Add DeviceBusType_MAVLINK

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
2026-05-28 16:20:04 +08:00 · 2021-01-13 10:18:31 +01:00
230 changed files with 1767 additions and 4110 deletions
@@ -1,59 +0,0 @@
-name: NuttX UAVCAN firmware
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    container: px4io/px4-dev-nuttx-focal:2020-11-18
-    strategy:
-      matrix:
-        config: [
-          cuav_can-gps-v1_default,
-          #nxp_ucans32k146_default,
-          px4_fmu-v4_cannode
-          ]
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{secrets.ACCESS_TOKEN}}
-
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: ${{matrix.config}}-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 6" >> ~/.ccache/ccache.conf
-          echo "max_size = 400M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-
-    - name: make ${{matrix.config}}
-      run: make ${{matrix.config}}
-
-    - name: ccache post-run
-      run: ccache -s
-
-    - name: Upload px4 package
-      uses: actions/upload-artifact@v2
-      with:
-        name: px4_cannode_${{matrix.config}}
-        path: build/${{matrix.config}}/*.uavcan.bin
@@ -66,11 +66,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cuav_can-gps-v1_default
-    cuav_can-gps-v1_canbootloader:
-      short: cuav_can-gps-v1_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_can-gps-v1_canbootloader
    cuav_nora_default:
      short: cuav_nora
      buildType: MinSizeRel
@@ -16,31 +16,20 @@ then
 	param set FW_LND_ANG 8
 	param set FW_THR_LND_MAX 0

+	param set FW_L1_PERIOD 15
+
+	param set FW_P_TC 0.5
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05
+
+	param set FW_R_TC 0.7
+	param set FW_RR_FF 0.20
+	param set FW_RR_I 0.02
+	param set FW_RR_P 0.22
+
 	param set FW_L1_PERIOD 12

-	param set FW_MAN_P_MAX 30
-
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PR_FF 0.2
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_THR_CRUISE 0.25
-
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
-
 	param set FW_W_EN 1

 	param set MIS_LTRMIN_ALT 30
@@ -9,46 +9,40 @@

 if [ $AUTOCNF = yes ]
 then
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_FF 0.2
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
+
 	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.25
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
+	param set FW_RR_P 0.01

 	param set MC_ROLLRATE_P 0.3
-	param set MC_YAW_P 1.6

+	param set MIS_LTRMIN_ALT 10
 	param set MIS_TAKEOFF_ALT 10
+	param set MIS_YAW_TMT 10

 	param set MPC_ACC_HOR_MAX 2
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_HOVER 0.58
+	param set MPC_TKO_SPEED 1
 	param set MPC_XY_P 0.8
 	param set MPC_XY_VEL_P_ACC 3
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_Z_VEL_MAX_DN 1.5

 	param set NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80

-	param set VT_FWD_THRUST_EN 4
+	param set VT_F_TRANS_DUR 5
 	param set VT_F_TRANS_THR 0.75
+	param set VT_ARSP_TRANS 16
 	param set VT_MOT_ID 1234
 	param set VT_FW_MOT_OFFID 1234
-	param set VT_B_TRANS_DUR 8
 	param set VT_TYPE 2
+	param set VT_B_TRANS_DUR 8

 fi

@@ -9,31 +9,23 @@

 if [ $AUTOCNF = yes ]
 then
+	param set FW_AIRSPD_MAX 25
+	param set FW_AIRSPD_MIN 14
+	param set FW_AIRSPD_TRIM 16
 	param set FW_L1_PERIOD 12
-	param set FW_MAN_P_MAX 30
-	param set FW_PR_I 0.2
-	param set FW_PR_P 0.3
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.33
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2

 	param set MC_ROLLRATE_P 0.3

+	param set MIS_YAW_TMT 10
+
 	param set MPC_ACC_HOR_MAX 2
-	param set MPC_XY_P 0.8
-	param set MPC_XY_VEL_P_ACC 3
-	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_THR_MIN 0.3
+	param set MPC_XY_P 0.15
 	param set MPC_XY_VEL_D_ACC 0.1
+	param set MPC_XY_VEL_P_ACC 1
+	param set MPC_Z_VEL_MAX_DN 1.5
+	param set MPC_Z_VEL_P_ACC 16

 	param set NAV_ACC_RAD 5
 	param set NAV_LOITER_RAD 80
@@ -14,20 +14,9 @@ then
 	param set FW_PR_FF 0.2
 	param set FW_PR_I 0.4
 	param set FW_PR_P 0.9
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
+	param set FW_PSP_OFF 3
 	param set FW_RR_FF 0.1
 	param set FW_RR_P 0.3
-	param set FW_THR_CRUISE 0.38
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2

 	param set MC_YAW_P 1.6

@@ -39,10 +28,10 @@ then
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_D_ACC 0.1

-	param set NAV_ACC_RAD 5
-	param set NAV_LOITER_RAD 80
+	param set NAV_LOITER_RAD 100

 	param set VT_B_TRANS_DUR 8
+	param set VT_ELEV_MC_LOCK 0
 	param set VT_FWD_THRUST_EN 4
 	param set VT_MOT_ID 1234
 	param set VT_TILT_TRANS 0.6
@@ -9,14 +9,12 @@

 if [ $AUTOCNF = yes ]
 then
-	param set MC_PITCHRATE_P 0.1000
-	param set MC_PITCHRATE_I 0.0400
-	param set MC_PITCHRATE_D 0.0010
-	param set MC_PITCH_P 9.0
-	param set MC_ROLLRATE_P 0.1000
-	param set MC_ROLLRATE_I 0.0400
-	param set MC_ROLLRATE_D 0.0010
-	param set MC_ROLL_P 9.0
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCH_P 6.0
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLL_P 6.0
 	param set MPC_XY_VEL_I_ACC 4
 	param set MPC_XY_VEL_P_ACC 3

@@ -51,4 +51,4 @@ set MAV_TYPE 19

 set MIXER vtol_tailsitter_duo

-set PWM_OUT 123456
+set PWM_OUT 1234
@@ -54,6 +54,7 @@ then
 	param set FW_T_SINK_MAX 3
 	param set FW_T_SINK_MIN 1
 	param set FW_T_VERT_ACC 6
+	param set FW_T_HRATE_P 0.1
 	param set FW_THR_CRUISE 0.70
 	param set FW_THR_SLEW_MAX 1
 	param set FW_MAN_P_MAX 30
@@ -49,6 +49,8 @@ then
 	param set FW_T_HRATE_FF 0
 	param set FW_T_SINK_MAX	15
 	param set FW_T_SINK_MIN	3
+	param set FW_T_THRO_CONST	6
+	param set FW_T_TIME_CONST	6
 	param set FW_YR_I	0.1
 	param set FW_YR_P	0.15

@@ -1,49 +0,0 @@
-#!/bin/sh
-#
-# @name ThunderFly TF-G2
-#
-# @type Autogyro
-# @class Autogyro
-#
-# @output MAIN2 rotor_head_L
-# @output MAIN3 rotor_head_R
-# @output MAIN4 rudder
-# @output MAIN5 throttle
-#
-#
-# @url https://github.com/ThunderFly-aerospace/TF-G2/
-# @maintainer ThunderFly s.r.o., Roman Dvorak <dvorakroman@thunderfly.cz>
-#
-# @board px4_fmu-v2 exclude
-# @board intel_aerofc-v1 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set BAT_CAPACITY 3300
-	param set BAT_N_CELLS 3
-
-	param set PWM_AUX_RATE 50
-	param set PWM_RATE 50
-
-	param set SENS_BOARD_ROT 4
-
-	param set FW_AIRSPD_MAX 20
-	param set FW_AIRSPD_MIN 7
-	param set FW_AIRSPD_TRIM 13
-	param set FW_THR_CRUISE 0.8
-
-	param set FW_MAN_P_MAX 25
-	param set FW_MAN_R_MAX 25
-	param set FW_PR_I 0.02
-	param set FW_R_LIM 40
-	param set FW_P_LIM_MAX 25
-	param set FW_P_LIM_MIN -5
-	param set FW_P_RMAX_NEG 20
-fi
-
-set MIXER TF-G2
-set MIXER_AUX pass
@@ -146,9 +146,7 @@ px4_add_romfs_files(

