commander: automatically initialize to assist mode if using mavlink manual control

Add option for custom mavlink configuration
This commit enables a option for users to add a custom mavlink configuration through rc.mavlink_override
2026-06-06 01:20:04 +08:00 · 2021-01-22 11:12:15 -05:00 · 2021-01-22 17:03:09 +01:00 · 2021-01-22 15:32:32 +01:00 · 2021-01-22 14:16:22 +01:00 · 2021-01-22 14:16:22 +01:00
319 changed files with 14150 additions and 3446 deletions
@@ -39,6 +39,7 @@ pipeline {
                     "airmind_mindpx-v2_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie_default",
+                     "bitcraze_crazyflie21_default",
                     "cuav_can-gps-v1_canbootloader",
                     "cuav_can-gps-v1_default",
                     "cuav_nora_default",
@@ -57,8 +58,9 @@ pipeline {
                     "mro_x21-777_default",
                     "mro_x21_default",
                     "nxp_fmuk66-v3_default",
-                     "nxp_fmuk66-v3_socketcan",
                     "nxp_fmuk66-v3_rtps",
+                     "nxp_fmuk66-v3_socketcan",
+                     "nxp_fmuk66-e_default",
                     "nxp_fmurt1062-v1_default",
                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
@@ -68,13 +70,16 @@ pipeline {
                     "px4_fmu-v2_multicopter",
                     "px4_fmu-v2_rover",
                     "px4_fmu-v2_test",
+                     "px4_fmu-v3_ctrlalloc",
                     "px4_fmu-v3_default",
                     "px4_fmu-v4_cannode",
+                     "px4_fmu-v4_ctrlalloc",
                     "px4_fmu-v4_default",
                     "px4_fmu-v4_optimized",
                     "px4_fmu-v4pro_default",
-                     "px4_fmu-v5_default",
+                     "px4_fmu-v5_ctrlalloc",
                     "px4_fmu-v5_debug",
+                     "px4_fmu-v5_default",
                     "px4_fmu-v5_fixedwing",
                     "px4_fmu-v5_multicopter",
                     "px4_fmu-v5_optimized",
@@ -18,6 +18,7 @@ jobs:
          airmind_mindpx-v2_default,
          av_x-v1_default,
          bitcraze_crazyflie_default,
+          bitcraze_crazyflie21_default,
          cuav_can-gps-v1_canbootloader,
          cuav_can-gps-v1_default,
          cuav_nora_default,
@@ -35,10 +36,10 @@ jobs:
          mro_pixracerpro_default,
          mro_x21-777_default,
          mro_x21_default,
-          nxp_fmuk66-v3_default,
          nxp_fmuk66-e_default,
-          nxp_fmuk66-v3_socketcan,
+          nxp_fmuk66-v3_default,
          nxp_fmuk66-v3_rtps,
+          nxp_fmuk66-v3_socketcan,
          nxp_fmurt1062-v1_default,
          nxp_ucans32k146_default,
          omnibus_f4sd_default,
@@ -48,11 +49,14 @@ jobs:
          px4_fmu-v2_multicopter,
          px4_fmu-v2_rover,
          px4_fmu-v2_test,
+          px4_fmu-v3_ctrlalloc,
          px4_fmu-v3_default,
          px4_fmu-v4_cannode,
+          px4_fmu-v4_ctrlalloc,
          px4_fmu-v4_default,
          px4_fmu-v4_optimized,
          px4_fmu-v4pro_default,
+          px4_fmu-v5_ctrlalloc,
          px4_fmu-v5_default,
          px4_fmu-v5_fixedwing,
          px4_fmu-v5_multicopter,
@@ -23,7 +23,7 @@ jobs:
        make airframe_metadata
        cd build/px4_sitl_default/docs
        ls -ls *
-      # TODO: deploy to devguide gitbook and s3
+      # TODO: deploy to userguide gitbook and s3

  module:
    runs-on: ubuntu-latest
@@ -38,7 +38,7 @@ jobs:
        make module_documentation
        cd build/px4_sitl_default/docs
        ls -ls *
-      # TODO: deploy to devguide gitbook and s3
+      # TODO: deploy to userguide gitbook and s3

  parameter:
    runs-on: ubuntu-latest
@@ -101,8 +101,6 @@ msg/tmp/
 msg/topics_sources/
 platforms/posix/apps.cpp
 platforms/posix/apps.h
-src/lib/flight_tasks/FlightTasks_generated.cpp
-src/lib/flight_tasks/FlightTasks_generated.hpp
 src/lib/parameters/px4_parameters.c
 src/lib/parameters/px4_parameters.h
 src/lib/parameters/px4_parameters_public.h
@@ -4,7 +4,7 @@
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
-	url = https://github.com/PX4/uavcan.git
+	url = https://github.com/PX4/libuavcan.git
 	branch = px4
 [submodule "Tools/jMAVSim"]
 	path = Tools/jMAVSim
@@ -16,11 +16,11 @@
 	branch = master
 [submodule "src/lib/matrix"]
 	path = src/lib/matrix
-	url = https://github.com/PX4/PX4-Matrix
+	url = https://github.com/PX4/PX4-Matrix.git
 	branch = master
 [submodule "src/lib/ecl"]
 	path = src/lib/ecl
-	url = https://github.com/PX4/PX4-ECL
+	url = https://github.com/PX4/PX4-ECL.git
 	branch = master
 [submodule "boards/atlflight/cmake_hexagon"]
 	path = boards/atlflight/cmake_hexagon
@@ -28,11 +28,11 @@
 	branch = px4
 [submodule "src/drivers/gps/devices"]
 	path = src/drivers/gps/devices
-	url = https://github.com/PX4/PX4-GPSDrivers
+	url = https://github.com/PX4/PX4-GPSDrivers.git
 	branch = master
 [submodule "src/modules/micrortps_bridge/micro-CDR"]
 	path = src/modules/micrortps_bridge/micro-CDR
-	url = https://github.com/PX4/micro-CDR.git
+	url = https://github.com/PX4/Micro-CDR.git
 	branch = px4
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
@@ -61,6 +61,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: av_x-v1_default
+    bitcraze_crazyflie_default:
+      short: bitcraze_crazyflie
+      buildType: MinSizeRel
+      settings:
+        CONFIG: bitcraze_crazyflie_default
    cuav_can-gps-v1_default:
      short: cuav_can-gps-v1_default
      buildType: MinSizeRel
@@ -128,7 +128,6 @@
                "${workspaceFolder}/build": true
        },
        "search.showLineNumbers": true,
-        "search.smartCase": true,
        "telemetry.enableTelemetry": false,
        "terminal.integrated.copyOnSelection": true,
        "terminal.integrated.rightClickBehavior": "paste",
@@ -172,36 +172,6 @@ pipeline {

      parallel {

-        stage('Devguide') {
-          agent {
-            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
-          }
-          steps {
-            sh('export')
-            unstash 'metadata_airframes'
-            unstash 'metadata_parameters'
-            unstash 'metadata_module_documentation'
-            withCredentials([usernamePassword(credentialsId: 'px4buildbot_github_personal_token', passwordVariable: 'GIT_PASS', usernameVariable: 'GIT_USER')]) {
-              sh('git clone https://${GIT_USER}:${GIT_PASS}@github.com/PX4/Devguide.git')
-              sh('cp airframes.md Devguide/en/airframes/airframe_reference.md')
-              sh('cp parameters.md Devguide/en/advanced/parameter_reference.md')
-              sh('cp -R modules/*.md Devguide/en/middleware/')
-              sh('cd Devguide; git status; git add .; git commit -a -m "Update PX4 Firmware metadata `date`" || true')
-              sh('cd Devguide; git push origin master || true')
-              sh('rm -rf Devguide')
-            }
-          }
-          when {
-            anyOf {
-              branch 'master'
-              branch 'pr-jenkins' // for testing
-            }
-          }
-          options {
-            skipDefaultCheckout()
-          }
-        }
-
        stage('Userguide') {
          agent {
            docker { image 'px4io/px4-dev-base-focal:2020-11-18' }
@@ -271,6 +271,7 @@ misc_qgc_extra_firmware: \
 	check_intel_aerofc-v1_default \
 	check_mro_x21_default \
 	check_bitcraze_crazyflie_default \
+	check_bitcraze_crazyflie21_default \
 	check_airmind_mindpx-v2_default \
 	check_px4_fmu-v2_lpe \
 	sizes
@@ -0,0 +1,52 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL
+#
+# @type Quadrotor Wide
+#
+# @maintainer Julian Oes <julian@oes.ch>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.ctrlalloc
+
+if [ $AUTOCNF = yes ]
+then
+	param set MPC_USE_HTE 0
+
+	param set VM_MASS 1.5
+	param set VM_INERTIA_XX 0.03
+	param set VM_INERTIA_YY 0.03
+	param set VM_INERTIA_ZZ 0.05
+
+	param set CA_AIRFRAME 0
+	param set CA_METHOD 1
+	param set CA_ACT0_MIN 0.0
+	param set CA_ACT1_MIN 0.0
+	param set CA_ACT2_MIN 0.0
+	param set CA_ACT3_MIN 0.0
+	param set CA_ACT0_MAX 1.0
+	param set CA_ACT1_MAX 1.0
+	param set CA_ACT2_MAX 1.0
+	param set CA_ACT3_MAX 1.0
+
+	param set CA_MC_R0_PX 0.1515
+	param set CA_MC_R0_PY 0.245
+	param set CA_MC_R0_CT 6.5
+	param set CA_MC_R0_KM 0.05
+	param set CA_MC_R1_PX -0.1515
+	param set CA_MC_R1_PY -0.1875
+	param set CA_MC_R1_CT 6.5
+	param set CA_MC_R1_KM 0.05
+	param set CA_MC_R2_PX 0.1515
+	param set CA_MC_R2_PY -0.245
+	param set CA_MC_R2_CT 6.5
+	param set CA_MC_R2_KM -0.05
+	param set CA_MC_R3_PX -0.1515
+	param set CA_MC_R3_PY 0.1875
+	param set CA_MC_R3_CT 6.5
+	param set CA_MC_R3_KM -0.05
+
+fi
+
+set MIXER direct
@@ -21,7 +21,6 @@ then
 	param set MPC_XY_VEL_P_ACC 3

 	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0

 	param set TRIG_INTERFACE 3
 	param set TRIG_MODE 4
@@ -21,7 +21,6 @@ then
 	param set MPC_XY_VEL_P_ACC 3

 	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0

 	param set TRIG_INTERFACE 3
 	param set TRIG_MODE 4
@@ -0,0 +1,75 @@
+#!/bin/sh
+#
+# @name Typhoon H480 SITL
+#
+# @type Hexarotor x
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.ctrlalloc
+
+if [ $AUTOCNF = yes ]
+then
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 3
+
+	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0
+
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 0
+	param set MAV_PROTO_VER 2
+
+	param set MPC_USE_HTE 0
+
+	param set VM_MASS 2.66
+	param set VM_INERTIA_XX 0.06
+	param set VM_INERTIA_YY 0.06
+	param set VM_INERTIA_ZZ 0.10
+
+	param set CA_AIRFRAME 0
+	param set CA_METHOD 1
+	param set CA_ACT0_MIN 0.0
+	param set CA_ACT1_MIN 0.0
+	param set CA_ACT2_MIN 0.0
+	param set CA_ACT3_MIN 0.0
+	param set CA_ACT4_MIN 0.0
+	param set CA_ACT5_MIN 0.0
+	param set CA_ACT0_MAX 1.0
+	param set CA_ACT1_MAX 1.0
+	param set CA_ACT2_MAX 1.0
+	param set CA_ACT3_MAX 1.0
+	param set CA_ACT4_MAX 1.0
+	param set CA_ACT5_MAX 1.0
+
+	param set CA_MC_R0_PX 0.0
+	param set CA_MC_R0_PY 1.0
+	param set CA_MC_R0_CT 9.5
+	param set CA_MC_R0_KM -0.05
+	param set CA_MC_R1_PX 0.0
+	param set CA_MC_R1_PY -1.0
+	param set CA_MC_R1_CT 9.5
+	param set CA_MC_R1_KM 0.05
+	param set CA_MC_R2_PX 0.866025
+	param set CA_MC_R2_PY -0.5
+	param set CA_MC_R2_CT 9.5
+	param set CA_MC_R2_KM -0.05
+	param set CA_MC_R3_PX -0.866025
+	param set CA_MC_R3_PY 0.5
+	param set CA_MC_R3_CT 9.5
+	param set CA_MC_R3_KM 0.05
+	param set CA_MC_R4_PX 0.866025
+	param set CA_MC_R4_PY 0.5
+	param set CA_MC_R4_CT 9.5
+	param set CA_MC_R4_KM 0.05
+	param set CA_MC_R5_PX -0.866025
+	param set CA_MC_R5_PY -0.5
+	param set CA_MC_R5_CT 9.5
+	param set CA_MC_R5_KM -0.05
+fi
+
+set MAV_TYPE 13
+
+# set MIXER hexa_x
+set MIXER direct
@@ -0,0 +1,10 @@
+
+mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
+
+mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530
+
+# shellcheck disable=SC2154
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_gcs_port_local
+# shellcheck disable=SC2154
+mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_offboard_port_local
+mavlink stream -r 10 -s MOUNT_ORIENTATION -u $udp_offboard_port_local
@@ -33,6 +33,7 @@

 px4_add_romfs_files(
 	10016_iris
+	10017_iris_ctrlalloc
 	10020_if750a
 	10030_px4vision
 	1010_iris_opt_flow
@@ -73,4 +74,6 @@ px4_add_romfs_files(
 	2507_cloudship
 	6011_typhoon_h480
 	6011_typhoon_h480.post
+	6012_typhoon_ctrlalloc
+	6012_typhoon_ctrlalloc.post
 )
@@ -27,6 +27,7 @@ set MIXER                       none
 set MIXER_AUX                   none
 set MIXER_FILE                  none
 set OUTPUT_MODE                 sim
+set EXTRA_MIXER_MODE            none
 set PWM_OUT                     none
 set SDCARD_MIXERS_PATH          etc/mixers
 set USE_IO                      no
@@ -237,24 +238,30 @@ fi
 #
 . ${R}etc/init.d/rc.vehicle_setup

