3728, -3162, -2385, -1539,  -778,  -302,  -322,  -785, -1293, -1513, -1428, -1117,  -617,  -115,   131,   184,   345,   713,  1145,  1534,  1817,  1934, },
-	/* LAT:   0 */ {   1721,  1689,  1638,  1634,  1627,  1562,  1463,  1353,  1101,   483,  -552, -1778, -2839, -3438, -3453, -2965, -2202, -1419,  -763,  -224,   194,   314,    43,  -374,  -633,  -692,  -593,  -330,   -37,    57,     0,    90,   428,   864,  1279,  1595,  1721, },
-	/* LAT:  10 */ {   1587,  1596,  1558,  1578,  1608,  1563,  1447,  1265,   891,   175,  -844, -1922, -2756, -3109, -2918, -2321, -1546,  -831,  -311,    72,   399,   553,   398,    76,  -161,  -269,  -291,  -208,  -101,  -139,  -275,  -247,    51,   500,   976,  1380,  1587, },
-	/* LAT:  20 */ {   1408,  1557,  1621,  1716,  1805,  1788,  1639,  1341,   798,   -58, -1101, -2057, -2664, -2784, -2466, -1870, -1160,  -507,   -43,   270,   530,   680,   593,   351,   150,    32,   -57,  -118,  -195,  -382,  -617,  -675,  -444,    -1,   536,  1052,  1408, },
-	/* LAT:  30 */ {   1113,  1480,  1741,  1967,  2128,  2141,  1958,  1539,   813,  -216, -1338, -2223, -2648, -2595, -2202, -1625,  -970,  -351,   116,   425,   658,   808,   791,   643,   493,   369,   215,     9,  -270,  -643, -1011, -1171, -1014,  -592,   -17,   592,  1113, },
-	/* LAT:  40 */ {    762,  1349,  1844,  2236,  2486,  2531,  2317,  1786,   876,  -354, -1600, -2476, -2807, -2661, -2218, -1628,  -974,  -343,   170,   538,   811,  1013,  1111,  1102,  1026,   878,   614,   209,  -325,  -930, -1452, -1699, -1586, -1171,  -573,   101,   762, },
-	/* LAT:  50 */ {    480,  1229,  1909,  2465,  2831,  2937,  2708,  2054,   910,  -594, -2027, -2952, -3253, -3065, -2577, -1931, -1221,  -521,    98,   607,  1029,  1387,  1671,  1844,  1866,  1682,  1243,   542,  -346, -1249, -1931, -2223, -2102, -1661, -1023,  -287,   480, },
-	/* LAT:  60 */ {    296,  1151,  1957,  2650,  3152,  3362,  3145,  2328,   804, -1171, -2902, -3890, -4145, -3885, -3311, -2564, -1736,  -892,   -81,   673,  1368,  2002,  2548,  2948,  3113,  2933,  2305,  1199,  -210, -1532, -2409, -2724, -2560, -2064, -1365,  -558,   296, },
-	/* LAT:  70 */ {     83,  1023,  1921,  2720,  3332,  3621,  3360,  2206,   -69, -2819, -4783, -5605, -5606, -5115, -4339, -3399, -2370, -1300,  -222,   842,  1870,  2839,  3710,  4421,  4875,  4916,  4321,  2868,   689, -1420, -2727, -3176, -3017, -2481, -1726,  -849,    83, },
-	/* LAT:  80 */ {   -550,   375,  1231,  1924,  2307,  2109,   859, -1866, -5178, -7306, -8026, -7868, -7217, -6285, -5182, -3974, -2701, -1389,   -60,  1271,  2588,  3872,  5101,  6240,  7237,  7998,  8346,  7917,  6042,  2367, -1189, -2923, -3308, -2992, -2322, -1474,  -550, },
-	/* LAT:  90 */ { -30114,-28368,-26623,-24877,-23132,-21387,-19641,-17896,-16151,-14405,-12660,-10915, -9170, -7425, -5679, -3934, -2189,  -444,  1301,  3046,  4792,  6537,  8282, 10027, 11773, 13518, 15263, 17009, 18754, 20500, 22245, 23991, 25736, 27482, 29227, 30973,-30114, },
+	/* LAT: -90 */ {  26010, 24264, 22519, 20774, 19028, 17283, 15538, 13792, 12047, 10302,  8556,  6811,  5066,  3321,  1575,  -170, -1915, -3661, -5406, -7151, -8896,-10642,-12387,-14132,-15878,-17623,-19368,-21114,-22859,-24605,-26350,-28095,-29841, 31246, 29500, 27755, 26010, },
+	/* LAT: -80 */ {  22579, 20444, 18501, 16725, 15083, 13543, 12079, 10667,  9291,  7941,  6608,  5289,  3980,  2675,  1368,    49, -1291, -2661, -4069, -5519, -7012, -8546,-10122,-11739,-13402,-15118,-16902,-18772,-20753,-22870,-25142,-27576,-30145, 30045, 27423, 24913, 22579, },