 	16001_helicopter

-	# [17000, 17999] Autogyro
 	17002_TF-AutoG2
-	17003_TF-G2

 	24001_dodeca_cox

@@ -183,8 +183,8 @@ else
 	then
 		if param compare SYS_AUTOCONFIG 1
 		then
-			# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
-			param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT* SYS_PARAM_VER
+			# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
+			param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
 		fi

 		set AUTOCNF yes
@@ -1,39 +0,0 @@
-TF-G2 autogyro mixer
-==================================================
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-CH1: empty - fixing cuav nano jittering of 1st output. 
-Z:
-
-
-CH2, 3: rotor-head mixer
-------------
-Two scalers total (output, roll).
-
-M: 2
-O: 10000 10000 0 -10000 10000
-S: 0 0 -10000 -10000 0 -10000 10000
-S: 0 1  10000  10000      0 -10000  10000
-
-M: 2
-O: 10000 10000 0 -10000 10000
-S: 0 0 -10000 -10000 0 -10000 10000
-S: 0 1 -10000 -10000      0 -10000  10000
-
-
-CH4: Rudder mixer
------------
-Two scalers total (output, yaw).
-
-M: 1
-S: 0 2  10000  10000      0 -10000  10000
-
-
-CH5: Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
@@ -12,8 +12,9 @@ if bst start -X
 then
 fi

-board_adc start
-system_power start
+if board_adc start
+then
+fi

 if sdp3x_airspeed start -X
 then
@@ -182,7 +182,7 @@ class FirmwareImage(object):
            self._contents.seek(0, os.SEEK_END)
            self._length = self._contents.tell()
            if self._padding:
-                fill = self._padding - (self._length % self._padding)
+                fill = self._length % self._padding
                if fill:
                    self._length += fill
                self._padding = fill
@@ -45,7 +45,6 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -4,7 +4,6 @@
 #------------------------------------------------------------------------------

 board_adc start
-system_power start

 # Internal I2C bus
 hmc5883 -T -I -R 12 start
@@ -72,24 +72,39 @@
 #define ADC_RC_RSSI_CHANNEL		11
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	15

-/* Define Battery 1 Voltage Divider and A per V */
+/* Define Battery 1 Voltage Divider and A per V
+ */
+
 #define BOARD_BATTERY1_V_DIV   (10.177939394f)
 #define BOARD_BATTERY1_A_PER_V (15.391030303f)

+/* Power supply control and monitoring GPIOs */
+// #define GPIO_VDD_5V_PERIPH_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)
+// #define GPIO_VDD_BRICK_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
+// #define GPIO_VDD_SERVO_VALID	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7)
+// #define GPIO_VDD_3V3_SENSORS_EN	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
+// #define GPIO_VDD_5V_HIPOWER_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN10)
+// #define GPIO_VDD_5V_PERIPH_OC	(GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN15)
+
 /* Tone alarm output */
 #define TONE_ALARM_TIMER	14	/* timer 14 */
 #define TONE_ALARM_CHANNEL	1	/* channel 1 */
 #define GPIO_TONE_ALARM_IDLE	(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN7)
 #define GPIO_TONE_ALARM		(GPIO_ALT|GPIO_AF9|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN7)

-/* AUX PWMs */
+/* AUX PWMs
+ */
 #define DIRECT_PWM_OUTPUT_CHANNELS	8
 #define DIRECT_INPUT_TIMER_CHANNELS	8

-/* USB OTG FS */
+/* 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)


+
 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer8 for the HRT */
 #define HRT_TIMER_CHANNEL	2	/* use capture/compare channel */
@@ -128,24 +143,46 @@
 #define SPEKTRUM_RX_AS_UART()         px4_arch_configgpio(GPIO_USART1_RX)
 #define SPEKTRUM_OUT(_one_true)       px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))

+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+#define BOARD_ADC_BRICK_VALID   (1)
+#define BOARD_ADC_SERVO_VALID   (1)
+#define BOARD_ADC_PERIPH_5V_OC  (0)
+#define BOARD_ADC_HIPOWER_5V_OC (0)

 #define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS

 /* This board provides a DMA pool and APIs */
 #define BOARD_DMA_ALLOC_POOL_SIZE 5120

+/* This board provides the board_on_reset interface */
+
 #define BOARD_HAS_ON_RESET 1

 __BEGIN_DECLS

+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
 #ifndef __ASSEMBLY__

+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
 /****************************************************************************************************
 * Name: stm32_spiinitialize
 *
 * Description:
- *   Called to configure SPI chip select GPIO pins for the board.
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
 *
 ****************************************************************************************************/

@@ -153,8 +190,10 @@ extern void stm32_spiinitialize(void);

 extern void stm32_usbinitialize(void);

+
 #define board_peripheral_reset(ms)

+
 #include <px4_platform_common/board_common.h>

 #endif /* __ASSEMBLY__ */
@@ -49,6 +49,11 @@

 #include <stm32_gpio.h>

+/* Configuration ************************************************************************************/
+
+#define BOARD_HAS_NBAT_V              1 // Only one Vbat to ADC
+#define BOARD_HAS_NBAT_I              0 // No Ibat ADC
+
 /*
 * ADC channels
 *
@@ -83,14 +88,18 @@
 #define ADC_CHANNELS \
 	((1 << ADC_BATTERY1_VOLTAGE_CHANNEL))

-/* Define Battery 1 Voltage Divider and A per V */
+/* Define Battery 1 Voltage Divider and A per V
+ */
+
 #define BOARD_BATTERY1_V_DIV         (10.133333333f)
 #define BOARD_BATTERY1_A_PER_V       (36.367515152f)

 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
+
 #define BOARD_ADC_OPEN_CIRCUIT_V               (5.6f)

-/* PWM */
+/* PWM
+ */
 #define DIRECT_PWM_OUTPUT_CHANNELS  9
 #define DIRECT_INPUT_TIMER_CHANNELS  9

@@ -101,6 +110,7 @@
 #define HRT_TIMER_CHANNEL    1  /* use capture/compare channel 3 */

 /* RC Serial port */
+
 #define RC_SERIAL_PORT                     "/dev/ttyS4"

 /* Power switch controls ******************************************************/
@@ -108,9 +118,27 @@
 #define SDIO_SLOTNO                    0  /* Only one slot */
 #define SDIO_MINOR                     0

+/* SD card bringup does not work if performed on the IDLE thread because it
+ * will cause waiting.  Use either:
+ *
+ *  CONFIG_LIB_BOARDCTL=y, OR
+ *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
+ */
+
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && !defined(CONFIG_BOARD_INITTHREAD)
+#  warning SDIO initialization cannot be perfomed on the IDLE thread
+#endif
+
+/* AV-X_V1 never powers off the Servo rail */
+
+#define BOARD_ADC_SERVO_VALID     (1)
+
 #define ADC_BATTERY_VOLTAGE_CHANNEL  0
 #define ADC_BATTERY_CURRENT_CHANNEL  1 // TODO: review

+#define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
+#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_HIPOWER_OC))
+
 #define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS

 /* This board provides a DMA pool and APIs */
@@ -109,6 +109,13 @@
 */
 #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 */
@@ -116,7 +123,9 @@
 #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 */
+/* PWM
+*/
+
 #define DIRECT_PWM_OUTPUT_CHANNELS	4

 /* This board overrides the defaults by providing
@@ -27,25 +27,45 @@ px4_add_board(
 	ARCHITECTURE cortex-m4
 	ROMFSROOT cannode
 	UAVCAN_INTERFACES 1
+	SERIAL_PORTS
+		GPS1:/dev/ttyS1
 	DRIVERS
+		#adc
 		barometer/ms5611
 		bootloaders
 		gps
 		magnetometer/rm3100
-		safety_button
-		tone_alarm
+		#safety_button
+		#tone_alarm
 		uavcannode
 	MODULES
-		load_mon
+		#ekf2
+		#load_mon
+		#sensors
+		#temperature_compensation
 	SYSTEMCMDS
-		i2cdetect
-		led_control
+		#bl_update
+		#dmesg
+		#dumpfile
+		#esc_calib
+		#hardfault_log
+		#i2cdetect
+		#led_control
+		#mft
+		#mixer
+		#motor_ramp
+		#motor_test
+		#mtd
+		#nshterm
 		param
 		perf
 		reboot
+		#reflect
+		#sd_bench
+		#shutdown
 		top
 		topic_listener
-		tune_control
+		#tune_control
 		ver
 		work_queue
 )
@@ -3,7 +3,7 @@
 # board sensors init
 #------------------------------------------------------------------------------

-gps start -d /dev/ttyS1 -g 38400 -p ubx
+#board_adc start

 # Internal SPI
 ms5611 -s start
@@ -58,8 +58,8 @@
 * LSE - not installed
 */

-#define STM32_BOARD_USEHSE      1
-#define STM32_BOARD_XTAL        16000000
+#define STM32_BOARD_USEHSE		1
+#define STM32_BOARD_XTAL		8000000
 #define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL

 #define STM32_HSI_FREQUENCY     16000000ul
@@ -128,22 +128,40 @@

 /* Alternate function pin selections ************************************************/

-/* UARTs */
+/*
+ * UARTs.
+ */
 #define GPIO_USART1_RX	GPIO_USART1_RX_2
 #define GPIO_USART1_TX	GPIO_USART1_TX_2

 #define GPIO_USART2_RX	GPIO_USART2_RX_1
 #define GPIO_USART2_TX	GPIO_USART2_TX_1

-/* CAN */
+/*
+ * CAN
+ *
+ * CAN1 is routed to the onboard transceiver.
+ */
 #define GPIO_CAN1_RX	GPIO_CAN1_RX_2
 #define GPIO_CAN1_TX	GPIO_CAN1_TX_2

-/* I2C */
+/*
+ * 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_I2C3_SCL		GPIO_I2C3_SCL_2
 #define GPIO_I2C3_SDA		GPIO_I2C3_SDA_2
+#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_PORTB|GPIO_PIN4)

-/* SPI */
+/*
+ * SPI
+ *
+ * There are sensors on SPI1, and SPI2 is connected to the FRAM.
+ */
 #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)
@@ -71,15 +71,13 @@ SECTIONS
 	.text : {
 		_stext = ABSOLUTE(.);
 		*(.vectors)
-		. = ALIGN(8);
-      /*
-       * This section positions the app_descriptor_t used
-       * by the make_can_boot_descriptor.py tool to set
-       * the application image's descriptor so that the
-       * uavcan bootloader has the ability to validate the
-       * image crc, size etc
-      */
-    KEEP(*(.app_descriptor))
+		. = ALIGN(32);
+		/*
+		This signature provides the bootloader with a way to delay booting
+		*/
+		_bootdelay_signature = ABSOLUTE(.);
+		FILL(0xffecc2925d7d05c5)
+		. += 8;
 		*(.text .text.*)
 		*(.fixup)
 		*(.gnu.warning)
@@ -32,7 +32,6 @@
 ############################################################################

 if("${PX4_BOARD_LABEL}" STREQUAL  "canbootloader")
-
 	add_library(drivers_board
 		boot_config.h
 		boot.c
@@ -48,17 +48,16 @@
 #include <stdint.h>

 /* BUTTON *************************************************************************** */
-#define BUTTON_SAFETY         /* PB3  */  (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN3|GPIO_EXTI)
+#define BUTTON_BOOT0n   (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTB|GPIO_PIN3|GPIO_EXTI)
+#define IRQBUTTON       BUTTON_BOOT0_BIT

-#define GPIO_RGB_S            /* PB0  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN0)
 /* CAN Silence
 *
 * Silent mode control \ ESC Mux select
 */
 #define GPIO_CAN1_SILENT_S0  /* PB5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN5)
+#define GPIO_CAN_CTRL  /* PB5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_PORTB|GPIO_PIN5|GPIO_OUTPUT_CLEAR)

-#define GPIO_LED_SAFETY              (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
-#define GPIO_BTN_SAFETY              (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN3)

 /* Tone alarm output. */
 #define TONE_ALARM_TIMER             2    /* timer 2 */
@@ -65,7 +65,7 @@ __EXPORT void stm32_boardinitialize(void)
 	putreg32(getreg32(STM32_RCC_APB1ENR) | RCC_APB1ENR_CAN1EN, STM32_RCC_APB1ENR);
 	stm32_configgpio(GPIO_CAN1_RX);
 	stm32_configgpio(GPIO_CAN1_TX);
-	stm32_configgpio(GPIO_CAN1_SILENT_S0);
+	stm32_configgpio(GPIO_CAN_CTRL);
 	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
 	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);

@@ -155,33 +155,33 @@ size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
 #define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}

 typedef begin_packed_struct struct led_t {
-	uint8_t red;
-	uint8_t green;
-	uint8_t blue;
+	uint16_t red    :       5;
+	uint16_t green  :       6;
+	uint16_t blue   :       5;
 	uint8_t hz;
 } end_packed_struct led_t;

 static const  led_t i2l[] = {

-	led(0, off,                             0,     0,     0,     0),
-	led(1, reset,                          128,   128,   128,   30),
-	led(2, autobaud_start,                  0,   128,     0,     1),
-	led(3, autobaud_end,                    0,   128,     0,     2),
-	led(4, allocation_start,                0,     0,    64,     2),
-	led(5, allocation_end,                  0,   128,    64,     3),
-	led(6, fw_update_start,                32,   128,    64,     3),
-	led(7, fw_update_erase_fail,           32,   128,    32,     3),
-	led(8, fw_update_invalid_response,     64,     0,     0,     1),
-	led(9, fw_update_timeout,              64,     0,     0,     2),
-	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
-	led(b, jump_to_app,                     0,   128,     0,    10),
+	led(0, off,                             0,    0,    0,     0),
+	led(1, reset,                          10,   63,   31,   255),
+	led(2, autobaud_start,                  0,   63,    0,     1),
+	led(3, autobaud_end,                    0,   63,    0,     2),
+	led(4, allocation_start,                0,    0,   31,     2),
+	led(5, allocation_end,                  0,   63,   31,     3),
+	led(6, fw_update_start,                15,   63,   31,     3),
+	led(7, fw_update_erase_fail,           15,   63,   15,     3),
+	led(8, fw_update_invalid_response,     31,    0,    0,     1),
+	led(9, fw_update_timeout,              31,    0,    0,     2),
+	led(a, fw_update_invalid_crc,          31,    0,    0,     4),
+	led(b, jump_to_app,                     0,   63,    0,    10),