-# GCS link
-mavlink start -x -u $udp_gcs_port_local -r 4000000
-mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
-mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
-mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
-mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
-mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
-mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
-mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local
+if [ -e etc/init.d-posix/rc.mavlink_override ]
+then
+	echo "Running non-default mavlink config rc.mavlink_override"
+	sh etc/init.d-posix/rc.mavlink_override
+else
+	# GCS link
+	mavlink start -x -u $udp_gcs_port_local -r 4000000
+	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
+	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
+	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
+	mavlink stream -r 50 -s ATTITUDE -u $udp_gcs_port_local
+	mavlink stream -r 50 -s ATTITUDE_QUATERNION -u $udp_gcs_port_local
+	mavlink stream -r 50 -s ATTITUDE_TARGET -u $udp_gcs_port_local
+	mavlink stream -r 50 -s SERVO_OUTPUT_RAW_0 -u $udp_gcs_port_local
+	mavlink stream -r 20 -s RC_CHANNELS -u $udp_gcs_port_local
+	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local

-# API/Offboard link
-mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote
+	# API/Offboard link
+	mavlink start -x -u $udp_offboard_port_local -r 4000000 -m onboard -o $udp_offboard_port_remote

-# Onboard link to camera
-mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote
+	# Onboard link to camera
+	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote

+fi
 # execute autostart post script if any
 [ -e "$autostart_file".post ] && . "$autostart_file".post

@@ -54,4 +54,5 @@ px4_add_romfs_files(
 	rc.vehicle_setup
 	rc.vtol_apps
 	rc.vtol_defaults
+	rc.ctrlalloc
 )
@@ -55,7 +55,6 @@ then
 	param set NAV_LOITER_RAD 80

 	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
 	param set RTL_RETURN_ALT 30

 	param set SDLOG_DIRS_MAX 7
@@ -42,7 +42,6 @@ then
 	param set PWM_RATE 400

 	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0
 	param set RTL_RETURN_ALT 30
 fi

@@ -112,7 +112,6 @@ then

 	# RTL Parameters
 	param set RTL_DESCEND_ALT 5
-	param set RTL_LAND_DELAY 0
 	param set RTL_RETURN_ALT 5
 	param set RTL_CONE_ANG 45

@@ -0,0 +1,57 @@
+#!/bin/sh
+#
+# @name S500 with control allocation
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Silvan Fuhrer
+#
+
+. ${R}etcinit.d/rc.mc_defaults
+. ${R}etc/init.d/rc.ctrlalloc
+
+if [ $AUTOCNF = yes ]
+then
+	param set MPC_USE_HTE 0
+
+	param set VM_MASS 1.5
+	param set VM_INERTIA_XX 0.03
+	param set VM_INERTIA_YY 0.03
+	param set VM_INERTIA_ZZ 0.05
+
+	param set CA_AIRFRAME 0
+	param set CA_METHOD 1
+	param set CA_ACT0_MIN 0.0
+	param set CA_ACT1_MIN 0.0
+	param set CA_ACT2_MIN 0.0
+	param set CA_ACT3_MIN 0.0
+	param set CA_ACT0_MAX 1.0
+	param set CA_ACT1_MAX 1.0
+	param set CA_ACT2_MAX 1.0
+	param set CA_ACT3_MAX 1.0
+
+	param set CA_MC_R0_PX 0.177
+	param set CA_MC_R0_PY 0.177
+	param set CA_MC_R0_CT 6.5
+	param set CA_MC_R0_KM 0.05
+	param set CA_MC_R1_PX -0.177
+	param set CA_MC_R1_PY -0.177
+	param set CA_MC_R1_CT 6.5
+	param set CA_MC_R1_KM 0.05
+	param set CA_MC_R2_PX 0.177
+	param set CA_MC_R2_PY -0.177
+	param set CA_MC_R2_CT 6.5
+	param set CA_MC_R2_KM -0.05
+	param set CA_MC_R3_PX -0.177
+	param set CA_MC_R3_PY 0.177
+	param set CA_MC_R3_CT 6.5
+	param set CA_MC_R3_KM -0.05
+
+fi
+
+set MIXER direct
+set PWM_OUT 1234
+
+set MIXER_AUX direct_aux
+set PWM_AUX_OUT 1234
@@ -0,0 +1,81 @@
+#!/bin/sh
+#
+# @name Crazyflie 2.1
+#
+# @type Quadrotor x
+# @class Copter
+#
+# @maintainer Dennis Shtatov <densht@gmail.com>
+#
+# @board px4_fmu-v2 exclude
+# @board px4_fmu-v3 exclude
+# @board px4_fmu-v4 exclude
+# @board px4_fmu-v4pro exclude
+# @board px4_fmu-v5 exclude
+# @board px4_fmu-v5x exclude
+# @board intel_aerofc-v1 exclude
+#
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_x_cw
+set PWM_OUT 1234
+if [ $AUTOCNF = yes ]
+then
+	param set SYS_MC_EST_GROUP 3
+	param set SYS_HAS_MAG 0
+
+	param set BAT_N_CELLS 1
+	param set BAT1_N_CELLS 1
+	param set BAT1_SOURCE 1
+
+	param set CBRK_SUPPLY_CHK 894281
+	param set CBRK_USB_CHK 197848
+	param set COM_RC_IN_MODE 1
+
+	param set IMU_GYRO_CUTOFF 100
+	param set IMU_ACCEL_CUTOFF 30
+
+	param set MC_AIRMODE 1
+	param set IMU_DGYRO_CUTOFF 70
+	param set MC_PITCHRATE_D 0.002
+	param set MC_PITCHRATE_I 0.2
+	param set MC_PITCHRATE_P 0.07
+	param set MC_PITCH_P 6.5
+	param set MC_ROLLRATE_D 0.002
+	param set MC_ROLLRATE_I 0.2
+	param set MC_ROLLRATE_P 0.07
+	param set MC_ROLL_P 6.5
+	param set MC_YAW_P 3
+
+	param set MPC_THR_HOVER 0.7
+	param set MPC_THR_MAX 1
+	param set MPC_Z_P 1.5
+	param set MPC_Z_VEL_P_ACC 8
+	param set MPC_Z_VEL_I_ACC 6
+	param set MPC_HOLD_MAX_XY 0.1
+	param set MPC_MAX_FLOW_HGT 3
+	#param set IMU_GYRO_NF_FREQ 10
+	#param set IMU_GYRO_NF_BW 20
+
+	param set NAV_RCL_ACT 3
+
+	param set PWM_DISARMED 0
+	param set PWM_MIN 0
+	param set PWM_MAX 255
+
+	# Run the motors at 328.125 kHz (recommended)
+	param set PWM_RATE 3921
+
+	param set SDLOG_PROFILE 1
+
+	param set SENS_FLOW_MINRNG 0.05
+
+
+fi
+
+set PWM_DISARMED none
+set PWM_MAX none
+set PWM_MIN none
+
+syslink start
+mavlink start -d /dev/bridge0 -b 57600 -m osd -r 40000
@@ -0,0 +1,75 @@
+#!/bin/sh
+#
+# @name Hex X with control allocation
+#
+# @type Hexarotor x
+# @class Copter
+#
+# @maintainer Silvan Fuhrer
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+. ${R}etc/init.d/rc.ctrlalloc
+
+if [ $AUTOCNF = yes ]
+then
+	param set MPC_USE_HTE 0
+
+	param set VM_MASS 1.5
+	param set VM_INERTIA_XX 0.03
+	param set VM_INERTIA_YY 0.03
+	param set VM_INERTIA_ZZ 0.05
+
+	param set CA_AIRFRAME 0
+	param set CA_METHOD 1
+	param set CA_ACT0_MIN 0.0
+	param set CA_ACT1_MIN 0.0
+	param set CA_ACT2_MIN 0.0
+	param set CA_ACT3_MIN 0.0
+	param set CA_ACT4_MIN 0.0
+	param set CA_ACT5_MIN 0.0
+
+	param set CA_ACT0_MAX 1.0
+	param set CA_ACT1_MAX 1.0
+	param set CA_ACT2_MAX 1.0
+	param set CA_ACT3_MAX 1.0
+	param set CA_ACT4_MAX 1.0
+	param set CA_ACT5_MAX 1.0
+
+	param set CA_MC_R0_PX 0.0
+	param set CA_MC_R0_PY 0.275
+	param set CA_MC_R0_CT 6.5
+	param set CA_MC_R0_KM -0.05
+
+	param set CA_MC_R1_PX 0.0
+	param set CA_MC_R1_PY -0.275
+	param set CA_MC_R1_CT 6.5
+	param set CA_MC_R1_KM 0.05
+
+	param set CA_MC_R2_PX 0.238
+	param set CA_MC_R2_PY -0.1375
+	param set CA_MC_R2_CT 6.5
+	param set CA_MC_R2_KM -0.05
+
+	param set CA_MC_R3_PX -0.238
+	param set CA_MC_R3_PY 0.1375
+	param set CA_MC_R3_CT 6.5
+	param set CA_MC_R3_KM 0.05
+
+	param set CA_MC_R4_PX 0.238
+	param set CA_MC_R4_PY 0.1375
+	param set CA_MC_R4_CT 6.5
+	param set CA_MC_R4_KM 0.05
+
+	param set CA_MC_R5_PX -0.238
+	param set CA_MC_R5_PY -0.1375
+	param set CA_MC_R5_CT 6.5
+	param set CA_MC_R5_KM -0.05
+
+fi
+
+set MIXER direct
+set PWM_OUT 123456
+
+set MIXER_AUX direct_aux
+set PWM_AUX_OUT 123456
@@ -70,6 +70,7 @@ px4_add_romfs_files(
 	4015_holybro_s500
 	4016_holybro_px4vision
 	4017_nxp_hovergames
+	4018_s500_ctrlalloc
 	4020_hk_micro_pcb
 	4030_3dr_solo
 	4031_3dr_quad
@@ -90,6 +91,7 @@ px4_add_romfs_files(
 	4250_teal
 	4500_clover4
 	4900_crazyflie
+	4901_crazyflie21

 	# [5000, 5999] Quadrotor +"
 	5001_quad_+
@@ -97,6 +99,7 @@ px4_add_romfs_files(
 	# [6000, 6999] Hexarotor x"
 	6001_hexa_x
 	6002_draco_r
+	6003_hexa_x_ctrlalloc

 	# [7000, 7999] Hexarotor +"
 	7001_hexa_+
@@ -0,0 +1,26 @@
+#!/bin/sh
+#
+# Standard apps for new control allocation and controllers
+#
+# NOTE: Script variables are declared/initialized/unset in the rcS script.
+#
+
+#
+# Start angular velocity controller
+#
+angular_velocity_controller start
+mc_rate_control stop
+
+#
+# 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
+param set COM_PREARM_MODE 0
@@ -41,6 +41,7 @@ then
 	#
 	param set NAV_ACC_RAD 10

+	param set MIS_DIST_WPS 5000
 	param set MIS_LTRMIN_ALT 25
 	param set MIS_TAKEOFF_ALT 25