+	/* LAT: -70 */ {  14969, 13573, 12449, 11490, 10625,  9796,  8956,  8071,  7119,  6101,  5031,  3937,  2850,  1793,   770,  -240, -1276, -2378, -3575, -4870, -6247, -7673, -9118,-10558,-11983,-13397,-14824,-16307,-17925,-19830,-22335,-26111, 30802, 24183, 19627, 16842, 14969, },
+	/* LAT: -60 */ {   8388,  8149,  7874,  7606,  7358,  7109,  6805,  6376,  5765,  4948,  3949,  2838,  1715,   683,  -204,  -967, -1696, -2515, -3510, -4698, -6021, -7386, -8704, -9914,-10980,-11881,-12599,-13095,-13266,-12817,-10726, -3581,  4802,  7588,  8378,  8515,  8388, },
+	/* LAT: -50 */ {   5459,  5499,  5448,  5363,  5294,  5261,  5230,  5107,  4768,  4109,  3104,  1834,   490,  -697, -1579, -2155, -2557, -2994, -3667, -4664, -5894, -7165, -8305, -9211, -9816,-10064, -9879, -9130, -7629, -5275, -2374,   372,  2481,  3904,  4779,  5254,  5459, },
+	/* LAT: -40 */ {   3936,  4030,  4042,  4002,  3946,  3916,  3923,  3915,  3746,  3218,  2203,   766,  -800, -2124, -3002, -3467, -3661, -3726, -3886, -4431, -5386, -6454, -7342, -7890, -8010, -7646, -6769, -5390, -3676, -1968,  -504,   718,  1760,  2623,  3276,  3705,  3936, },
+	/* LAT: -30 */ {   2967,  3055,  3089,  3080,  3027,  2952,  2895,  2863,  2739,  2268,  1243,  -268, -1877, -3142, -3897, -4256, -4347, -4152, -3721, -3476, -3808, -4544, -5248, -5611, -5500, -4926, -3974, -2766, -1549,  -597,    84,   686,  1307,  1905,  2411,  2770,  2967, },
+	/* LAT: -20 */ {   2325,  2372,  2395,  2403,  2366,  2276,  2172,  2098,  1954,  1465,   420, -1060, -2542, -3616, -4166, -4297, -4108, -3564, -2709, -1896, -1594, -1931, -2579, -3057, -3106, -2756, -2125, -1306,  -522,   -26,   241,   544,   982,  1454,  1871,  2175,  2325, },
+	/* LAT: -10 */ {   1931,  1927,  1911,  1914,  1891,  1812,  1707,  1619,  1436,   891,  -161, -1533, -2812, -3656, -3943, -3732, -3168, -2392, -1546,  -783,  -305,  -322,  -783, -1292, -1513, -1430, -1119,  -618,  -115,   132,   186,   348,   715,  1146,  1533,  1815,  1931, },
+	/* LAT:   0 */ {   1719,  1687,  1636,  1633,  1627,  1564,  1465,  1356,  1104,   487,  -547, -1773, -2835, -3437, -3456, -2970, -2208, -1425,  -768,  -228,   190,   313,    43,  -374,  -634,  -693,  -594,  -330,   -36,    58,     3,    93,   431,   865,  1278,  1593,  1719, },
+	/* LAT:  10 */ {   1586,  1595,  1557,  1578,  1608,  1565,  1450,  1269,   895,   179,  -839, -1918, -2754, -3110, -2922, -2326, -1552,  -836,  -315,    69,   396,   551,   397,    76,  -162,  -270,  -292,  -208,  -100,  -138,  -272,  -244,    54,   501,   976,  1378,  1586, },
+	/* LAT:  20 */ {   1407,  1556,  1620,  1716,  1806,  1790,  1641,  1344,   802,   -54, -1098, -2055, -2664, -2787, -2470, -1875, -1165,  -512,   -46,   267,   527,   678,   592,   350,   148,    31,   -57,  -117,  -194,  -380,  -614,  -672,  -442,     0,   537,  1052,  1407, },
+	/* LAT:  30 */ {   1113,  1481,  1742,  1968,  2130,  2143,  1960,  1542,   816,  -213, -1336, -2222, -2649, -2598, -2206, -1631,  -976,  -355,   112,   421,   655,   805,   790,   642,   491,   367,   215,    10,  -268,  -640, -1008, -1169, -1012,  -590,   -17,   592,  1113, },
+	/* LAT:  40 */ {    765,  1352,  1846,  2238,  2488,  2533,  2320,  1789,   879,  -352, -1600, -2478, -2810, -2666, -2224, -1633,  -980,  -348,   166,   534,   808,  1010,  1109,  1100,  1024,   877,   614,   211,  -322,  -926, -1449, -1696, -1584, -1170,  -571,   103,   765, },