 };

 void board_indicate(uiindication_t indication)
 {
-	rgb_led(i2l[indication].red,
-		i2l[indication].green,
-		i2l[indication].blue,
+	rgb_led(i2l[indication].red << 3,
+		i2l[indication].green << 2,
+		i2l[indication].blue << 3,
 		i2l[indication].hz);
 }
@@ -101,7 +101,7 @@
 #define OPT_RESTART_TIMEOUT_MS          20000

 /* Reserved for the Booloader */
-#define OPT_BOOTLOADER_SIZE_IN_K        (1024*64)
+#define OPT_BOOTLOADER_SIZE_IN_K        (1024*8)

 /* Reserved for the application out of the total
 * system flash minus the BOOTLOADER_SIZE_IN_K
@@ -132,5 +132,9 @@

 /* Bootloader Option*****************************************************************
 *
+ *   GPIO      Function                                     MPU        Board
+ *                                                          Pin #      Name
+ * -- ----- --------------------------------             ----------------------------
+ *  *  PC[09] PC9/TIM3_CH4                                     40       BOOT0
 */
-#define GPIO_GETNODEINFO_JUMPER (BUTTON_SAFETY & ~GPIO_EXTI)
+#define GPIO_GETNODEINFO_JUMPER (BUTTON_BOOT0n&~(GPIO_EXTI))
@@ -90,9 +90,6 @@ stm32_boardinitialize(void)

 	stm32_configgpio(GPIO_CAN1_SILENT_S0);

-	stm32_configgpio(GPIO_LED_SAFETY);
-	stm32_configgpio(GPIO_BTN_SAFETY);
-
 	// Configure SPI all interfaces GPIO & enable power.
 	stm32_spiinitialize();
 }
@@ -39,83 +39,17 @@
 #include <arch/board/board.h>

 #include <hardware/stm32_tim.h>
-#include <dwt.h>
-#include <nvic.h>

 #include "led.h"

-#define TMR_BASE        STM32_TIM1_BASE
-#define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
+#define TMR_BASE        STM32_TIM3_BASE
+#define TMR_FREQUENCY   STM32_APB1_TIM3_CLKIN
 #define TMR_REG(o)      (TMR_BASE+(o))

-#define LED_COUNT       8 // Eight LEDs in ring
-
-typedef union {
-	uint8_t  grb[3];
-	uint32_t l;
-} led_data_t;
-
-static  uint8_t off[] =  {0, 0, 0};
-
-#define REG(_addr)       (*(volatile uint32_t *)(_addr))
-#define rDEMCR           REG(NVIC_DEMCR)
-#define rDWT_CTRL        REG(DWT_CTRL)
-#define rDWT_CNT         REG(DWT_CYCCNT)
-#define PORT_B           REG(STM32_GPIOB_ODR)
-#define D0               REG(STM32_GPIOB_ODR) &= ~1;
-#define D1               REG(STM32_GPIOB_ODR) |= 1;
-
-#define DWT_DEADLINE(t)  rDWT_CNT + (t)
-#define DWT_WAIT(v, D)   while((rDWT_CNT - (v)) < (D));
-
-#define T0H              (STM32_SYSCLK_FREQUENCY/3333333)
-#define T1H              (STM32_SYSCLK_FREQUENCY/1666666)
-#define TW               (STM32_SYSCLK_FREQUENCY/800000)
-
-static void setled(uint8_t *p, int count)
-{
-	rDEMCR    |= NVIC_DEMCR_TRCENA;
-	rDWT_CTRL |= DWT_CTRL_CYCCNTENA_MASK;
-
-	while (count--) {
-		uint8_t l = *p++;
-		uint32_t  deadline = DWT_DEADLINE(TW);
-
-		for (uint32_t mask = (1 << 7);  mask != 0;  mask >>= 1) {
-			DWT_WAIT(deadline, TW);
-			deadline = rDWT_CNT;
-			D1;
-
-			if (l & mask) {
-				DWT_WAIT(deadline, T1H);
-
-			} else {
-				DWT_WAIT(deadline, T0H);
-			}
-
-			D0;
-		}
-
-		DWT_WAIT(deadline, TW);
-	}
-}
-
-
-static led_data_t led_data = {0};
-
-static int timerInterrupt(int irq, void *context, void *arg)
-{
-	putreg16(~getreg16(TMR_REG(STM32_GTIM_SR_OFFSET)), TMR_REG(STM32_GTIM_SR_OFFSET));
-
-	static int d2 = 1;
-	setled((d2++ & 1) ? led_data.grb : off, sizeof(led_data.grb));
-	return 0;
-}
-
 void rgb_led(int r, int g, int b, int freqs)
 {
 	long fosc = TMR_FREQUENCY;
-	long prescale = 1536;
+	long prescale = 2048;
 	long p1s = fosc / prescale;
 	long p0p5s  = p1s / 2;
 	uint16_t val;
@@ -124,15 +58,8 @@ void rgb_led(int r, int g, int b, int freqs)
 	if (!once) {
 		once = 1;

-		stm32_configgpio(GPIO_RGB_S);
-
-		for (int i = 0; i < LED_COUNT; i++) {
-			setled(off, sizeof(off));
-		}
-
-		/* Enable Clock to Block */
-
-		modifyreg32(STM32_RCC_APB2ENR, 0, RCC_APB2ENR_TIM1EN);
+		/* Enabel Clock to Block */
+		modifyreg32(STM32_RCC_APB1ENR, 0, RCC_APB1ENR_TIM3EN);

 		/* Reload */
 		val = getreg16(TMR_REG(STM32_BTIM_EGR_OFFSET));
@@ -145,21 +72,28 @@ void rgb_led(int r, int g, int b, int freqs)
 		/* Enable STM32_TIM_SETMODE*/
 		putreg16(ATIM_CR1_CEN | ATIM_CR1_ARPE, TMR_REG(STM32_BTIM_CR1_OFFSET));

-		putreg32(p0p5s + 1, TMR_REG(STM32_BTIM_ARR_OFFSET));

+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC1M_SHIFT) | ATIM_CCMR1_OC1PE |
+			 (ATIM_CCMR_MODE_PWM1 << ATIM_CCMR1_OC2M_SHIFT) | ATIM_CCMR1_OC2PE, TMR_REG(STM32_GTIM_CCMR1_OFFSET));
+		putreg16((ATIM_CCMR_MODE_PWM1 << ATIM_CCMR2_OC3M_SHIFT) | ATIM_CCMR2_OC3PE, TMR_REG(STM32_GTIM_CCMR2_OFFSET));
+		putreg16(ATIM_CCER_CC3E | ATIM_CCER_CC3P |
+			 ATIM_CCER_CC2E | ATIM_CCER_CC2P |
+			 ATIM_CCER_CC1E | ATIM_CCER_CC1P, TMR_REG(STM32_GTIM_CCER_OFFSET));

-		irq_attach(STM32_IRQ_TIM1CC, timerInterrupt, NULL);
-		up_enable_irq(STM32_IRQ_TIM1CC);
-		putreg16(GTIM_DIER_CC1IE, TMR_REG(STM32_GTIM_DIER_OFFSET));
+		// TODO: verify
+		stm32_configgpio(GPIO_TIM3_CH1OUT_1);
+		stm32_configgpio(GPIO_TIM3_CH2OUT_1);
+		stm32_configgpio(GPIO_TIM3_CH3OUT_1);
 	}