@@ -11,8 +11,11 @@

 set OUTPUT_CMD pwm_out
 set MIXER_AUX_FILE none
-set OUTPUT_AUX_DEV /dev/pwm_output1
+set MIXER_EXTRA_FILE none
+
 set OUTPUT_DEV none
+set OUTPUT_AUX_DEV /dev/pwm_output1
+set OUTPUT_EXTRA_DEV /dev/pwm_output0

 #
 # If mount (gimbal) control is enabled and output mode is AUX, set the aux
@@ -394,7 +397,115 @@ then
 	pwm failsafe -c 8 -p p:PWM_MAIN_FAIL8
 fi

+if [ $EXTRA_MIXER_MODE != none ]
+then
+
+	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix ]
+	then
+		# Use the mixer file from the SD-card if it exists.
+		set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.aux.mix
+	else
+		# Try out the old convention, for backward compatibility.
+		if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix ]
+		then
+			set MIXER_EXTRA_FILE ${SDCARD_MIXERS_PATH}/${MIXER_EXTRA}.mix
+		else
+			set MIXER_EXTRA_FILE /etc/mixers/${MIXER_EXTRA}.aux.mix
+		fi
+	fi
+
+
+	if mixer load ${OUTPUT_EXTRA_DEV} ${MIXER_EXTRA_FILE}
+	then
+		echo "INFO  [init] Mixer: ${MIXER_EXTRA_FILE} on ${OUTPUT_EXTRA_DEV}"
+	else
+		echo "ERROR  [init] Failed loading mixer: ${MIXER_EXTRA_FILE}"
+		echo "ERROR  [init] Failed loading mixer: ${MIXER_EXTRA_FILE}" >> $LOG_FILE
+		tune_control play -t 20
+	fi
+
+	if [ $PWM_EXTRA_OUT != none ]
+	then
+		# Set PWM output frequency.
+		if [ $PWM_EXTRA_RATE != none ]
+		then
+			pwm rate -c ${PWM_EXTRA_OUT} -r ${PWM_EXTRA_RATE}
+		fi
+
+		# Set disarmed, min and max PWM values.
+		if [ $PWM_EXTRA_DISARM != none ]
+		then
+			pwm disarmed -c ${PWM_EXTRA_OUT} -p ${PWM_EXTRA_DISARM}
+		fi
+		if [ $PWM_EXTRA_MIN != none ]
+		then
+			pwm min -c ${PWM_EXTRA_OUT} -p ${PWM_EXTRA_MIN}
+		fi
+		if [ $PWM_EXTRA_MAX != none ]
+		then
+			pwm max -c ${PWM_EXTRA_OUT} -p ${PWM_EXTRA_MAX}
+		fi
+	fi
+
+	#
+	# Per channel disarmed settings.
+	#
+	pwm disarmed -c 1 -p p:PWM_EXTRA_DIS1 -d ${OUTPUT_EXTRA_DEV}
+	pwm disarmed -c 2 -p p:PWM_EXTRA_DIS2 -d ${OUTPUT_EXTRA_DEV}
+	pwm disarmed -c 3 -p p:PWM_EXTRA_DIS3 -d ${OUTPUT_EXTRA_DEV}
+	pwm disarmed -c 4 -p p:PWM_EXTRA_DIS3 -d ${OUTPUT_EXTRA_DEV}
+	pwm disarmed -c 5 -p p:PWM_EXTRA_DIS5 -d ${OUTPUT_EXTRA_DEV}
+	pwm disarmed -c 6 -p p:PWM_EXTRA_DIS3 -d ${OUTPUT_EXTRA_DEV}
+	pwm disarmed -c 7 -p p:PWM_EXTRA_DIS7 -d ${OUTPUT_EXTRA_DEV}
+	pwm disarmed -c 8 -p p:PWM_EXTRA_DIS8 -d ${OUTPUT_EXTRA_DEV}
+
+	#
+	# Per channel min settings.
+	#
+	pwm min -c 1 -p p:PWM_EXTRA_MIN1 -d ${OUTPUT_EXTRA_DEV}
+	pwm min -c 2 -p p:PWM_EXTRA_MIN2 -d ${OUTPUT_EXTRA_DEV}
+	pwm min -c 3 -p p:PWM_EXTRA_MIN3 -d ${OUTPUT_EXTRA_DEV}
+	pwm min -c 4 -p p:PWM_EXTRA_MIN4 -d ${OUTPUT_EXTRA_DEV}
+	pwm min -c 5 -p p:PWM_EXTRA_MIN5 -d ${OUTPUT_EXTRA_DEV}
+	pwm min -c 6 -p p:PWM_EXTRA_MIN6 -d ${OUTPUT_EXTRA_DEV}
+	pwm min -c 7 -p p:PWM_EXTRA_MIN7 -d ${OUTPUT_EXTRA_DEV}
+	pwm min -c 8 -p p:PWM_EXTRA_MIN8 -d ${OUTPUT_EXTRA_DEV}
+
+	#
+	# Per channel max settings.
+	#
+	pwm max -c 1 -p p:PWM_EXTRA_MAX1 -d ${OUTPUT_EXTRA_DEV}
+	pwm max -c 2 -p p:PWM_EXTRA_MAX2 -d ${OUTPUT_EXTRA_DEV}
+	pwm max -c 3 -p p:PWM_EXTRA_MAX3 -d ${OUTPUT_EXTRA_DEV}
+	pwm max -c 4 -p p:PWM_EXTRA_MAX4 -d ${OUTPUT_EXTRA_DEV}
+	pwm max -c 5 -p p:PWM_EXTRA_MAX5 -d ${OUTPUT_EXTRA_DEV}
+	pwm max -c 6 -p p:PWM_EXTRA_MAX6 -d ${OUTPUT_EXTRA_DEV}
+	pwm max -c 7 -p p:PWM_EXTRA_MAX7 -d ${OUTPUT_EXTRA_DEV}
+	pwm max -c 8 -p p:PWM_EXTRA_MAX8 -d ${OUTPUT_EXTRA_DEV}
+
+	if [ $FAILSAFE_EXTRA != none ]
+	then
+		pwm failsafe -c ${PWM_EXTRA_OUT} -p ${FAILSAFE} -d ${OUTPUT_EXTRA_DEV}
+	fi
+
+	#
+	# Per channel failsafe settings.
+	#
+	pwm failsafe -c 1 -p p:PWM_EXTRA_FAIL1 -d ${OUTPUT_EXTRA_DEV}
+	pwm failsafe -c 2 -p p:PWM_EXTRA_FAIL2 -d ${OUTPUT_EXTRA_DEV}
+	pwm failsafe -c 3 -p p:PWM_EXTRA_FAIL3 -d ${OUTPUT_EXTRA_DEV}
+	pwm failsafe -c 4 -p p:PWM_EXTRA_FAIL4 -d ${OUTPUT_EXTRA_DEV}
+	pwm failsafe -c 5 -p p:PWM_EXTRA_FAIL5 -d ${OUTPUT_EXTRA_DEV}
+	pwm failsafe -c 6 -p p:PWM_EXTRA_FAIL6 -d ${OUTPUT_EXTRA_DEV}
+	pwm failsafe -c 7 -p p:PWM_EXTRA_FAIL7 -d ${OUTPUT_EXTRA_DEV}
+	pwm failsafe -c 8 -p p:PWM_EXTRA_FAIL8 -d ${OUTPUT_EXTRA_DEV}
+
+fi
+
 unset OUTPUT_CMD
 unset MIXER_AUX_FILE
-unset OUTPUT_AUX_DEV
+unset MIXER_EXTRA_FILE
+
 unset OUTPUT_DEV
+unset OUTPUT_AUX_DEV
+unset OUTPUT_EXTRA_DEV
@@ -13,7 +13,6 @@ then

 	param set RTL_RETURN_ALT 30
 	param set RTL_DESCEND_ALT 10
-	param set RTL_LAND_DELAY 0

 	param set PWM_MAX 1950
 	param set PWM_MIN 1075
@@ -21,7 +21,7 @@ vtol_att_control start

 mc_rate_control start vtol
 mc_att_control start vtol
-flight_mode_manager start vtol
+flight_mode_manager start
 mc_pos_control start vtol
 mc_hover_thrust_estimator start

@@ -18,6 +18,8 @@ then
 	param set EKF2_ARSP_THR 10
 	param set EKF2_FUSE_BETA 1

+	param set MIS_DIST_WPS 5000
+
 	param set MPC_ACC_HOR_MAX 2
 	param set MPC_TKO_SPEED 1
 	param set MPC_VEL_MANUAL 3
@@ -31,7 +33,6 @@ then
 	param set PWM_AUX_RATE 50
 	param set PWM_RATE 400

-	param set RTL_LAND_DELAY 0
 	param set RTL_TYPE 1

 	param set WV_EN 1
@@ -26,6 +26,7 @@ set AUX_MODE pwm
 set DATAMAN_OPT ""
 set FAILSAFE none
 set FAILSAFE_AUX none
+set FAILSAFE_EXTRA none
 set FCONFIG /fs/microsd/etc/config.txt
 set FEXTRAS /fs/microsd/etc/extras.txt
 set FMU_MODE pwm
@@ -38,20 +39,27 @@ set MAV_TYPE none
 set MIXER none
 set MIXER_AUX none
 set MIXER_FILE none
+set MIXER_EXTRA none
 set MK_MODE none
 set MKBLCTRL_ARG ""
 set OUTPUT_MODE none
 set PARAM_FILE /fs/microsd/params
-set PWM_AUX_DISARMED p:PWM_AUX_DISARMED
-set PWM_AUX_MAX p:PWM_AUX_MAX
-set PWM_AUX_MIN p:PWM_AUX_MIN
-set PWM_AUX_OUT none
-set PWM_AUX_RATE p:PWM_AUX_RATE
 set PWM_DISARMED p:PWM_DISARMED
 set PWM_MAX p:PWM_MAX
 set PWM_MIN p:PWM_MIN
 set PWM_OUT none
 set PWM_RATE p:PWM_RATE
+set PWM_AUX_DISARMED p:PWM_AUX_DISARMED
+set PWM_AUX_MAX p:PWM_AUX_MAX
+set PWM_AUX_MIN p:PWM_AUX_MIN
+set PWM_AUX_OUT none
+set PWM_AUX_RATE p:PWM_AUX_RATE
+set PWM_EXTRA_DISARMED p:PWM_EXTRA_DISARMED
+set PWM_EXTRA_MAX p:PWM_EXTRA_MAX
+set PWM_EXTRA_MIN p:PWM_EXTRA_MIN
+set PWM_EXTRA_OUT none
+set PWM_EXTRA_RATE p:PWM_EXTRA_RATE
+set EXTRA_MIXER_MODE none
 set RC_INPUT_ARGS ""
 set SDCARD_MIXERS_PATH /fs/microsd/etc/mixers
 set STARTUP_TUNE 1
@@ -43,4 +43,5 @@ px4_add_romfs_files(
 	tiltrotor_sitl.main.mix
 	uuv_x_sitl.main.mix
 	vectored6dof_sitl.main.mix
+	tiltrotor_sitl_direct.main.mix
 )
@@ -0,0 +1,14 @@
+Mixer for quad tiltrotor (x motor configuration)
+================================================
+
+A: 0
+A: 1
+A: 2
+A: 3
+A: 4
+A: 5
+A: 6
+A: 7
+A: 8
+A: 9
+A: 10
@@ -47,6 +47,7 @@ px4_add_romfs_files(
 	coax.main.mix
 	delta.main.mix
 	deltaquad.main.mix
+	direct.main.mix
 	dodeca_bottom_cox.aux.mix
 	dodeca_top_cox.main.mix
 	firefly6.aux.mix
@@ -0,0 +1,10 @@
+# Direct mixer
+
+A: 0
+A: 1
+A: 2
+A: 3
+A: 4
+A: 5
+A: 6
+A: 7
@@ -1,6 +1,7 @@
 from xml.sax.saxutils import escape
 import codecs
 import os
+import html

 class MarkdownTablesOutput():
    def __init__(self, groups, board, image_path):
@@ -89,7 +90,7 @@ class MarkdownTablesOutput():
                    maintainer = param.GetMaintainer()
                    maintainer_entry = ''
                    if maintainer != '':
-                        maintainer_entry = '<p>Maintainer: %s</p>' % (maintainer)
+                        maintainer_entry = '<p>Maintainer: %s</p>' % (html.escape(maintainer))
                    url = param.GetFieldValue('url')
                    name_anchor='id="%s_%s_%s"' % (group.GetClass(),group.GetName(),name)
                    name_anchor=name_anchor.replace(' ','_').lower()
@@ -97,7 +97,7 @@ def main():
                    # handle mixer files differently than startup files
                    if file_path.endswith(".mix"):
                        if line.startswith(("Z:", "M:", "R: ", "O:", "S:",
-                                            "H:", "T:", "P:")):
+                                            "H:", "T:", "P:", "A:")):
                            # reduce multiple consecutive spaces into a
                            # single space
                            line_reduced = re.sub(' +', ' ', line)
@@ -1,7 +1,7 @@
 #! /usr/bin/env bash