+	/* LAT:  50 */ {    485,  1233,  1914,  2469,  2834,  2940,  2711,  2056,   912,  -594, -2029, -2957, -3259, -3072, -2584, -1938, -1227,  -527,    92,   602,  1024,  1383,  1668,  1842,  1864,  1681,  1244,   545,  -342, -1244, -1928, -2221, -2100, -1659, -1021,  -284,   485, },
+	/* LAT:  60 */ {    303,  1159,  1965,  2657,  3158,  3367,  3149,  2331,   803, -1176, -2910, -3900, -4155, -3895, -3321, -2573, -1744,  -900,   -89,   666,  1362,  1996,  2543,  2944,  3110,  2932,  2306,  1204,  -203, -1527, -2404, -2721, -2558, -2061, -1361,  -552,   303, },
+	/* LAT:  70 */ {     96,  1037,  1936,  2734,  3345,  3633,  3369,  2208,   -78, -2838, -4805, -5625, -5623, -5130, -4353, -3412, -2381, -1310,  -231,   832,  1861,  2831,  3703,  4415,  4870,  4913,  4322,  2873,   698, -1410, -2719, -3169, -3010, -2473, -1716,  -838,    96, },
+	/* LAT:  80 */ {   -519,   407,  1264,  1958,  2340,  2137,   872, -1890, -5234, -7363, -8073, -7905, -7248, -6311, -5204, -3994, -2719, -1406,   -76,  1256,  2573,  3858,  5087,  6226,  7223,  7984,  8332,  7907,  6044,  2395, -1147, -2884, -3273, -2960, -2291, -1442,  -519, },
+	/* LAT:  90 */ { -30180,-28435,-26689,-24944,-23198,-21453,-19708,-17962,-16217,-14472,-12726,-10981, -9236, -7491, -5746, -4001, -2255,  -510,  1235,  2980,  4725,  6471,  8216,  9961, 11706, 13452, 15197, 16943, 18688, 20433, 22179, 23924, 25670, 27415, 29161, 30906,-30180, },
 };

 // Magnetic inclination data in radians * 10^-4
 // Model: WMM-2020,
 // Version: 0.5.1.11,
-// Date: 2021.8164,
+// Date: 2021.6383,
 static constexpr const int16_t inclination_table[19][37] {
 	//    LONGITUDE:   -180,  -170,  -160,  -150,  -140,  -130,  -120,  -110,  -100,   -90,   -80,   -70,   -60,   -50,   -40,   -30,   -20,   -10,     0,    10,    20,    30,    40,    50,    60,    70,    80,    90,   100,   110,   120,   130,   140,   150,   160,   170,   180,
-	/* LAT: -90 */ { -12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576,-12576, },
-	/* LAT: -80 */ { -13662,-13529,-13368,-13187,-12993,-12792,-12587,-12387,-12195,-12019,-11862,-11727,-11617,-11531,-11467,-11426,-11406,-11409,-11436,-11490,-11574,-11688,-11832,-12006,-12203,-12420,-12649,-12882,-13110,-13323,-13510,-13660,-13765,-13817,-13814,-13760,-13662, },
-	/* LAT: -70 */ { -14112,-13793,-13474,-13151,-12818,-12474,-12118,-11760,-11416,-11107,-10853,-10668,-10555,-10503,-10489,-10493,-10502,-10512,-10536,-10593,-10700,-10874,-11119,-11432,-11804,-12220,-12668,-13132,-13598,-14051,-14469,-14816,-15007,-14955,-14725,-14427,-14112, },
-	/* LAT: -60 */ { -13522,-13169,-12831,-12499,-12155,-11783,-11367,-10912,-10444,-10012, -9679, -9501, -9496, -9631, -9836,-10031,-10160,-10207,-10197,-10184,-10230,-10387,-10673,-11078,-11574,-12129,-12714,-13310,-13899,-14460,-14957,-15247,-15075,-14692,-14287,-13894,-13522, },
-	/* LAT: -50 */ { -12497,-12156,-11826,-11504,-11181,-10834,-10435, -9963, -9432, -8909, -8515, -8385, -8580, -9038, -9603,-10118,-10484,-10653,-10630,-10483,-10340,-10342,-10557,-10968,-11506,-12097,-12684,-13224,-13672,-13971,-14079,-14007,-13804,-13521,-13193,-12846,-12497, },
-	/* LAT: -40 */ { -11240,-10893,-10547,-10203, -9863, -9525, -9163, -8737, -8215, -7648, -7217, -7166, -7618, -8437, -9359,-10192,-10857,-11299,-11450,-11292,-10953,-10677,-10662,-10936,-11394,-11899,-12347,-12672,-12833,-12839,-12749,-12611,-12431,-12198,-11912,-11585,-11240, },