-	long p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
-	putreg32(p + 1, TMR_REG(STM32_BTIM_ARR_OFFSET));
-	putreg32(p, TMR_REG(STM32_GTIM_CCR1_OFFSET));
-	led_data.grb[0] = g;
-	led_data.grb[1] = r;
-	led_data.grb[2] = b;
-	setled(led_data.grb, sizeof(led_data.grb));
+	long p  = freqs == 0 ? p1s : p1s / freqs;
+	putreg32(p, TMR_REG(STM32_BTIM_ARR_OFFSET));
+
+	p  = freqs == 0 ? p1s + 1 : p0p5s / freqs;
+
+	putreg32((r * p) / 255, TMR_REG(STM32_GTIM_CCR1_OFFSET));
+	putreg32((g * p) / 255, TMR_REG(STM32_GTIM_CCR2_OFFSET));
+	putreg32((b * p) / 255, TMR_REG(STM32_GTIM_CCR3_OFFSET));

 	val = getreg16(TMR_REG(STM32_BTIM_CR1_OFFSET));

@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2017-2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2015 PX4 Development Team. All rights reserved.
 *       Author: David Sidrane <david_s5@nscdg.com>
 *
 * Redistribution and use in source and binary forms, with or without
@@ -37,67 +37,28 @@
 ****************************************************************************/

 #include <nuttx/config.h>
-#include "nuttx/arch.h"
-#include "arm_internal.h"

+#include <nuttx/init.h>
+#include <nuttx/arch.h>
+#include <nuttx/kmalloc.h>

-/****************************************************************************
- * Pre-processor Definitions
- ****************************************************************************/
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <syslog.h>
+#include <errno.h>

-/****************************************************************************
- * Private Types
- ****************************************************************************/
+#include <nuttx/board.h>

-/****************************************************************************
- * Private Function Prototypes
- ****************************************************************************/
+#include "up_internal.h"

-/****************************************************************************
- * Private Data
- ****************************************************************************/
-
-/****************************************************************************
- * Public Data
- ****************************************************************************/
-
-/****************************************************************************
- * Private Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-__EXPORT int __wrap_nxsem_wait(void *sem);
-__EXPORT int __wrap_nxsem_post(void *sem);
-
-int main(int argc, char **argv);
-/****************************************************************************
- * Name: nxsem_wait and nxsem_post
- *
- * Description:
- *   These functions hijacks by the way of a compile time wrapper the systems
- *   sem_wait and sem_post functions.
- *
- ****************************************************************************/
-
-int __wrap_nxsem_wait(void *sem)
-{
-	return 0;
-}
-
-int __wrap_nxsem_post(void *sem)
-{
-	return 0;
-}
+volatile dq_queue_t g_readytorun;

 /****************************************************************************
 * Public Functions
 ****************************************************************************/
 void timer_init(void);
-int __wrap_arm_svcall(int irq, FAR void *context);
-__EXPORT void __wrap_exit(int status);
-
+int __wrap_up_svcall(int irq, FAR void *context);

 /****************************************************************************
 * Name: os_start
@@ -144,7 +105,7 @@ inline static void irq_stack_collor(void *pv, unsigned int nwords)
 }
 #endif

-void __wrap_nx_start(void)
+void os_start(void)
 {
 #ifdef CONFIG_STACK_COLORATION
 	/* Color the irq stack */
@@ -161,7 +122,7 @@ void __wrap_nx_start(void)
 #if !defined(CONFIG_SUPPRESS_INTERRUPTS) && !defined(CONFIG_SUPPRESS_TIMER_INTS) && \
    !defined(CONFIG_SYSTEMTICK_EXTCLK)
 	/* Initialize the OS's timer subsystem */
-	up_timer_initialize();
+	arm_timer_initialize();
 #endif

 	/* Keep the compiler happy for a no return function */
@@ -190,7 +151,7 @@ FAR void *malloc(size_t size)
 *   This function hijacks the systems exit
 *
 ****************************************************************************/
-void __wrap_exit(int status)
+void exit(int status)
 {
 	while (1);
 }
@@ -218,7 +179,7 @@ void sched_ufree(FAR void *address)
 *
 ****************************************************************************/

-int __wrap_arm_svcall(int irq, FAR void *context)
+int __wrap_up_svcall(int irq, FAR void *context)
 {
 	return 0;
 }
@@ -50,7 +50,6 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -3,7 +3,6 @@
 # board specific sensors init
 #------------------------------------------------------------------------------
 board_adc start
-system_power start

 # SPI1 (internal)
 rm3100 -s start
@@ -110,6 +110,8 @@
 #define DIRECT_PWM_OUTPUT_CHANNELS   8

 /* Power supply control and monitoring GPIOs */
+#define BOARD_NUMBER_BRICKS             2
+
 #define GPIO_nPOWER_IN_ADC              /* PG1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
 #define GPIO_nPOWER_IN_CAN              /* PG2  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
 #define GPIO_nPOWER_IN_C                /* PG0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN0)
@@ -53,7 +53,6 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -3,7 +3,6 @@
 # CUAV X7Pro specific board sensors init
 #------------------------------------------------------------------------------
 board_adc start
-system_power start

 # SPI1 (internal)
 #adis16470 -s start
@@ -110,6 +110,8 @@
 #define DIRECT_PWM_OUTPUT_CHANNELS   8

 /* Power supply control and monitoring GPIOs */
+#define BOARD_NUMBER_BRICKS             2
+
 #define GPIO_nPOWER_IN_ADC              /* PG1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
 #define GPIO_nPOWER_IN_CAN              /* PG2  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
 #define GPIO_nPOWER_IN_C                /* PG0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN0)
@@ -177,7 +179,10 @@

 #define GPIO_LED_SAFETY FMU_LED_AMBER

-
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
 #define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
 #define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
@@ -52,7 +52,6 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -52,7 +52,6 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -3,7 +3,6 @@
 # Board specific sensors init
 #------------------------------------------------------------------------------
 board_adc start
-system_power start

 # SPI4
 ms5611 -s -b 4 start
@@ -97,6 +97,7 @@
 #define GPIO_PWM_VOLT_SEL    /* PB4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)

 /* Power supply control and monitoring GPIOs */
+#define BOARD_NUMBER_BRICKS             2
 #define GPIO_nVDD_BRICK1_VALID          /* PB5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) // VDD_BRICK_VALID
 #define GPIO_nVDD_BRICK2_VALID          /* PB7  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7) // VDD_BACKUP_VALID
 #define GPIO_nVDD_USB_VALID             /* PC0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0) // VBUS_VALID
@@ -123,7 +124,10 @@
 #define HRT_TIMER               8  /* use timer8 for the HRT */
 #define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */

-
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
 #define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
 #define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
@@ -51,7 +51,6 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -51,7 +51,6 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -3,7 +3,6 @@
 # Board specific sensors init
 #------------------------------------------------------------------------------
 board_adc start
-system_power start

 # SPI4
 ms5611 -s -b 4 start
@@ -97,6 +97,7 @@
 #define GPIO_PWM_VOLT_SEL    /* PB4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN4)

 /* Power supply control and monitoring GPIOs */
+#define BOARD_NUMBER_BRICKS             2
 #define GPIO_nVDD_BRICK1_VALID          /* PB5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5) // VDD_BRICK_VALID
 #define GPIO_nVDD_BRICK2_VALID          /* PB7  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN7) // VDD_BACKUP_VALID
 #define GPIO_nVDD_USB_VALID             /* PC0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN0) // VBUS_VALID
@@ -123,7 +124,10 @@
 #define HRT_TIMER               8  /* use timer8 for the HRT */
 #define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */

-
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
 #define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
 #define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
@@ -30,7 +30,6 @@ px4_add_board(
 		magnetometer/lsm9ds1_mag
 		pwm_out_sim
 		rc_input
-		system_power
 		#telemetry # all available telemetry drivers
 	MODULES
 		airspeed_selector
@@ -47,9 +47,11 @@