 ## Bash script to setup PX4 development environment on Arch Linux.
-## Tested on Manjaro 18.0.1.
+## Tested on Manjaro 20.2.1.
 ##
 ## Installs:
 ## - Common dependencies and tools for nuttx, jMAVSim
@@ -33,7 +33,7 @@ do
 done

 # script directory
-DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
+DIR=$(dirname $0)

 # check requirements.txt exists (script not run in source tree)
 REQUIREMENTS_FILE="requirements.txt"
@@ -90,22 +90,27 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 	sudo pacman -R modemmanager --noconfirm

 	# arm-none-eabi-gcc
-	NUTTX_GCC_VERSION="7-2017-q4-major"
-	GCC_VER_STR=$(arm-none-eabi-gcc --version)
-	STATUSRETVAL=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
+	NUTTX_GCC_VERSION="10-2020-q4-major"
+	NUTTX_GCC_VERSION_SHORT="10-2020q4"

-	if [ $STATUSRETVAL -eq "1" ]; then
+	source $HOME/.profile # load changed path for the case the script is reran before relogin
+	if [ $(which arm-none-eabi-gcc) ]; then
+		GCC_VER_STR=$(arm-none-eabi-gcc --version)
+		GCC_FOUND_VER=$(echo $GCC_VER_STR | grep -c "${NUTTX_GCC_VERSION}")
+	fi
+
+	if [[ "$GCC_FOUND_VER" == "1" ]]; then
 		echo "arm-none-eabi-gcc-${NUTTX_GCC_VERSION} found, skipping installation"
+
 	else
 		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
-		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/7-2017q4/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 && \
+		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-x86_64-linux.tar.bz2 && \
 			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;

 		# add arm-none-eabi-gcc to user's PATH
 		exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"

-		if grep -Fxq "$exportline" $HOME/.profile;
-		then
+		if grep -Fxq "$exportline" $HOME/.profile; then
 			echo "${NUTTX_GCC_VERSION} path already set.";
 		else
 			echo $exportline >> $HOME/.profile;
@@ -132,27 +137,28 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		# PX4 gazebo simulation dependencies
 		sudo pacman -S --noconfirm --needed \
 			dmidecode \
-			eigen3 \
+			eigen \
 			hdf5 \
 			opencv \
 			protobuf \
 			vtk \
+			yay \
 			;

-		# add community binary repository for gazebo and ROS
-		# https://wiki.archlinux.org/index.php/Unofficial_user_repositories#oscloud
-		if ! grep -q oscloud /etc/pacman.conf; then
-			echo "# ROS gazebo repository for PX4
-[oscloud]
-SigLevel = Never
-Server = http://repo.oscloud.info/" | sudo tee -a /etc/pacman.conf > /dev/null
-		fi
+		# enable multicore gazebo compilation
+		sudo sed -i '/MAKEFLAGS=/c\MAKEFLAGS="-j4"' /etc/makepkg.conf

-		sudo pacman -Sy --noconfirm --needed gazebo
+		# install gazebo from AUR
+		yay -S gazebo --noconfirm

 		if sudo dmidecode -t system | grep -q "Manufacturer: VMware, Inc." ; then
 			# fix VMWare 3D graphics acceleration for gazebo
-			echo "export SVGA_VGPU10=0" >> ~/.profile
+			exportline="export SVGA_VGPU10=0"
+
+			if grep -Fxq "$exportline" $HOME/.profile; then
+			else
+				echo $exportline >> $HOME/.profile;
+			fi
 		fi
 	fi
 fi
@@ -84,6 +84,8 @@ for file in "$@"; do
 	cp "$file" $rootfs/
 done

+export PX4_SIM_MODEL=${model}
+
 SIM_PID=0

 if [ "$program" == "jmavsim" ] && [ ! -n "$no_sim" ]; then
@@ -161,7 +163,7 @@ elif [ "$program" == "gazebo" ] && [ ! -n "$no_sim" ]; then
 			# gzserver needs to be running to avoid a race. Since the launch
 			# is putting it into the background we need to avoid it by backing off
 			sleep 3
-			nice -n 20 gzclient --verbose &
+			nice -n 20 gzclient --verbose --gui-client-plugin libgazebo_user_camera_plugin.so &
 			GUI_PID=$!
 		fi
 	else
@@ -204,9 +206,6 @@ fi

 echo SITL COMMAND: $sitl_command

-export PX4_SIM_MODEL=${model}
-
-
 if [ "$debugger" == "lldb" ]; then
 	eval lldb -- $sitl_command
 elif [ "$debugger" == "gdb" ]; then
@@ -32,7 +32,6 @@ CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -52,7 +52,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -24,7 +24,7 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		gps
 		#imu # all available imu drivers
-		imu/mpu9250
+		imu/invensense/mpu9250
 		linux_pwm_out
 		#magnetometer # all available magnetometer drivers
 		magnetometer/hmc5883
@@ -11,7 +11,8 @@ px4_add_board(
 		barometer/lps25h
 		distance_sensor/vl53l0x
 		gps
-		imu/mpu9250
+		magnetometer/akm/ak8963
+		imu/invensense/mpu9250
 		optical_flow/pmw3901
 		pwm_out
 	MODULES
@@ -23,9 +24,9 @@ px4_add_board(
 		events
 		flight_mode_manager
 		land_detector
-		landing_target_estimator
+		#landing_target_estimator
 		load_mon
-		local_position_estimator
+		#local_position_estimator
 		logger
 		mavlink
 		mc_att_control
@@ -37,7 +38,7 @@ px4_add_board(
 		sensors
 		#temperature_compensation
 	SYSTEMCMDS
-		bl_update
+		#bl_update
 		dmesg
 		dumpfile
 		esc_calib
@@ -6,10 +6,11 @@
 board_adc start

 # Onboard I2C
-mpu9250 -I -R 12 start
-
-# I2C bypass of mpu
-lps25h -I start
+if mpu9250_i2c -I -b 3 -a 0x69 -R 6 start; then
+	sleep 1 # wait for mpu9250 to be configured with bypass enabled
+	ak8963 -I -b 3 -R 4 start
+	lps25h -I -b 3 start
+fi