-	/* LAT: -30 */ {  -9601, -9226, -8849, -8460, -8067, -7691, -7333, -6940, -6426, -5813, -5355, -5426, -6182, -7378, -8630, -9730,-10649,-11367,-11777,-11780,-11417,-10910,-10570,-10562,-10810,-11131,-11390,-11507,-11447,-11271,-11095,-10959,-10811,-10603,-10321, -9977, -9601, },
-	/* LAT: -20 */ {  -7370, -6935, -6522, -6095, -5651, -5220, -4827, -4410, -3842, -3155, -2699, -2943, -4037, -5641, -7272, -8649, -9723,-10508,-10957,-11003,-10649,-10040, -9479, -9229, -9273, -9435, -9578, -9599, -9429, -9156, -8960, -8869, -8761, -8552, -8235, -7825, -7370, },
-	/* LAT: -10 */ {  -4413, -3885, -3437, -3003, -2545, -2094, -1677, -1218,  -587,   120,   492,    82, -1229, -3138, -5116, -6736, -7845, -8490, -8764, -8710, -8309, -7631, -6967, -6617, -6575, -6667, -6786, -6812, -6626, -6329, -6171, -6174, -6128, -5909, -5525, -5000, -4413, },
-	/* LAT:   0 */ {   -904,  -289,   169,   569,   986,  1403,  1796,  2246,  2837,  3420,  3631,  3150,  1871,   -30, -2076, -3739, -4763, -5203, -5269, -5105, -4672, -3963, -3258, -2883, -2821, -2892, -3018, -3093, -2964, -2727, -2668, -2804, -2858, -2668, -2244, -1618,  -904, },
-	/* LAT:  10 */ {   2564,  3181,  3610,  3948,  4302,  4669,  5024,  5417,  5875,  6251,  6295,  5817,  4747,  3189,  1498,   113,  -705,  -964,  -879,  -647,  -241,   391,  1024,  1364,  1426,  1379,  1277,  1185,  1229,  1334,  1263,  1004,   820,   896,  1248,  1846,  2564, },
-	/* LAT:  20 */ {   5418,  5940,  6315,  6609,  6921,  7265,  7611,  7963,  8302,  8507,  8425,  7969,  7141,  6050,  4924,  4009,  3471,  3344,  3489,  3729,  4056,  4518,  4977,  5233,  5289,  5268,  5219,  5162,  5152,  5136,  4966,  4639,  4347,  4261,  4432,  4852,  5418, },
-	/* LAT:  30 */ {   7569,  7939,  8255,  8536,  8845,  9193,  9552,  9897, 10177, 10295, 10154,  9738,  9112,  8402,  7740,  7225,  6928,  6882,  7020,  7229,  7473,  7770,  8058,  8232,  8288,  8298,  8299,  8290,  8269,  8189,  7970,  7621,  7269,  7051,  7035,  7228,  7569, },
-	/* LAT:  40 */ {   9266,  9486,  9741, 10026, 10353, 10715, 11085, 11426, 11681, 11766, 11619, 11261, 10789, 10315,  9918,  9632,  9480,  9473,  9580,  9740,  9913, 10096, 10267, 10392, 10469, 10528, 10581, 10614, 10599, 10491, 10252,  9904,  9539,  9255,  9112,  9124,  9266, },
-	/* LAT:  50 */ {  10801, 10923, 11125, 11395, 11719, 12074, 12430, 12748, 12972, 13033, 12895, 12598, 12233, 11886, 11610, 11421, 11326, 11321, 11385, 11486, 11598, 11713, 11829, 11944, 12062, 12183, 12296, 12368, 12361, 12238, 11994, 11668, 11329, 11044, 10854, 10774, 10801, },
-	/* LAT:  60 */ {  12318, 12392, 12544, 12763, 13035, 13336, 13640, 13907, 14084, 14112, 13976, 13726, 13436, 13164, 12943, 12785, 12693, 12660, 12674, 12721, 12788, 12872, 12977, 13108, 13267, 13441, 13606, 13716, 13724, 13606, 13383, 13104, 12825, 12588, 12418, 12327, 12318, },
-	/* LAT:  70 */ {  13759, 13802, 13899, 14043, 14223, 14428, 14638, 14820, 14924, 14903, 14764, 14561, 14342, 14137, 13963, 13828, 13733, 13678, 13658, 13670, 13711, 13782, 13885, 14020, 14186, 14373, 14557, 14699, 14747, 14676, 14516, 14318, 14123, 13958, 13838, 13770, 13759, },
-	/* LAT:  80 */ {  15000, 15014, 15053, 15113, 15191, 15277, 15357, 15402, 15382, 15300, 15186, 15060, 14937, 14822, 14722, 14640, 14577, 14536, 14517, 14521, 14547, 14596, 14667, 14759, 14871, 14997, 15132, 15263, 15370, 15416, 15379, 15294, 15200, 15116, 15053, 15013, 15000, },
-	/* LAT:  90 */ {  15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, 15393, },
+	/* LAT: -90 */ { -12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577,-12577, },