 #define BOARD_MAX_LEDS 1 // Number of external LED's this board has

+
 // I2C
 #define PX4_NUMBER_I2C_BUSES    1

+
 // ADC channels:
 // A0 - board voltage (shows 5V)
 // A1 - servo rail voltage
@@ -51,7 +51,6 @@ px4_add_board(
 		pwm_out
 		px4io
 		roboclaw
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -3,7 +3,6 @@
 # Holybro Durandal V1 specific board sensors init
 #------------------------------------------------------------------------------
 board_adc start
-system_power start

 # Internal SPI bus ICM-20689
 icm20689 -R 2 -s start
@@ -70,6 +70,11 @@

 /* Configuration ************************************************************************************/

+#  define BOARD_HAS_LTC44XX_VALIDS      2 // No LTC or N Bricks
+#  define BOARD_HAS_USB_VALID           1 // LTC Has No USB valid
+#  define BOARD_HAS_NBAT_V              2 // Only one Vbat to ADC
+#  define BOARD_HAS_NBAT_I              2 // No Ibat ADC
+
 /* Holybro Durandal V1 GPIOs ************************************************************************/

 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
@@ -90,9 +95,11 @@
 */

 /* ADC defines to be used in sensors.cpp to read from a particular channel */
+
 #define ADC1_CH(n)                  (n)

 /* Define GPIO pins used as ADC N.B. Channel numbers must match below */
+
 #define PX4_ADC_GPIO  \
 	/* PA0 */  GPIO_ADC1_INP16,   \
 	/* PA1 */  GPIO_ADC1_INP17,   \
@@ -206,6 +213,7 @@

 #define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
 #define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_B /* Brick 2 Is Chosen  */
+#define BOARD_NUMBER_BRICKS             2
 #define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C /* USB     Is Chosen */

 #define GPIO_nVDD_5V_PERIPH_EN          /* PG4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
@@ -306,10 +314,17 @@
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif

-
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
 #define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))

+/* Board never powers off the Servo rail */
+
+#define BOARD_ADC_SERVO_VALID     (1)
+
 #define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
 #define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))

@@ -49,6 +49,12 @@

 #include <stm32_gpio.h>

+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+
+/* GPIOs ***********************************************************************************/
+
 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */

 #define GPIO_nLED_BLUE       /* PA2 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN2)
@@ -58,6 +64,7 @@

 #define  FLASH_BASED_PARAMS

+
 /*
 * ADC channels
 *
@@ -85,11 +92,13 @@
 	 (1 << ADC_BATTERY_CURRENT_CHANNEL)       | \
 	 (1 << ADC_RSSI_IN_CHANNEL))

-/* Define Battery 1 Voltage Divider and A per V. */
+/* Define Battery 1 Voltage Divider and A per V
+ */
 #define BOARD_BATTERY1_V_DIV         (10.9f)
 #define BOARD_BATTERY1_A_PER_V       (17.f)

-/* PWM */
+/* PWM
+ */
 #define DIRECT_PWM_OUTPUT_CHANNELS  6
 #define DIRECT_INPUT_TIMER_CHANNELS  6

@@ -97,7 +106,10 @@
 #define GPIO_TONE_ALARM_IDLE    /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)
 #define GPIO_TONE_ALARM_GPIO    /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN15)

-/* USB OTG FS PA8  OTG_FS_VBUS VBUS sensing */
+/* USB OTG FS
+ *
+ * PA8  OTG_FS_VBUS VBUS sensing
+ */
 #define GPIO_OTGFS_VBUS         /* PA8 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN8)

 /* High-resolution timer */
@@ -105,7 +117,8 @@
 #define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 1 */

 /* RC Serial port */
-#define RC_SERIAL_PORT               "/dev/ttyS4"
+
+#define RC_SERIAL_PORT                     "/dev/ttyS4"

 #define GPIO_RSSI_IN                       /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)

@@ -129,8 +142,20 @@

 __BEGIN_DECLS

+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
 #ifndef __ASSEMBLY__

+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
 /****************************************************************************************************
 * Name: stm32_spiinitialize
 *
@@ -55,7 +55,6 @@ px4_add_board(
 		roboclaw
 		rpm
 		safety_button
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -4,7 +4,6 @@
 #------------------------------------------------------------------------------

 board_adc start
-system_power start

 # Internal SPI bus ICM-20602
 icm20602 -s -R 2 start
@@ -68,8 +68,26 @@
 #define PX4IO_SERIAL_CLOCK             STM32_PCLK1_FREQUENCY
 #define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */

+/* Configuration ************************************************************************************/
+
+#define BOARD_HAS_LTC4417
+
+#if defined(BOARD_HAS_LTC4417)
+#  define BOARD_HAS_LTC44XX_VALIDS      2 // No LTC or N Bricks
+#  define BOARD_HAS_USB_VALID           1 // LTC Has No USB valid
+#  define BOARD_HAS_NBAT_V              2 // Only one Vbat to ADC
+#  define BOARD_HAS_NBAT_I              2 // No Ibat ADC
+#else
+#  define BOARD_HAS_LTC44XX_VALIDS      0 // No LTC or N Bricks
+#  define BOARD_HAS_USB_VALID           0 // LTC Has No USB valid
+#  define BOARD_HAS_NBAT_V              1 // Only one Vbat to ADC
+#  define BOARD_HAS_NBAT_I              0 // No Ibat ADC
+#endif
+
+/* PX4FMU GPIOs ***********************************************************************************/

 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
+
 #define GPIO_nLED_RED        /* PB1 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
 #define GPIO_nLED_GREEN      /* PC6 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN6)
 #define GPIO_nLED_BLUE       /* PC7 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN7)
@@ -119,6 +137,7 @@
 #define ADC_HW_REV_SENSE_CHANNEL            /* PC3 */  ADC1_CH(13)
 #define ADC1_SPARE_1_CHANNEL                /* PC4 */  ADC1_CH(14)

+#if BOARD_HAS_NBAT_V == 2 && BOARD_HAS_NBAT_I == 2
 #define ADC_CHANNELS \
 	((1 << ADC_BATTERY1_VOLTAGE_CHANNEL)       | \
 	 (1 << ADC_BATTERY1_CURRENT_CHANNEL)       | \
@@ -131,15 +150,41 @@
 	 (1 << ADC_HW_VER_SENSE_CHANNEL)           | \
 	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
 	 (1 << ADC1_SPARE_1_CHANNEL))
+#elif BOARD_HAS_NBAT_V == 1 && BOARD_HAS_NBAT_I == 1
+#define ADC_CHANNELS \
+	((1 << ADC_BATTERY1_VOLTAGE_CHANNEL)       | \
+	 (1 << ADC_BATTERY1_CURRENT_CHANNEL)       | \
+	 (1 << ADC1_SPARE_2_CHANNEL)               | \
+	 (1 << ADC_RSSI_IN_CHANNEL)                | \
+	 (1 << ADC_SCALED_V5_CHANNEL)              | \
+	 (1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
+	 (1 << ADC_HW_VER_SENSE_CHANNEL)           | \
+	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
+	 (1 << ADC1_SPARE_1_CHANNEL))
+#elif BOARD_HAS_NBAT_V == 1 && BOARD_HAS_NBAT_I == 0
+#define ADC_CHANNELS \
+	((1 << ADC_BATTERY1_VOLTAGE_CHANNEL)       | \
+	 (1 << ADC1_SPARE_2_CHANNEL)               | \
+	 (1 << ADC_RSSI_IN_CHANNEL)                | \
+	 (1 << ADC_SCALED_V5_CHANNEL)              | \
+	 (1 << ADC_SCALED_VDD_3V3_SENSORS_CHANNEL) | \
+	 (1 << ADC_HW_VER_SENSE_CHANNEL)           | \
+	 (1 << ADC_HW_REV_SENSE_CHANNEL)           | \
+	 (1 << ADC1_SPARE_1_CHANNEL))
+#endif
+
+/* Define Battery 1 Voltage Divider and A per V
+ */