 # Optical flow deck
 vl53l0x start -X
@@ -12,6 +12,7 @@
 # CONFIG_MMCSD_MMCSUPPORT is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_DF is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
 # CONFIG_NSH_DISABLE_GET is not set
@@ -31,7 +32,6 @@ CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F405RG=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -43,10 +43,11 @@ CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_PRODUCTID=0x0016
 CONFIG_CDCACM_PRODUCTSTR="PX4 Crazyflie v2.0"
-CONFIG_CDCACM_RXBUFSIZE=300
-CONFIG_CDCACM_TXBUFSIZE=1000
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=2000
 CONFIG_CDCACM_VENDORID=0x26ac
 CONFIG_CDCACM_VENDORSTR="Bitcraze AB"
+CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
@@ -54,6 +55,7 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
 CONFIG_FAT_DIRECT_RETRY=y
 CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
@@ -62,11 +64,10 @@ CONFIG_FDCLONE_STDIO=y
 CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
-CONFIG_FS_PROCFS_EXCLUDE_MEMINFO=y
-CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
-CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
 CONFIG_GRAN_INTR=y
@@ -92,7 +93,6 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_EXPORT=y
 CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
@@ -177,7 +177,8 @@ CONFIG_USART2_BAUD=57600
 CONFIG_USART2_RXBUFSIZE=300
 CONFIG_USART2_RXDMA=y
 CONFIG_USART2_TXBUFSIZE=300
-CONFIG_USART3_RXDMA=y
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_SERIAL_CONSOLE=y
 CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=128
 CONFIG_USART6_RXDMA=y
@@ -0,0 +1,34 @@
+############################################################################
+#
+#   Copyright (c) 2018 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_subdirectory(../crazyflie syslink)
@@ -0,0 +1,64 @@
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR bitcraze
+	MODEL crazyflie21
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	ROMFSROOT px4fmu_common
+	CONSTRAINED_FLASH
+	DRIVERS
+		distance_sensor/vl53l1x
+		gps
+		optical_flow/pmw3901
+		pwm_out
+		imu/bosch/bmi088/bmi088_i2c
+		barometer/bmp388
+	MODULES
+		attitude_estimator_q
+		#camera_feedback
+		commander
+		dataman
+		ekf2
+		events
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		navigator
+		rc_update
+		sensors
+		#temperature_compensation
+	SYSTEMCMDS
+		bl_update
+		dmesg
+		dumpfile
+		esc_calib
+		hardfault_log
+		i2cdetect
+		led_control
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		system_time
+		top
+		topic_listener
+		tune_control
+		usb_connected
+		ver
+		work_queue
+	)
@@ -0,0 +1,13 @@
+{
+    "board_id": 14,
+    "magic": "Crazyflie21",
+    "description": "Firmware for the Crazyflie 2.1",
+    "image": "",
+    "build_time": 0,
+    "summary": "CRAZYFLIE 2.1",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1032192,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,19 @@
+#!/bin/sh
+#
+# Bitcraze Crazyflie specific board sensors init
+#------------------------------------------------------------------------------
+
+# system_power unavailable
+param set CBRK_SUPPLY_CHK 894281
+
+if param compare SYS_AUTOSTART 0
+then
+	param set SYS_AUTOSTART 4901
+	set AUTOCNF yes
+fi
+
+if [ $AUTOCNF = yes ]
+then
+	# don't probe external I2C
+	param set SENS_EXT_I2C_PRB 0
+fi
@@ -0,0 +1,7 @@
+#!/bin/sh
+#
+# Bitcraze Crazyflie specific board MAVLink startup script.
+#------------------------------------------------------------------------------
+
+# Start MAVLink on the USB port
+mavlink start -d /dev/ttyACM0
@@ -0,0 +1,14 @@
+#!/bin/sh
+#
+# Bitcraze Crazyflie specific board sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+# Internal I2C bus
+bmp388 -I -a 0x77 -f 400 start
+bmi088_i2c -A -R 0 -I -a 0x18 start
+bmi088_i2c -G -R 0 -I -a 0x69 start
+
+# Optical flow deck
+vl53l1x start -X
@@ -0,0 +1,223 @@
+/************************************************************************************
+ * configs/crazyflie/include/board.h
+ * include/arch/board/board.h
+ *
+ *   Copyright (C) 2012 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+
+#ifndef __CONFIG_CRAZYFLIE_INCLUDE_BOARD_H
+#define __CONFIG_CRAZYFLIE_INCLUDE_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include "stm32.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The Crazyflie 2.0 uses a 8MHz crystal connected to the HSE.
+ *
+ * This is the canonical configuration:
+ *   System Clock source           : PLL (HSE)
+ *   SYSCLK(Hz)                    : 168000000    Determined by PLL configuration
+ *   HCLK(Hz)                      : 168000000    (STM32_RCC_CFGR_HPRE)
+ *   AHB Prescaler                 : 1            (STM32_RCC_CFGR_HPRE)
+ *   APB1 Prescaler                : 4            (STM32_RCC_CFGR_PPRE1)
+ *   APB2 Prescaler                : 2            (STM32_RCC_CFGR_PPRE2)
+ *   HSE Frequency(Hz)             : 8000000      (STM32_BOARD_XTAL)
+ *   PLLM                          : 8            (STM32_PLLCFG_PLLM)
+ *   PLLN                          : 336          (STM32_PLLCFG_PLLN)
+ *   PLLP                          : 2            (STM32_PLLCFG_PLLP)
+ *   PLLQ                          : 7            (STM32_PLLCFG_PLLQ)
+ *   Main regulator output voltage : Scale1 mode  Needed for high speed SYSCLK
+ *   Flash Latency(WS)             : 5
+ *   Prefetch Buffer               : OFF
+ *   Instruction cache             : ON
+ *   Data cache                    : ON
+ *   Require 48MHz for USB OTG FS, : Enabled
+ *   SDIO and RNG clock
+ */
+
+/* HSI - 16 MHz RC factory-trimmed
+ * LSI - 32 KHz RC
+ * HSE - On-board crystal frequency is 8MHz
+ * LSE - not installed
+ */
+
+#define STM32_BOARD_XTAL        8000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+//#define STM32_LSE_FREQUENCY     32768
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE
+ * PLL_VCO = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ *         = (8,000,000 / 8) * 336
+ *         = 336,000,000
+ * SYSCLK  = PLL_VCO / PLLP
+ *         = 336,000,000 / 2 = 168,000,000
+ * USB OTG FS, SDIO and RNG Clock
+ *         =  PLL_VCO / PLLQ
+ *         = 48,000,000
+ */
+
+#define STM32_PLLCFG_PLLM       RCC_PLLCFG_PLLM(8)
+#define STM32_PLLCFG_PLLN       RCC_PLLCFG_PLLN(336)
+#define STM32_PLLCFG_PLLP       RCC_PLLCFG_PLLP_2
+#define STM32_PLLCFG_PLLQ       RCC_PLLCFG_PLLQ(7)
+
+#define STM32_SYSCLK_FREQUENCY  168000000ul
+
+/* AHB clock (HCLK) is SYSCLK (168MHz) */
+
+#define STM32_RCC_CFGR_HPRE     RCC_CFGR_HPRE_SYSCLK  /* HCLK  = SYSCLK / 1 */
+#define STM32_HCLK_FREQUENCY    STM32_SYSCLK_FREQUENCY
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY  /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/4 (42MHz) */
+
+#define STM32_RCC_CFGR_PPRE1    RCC_CFGR_PPRE1_HCLKd4     /* PCLK1 = HCLK / 4 */
+#define STM32_PCLK1_FREQUENCY   (STM32_HCLK_FREQUENCY/4)
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* APB2 clock (PCLK2) is HCLK/2 (84MHz) */
+
+#define STM32_RCC_CFGR_PPRE2    RCC_CFGR_PPRE2_HCLKd2     /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY   (STM32_HCLK_FREQUENCY/2)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM9_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM10_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM11_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Timer Frequencies, if APBx is set to 1, frequency is same to APBx
+ * otherwise frequency is 2xAPBx.
+ * Note: TIM1,8-11 are on APB2, others on APB1
+ */
+
+#define BOARD_TIM1_FREQUENCY    STM32_APB2_TIM1_CLKIN
+#define BOARD_TIM2_FREQUENCY    STM32_APB1_TIM2_CLKIN
+#define BOARD_TIM3_FREQUENCY    STM32_APB1_TIM3_CLKIN
+#define BOARD_TIM4_FREQUENCY    STM32_APB1_TIM4_CLKIN
+#define BOARD_TIM5_FREQUENCY    STM32_APB1_TIM5_CLKIN
+#define BOARD_TIM6_FREQUENCY    STM32_APB1_TIM6_CLKIN
+#define BOARD_TIM7_FREQUENCY    STM32_APB1_TIM7_CLKIN
+#define BOARD_TIM8_FREQUENCY    STM32_APB2_TIM8_CLKIN
+#define BOARD_TIM9_FREQUENCY    STM32_APB2_TIM9_CLKIN
+#define BOARD_TIM10_FREQUENCY   STM32_APB2_TIM10_CLKIN
+#define BOARD_TIM11_FREQUENCY   STM32_APB2_TIM11_CLKIN
+#define BOARD_TIM12_FREQUENCY   STM32_APB1_TIM12_CLKIN
+#define BOARD_TIM13_FREQUENCY   STM32_APB1_TIM13_CLKIN
+#define BOARD_TIM14_FREQUENCY   STM32_APB1_TIM14_CLKIN
+
+/* Alternate function pin selections ************************************************/
+
+/*
+ * UARTs.
+ *
+ */
+/* E_TX2 / E_RX2 */
+#define GPIO_USART2_RX	GPIO_USART2_RX_1
+#define GPIO_USART2_TX	GPIO_USART2_TX_1
+
+/* E_TX1 / E_RX1 */
+#define GPIO_USART3_RX	GPIO_USART3_RX_2
+#define GPIO_USART3_TX	GPIO_USART3_TX_2
+
+/* NRF51 via syslink */
+#define GPIO_USART6_RX	GPIO_USART6_RX_1
+#define GPIO_USART6_TX	GPIO_USART6_TX_1
+
+/* UART DMA configuration for USART6 */
+#define DMAMAP_USART6_RX DMAMAP_USART6_RX_2
+
+/*
+ * I2C
+ *
+ * The optional _GPIO configurations allow the I2C driver to manually
+ * reset the bus to clear stuck slaves.  They match the pin configuration,
+ * but are normally-high GPIOs.
+ */
+#define GPIO_I2C1_SCL		GPIO_I2C1_SCL_1
+#define GPIO_I2C1_SDA		GPIO_I2C1_SDA_1
+#define GPIO_I2C1_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN6)
+#define GPIO_I2C1_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN7)
+
+#define GPIO_I2C3_SCL		GPIO_I2C3_SCL_1
+#define GPIO_I2C3_SDA		GPIO_I2C3_SDA_1
+#define GPIO_I2C3_SCL_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
+#define GPIO_I2C3_SDA_GPIO	(GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN9)
+
+/*
+ * SPI
+ *
+ * E_MISO, E_MOSI, E_SCK exposed on headers
+ */
+#define GPIO_SPI1_MISO	(GPIO_SPI1_MISO_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_MOSI	(GPIO_SPI1_MOSI_1|GPIO_SPEED_50MHz)
+#define GPIO_SPI1_SCK	(GPIO_SPI1_SCK_1|GPIO_SPEED_50MHz)
+
+/* XXX since we allocate the HP work stack from CCM RAM on normal system startup,
+   SPI1 will never run in DMA mode - so we can just give it a random config here.
+   What we really need to do is to make DMA configurable per channel, and always
+   disable it for SPI1. */
+#define DMACHAN_SPI1_RX DMAMAP_SPI1_RX_1
+#define DMACHAN_SPI1_TX DMAMAP_SPI1_TX_2
+
+#endif  /* __CONFIG_CRAZYFLIE_INCLUDE_BOARD_H */
@@ -0,0 +1,190 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+# CONFIG_SPI_CALLBACK is not set
+# CONFIG_STM32_CCMEXCLUDE is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32"
+CONFIG_ARCH_CHIP_STM32=y
+CONFIG_ARCH_CHIP_STM32F405RG=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=16717
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_PRODUCTID=0x0016
+CONFIG_CDCACM_PRODUCTSTR="PX4 Crazyflie v2.0"
+CONFIG_CDCACM_RXBUFSIZE=300
+CONFIG_CDCACM_TXBUFSIZE=1000
+CONFIG_CDCACM_VENDORID=0x26ac
+CONFIG_CDCACM_VENDORSTR="Bitcraze AB"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_FAT_DIRECT_RETRY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
+CONFIG_FS_PROCFS_EXCLUDE_MEMINFO=y
+CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
+CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MM_REGIONS=2
+CONFIG_MTD=y
+CONFIG_MTD_AT24XX=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_NFILE_DESCRIPTORS=12
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARCHROMFS=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_EXPORT=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_MB=y
+CONFIG_NSH_DISABLE_MH=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_FATDEVNO=0
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_MMCSDSPIPORTNO=1
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=196608
+CONFIG_RAM_START=0x20000000
+CONFIG_RAW_BINARY=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32_ADC1=y
+CONFIG_STM32_BBSRAM=y
+CONFIG_STM32_BBSRAM_FILES=5
+CONFIG_STM32_BKPSRAM=y
+CONFIG_STM32_CCMDATARAM=y
+CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
+CONFIG_STM32_DMA1=y
+CONFIG_STM32_DMA2=y
+CONFIG_STM32_FLASH_PREFETCH=y
+CONFIG_STM32_FLOWCONTROL_BROKEN=y
+CONFIG_STM32_I2C1=y
+CONFIG_STM32_I2C3=y
+CONFIG_STM32_I2CTIMEOMS=10
+CONFIG_STM32_I2CTIMEOTICKS=10
+CONFIG_STM32_JTAG_SW_ENABLE=y
+CONFIG_STM32_OTGFS=y
+CONFIG_STM32_PWR=y
+CONFIG_STM32_RTC=y
+CONFIG_STM32_RTC_HSECLOCK=y
+CONFIG_STM32_RTC_MAGIC_REG=1
+CONFIG_STM32_SAVE_CRASHDUMP=y
+CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32_SPI1=y
+CONFIG_STM32_USART2=y
+CONFIG_STM32_USART3=y
+CONFIG_STM32_USART6=y
+CONFIG_STM32_USART_BREAKS=y
+CONFIG_STM32_USART_SINGLEWIRE=y
+CONFIG_STM32_WWDG=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=300
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=300
+CONFIG_USART3_RXDMA=y
+CONFIG_USART3_SERIAL_CONSOLE=y
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=128
+CONFIG_USART6_RXDMA=y
+CONFIG_USART6_TXBUFSIZE=64
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
@@ -0,0 +1,152 @@
+/****************************************************************************
+ * configs/crazyflie/scripts/ld.script
+ *
+ *   Copyright (C) 2011 Gregory Nutt. All rights reserved.
+ *   Author: Gregory Nutt <gnutt@nuttx.org>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/* The STM32F405RG has 1024Kb of FLASH beginning at address 0x0800:0000 and
+ * 192Kb of SRAM. SRAM is split up into three blocks:
+ *
+ * 1) 112Kb of SRAM beginning at address 0x2000:0000
+ * 2)  16Kb of SRAM beginning at address 0x2001:c000
+ * 3)  64Kb of CCM SRAM beginning at address 0x1000:0000
+ *
+ * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
+ * where the code expects to begin execution by jumping to the entry point in
+ * the 0x0800:0000 address range.
+ *
+ * The first 0x4000 of flash is reserved for the bootloader.
+ */
+
+MEMORY
+{
+    flash (rx)   : ORIGIN = 0x08004000, LENGTH = 1008K
+    sram (rwx)   : ORIGIN = 0x20000000, LENGTH = 128K
+    ccsram (rwx) : ORIGIN = 0x10000000, LENGTH = 64K
+}
+
+OUTPUT_ARCH(arm)
+
+ENTRY(__start)		/* treat __start as the anchor for dead code stripping */
+EXTERN(_vectors)	/* force the vectors to be included in the output */
+
+/*
+ * Ensure that abort() is present in the final object.  The exception handling
+ * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
+ */