+	/* LAT: -80 */ { -13664,-13530,-13369,-13189,-12995,-12793,-12589,-12388,-12197,-12020,-11863,-11728,-11618,-11532,-11468,-11427,-11407,-11410,-11437,-11491,-11575,-11689,-11833,-12006,-12204,-12421,-12650,-12883,-13111,-13324,-13511,-13661,-13766,-13818,-13815,-13761,-13664, },
+	/* LAT: -70 */ { -14113,-13795,-13475,-13152,-12820,-12475,-12120,-11762,-11417,-11108,-10854,-10669,-10556,-10503,-10489,-10494,-10502,-10513,-10538,-10594,-10702,-10875,-11119,-11432,-11804,-12220,-12668,-13131,-13598,-14050,-14469,-14816,-15008,-14957,-14726,-14429,-14113, },
+	/* LAT: -60 */ { -13523,-13170,-12833,-12500,-12157,-11784,-11369,-10913,-10444,-10012, -9679, -9500, -9494, -9629, -9834,-10030,-10160,-10208,-10199,-10186,-10232,-10388,-10673,-11078,-11574,-12128,-12713,-13309,-13898,-14459,-14956,-15246,-15075,-14692,-14287,-13895,-13523, },
+	/* LAT: -50 */ { -12498,-12157,-11827,-11505,-11182,-10835,-10436, -9964, -9433, -8909, -8515, -8383, -8577, -9035, -9599,-10115,-10482,-10654,-10632,-10486,-10344,-10344,-10557,-10967,-11505,-12096,-12683,-13223,-13671,-13970,-14079,-14007,-13804,-13521,-13193,-12846,-12498, },
+	/* LAT: -40 */ { -11240,-10894,-10548,-10204, -9864, -9525, -9164, -8737, -8215, -7647, -7215, -7163, -7612, -8430, -9353,-10187,-10853,-11297,-11450,-11295,-10957,-10680,-10663,-10936,-11393,-11897,-12345,-12671,-12833,-12839,-12749,-12611,-12430,-12198,-11912,-11585,-11240, },
+	/* LAT: -30 */ {  -9601, -9226, -8850, -8461, -8068, -7692, -7333, -6940, -6426, -5813, -5353, -5421, -6174, -7368, -8620, -9722,-10642,-11362,-11775,-11782,-11420,-10913,-10571,-10562,-10809,-11130,-11390,-11507,-11448,-11272,-11096,-10958,-10810,-10602,-10321, -9976, -9601, },
+	/* LAT: -20 */ {  -7370, -6936, -6524, -6098, -5653, -5222, -4828, -4411, -3842, -3154, -2697, -2937, -4026, -5629, -7260, -8639, -9715,-10502,-10954,-11003,-10651,-10043, -9482, -9230, -9274, -9435, -9579, -9601, -9431, -9158, -8961, -8869, -8760, -8550, -8233, -7823, -7370, },
+	/* LAT: -10 */ {  -4413, -3886, -3439, -3006, -2549, -2097, -1680, -1219,  -587,   121,   495,    90, -1217, -3122, -5101, -6725, -7838, -8485, -8762, -8710, -8312, -7635, -6971, -6620, -6576, -6669, -6788, -6815, -6629, -6332, -6173, -6174, -6126, -5906, -5523, -4998, -4413, },
+	/* LAT:   0 */ {   -903,  -291,   166,   565,   982,  1400,  1794,  2245,  2837,  3422,  3636,  3158,  1883,   -14, -2061, -3728, -4756, -5200, -5268, -5105, -4674, -3967, -3262, -2886, -2824, -2895, -3022, -3097, -2968, -2731, -2671, -2804, -2856, -2665, -2241, -1616,  -903, },
+	/* LAT:  10 */ {   2564,  3180,  3607,  3945,  4299,  4666,  5022,  5416,  5876,  6254,  6299,  5824,  4757,  3202,  1510,   122,  -700,  -961,  -878,  -648,  -244,   388,  1020,  1361,  1423,  1375,  1272,  1181,  1224,  1330,  1260,  1004,   823,   900,  1251,  1849,  2564, },
+	/* LAT:  20 */ {   5418,  5939,  6314,  6606,  6919,  7263,  7609,  7962,  8302,  8509,  8428,  7975,  7149,  6059,  4932,  4015,  3475,  3346,  3489,  3728,  4055,  4515,  4975,  5231,  5286,  5265,  5214,  5158,  5148,  5133,  4964,  4639,  4349,  4263,  4435,  4854,  5418, },
+	/* LAT:  30 */ {   7569,  7939,  8254,  8535,  8844,  9192,  9552,  9897, 10179, 10297, 10158,  9742,  9118,  8408,  7745,  7229,  6931,  6883,  7020,  7228,  7472,  7769,  8056,  8230,  8285,  8295,  8296,  8286,  8266,  8187,  7969,  7621,  7270,  7052,  7036,  7228,  7569, },