-/* Define Battery 1 Voltage Divider and A per V */
 #define BOARD_BATTERY1_V_DIV         (18.1f)     /* measured with the provided PM board */
 #define BOARD_BATTERY1_A_PER_V       (36.367515152f)

 /* HW has to large of R termination on ADC todo:change when HW value is chosen */
+
 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)

 /* HW Version and Revision drive signals Default to 1 to detect */
+
 #define BOARD_HAS_HW_VERSIONING

 #define GPIO_HW_REV_DRIVE    /* PH14  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN14)
@@ -211,6 +256,7 @@

 #define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
 #define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_B /* Brick 2 Is Chosen  */
+#define BOARD_NUMBER_BRICKS             2
 #define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C /* USB     Is Chosen */

 #define GPIO_nVDD_5V_PERIPH_EN          /* PG4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
@@ -334,11 +380,43 @@
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif

-
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
-#define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
-#define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
-#define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
+
+#if BOARD_HAS_USB_VALID == 1
+#  define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
+#else
+#  define BOARD_ADC_USB_VALID     BOARD_ADC_USB_CONNECTED
+#endif
+
+/* FMUv5 never powers odd the Servo rail */
+
+#define BOARD_ADC_SERVO_VALID     (1)
+
+#if !defined(BOARD_HAS_LTC44XX_VALIDS) || BOARD_HAS_LTC44XX_VALIDS == 0
+#  define BOARD_ADC_BRICK1_VALID  (1)
+#  define BOARD_ADC_BRICK2_VALID  (0)
+#elif BOARD_HAS_LTC44XX_VALIDS == 1
+#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
+#  define BOARD_ADC_BRICK2_VALID  (0)
+#elif BOARD_HAS_LTC44XX_VALIDS == 2
+#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
+#  define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
+#elif BOARD_HAS_LTC44XX_VALIDS == 3
+#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
+#  define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
+#  define BOARD_ADC_BRICK3_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
+#elif BOARD_HAS_LTC44XX_VALIDS == 4
+#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
+#  define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
+#  define BOARD_ADC_BRICK3_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
+#  define BOARD_ADC_BRICK4_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK4_VALID))
+#else
+#  error Unsupported BOARD_HAS_LTC44XX_VALIDS value
+#endif

 #define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_nVDD_5V_PERIPH_OC))
 #define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_nVDD_5V_HIPOWER_OC))
@@ -123,7 +123,7 @@ void AEROFC_ADC::RunImpl()
 		adc_report.raw_data[i] = (buffer[i * 2] | (buffer[i * 2 + 1] << 8));
 	}

-	for (; i < adc_report_s::MAX_ADC_CHANNELS; ++i) {	// set unused channel id to -1
+	for (; i < PX4_MAX_ADC_CHANNELS; ++i) {	// set unused channel id to -1
 		adc_report.channel_id[i] = -1;
 	}

@@ -42,10 +42,20 @@

 #pragma once

+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
 #include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>

+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+/* Configuration ************************************************************************************/
+
+/* PX4FMU GPIOs ***********************************************************************************/
 /* LEDs */
 #define GPIO_LED0		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN9)
 #define GPIO_LED1		(GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN10)
@@ -79,23 +89,34 @@
 #define ADC_BATTERY_VOLTAGE_CHANNEL    1
 #define ADC_BATTERY_CURRENT_CHANNEL    ((uint8_t)(-1))

-/* Define Battery 1 Voltage Divider, using default for A/V */
+/*
+ * Define Battery 1 Voltage Divider, using default for A/V
+ */
 #define BOARD_BATTERY1_V_DIV (9.0f)

 #define DIRECT_PWM_OUTPUT_CHANNELS	1
 #define BOARD_HAS_PWM			0

-/* RC Serial port */
-#define RC_SERIAL_PORT		"/dev/ttyS2" /* No HW invert support */
+/*
+ * USB OTG FS
+ */

-/* High-resolution timer */
+/*
+ * RC Serial port
+ */
+#define RC_SERIAL_PORT		"/dev/ttyS2" /* No HW invert support */
+/*
+ * High-resolution timer
+ */
 #define HRT_TIMER		3	/* use timer3 for the HRT */
 #define HRT_TIMER_CHANNEL	4	/* use capture/compare channel */

 #define  FLASH_BASED_PARAMS
 #define  FLASH_BASED_DATAMAN

-/* ESCs do not respond */
+/*
+ * ESCs do not respond
+ */
 #define BOARD_TAP_ESC_MODE 1

 #define MEMORY_CONSTRAINED_SYSTEM
@@ -104,12 +125,42 @@

 __BEGIN_DECLS

+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
 #ifndef __ASSEMBLY__

+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Name: stm32_spiinitialize
+ *
+ * Description:
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
+ *
+ ****************************************************************************************************/
+
 extern void stm32_spiinitialize(void);

 #define board_peripheral_reset(ms)

+/************************************************************************************
+ * Name: board_sdio_initialize
+ *
+ * Description:
+ *   Called to configure SDIO.
+ *
+ ************************************************************************************/
+
+extern int board_sdio_initialize(void);
+
 #include <px4_platform_common/board_common.h>

 #endif /* __ASSEMBLY__ */
@@ -45,7 +45,6 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -4,7 +4,6 @@
 #------------------------------------------------------------------------------

 board_adc start
-system_power start

 # Start Digital power monitors
 voxlpm -X -b 3 -k -T VBATT start
@@ -223,6 +223,18 @@
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif

+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+
+/* ModalAI FC-v1 never powers off the Servo rail */
+
+#define BOARD_ADC_SERVO_VALID     (1)
+#define BOARD_ADC_BRICK_VALID     (1)
+
+
 #define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS

 /* This board provides a DMA pool and APIs */
@@ -49,7 +49,6 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -4,7 +4,6 @@
 #------------------------------------------------------------------------------

 board_adc start
-system_power start

 # Internal ICM-20602
 icm20602 -s -b 1 -R 8 start
@@ -113,6 +113,7 @@
 #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 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)

@@ -167,8 +168,13 @@
 #define SDIO_SLOTNO                    0  /* Only one slot */
 #define SDIO_MINOR                     0

-
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
 #define BOARD_ADC_USB_CONNECTED	       (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+#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_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
@@ -49,7 +49,6 @@ px4_add_board(
 		rc_input
 		roboclaw
 		rpm
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -3,7 +3,6 @@
 # Board specific sensors init
 #------------------------------------------------------------------------------
 board_adc start
-system_power start

 # Internal ICM-20602
 icm20602 -s -b 1 -R 8 start
@@ -90,6 +90,7 @@
 #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 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)

@@ -141,6 +142,8 @@
 * provides the true logic GPIO BOARD_ADC_xxxx macros.
 */
 #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_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
@@ -49,7 +49,6 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -3,7 +3,6 @@
 # Board specific sensors init
 #------------------------------------------------------------------------------
 board_adc start
-system_power start

 # SPI1
 ms5611 -s -b 1 start
@@ -108,10 +108,15 @@
 #define PWMIN_TIMER_CHANNEL	2
 #define GPIO_PWM_IN		GPIO_TIM4_CH2IN_2