+EXTERN(abort)
+
+SECTIONS
+{
+	.text : {
+		_stext = ABSOLUTE(.);
+		*(.vectors)
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
+		*(.text .text.*)
+		*(.fixup)
+		*(.gnu.warning)
+		*(.rodata .rodata.*)
+		*(.gnu.linkonce.t.*)
+		*(.got)
+		*(.gcc_except_table)
+		*(.gnu.linkonce.r.*)
+		_etext = ABSOLUTE(.);
+
+	} > flash
+
+	/*
+	 * Init functions (static constructors and the like)
+	 */
+        .init_section : {
+                _sinit = ABSOLUTE(.);
+                KEEP(*(.init_array .init_array.*))
+                _einit = ABSOLUTE(.);
+        } > flash
+
+	/*
+	 * Construction data for parameters.
+	 */
+	__param ALIGN(4): {
+		__param_start = ABSOLUTE(.);
+		KEEP(*(__param*))
+		__param_end = ABSOLUTE(.);
+	} > flash
+
+	.ARM.extab : {
+		*(.ARM.extab*)
+	} > flash
+
+	__exidx_start = ABSOLUTE(.);
+	.ARM.exidx : {
+		*(.ARM.exidx*)
+	} > flash
+	__exidx_end = ABSOLUTE(.);
+
+	_eronly = ABSOLUTE(.);
+
+	.data : {
+		_sdata = ABSOLUTE(.);
+		*(.data .data.*)
+		*(.gnu.linkonce.d.*)
+		CONSTRUCTORS
+		_edata = ABSOLUTE(.);
+	} > sram AT > flash
+
+	.bss : {
+		_sbss = ABSOLUTE(.);
+		*(.bss .bss.*)
+		*(.gnu.linkonce.b.*)
+		*(COMMON)
+		. = ALIGN(4);
+		_ebss = ABSOLUTE(.);
+	} > sram
+
+	/* Stabs debugging sections. */
+	.stab 0 : { *(.stab) }
+	.stabstr 0 : { *(.stabstr) }
+	.stab.excl 0 : { *(.stab.excl) }
+	.stab.exclstr 0 : { *(.stab.exclstr) }
+	.stab.index 0 : { *(.stab.index) }
+	.stab.indexstr 0 : { *(.stab.indexstr) }
+	.comment 0 : { *(.comment) }
+	.debug_abbrev 0 : { *(.debug_abbrev) }
+	.debug_info 0 : { *(.debug_info) }
+	.debug_line 0 : { *(.debug_line) }
+	.debug_pubnames 0 : { *(.debug_pubnames) }
+	.debug_aranges 0 : { *(.debug_aranges) }
+}
@@ -0,0 +1,47 @@
+############################################################################
+#
+#   Copyright (c) 2015 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+
+add_library(drivers_board
+	i2c.cpp
+	init.c
+	led.c
+	spi.cpp
+	timer_config.cpp
+	usb.c
+)
+target_link_libraries(drivers_board
+	PRIVATE
+		arch_spi
+		drivers__led # drv_led_start
+		px4_layer
+)
@@ -0,0 +1,233 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file board_config.h
+ *
+ * PX4-CRAZYFLIE internal definitions
+ */
+
+#pragma once
+
+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <nuttx/compiler.h>
+#include <stdint.h>
+
+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+/* Configuration ************************************************************************************/
+
+/* Crazyflie GPIOs **********************************************************************************/
+/* LEDs */
+
+
+/* Radio TX indicator */
+#define GPIO_LED_RED_L       (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
+			      GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN0)
+/* Radio RX indicator */
+#define GPIO_LED_GREEN_L       (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
+				GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN1)
+#define GPIO_LED_GREEN_R       (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
+				GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN2)
+#define GPIO_LED_RED_R       (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|\
+			      GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN3)
+
+/* PX4: armed state indicator ; Stock FW: Blinking while charging */
+#define GPIO_LED_BLUE_L		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN2)
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS 1
+#define BOARD_OVERLOAD_LED     LED_RED
+#define BOARD_ARMED_LED        LED_BLUE
+#define BOARD_ARMED_STATE_LED  LED_GREEN
+
+#define LED_TX 4
+#define LED_RX 5
+
+#define GPIO_FSYNC_MPU9250		(GPIO_OUTPUT|GPIO_PORTC|GPIO_PIN14) // Needs to be set low
+#define GPIO_DRDY_MPU9250		(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN13)
+
+
+#define GPIO_NRF_TXEN			(GPIO_INPUT|GPIO_PULLUP|GPIO_EXTI|GPIO_PORTA|GPIO_PIN4)
+
+#define GPIO_I2C4_DRDY1_BMP388        	(GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
+
+/*
+ * I2C busses
+ */
+#define PX4_I2C_BUS_ONBOARD_HZ      400000
+#define PX4_I2C_BUS_EXPANSION_HZ      400000
+
+#define PX4_I2C_BUS_MTD	1
+
+#define BOARD_NUMBER_I2C_BUSES  3
+#define BOARD_I2C_BUS_CLOCK_INIT {PX4_I2C_BUS_ONBOARD_HZ, 400000, PX4_I2C_BUS_EXPANSION_HZ}
+
+
+/* Devices on the onboard bus.
+ *
+ * Note that these are unshifted addresses.
+ */
+#define PX4_I2C_OBDEV_MPU9250	0x69
+
+/* USB OTG FS
+ *
+ * PA9  OTG_FS_VBUS VBUS sensing
+ */
+#define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTA|GPIO_PIN9)
+
+/*
+ * ADC channels
+ *
+ * These are the channel numbers of the ADCs of the microcontroller that can be used by the Px4 Firmware in the adc driver
+ */
+#define ADC_CHANNELS 0
+
+/* Tone alarm output : These are only applicable when the buzzer deck is attached */
+#define TONE_ALARM_TIMER	5	/* timer 5 */
+#define TONE_ALARM_CHANNEL 3	/* channel 3 */
+#define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)
+#define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF2|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN2)
+#define GPIO_TONE_ALARM_NEG (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
+
+/* PWM
+*/
+
+#define DIRECT_PWM_OUTPUT_CHANNELS	4
+
+/* This board overrides the defaults by providing
+ * PX4_PWM_ALTERNATE_RANGES and a replacement set of
+ * constants
+ */
+
+
+/* PWM directly wired to transistor. Duty cycle directly corresponds to power
+ * So we need to override the defaults
+ */
+
+#define PX4_PWM_ALTERNATE_RANGES
+#define PWM_LOWEST_MIN 0
+#define PWM_MOTOR_OFF	0
+#define PWM_DEFAULT_MIN 20
+#define PWM_HIGHEST_MIN 0
+#define PWM_HIGHEST_MAX 255
+#define PWM_DEFAULT_MAX 255
+#define PWM_LOWEST_MAX 255
+#define PWM_DEFAULT_TRIM 1500
+
+
+/* High-resolution timer */
+#define HRT_TIMER		8	/* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL	1	/* use capture/compare channel */
+
+#define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+#define BOARD_CONSOLE_BUFFER_SIZE (1024*3)
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *   Called to reset the periferal bus
+ *
+ ****************************************************************************************************/
+
+#define board_peripheral_reset(ms)
+
+/****************************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to configure USB IO.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_usbinitialize(void);
+
+/****************************************************************************
+ * Name: board_i2c_initialize
+ *
+ * Description:
+ *   Called to set I2C bus frequencies.
+ *
+ ****************************************************************************/
+
+int board_i2c_initialize(void);
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ****************************************************************************************************/
+
+extern void stm32_spiinitialize(void);
+
+/************************************************************************************
+ * Name: stm32_spi_bus_initialize
+ *
+ * Description:
+ *   Called to configure SPI Buses.
+ *
+ ************************************************************************************/
+
+extern int stm32_spi_bus_initialize(void);
+
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,39 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(1),
+	initI2CBusInternal(3),
+};
@@ -0,0 +1,173 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file crazyflie_init.c
+ *
+ * Crazyflie specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialization.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform_common/tasks.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/board.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/spi/spi.h>
+
+#include "board_config.h"
+#include <stm32_uart.h>
+
+#include <arch/board/board.h>
+
+#include <drivers/drv_hrt.h>
+#include <drivers/drv_board_led.h>
+
+#include <systemlib/px4_macros.h>
+#include <px4_platform_common/init.h>
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+/****************************************************************************
+ * Protected Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the intitialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+stm32_boardinitialize(void)
+{
+	/* configure LEDs */
+
+	board_autoled_initialize();
+
+	/* configure SPI interfaces */
+
+	stm32_spiinitialize();
+
+	stm32_usbinitialize();
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform architecture specific initialization
+ *
+ ****************************************************************************/
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	px4_platform_init();
+
+	/* set up the serial DMA polling */
+	static struct hrt_call serial_dma_call;
+	struct timespec ts;
+
+	/*
+	 * Poll at 1ms intervals for received bytes that have not triggered
+	 * a DMA event.
+	 */
+	ts.tv_sec = 0;
+	ts.tv_nsec = 1000000;
+
+	hrt_call_every(&serial_dma_call,
+		       ts_to_abstime(&ts),
+		       ts_to_abstime(&ts),
+		       (hrt_callout)stm32_serial_dma_poll,
+		       NULL);
+
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_off(LED_GREEN);
+	led_off(LED_BLUE);
+	led_off(LED_TX);
+	led_off(LED_RX);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_RED);
+	}
+
+#ifdef CONFIG_SPI
+	int ret = stm32_spi_bus_initialize();
+
+	if (ret != OK) {
+		return ret;
+	}
+
+#endif
+
+	return OK;
+}
@@ -0,0 +1,103 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file crazyflie_led.c
+ *
+ * Crazyflie LED backend.
+ */
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "stm32.h"
+#include "board_config.h"
+
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+static uint32_t g_ledmap[] = {
+	GPIO_LED_BLUE_L,  // Indexed by LED_BLUE
+	GPIO_LED_RED_R,   // Indexed by LED_RED, LED_AMBER
+	0,				  // Indexed by LED_SAFETY
+	GPIO_LED_GREEN_R, // Indexed by LED_GREEN
+	GPIO_LED_RED_L,   // Indexed by LED_TX
+	GPIO_LED_GREEN_L  // Indexed by LED_RX
+};
+
+
+__EXPORT void led_init()
+{
+	/* Configure LED1 GPIO for output */
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		if (g_ledmap[l]) {
+			px4_arch_configgpio(g_ledmap[l]);
+		}
+	}
+}
+
+__EXPORT void led_on(int led)
+{
+	/* Pull down to switch on */
+	px4_arch_gpiowrite(g_ledmap[led], g_ledmap[led] & GPIO_OUTPUT_SET ? true : false);
+}
+
+__EXPORT void led_off(int led)
+{
+	/* Pull up to switch off */
+	px4_arch_gpiowrite(g_ledmap[led], g_ledmap[led] & GPIO_OUTPUT_SET ? false : true);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	if (px4_arch_gpioread(g_ledmap[led])) {
+		px4_arch_gpiowrite(g_ledmap[led], false);
+
+	} else {
+		px4_arch_gpiowrite(g_ledmap[led], true);
+	}
+}
@@ -0,0 +1,99 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+#include <px4_platform/gpio.h>
+
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+#include <unistd.h>
+
+#include <nuttx/spi/spi.h>
+#include <arch/board/board.h>
+#include <systemlib/px4_macros.h>
+#include <nuttx/mmcsd.h>
+
+#include <arm_arch.h>
+#include <chip.h>
+#include <stm32_gpio.h>
+#include "board_config.h"
+
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_FLOW_DEVTYPE_PMW3901, SPI::CS{GPIO::PortB, GPIO::Pin4}),
+		initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortC, GPIO::Pin12}),
+		initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortB, GPIO::Pin5}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
+
+/************************************************************************************
+ * Name: stm32_spi_bus_initialize
+ *
+ * Description:
+ *   Called to configure SPI buses on PX4FMU board.
+ *
+ ************************************************************************************/
+static struct spi_dev_s *spi_expansion;
+
+__EXPORT int stm32_spi_bus_initialize(void)
+{
+	/* Configure SPI-based devices */
+
+	/* Get the external SPI port */
+	spi_expansion = stm32_spibus_initialize(1);
+
+	if (!spi_expansion) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", 1);
+		return -ENODEV;
+	}
+
+#ifdef CONFIG_MMCSD
+	int ret = mmcsd_spislotinitialize(CONFIG_NSH_MMCSDMINOR, CONFIG_NSH_MMCSDSLOTNO, spi_expansion);
+
+	if (ret != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to bind SPI port 1 to the MMCSD driver\n");
+		return -ENODEV;
+	}
+
+#endif
+
+	return OK;
+}
@@ -0,0 +1,62 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+/* IO Timers normally free-run at 1MHz
+ * Here we make adjustments to the Frequency that sets the timer's prescale
+ * so that the prescale is set to 0
+ */
+#define TIMx_CLKIN 1000000
+
+static inline constexpr io_timers_t initIOTimerOverrideClockFreq(Timer::Timer timer)
+{
+	io_timers_t ret = initIOTimer(timer);
+	ret.clock_freq = TIMx_CLKIN;
+	return ret;
+}
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimerOverrideClockFreq(Timer::Timer2),
+	initIOTimerOverrideClockFreq(Timer::Timer4),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel2}, {GPIO::PortA, GPIO::Pin1}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel1}, {GPIO::PortA, GPIO::Pin15}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortB, GPIO::Pin9}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -0,0 +1,108 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file crazyflie_usb.c
+ *
+ * Board-specific USB functions.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <nuttx/config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <arm_arch.h>
+#include <stm32.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the PX4-STM32F4Discovery board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32_OTGFS
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+	/* XXX We only support device mode
+	stm32_configgpio(GPIO_OTGFS_PWRON);
+	stm32_configgpio(GPIO_OTGFS_OVER);
+	*/
+#endif
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}
+
@@ -28,7 +28,6 @@ CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F412CE=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -4,16 +4,18 @@
 #------------------------------------------------------------------------------
 board_adc start