+	/* LAT:  40 */ {   9266,  9486,  9741, 10026, 10353, 10715, 11085, 11427, 11682, 11768, 11622, 11265, 10793, 10319,  9921,  9634,  9481,  9473,  9580,  9739,  9912, 10094, 10265, 10390, 10467, 10526, 10578, 10612, 10597, 10490, 10251,  9904,  9539,  9255,  9112,  9124,  9266, },
+	/* LAT:  50 */ {  10801, 10923, 11125, 11395, 11719, 12075, 12431, 12749, 12974, 13035, 12898, 12600, 12235, 11889, 11612, 11423, 11327, 11321, 11385, 11485, 11597, 11712, 11828, 11943, 12060, 12181, 12293, 12366, 12359, 12237, 11994, 11668, 11329, 11044, 10854, 10774, 10801, },
+	/* LAT:  60 */ {  12318, 12393, 12544, 12764, 13036, 13338, 13641, 13909, 14086, 14114, 13978, 13728, 13438, 13166, 12944, 12786, 12693, 12660, 12674, 12720, 12787, 12871, 12976, 13107, 13265, 13440, 13604, 13714, 13723, 13606, 13382, 13104, 12825, 12588, 12417, 12326, 12318, },
+	/* LAT:  70 */ {  13759, 13803, 13900, 14044, 14225, 14430, 14640, 14822, 14926, 14905, 14765, 14562, 14343, 14138, 13964, 13828, 13733, 13677, 13657, 13669, 13710, 13781, 13884, 14019, 14185, 14371, 14555, 14697, 14746, 14676, 14516, 14317, 14122, 13958, 13837, 13770, 13759, },
+	/* LAT:  80 */ {  15001, 15015, 15054, 15115, 15193, 15280, 15360, 15405, 15383, 15301, 15186, 15060, 14936, 14822, 14722, 14639, 14577, 14536, 14517, 14520, 14546, 14595, 14666, 14758, 14869, 14995, 15130, 15262, 15369, 15414, 15378, 15294, 15200, 15116, 15053, 15014, 15001, },
+	/* LAT:  90 */ {  15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, 15392, },
 };

 // Magnetic strength data in milli-Gauss * 10
 // Model: WMM-2020,
 // Version: 0.5.1.11,
-// Date: 2021.8164,
+// Date: 2021.6383,
 static constexpr const int16_t strength_table[19][37] {
 	//    LONGITUDE:  -180, -170, -160, -150, -140, -130, -120, -110, -100,  -90,  -80,  -70,  -60,  -50,  -40,  -30,  -20,  -10,    0,   10,   20,   30,   40,   50,   60,   70,   80,   90,  100,  110,  120,  130,  140,  150,  160,  170,  180,
-	/* LAT: -90 */ {  5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, 5456, },
-	/* LAT: -80 */ {  6062, 5999, 5920, 5829, 5726, 5615, 5497, 5375, 5253, 5133, 5019, 4913, 4819, 4740, 4676, 4631, 4607, 4604, 4625, 4671, 4741, 4834, 4949, 5080, 5223, 5373, 5523, 5666, 5797, 5911, 6003, 6073, 6117, 6137, 6133, 6108, 6062, },
-	/* LAT: -70 */ {  6306, 6174, 6025, 5861, 5683, 5491, 5286, 5071, 4852, 4636, 4433, 4251, 4092, 3961, 3857, 3780, 3732, 3720, 3747, 3823, 3950, 4129, 4357, 4624, 4918, 5225, 5529, 5813, 6063, 6267, 6418, 6514, 6557, 6550, 6501, 6417, 6306, },
-	/* LAT: -60 */ {  6191, 6000, 5800, 5592, 5374, 5139, 4883, 4605, 4312, 4022, 3755, 3527, 3346, 3212, 3112, 3039, 2988, 2968, 2993, 3083, 3250, 3500, 3825, 4210, 4632, 5065, 5487, 5871, 6196, 6445, 6610, 6689, 6691, 6629, 6517, 6367, 6191, },
-	/* LAT: -50 */ {  5848, 5619, 5387, 5158, 4926, 4681, 4411, 4108, 3779, 3447, 3145, 2904, 2741, 2649, 2601, 2567, 2534, 2508, 2513, 2584, 2755, 3043, 3437, 3906, 4412, 4918, 5394, 5813, 6153, 6395, 6534, 6576, 6534, 6425, 6264, 6067, 5848, },
-	/* LAT: -40 */ {  5396, 5151, 4907, 4668, 4434, 4197, 3943, 3659, 3346, 3019, 2720, 2496, 2378, 2351, 2370, 2393, 2398, 2388, 2376, 2404, 2531, 2802, 3216, 3728, 4274, 4799, 5267, 5657, 5950, 6138, 6227, 6231, 6162, 6032, 5851, 5634, 5396, },
-	/* LAT: -30 */ {  4880, 4640, 4402, 4168, 3943, 3724, 3505, 3274, 3019, 2744, 2486, 2302, 2230, 2254, 2321, 2393, 2459, 2511, 2534, 2547, 2612, 2806, 3163, 3648, 4179, 4677, 5098, 5417, 5621, 5721, 5748, 5721, 5642, 5511, 5332, 5116, 4880, },