-# SPI1 (internal)
-rm3100 -s start
-icm20689 -s -R 2 start
+# SPI1
+icm20689 -s -b 1 -R 2 start

-# SPI4 (internal)
-bmi088 -A -s -R 10 start
-bmi088 -G -s -R 10 start
+# SPI2
+rm3100 -s -b 2 start
+
+# SPI4
+bmi088 -s -b 4 -A -R 2 start
+bmi088 -s -b 4 -G -R 2 start
 ms5611 -s -b 4 start

-# SPI6 (internal)
+# SPI6
 icm20649 -s -b 6 -R 2 start
 ms5611 -s -b 6 start

@@ -20,7 +20,6 @@ CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -37,7 +37,6 @@

 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortE, GPIO::Pin7}), // ADIS16470
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortG, GPIO::Pin6}, SPI::DRDY{GPIO::PortJ, GPIO::Pin0}),
 	}, {GPIO::PortE, GPIO::Pin3}),
 	initSPIBus(SPI::Bus::SPI2, {
@@ -20,7 +20,6 @@ CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -20,7 +20,6 @@ CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -36,7 +36,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -36,7 +36,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -37,7 +37,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -20,7 +20,6 @@ CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_STACKCHECK=y
 CONFIG_ARMV7M_USEBASEPRI=y
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -36,7 +36,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -29,7 +29,6 @@ CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F429V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -87,13 +87,13 @@
 #define ADC_BATTERY_VOLTAGE_CHANNEL        /* PA2 */  ADC1_CH(2)
 #define ADC_BATTERY_CURRENT_CHANNEL        /* PA3 */  ADC1_CH(3)
 #define ADC_SCALED_V5_CHANNEL              /* PA4 */  ADC1_CH(4)
-#define ADC_RSSI_IN_CHANNEL                /* PC1 */  ADC1_CH(11)
+#define ADC_RC_RSSI_CHANNEL                /* PC1 */  ADC1_CH(11)

 #define ADC_CHANNELS \
 	((1 << ADC_BATTERY_VOLTAGE_CHANNEL)       | \
 	 (1 << ADC_BATTERY_CURRENT_CHANNEL)       | \
 	 (1 << ADC_SCALED_V5_CHANNEL)             | \
-	 (1 << ADC_RSSI_IN_CHANNEL))
+	 (1 << ADC_RC_RSSI_CHANNEL))

 /* Define Battery 1 Voltage Divider and A per V */
 #define BOARD_BATTERY1_V_DIV         (18.1f)     /* measured with the provided PM board */
@@ -112,7 +112,7 @@
 /* Power supply control and monitoring GPIOs */
 #define GPIO_nPOWER_IN_A                /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)

-#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
+#define GPIO_VDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
 #define BOARD_NUMBER_BRICKS             1

 #define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PE4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
@@ -175,7 +175,7 @@
 #define BOARD_ADC_USB_CONNECTED	       (px4_arch_gpioread(GPIO_OTGFS_VBUS))
 #define BOARD_ADC_USB_VALID            BOARD_ADC_USB_CONNECTED
 #define BOARD_ADC_SERVO_VALID          (1)	/* never powers off the Servo rail */
-#define BOARD_ADC_BRICK_VALID          (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
+#define BOARD_ADC_BRICK_VALID          (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID))

 #define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS

@@ -20,7 +20,6 @@ CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -32,7 +32,6 @@ CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -19,7 +19,6 @@ CONFIG_ARCH_CHIP_KINETIS=y
 CONFIG_ARCH_CHIP_MK66FN2M0VMD18=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -19,7 +19,6 @@ CONFIG_ARCH_CHIP_KINETIS=y
 CONFIG_ARCH_CHIP_MK66FN2M0VMD18=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -18,7 +18,6 @@ CONFIG_ARCH_CHIP_KINETIS=y
 CONFIG_ARCH_CHIP_MK66FN2M0VMD18=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -18,7 +18,6 @@ CONFIG_ARCH_CHIP_KINETIS=y
 CONFIG_ARCH_CHIP_MK66FN2M0VMD18=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -24,7 +24,6 @@ CONFIG_ARMV7M_DCACHE_WRITETHROUGH=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_ITCM=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU=y
@@ -19,7 +19,6 @@ CONFIG_ARCH_CHIP_S32K146=y
 CONFIG_ARCH_CHIP_S32K14X=y
 CONFIG_ARCH_CHIP_S32K1XX=y
 CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -20,7 +20,6 @@ CONFIG_ARCH_CHIP="stm32"
 CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F405RG=y
 CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -32,7 +32,6 @@ CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -0,0 +1,138 @@
+
+# FMUv3 is FMUv2 with access to the full 2MB flash
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR px4
+	MODEL fmu-v3
+	LABEL ctrlalloc
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	ROMFSROOT px4fmu_common
+	IO px4_io-v2_default
+	TESTING
+	UAVCAN_INTERFACES 2
+	SERIAL_PORTS
+		GPS1:/dev/ttyS3
+		TEL1:/dev/ttyS1
+		TEL2:/dev/ttyS2
+		TEL4:/dev/ttyS6
+	DRIVERS
+		adc/board_adc
+		adc/ads1115
+		barometer # all available barometer drivers
+		batt_smbus
+		camera_capture
+		camera_trigger
+		differential_pressure # all available differential pressure drivers
+		distance_sensor # all available distance sensor drivers
+		dshot
+		gps
+		#heater
+		#imu # all available imu drivers
+		imu/adis16448
+		imu/adis16477
+		imu/adis16497
+		imu/l3gd20
+		imu/lsm303d
+		imu/invensense/icm20608g
+		imu/invensense/icm20948
+		imu/invensense/mpu6000
+		imu/invensense/mpu9250
+		irlock
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
+		magnetometer # all available magnetometer drivers
+		mkblctrl
+		#optical_flow # all available optical flow drivers
+		optical_flow/px4flow
+		#osd
+		pca9685
+		pca9685_pwm_out
+		#power_monitor/ina226
+		#protocol_splitter
+		pwm_input
+		pwm_out_sim
+		pwm_out
+		px4io
+		roboclaw
+		tap_esc
+		telemetry # all available telemetry drivers
+		test_ppm
+		tone_alarm
+		uavcan
+	MODULES
+		airspeed_selector
+		angular_velocity_controller
+		attitude_estimator_q
+		battery_status
+		camera_feedback
+		commander
+		control_allocator
+		dataman
+		ekf2
+		esc_battery
+		events
+		flight_mode_manager
+		fw_att_control
+		fw_pos_control_l1
+		land_detector
+		landing_target_estimator
+		load_mon
+		local_position_estimator
+		logger
+		mavlink
+		mc_att_control
+		mc_hover_thrust_estimator
+		mc_pos_control
+		mc_rate_control
+		#micrortps_bridge
+		navigator
+		rc_update
+		rover_pos_control
+		sensors
+		sih
+		temperature_compensation
+		vmount
+		vtol_att_control
+	SYSTEMCMDS
+		bl_update
+		#dmesg
+		dumpfile
+		esc_calib
+		gpio
+		hardfault_log
+		i2cdetect
+		led_control
+		mft
+		mixer
+		motor_ramp
+		motor_test
+		mtd
+		nshterm
+		param
+		perf
+		pwm
+		reboot
+		reflect
+		sd_bench
+		system_time
+		tests # tests and test runner
+		top
+		topic_listener
+		tune_control
+		usb_connected
+		ver
+		work_queue
+	EXAMPLES
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
+		#matlab_csv_serial
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
+	)
@@ -32,7 +32,6 @@ CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -32,7 +32,6 @@ CONFIG_ARCH_CHIP_STM32=y
 CONFIG_ARCH_CHIP_STM32F427V=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_STACKCHECK=y
 CONFIG_ARMV7M_USEBASEPRI=y
@@ -168,6 +168,12 @@

 #define BOARD_DSHOT_MOTOR_ASSIGNMENT {3, 2, 1, 0, 4, 5};

+/* Internal IMU Heater
+ *
+ * Connected to the IO MCU; tell compiler to enable support
+ */
+#define PX4IO_HEATER_ENABLED
+
 __BEGIN_DECLS

 /****************************************************************************************************
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	849f4531a3	commander: automatically initialize to assist mode if using mavlink manual control	2021-01-22 11:12:15 -05:00
Jaeyoung-Lim	fa5a6cf712	Add option for custom mavlink configuration This commit enables a option for users to add a custom mavlink configuration through rc.mavlink_override	2021-01-22 17:03:09 +01:00
이충경	17ea6f68e2	fix variable name in EKF2Selector (#16621 )	2021-01-22 15:32:32 +01:00
Silvan Fuhrer	da7f6d06f3	AirspeedSelector: set default of ASPD_DO_CHECKS to 1 and ASPD_FS_INTEG to 5. That enables the sensor checks by default The default for the innovation check integral of 5 is rather conservative, thus makeing it less likely to be triggered by accidnet (e.g. due to bad wind estimate). Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-22 14:16:22 +01:00
Silvan Fuhrer	28f9214e56	AirspeedSelector: parameter clean up and disable re-enabling if clear delay negative Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-22 14:16:22 +01:00
Silvan Fuhrer	98d057b8c9	AirspeedValidator: change logic for innovation checks Previously, the logic was not consistent with the description in the params. It now, if the integral is enabled, declares innovation check failed if integral is above threshold. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-22 14:16:22 +01:00
Silvan Fuhrer	0c2099e788	AirspeedSelector: improve messaging on airspeed sensor switches Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-22 14:16:22 +01:00
Silvan Fuhrer	aecc0aa0c3	AirspeedSelector: do checks for data stopped in airspeed selector, not validator Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-22 14:16:22 +01:00
Silvan Fuhrer	7132e674d6	AirspeedValidator: Simplify data missing check The data_stopped check should be independent of the innovation and load factor check. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-22 14:16:22 +01:00
Silvan Fuhrer	083cd6f1c1	AirspeedValidator: remove unnecessary _checks_failing Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-22 14:16:22 +01:00
Silvan Fuhrer	37a49dbb6a	AirspeedValidator: improve readability Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-22 14:16:22 +01:00
Silvan Fuhrer	061fb9ac07	AirspeedSelector: add const Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-22 14:16:22 +01:00
Silvan Fuhrer	cd2c366e22	AirspeedSelector: remove unnecessary reboot required and Experimental comments in params Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-22 14:16:22 +01:00
Silvan Fuhrer	11dbc7e17f	AirspeedSelector: improve description of ASPD_FALLBACK_GW Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-22 14:16:22 +01:00
Silvan Fuhrer	0f1207dd7e	AirspeedSelector: improve readability Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-22 14:16:22 +01:00
PX4 BuildBot	1d8808183d	Update submodule ecl to latest Thu Jan 21 17:04:02 UTC 2021 - ecl in PX4/Firmware (`18bac6aff5`): https://github.com/PX4/PX4-ECL/commit/99575d73e10aad06eb7d5b6415ea2db4151c5045 - ecl current upstream: https://github.com/PX4/PX4-ECL/commit/b919f3ddf41ab422d09af91eaea2b2f9729fab13 - Changes: https://github.com/PX4/PX4-ECL/compare/99575d73e10aad06eb7d5b6415ea2db4151c5045...b919f3ddf41ab422d09af91eaea2b2f9729fab13 `b919f3d` 2021-01-21 Paul Riseborough - EKF: Restore protection from extreme innovation values `efb78de` 2021-01-21 Paul Riseborough - EKF: Set position fusion gate option false by default `556a195` 2021-01-19 Paul Riseborough - EKF: Improve handling of non position mode large position innovations	2021-01-21 12:33:25 -05:00
Daniel Agar	18bac6aff5	ROMFS: posix rcS set EXTRA_MIXER_MODE	2021-01-21 11:26:23 -05:00
Daniel Agar	e0b33ba842	mavlink: temporarily disable ACTUATOR_OUTPUT_STATUS stream by default - the presence of this stream appears to be causing the MAVSDK tests to fail and needs to be investigated	2021-01-21 11:25:42 -05:00
Matthias Grob	7cdb9e9412	MulticopterPositionControl: altitude comment typo	2021-01-21 09:43:12 -05:00
Matthias Grob	4ce4fe05c5	BlockLowPass: initialize state in definition	2021-01-21 09:43:12 -05:00
ArthurLamberticus	82d32c7f3f	mavlink: add ACTUATOR_OUTPUT_STATUS stream Co-authored-by: Lise Prunier <lise.prunier@aerialcoboticus.com>	2021-01-21 09:30:43 -05:00
Matthias Grob	4becf74cbc	.gitmodules: adapt submodule names to repo renaming	2021-01-21 11:52:14 +01:00
Matthias Grob	65884960fa	Remove ancient submodules that were accidentally added back without URL in #16471	2021-01-21 10:46:29 +01:00
Hamish Willee	bd00aec936	Parameter markdown use page css for layout	2021-01-21 09:08:26 +01:00
Daniel Agar	9a066959d4	delete empty src/lib/DriverFramework	2021-01-20 14:15:49 -05:00
TheLegendaryJedi	64c857562d	Crazyflie v 21 (#16502 ) Build model name fix. Co-authored-by: TheLegendaryJedi <goncalo.atanasio@gmail.com>	2021-01-20 19:51:45 +01:00
TheLegendaryJedi	dd9b0ded0f	[UPDATE] - Remove duplicate syslink code	2021-01-20 19:51:45 +01:00
TheLegendaryJedi	641665f2e9	[UPDATE] - Workflows and Jenkins CI builds CF21	2021-01-20 19:51:45 +01:00
TheLegendaryJedi	b3d9efedfa	[UPDATE] - Code clean and format	2021-01-20 19:51:45 +01:00
TheLegendaryJedi	e450c5a9d9	[UPDATE] - Crazyflie parameter config	2021-01-20 19:51:45 +01:00
TheLegendaryJedi	40f971c082	[NEW] - bmi088 i2c drivers and crazyflie 2.1 conf	2021-01-20 19:51:45 +01:00
bresch	d7812f83f1	mag_cal: fix race condition causing invalid mag calibration In some cases, the fitness of the optimizer does not shrink at each iteration, causing the "decreasing fitness check" to fail. This stops the optimization and returns with sub-optimal, or unrealistic results.	2021-01-20 10:50:35 -05:00
Beat Küng	b190d98d6d	Jenkinsfile: remove dev-guide metadata deployment dev guide got merged with the user guide.	2021-01-20 10:03:00 -05:00
Mathieu Bresciani	8d8b58efc3	Add logging of mag calibration data (mag_worker_data) Co-authored-by: Julian Kent <julian@auterion.com>	2021-01-20 09:44:45 -05:00
Jari van Ewijk	6a32301ed5	Add NXP FMUK66E build to CI This build was not yet available in the CI. We just got the first hardware and are doing the first tests right now. So far most things seem to work.	2021-01-20 05:52:50 -08:00
Hamish Willee	59a1148aec	Modify airframe gen to use html.escape	2021-01-20 00:22:30 +01:00
Hamish Willee	d2eefbf2fb	Escape < and > in maintainer field	2021-01-20 00:22:30 +01:00
AlexKlimaj	386b56fbce	drivers/imu/bosch/bmi088: Add BMI090L accel ID	2021-01-19 15:49:53 -05:00
Ryan Johnston	d22eef9396	boards: mRo Control Zero F7 fix for voltage/current sensing * Rename GPIO_nVDD_BRICK1v to GPIO_VDD_BRICK1	2021-01-19 15:48:17 -05:00
CUAVcaijie	bed77c2988	add notes	2021-01-19 20:42:58 +01:00
CUAVcaijie	297a428cc0	Fix the case where the flight controller is connected to the battery (charge 100), QGC shows no battery	2021-01-19 20:42:58 +01:00
Ryan Johnston	cea8ad4236	Control Zero F7 - RSSI Fix - SBUS Only/PPM Partial This fixes RSSI for the Control Zero F7 but I have noticed that while this works perfectly for SBUS receivers, for PPM receivers it does not decrease the RSSI visual value in QGC when removing the RC transmitter connection. When a PPM receiver is connected and the connection is lost the autopilot goes into RC Scan Mode (in the RC Update Module) to determine what is connected (even though something already is connected). The main issue with this is that PPM receivers don't go into RC Failsafe but I don't think it is an issue with this autopilot. It looks to be an issue with the RC Update Module and how it is handled at the module level for non I/O coprocessor autopilots. Tested with an X8R (SBUS) and a Dragonlink (PPM) as well as a Dragonlink set to SBUS as the output. SBUS worked as intended. See screenshots below.	2021-01-19 20:42:28 +01:00
Daniel Agar	ac8f4e3c48	mc_pos_control: only update constraints if topic updated - update failsafe constraints	2021-01-19 14:44:42 +01:00
Matthias Grob	39b0c7b2bf	battery: report at least one cell for a connected battery	2021-01-18 17:53:17 +01:00
Matthias Grob	d9954ecaf0	lib/magnetometer_bias_estimator: Add library for online magnetometer calibration on the ground Co-authored-by: bresch <brescianimathieu@gmail.com>	2021-01-18 11:44:58 -05:00
Matthias Grob	36d15ada1c	vscode: do not enable smart case search in workspace settings. This comes down to user preference and there's no particular reason to change this based on the workspace. I found it confusing to have this non-default behavior just for PX4 editing.	2021-01-18 11:33:21 -05:00
Daniel Agar	77b21680fb	sync ctrlalloc boards and add to CI	2021-01-18 11:25:37 -05:00
Daniel Agar	311a2bd3e8	update ctrlalloc airframe location	2021-01-18 11:25:37 -05:00
Daniel Agar	3e5e5ab1d5	control_allocator and angular_velocity_controller throttle parameter_update subscription	2021-01-18 11:25:37 -05:00
Beat Küng	c36340d29a	ActuatorEffectivenessMultirotor: set effectiveness to zero when computing the matrix Just to be on the safe side.	2021-01-18 11:25:37 -05:00
Beat Küng	212ec821b1	control_allocator: set unused actuators to trim instead of min	2021-01-18 11:25:37 -05:00
Beat Küng	3606f86518	control_allocator: ensure unused outputs are initialized to min Mostly important in cases where the ouputs would change (e.g. param change)	2021-01-18 11:25:37 -05:00
Beat Küng	3dad79d8f5	control_allocator: inline one-line setters & getters	2021-01-18 11:25:37 -05:00
Beat Küng	164511a7b5	control_allocator: avoid vector copies and sqrt()	2021-01-18 11:25:37 -05:00
Beat Küng	0e66b0876b	control_allocator: change SequentialDesaturation to existing MC mixer And limit the operations to the number of configured outputs. Only using the number of configured actuators reduces CPU load by ~2% on F7 @1khz.	2021-01-18 11:25:37 -05:00
Beat Küng	308f614735	refactor control_allocator: directly get the effectiveness matrix when updated Reduces stack + RAM usage	2021-01-18 11:25:37 -05:00
Beat Küng	38782029ad	fix control_allocator: set _last_run at the correct place	2021-01-18 11:25:37 -05:00
Beat Küng	0e86ab47f6	fix control_allocator: use 'delete' instead of 'free', guard against out-of-memory	2021-01-18 11:25:37 -05:00
Beat Küng	066464c4e8	control_allocator: remove unused _task_start	2021-01-18 11:25:37 -05:00
Beat Küng	25f3fe8456	fix control_allocator_status: torque_setpoint_achieved and thrust_setpoint_achieved are bool	2021-01-18 11:25:37 -05:00
Julien Lecoeur	343cf5603e	initial control allocation support - control allocation module with multirotor, VTOL standard, and tiltrotor support - angular_velocity_controller - See https://github.com/PX4/PX4-Autopilot/pull/13351 for details Co-authored-by: Silvan Fuhrer <silvan@auterion.com> Co-authored-by: Roman Bapst <bapstroman@gmail.com>	2021-01-18 11:25:37 -05:00
Julian Kent	fc6b61dad1	Try 'min' for units	2021-01-18 16:26:53 +01:00
Julian Kent	d99d52960e	Fix default _rtl_xxx values	2021-01-18 16:26:53 +01:00
Julian Kent	d965f1cbc0	Add rtl_flight_time message	2021-01-18 16:26:53 +01:00
Julian Kent	5a9fe312b5	Fix test failure on rebase: set lpos valid	2021-01-18 16:26:53 +01:00
Julian Kent	af8d178ae5	Fix spurious RTL triggers Two sources: 1. global to local conversion was sometimes giving issues, so do everything in global 2. on startup the RTL didn't check if the home position was valid before processing it	2021-01-18 16:26:53 +01:00
Julian Kent	b5f0a7ea03	Fix RangeRTL test	2021-01-18 16:26:53 +01:00
Julian Kent	5500a84b6a	Add timestamp to RTL message	2021-01-18 16:26:53 +01:00
Julian Kent	f169247bc2	Add RTL topics to ulog default profile	2021-01-18 16:26:53 +01:00
Julian Kent	67082ccb2b	Test the vehicle type parameter usage	2021-01-18 16:26:53 +01:00
Julian Kent	100c64c790	Test the navigator side, and fix another trig edge case	2021-01-18 16:26:53 +01:00
Julian Kent	a736ba2435	Minor tweak in wind handling	2021-01-18 16:26:53 +01:00
Julian Kent	e847ef1a4d	Add trig tests for wind calculations, and fix bugs / edge cases	2021-01-18 16:26:53 +01:00
Julian Kent	7482413005	Add Range-based RTL	2021-01-18 16:26:53 +01:00
Ricardo Marques	e817fb83f5	pwm_extra: Add PWM_EXTRA parameters. Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com>	2021-01-18 15:43:28 +01:00
Ricardo Marques	7a8203bf19	Enable third mixer when using UAVCAN for main mixer.	2021-01-18 15:43:28 +01:00
Matthias Grob	02c0f08060	flashfs: fix alignment ambiguity Instead of ignoring the warnings. Thanks to @Ole2mail and @yuhaim for the suggestions.	2021-01-18 14:19:29 +01:00
TSC21	920d6d84b5	rtps: increase non-alias ID range by reducing the alias space ID	2021-01-18 09:33:14 +01:00
TSC21	54486b995e	uorb_rtps_message_ids: add required topics to enable offboard control from DDS	2021-01-18 09:33:14 +01:00
Daniel Agar	dab90f86a4	drivers/gps: limit to ublox only flash constrained targets	2021-01-18 09:30:01 +01:00
Ricardo Marques	78c05275d2	tailsitter: Fix differential thrust in FW mode. Signed-off-by: Ricardo Marques <marques.ricardo17@gmail.com>	2021-01-18 09:04:27 +01:00
Daniel Agar	e4d223f098	boards: CUAV Nora fix BMI088 orientation	2021-01-17 23:19:18 -05:00
Daniel Agar	1ec10bfcc6	boards: disable CONFIG_ARMV7M_LAZYFPU again (#16573 ) - this was causing hard faults on the CUAV Nora and possibly other boards, disabling everywhere until we fully understand the root cause	2021-01-17 22:40:21 -05:00
Daniel Agar	3abe2e82d1	mpu9250: create dedicated i2c version and delete legacy driver - update crazyflie and bbblue usage - eventually this should be merged with the SPI version after interface changes are made	2021-01-17 16:11:19 -05:00
Daniel Agar	c9a7894230	boards: bitcraze crazyflie fix boot - add console to USART3 for now	2021-01-17 16:11:19 -05:00
David Jablonski	2ed48f041c	mavlink: Templated SCALED_IMU mavlink stream	2021-01-17 12:32:51 -05:00
Matthias Grob	031bbb7f3e	FlightModeManager: handle commands all the time Moving the command handling to a separate function that gets called whenever a vehicle command is available to always react on commands and not just when already a task is running. This solves e.g. commanding an Orbit when in Staibilized.	2021-01-17 15:46:30 +01:00
Matthias Grob	df54f938ef	FlightModeManager: correct setpoint struct initialization It is important that setpoints get initialized with NAN and not overwritten if specifically set by a successful flight task execution. It's then clear if any setpoints were intentionally and successfully set. Crucial for the position controller's emergency failsafe and the seamless setpoint handover to the next flight task.	2021-01-17 15:46:30 +01:00
Matthias Grob	63db61a700	FlightModeManager: correct acceleration setpoint feedback naming The variable was never renamed correctly in this in between layer when we switched from normalized thrust to acceleration setpoints.	2021-01-17 15:46:30 +01:00
Daniel Agar	4d7b875ee2	flight_mode_manager: merge with flight_tasks	2021-01-17 15:46:30 +01:00
RomanBapst	b1e442b830	vehicle_local_position: added bitfield for terrain estimate sensor info - indicate how the distance to the bottom is estimated as this is important to know in the context Signed-off-by: RomanBapst <bapstroman@gmail.com>	2021-01-17 12:06:59 +01:00
bresch	eaa2ae9dc9	ekf2: add param to enable synthetic mag Z fusion mode	2021-01-17 12:06:59 +01:00
bresch	983234e29d	ekf2: add param to set rng check hysteresis	2021-01-17 12:06:59 +01:00
Silvan Fuhrer	195a900ecf	change default of RTL_LAND_DELAY to 0 Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-17 12:05:30 +01:00
Silvan Fuhrer	037c821142	ROMFS: increase max distance between waypoints for VTOL and FW to 5km Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2021-01-17 12:05:30 +01:00
JacobCrabill	8e8497ff77	heater: px4io: Add support for heaters on IO MCU	2021-01-17 12:03:53 +01:00
Jaeyoung-Lim	653fef56de	Update sitl_gazebo	2021-01-17 11:18:11 +01:00
Jaeyoung-Lim	af1b4c473e	Start user camera plugin This commit starts the gazebo_user_camera_plugin together with the gzclient, so that it is always following the vehicle	2021-01-17 11:18:11 +01:00
Matthias Grob	8a7878f65c	arch.sh: update zsh support, latest ARM GCC, gazebo AUR	2021-01-17 10:58:39 +01:00