-	/* LAT: -20 */ {  4322, 4110, 3903, 3698, 3503, 3320, 3152, 2989, 2812, 2614, 2423, 2288, 2245, 2286, 2375, 2486, 2614, 2744, 2835, 2872, 2897, 2989, 3224, 3604, 4053, 4480, 4831, 5069, 5175, 5184, 5153, 5106, 5024, 4897, 4731, 4534, 4322, },
-	/* LAT: -10 */ {  3790, 3631, 3479, 3333, 3197, 3077, 2974, 2883, 2787, 2673, 2552, 2451, 2403, 2425, 2509, 2637, 2793, 2953, 3079, 3144, 3159, 3184, 3303, 3552, 3876, 4198, 4464, 4629, 4666, 4614, 4547, 4483, 4394, 4269, 4120, 3957, 3790, },
-	/* LAT:   0 */ {  3412, 3320, 3237, 3165, 3109, 3072, 3046, 3028, 3006, 2958, 2880, 2785, 2703, 2669, 2708, 2809, 2942, 3078, 3194, 3270, 3302, 3324, 3396, 3551, 3758, 3971, 4152, 4260, 4267, 4200, 4112, 4020, 3908, 3776, 3643, 3519, 3412, },
-	/* LAT:  10 */ {  3283, 3252, 3233, 3230, 3255, 3303, 3359, 3414, 3450, 3441, 3373, 3258, 3130, 3033, 3004, 3043, 3123, 3221, 3322, 3407, 3471, 3533, 3620, 3737, 3871, 4008, 4128, 4199, 4203, 4142, 4033, 3890, 3728, 3569, 3434, 3338, 3283, },
-	/* LAT:  20 */ {  3400, 3404, 3431, 3486, 3578, 3700, 3830, 3948, 4030, 4043, 3970, 3828, 3660, 3518, 3440, 3425, 3459, 3531, 3627, 3724, 3814, 3912, 4022, 4133, 4241, 4351, 4453, 4519, 4531, 4474, 4338, 4136, 3910, 3701, 3538, 3438, 3400, },
-	/* LAT:  30 */ {  3723, 3731, 3787, 3888, 4032, 4204, 4380, 4537, 4646, 4673, 4601, 4445, 4254, 4087, 3980, 3932, 3934, 3983, 4069, 4166, 4263, 4368, 4484, 4602, 4721, 4847, 4966, 5053, 5080, 5024, 4869, 4630, 4357, 4103, 3904, 3777, 3723, },
-	/* LAT:  40 */ {  4222, 4222, 4289, 4414, 4583, 4771, 4955, 5112, 5217, 5243, 5174, 5025, 4836, 4660, 4530, 4453, 4425, 4446, 4505, 4584, 4669, 4766, 4880, 5013, 5164, 5325, 5476, 5586, 5627, 5574, 5420, 5183, 4909, 4649, 4439, 4295, 4222, },
-	/* LAT:  50 */ {  4832, 4826, 4884, 4996, 5144, 5304, 5454, 5575, 5648, 5657, 5593, 5465, 5301, 5136, 4997, 4898, 4842, 4829, 4852, 4902, 4970, 5060, 5179, 5329, 5504, 5688, 5854, 5973, 6019, 5976, 5846, 5651, 5425, 5209, 5029, 4901, 4832, },
-	/* LAT:  60 */ {  5392, 5382, 5412, 5477, 5564, 5658, 5745, 5810, 5843, 5833, 5778, 5683, 5561, 5432, 5312, 5215, 5148, 5113, 5110, 5137, 5193, 5279, 5396, 5543, 5709, 5878, 6026, 6131, 6176, 6155, 6073, 5946, 5799, 5656, 5533, 5443, 5392, },
-	/* LAT:  70 */ {  5726, 5708, 5706, 5719, 5742, 5769, 5792, 5806, 5805, 5785, 5745, 5687, 5615, 5539, 5464, 5400, 5351, 5323, 5317, 5337, 5381, 5450, 5542, 5650, 5768, 5882, 5982, 6055, 6095, 6099, 6070, 6017, 5949, 5879, 5814, 5762, 5726, },
-	/* LAT:  80 */ {  5789, 5772, 5758, 5747, 5737, 5728, 5718, 5706, 5690, 5672, 5649, 5623, 5596, 5568, 5543, 5522, 5508, 5503, 5507, 5522, 5548, 5583, 5626, 5674, 5723, 5772, 5814, 5849, 5873, 5887, 5889, 5882, 5868, 5850, 5829, 5808, 5789, },
+	/* LAT: -90 */ {  5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, 5457, },
+	/* LAT: -80 */ {  6063, 6000, 5922, 5830, 5728, 5616, 5498, 5377, 5254, 5134, 5020, 4915, 4821, 4741, 4678, 4632, 4608, 4605, 4626, 4672, 4742, 4835, 4949, 5081, 5224, 5374, 5523, 5666, 5797, 5911, 6004, 6073, 6118, 6138, 6134, 6108, 6063, },
+	/* LAT: -70 */ {  6308, 6175, 6026, 5862, 5684, 5492, 5288, 5073, 4853, 4638, 4435, 4252, 4094, 3963, 3858, 3781, 3734, 3721, 3748, 3824, 3950, 4130, 4357, 4624, 4918, 5225, 5529, 5813, 6062, 6267, 6418, 6515, 6557, 6550, 6501, 6418, 6308, },
+	/* LAT: -60 */ {  6192, 6001, 5801, 5593, 5375, 5141, 4885, 4607, 4314, 4024, 3756, 3528, 3348, 3213, 3113, 3040, 2989, 2969, 2994, 3083, 3250, 3500, 3825, 4209, 4631, 5065, 5486, 5870, 6196, 6445, 6609, 6689, 6692, 6630, 6517, 6367, 6192, },
+	/* LAT: -50 */ {  5848, 5620, 5389, 5159, 4927, 4683, 4413, 4110, 3781, 3449, 3146, 2905, 2742, 2650, 2602, 2568, 2535, 2509, 2514, 2585, 2756, 3043, 3436, 3905, 4411, 4917, 5393, 5812, 6152, 6395, 6534, 6576, 6534, 6425, 6264, 6067, 5848, },
+	/* LAT: -40 */ {  5396, 5152, 4908, 4669, 4435, 4199, 3945, 3661, 3347, 3021, 2721, 2497, 2378, 2352, 2371, 2393, 2400, 2389, 2377, 2405, 2531, 2802, 3215, 3726, 4273, 4798, 5266, 5656, 5949, 6137, 6227, 6230, 6162, 6032, 5851, 5634, 5396, },
+	/* LAT: -30 */ {  4880, 4641, 4403, 4169, 3944, 3725, 3507, 3276, 3020, 2745, 2487, 2303, 2231, 2254, 2321, 2393, 2460, 2512, 2536, 2548, 2613, 2806, 3162, 3646, 4177, 4675, 5096, 5416, 5620, 5721, 5748, 5721, 5642, 5511, 5332, 5116, 4880, },
+	/* LAT: -20 */ {  4322, 4111, 3903, 3699, 3503, 3321, 3153, 2990, 2813, 2615, 2425, 2289, 2246, 2286, 2375, 2486, 2614, 2744, 2836, 2874, 2898, 2989, 3223, 3603, 4051, 4479, 4830, 5068, 5175, 5183, 5153, 5106, 5024, 4897, 4731, 4534, 4322, },
+	/* LAT: -10 */ {  3791, 3631, 3479, 3333, 3198, 3078, 2975, 2884, 2788, 2674, 2553, 2452, 2404, 2425, 2509, 2637, 2793, 2953, 3080, 3145, 3160, 3184, 3303, 3551, 3874, 4196, 4463, 4629, 4666, 4614, 4547, 4483, 4394, 4269, 4120, 3957, 3791, },
+	/* LAT:   0 */ {  3412, 3320, 3237, 3165, 3110, 3072, 3047, 3029, 3007, 2960, 2881, 2786, 2704, 2669, 2708, 2809, 2941, 3077, 3194, 3271, 3303, 3324, 3396, 3550, 3757, 3970, 4151, 4259, 4267, 4200, 4112, 4019, 3907, 3776, 3642, 3519, 3412, },
+	/* LAT:  10 */ {  3283, 3253, 3233, 3230, 3255, 3303, 3360, 3415, 3452, 3443, 3374, 3260, 3131, 3034, 3004, 3043, 3123, 3221, 3321, 3407, 3471, 3533, 3619, 3736, 3870, 4007, 4127, 4198, 4202, 4141, 4032, 3889, 3728, 3569, 3434, 3338, 3283, },
+	/* LAT:  20 */ {  3400, 3404, 3431, 3486, 3579, 3701, 3831, 3950, 4032, 4045, 3972, 3830, 3662, 3519, 3440, 3426, 3459, 3531, 3626, 3723, 3814, 3911, 4021, 4132, 4240, 4350, 4451, 4518, 4530, 4473, 4337, 4136, 3909, 3700, 3538, 3438, 3400, },
+	/* LAT:  30 */ {  3723, 3732, 3788, 3889, 4033, 4205, 4382, 4539, 4648, 4675, 4603, 4447, 4256, 4089, 3980, 3932, 3934, 3983, 4069, 4166, 4262, 4367, 4483, 4601, 4720, 4845, 4965, 5051, 5079, 5023, 4868, 4630, 4356, 4102, 3904, 3776, 3723, },
+	/* LAT:  40 */ {  4222, 4223, 4290, 4416, 4584, 4772, 4957, 5114, 5219, 5244, 5176, 5026, 4838, 4661, 4531, 4453, 4425, 4445, 4504, 4583, 4668, 4764, 4879, 5012, 5163, 5324, 5474, 5585, 5626, 5573, 5419, 5182, 4908, 4649, 4439, 4294, 4222, },
+	/* LAT:  50 */ {  4832, 4827, 4885, 4998, 5145, 5306, 5456, 5576, 5650, 5658, 5594, 5466, 5302, 5136, 4997, 4898, 4842, 4828, 4852, 4901, 4969, 5059, 5178, 5327, 5502, 5686, 5853, 5972, 6018, 5976, 5846, 5650, 5425, 5208, 5028, 4900, 4832, },
+	/* LAT:  60 */ {  5392, 5382, 5413, 5478, 5565, 5660, 5746, 5812, 5844, 5834, 5779, 5683, 5562, 5432, 5312, 5215, 5147, 5112, 5109, 5136, 5192, 5278, 5395, 5542, 5708, 5877, 6025, 6130, 6176, 6155, 6072, 5946, 5799, 5655, 5533, 5443, 5392, },
+	/* LAT:  70 */ {  5726, 5708, 5707, 5720, 5743, 5770, 5793, 5807, 5806, 5785, 5745, 5687, 5615, 5538, 5464, 5399, 5350, 5322, 5317, 5336, 5380, 5449, 5541, 5649, 5766, 5881, 5981, 6055, 6095, 6098, 6070, 6016, 5948, 5878, 5813, 5762, 5726, },
+	/* LAT:  80 */ {  5789, 5772, 5758, 5747, 5737, 5728, 5718, 5706, 5691, 5672, 5649, 5623, 5596, 5568, 5543, 5522, 5508, 5502, 5507, 5522, 5547, 5582, 5625, 5673, 5723, 5771, 5814, 5848, 5873, 5886, 5888, 5882, 5868, 5849, 5829, 5808, 5789, },
 	/* LAT:  90 */ {  5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, 5680, },
 };
--- a/Show More
+++ b/Show More