-
+/* By Providing BOARD_ADC_USB_CONNECTED this board support the ADC
+ * system_power interface, and therefore provides the true logic
+ * GPIO BOARD_ADC_xxxx macros.
+ */
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
 #define BOARD_ADC_BRICK_VALID   (!px4_arch_gpioread(GPIO_VDD_BRICK_VALID))
+#define BOARD_ADC_SERVO_VALID   (1)
 #define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_OC))
+#define BOARD_ADC_HIPOWER_5V_OC (0)

 #define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS

@@ -46,7 +46,6 @@ px4_add_board(
 		pwm_out
 		px4io
 		roboclaw
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -4,7 +4,6 @@
 #------------------------------------------------------------------------------

 board_adc start
-system_power start

 # Internal SPI bus ICM-20608-G
 icm20608g -s -R 8 start
@@ -119,10 +119,15 @@
 #define PWMIN_TIMER_CHANNEL	2
 #define GPIO_PWM_IN		GPIO_TIM4_CH2IN_2

-
+/* By Providing BOARD_ADC_USB_CONNECTED this board support the ADC
+ * system_power interface, and therefore provides the true logic
+ * GPIO BOARD_ADC_xxxx macros.
+ */
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
 #define BOARD_ADC_BRICK_VALID   (!px4_arch_gpioread(GPIO_VDD_BRICK_VALID))
+#define BOARD_ADC_SERVO_VALID   (1)
 #define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_OC))
+#define BOARD_ADC_HIPOWER_5V_OC (0)

 #define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS

@@ -46,7 +46,6 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		#test_ppm # NOT Portable YET
@@ -4,7 +4,6 @@
 #------------------------------------------------------------------------------

 board_adc start
-system_power start

 # Internal Mag I2C bus roll 180, yaw 90
 bmm150 -I -R 10 start
@@ -45,7 +45,6 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		#test_ppm # NOT Portable YET
@@ -275,6 +275,11 @@ __END_DECLS
 #define GPIO_ULTRASOUND_TRIGGER  /* PTD0 */  (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN0)
 #define GPIO_ULTRASOUND_ECHO     /* PTA10 */ (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTA | PIN10)

+/* Power supply control and monitoring GPIOs */
+// None
+
+#define GPIO_PERIPH_3V3_EN  0
+

 /* Tone alarm output PTA11 - TMP 2_CH1 is On +P12-4, -P12-5
 * It is driving a NPN
@@ -313,7 +318,17 @@ __END_DECLS
 #define SPEKTRUM_POWER(on_true) VDD_3V3_SPEKTRUM_POWER_EN((on_true))


+/*
+ * By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
+
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_USB_VBUS_VALID))
+#define BOARD_ADC_BRICK_VALID   (1)
+#define BOARD_ADC_SERVO_VALID   (1)
+#define BOARD_ADC_PERIPH_5V_OC  (0)
+#define BOARD_ADC_HIPOWER_5V_OC (0)

 #define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS

@@ -46,7 +46,6 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		#test_ppm # NOT Portable YET
@@ -11,3 +11,4 @@ fi

 rgbled_pwm start
 safety_button start
+
@@ -4,7 +4,6 @@
 #------------------------------------------------------------------------------

 board_adc start
-system_power start

 # Internal Mag I2C bus roll 180, yaw 90
 bmm150 -I -R 10 start
@@ -45,7 +45,6 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		#test_ppm # NOT Portable YET
@@ -45,7 +45,6 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		#test_ppm # NOT Portable YET
@@ -39,6 +39,9 @@

 #pragma once

+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
 #include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>
@@ -52,6 +55,7 @@ __BEGIN_DECLS

 __END_DECLS

+/* FMUK66 GPIOs ***********************************************************************************/
 /* LEDs */
 /* An RGB LED is connected through GPIO as shown below:
 * TBD (no makring on schematic)
@@ -92,7 +96,9 @@ __END_DECLS
 #define HRT_TIMER              1  /* TPM1 timer for the HRT */
 #define HRT_TIMER_CHANNEL      0  /* Use capture/compare channel 0 */

-/* PPM IN */
+/* PPM IN
+ */
+
 #define HRT_PPM_CHANNEL        1  /* Use TPM1 capture/compare channel 1 */
 #define GPIO_PPM_IN            PIN_TPM1_CH1_1    /* PTC3 USART1 RX and PTA9 and PIN_TPM1_CH1 AKA FrSky_IN_RC_IN */

@@ -117,6 +123,7 @@ __END_DECLS
 * as an input Therefore we drive are UARTx_RX (normaly an input) as an
 * output
 */
+
 #define GPIO_PPM_IN_AS_OUT          (GPIO_HIGHDRIVE | GPIO_OUTPUT_ONE | PIN_PORTC | PIN3)

 #define SPEKTRUM_RX_AS_GPIO_OUTPUT() px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
@@ -124,6 +131,7 @@ __END_DECLS
 #define SPEKTRUM_OUT(_one_true)      px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))

 /* RC input */
+
 #define RC_SERIAL_PORT          "/dev/ttyS2"      /* UART1 */
 #define GPIO_RSSI_IN            PIN_ADC1_SE13

@@ -132,6 +140,7 @@ __END_DECLS
 * Uninitialized to Reset Disabled and Inhibited
 * All pins driven low to not back feed when power is off
 */
+
 #define nGPIO_ETHERNET_P_EN     (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE  | PIN_PORTB | PIN3)
 #define GPIO_ENET_RST           (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTA | PIN28)
 #define GPIO_ENET_EN            (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTA | PIN29)
@@ -191,6 +200,7 @@ __END_DECLS
 #define GPIO_A_RST                          (GPIO_LOWDRIVE | GPIO_OUTPUT_ONE   | PIN_PORTA | PIN25)

 /* Sensor interrupts */
+
 #define GPIO_EXTI_GYRO_INT1                 (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTE | PIN7)
 #define GPIO_EXTI_GYRO_INT2                 (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTE | PIN6)
 #define GPIO_EXTI_ACCEL_MAG_INT1            (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTE | PIN9)
@@ -208,10 +218,12 @@ __END_DECLS
 * Only ADC1 is used
 *         Bits 31:0 are ADC1 channels 31:0
 */
+
 #define ADC1_CH(c)    (((c) & 0x1f))	/* Define ADC number Channel number */
 #define ADC1_GPIO(n)  PIN_ADC1_SE##n

 /* ADC defines to be used in sensors.cpp to read from a particular channel */
+
 #define ADC_USB_VBUS_VALID          ADC1_CH(0)      /* USB_VBUS_VALID   29    -    ADC1_DP0  */
 #define ADC_BATTERY_VOLTAGE_CHANNEL ADC1_CH(10)     /* BAT_VSENS        85   PTB4  ADC1_SE10 */
 #define ADC_BATTERY_CURRENT_CHANNEL ADC1_CH(11)     /* BAT_ISENS        86   PTB5  ADC1_SE11 */
@@ -222,6 +234,7 @@ __END_DECLS
 #define ADC_AD3                     ADC1_CH(23)     /* AD3              39    -    ADC1_SE23 */

 /* Mask use to initialize the ADC driver */
+
 #define ADC_CHANNELS ((1 << ADC_USB_VBUS_VALID) | \
 		      (1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
 		      (1 << ADC_BATTERY_CURRENT_CHANNEL) | \
@@ -240,9 +253,15 @@ __END_DECLS
 	/* PTB6  ADC1_SE12 */  ADC1_GPIO(12),  \
 	/* PTB7  ADC1_SE13 */  ADC1_GPIO(13)

-/* Define Battery 1 Voltage Divider and A per V. */
-#define BOARD_BATTERY1_V_DIV         (10.177939394f)
-#define BOARD_BATTERY1_A_PER_V       (15.391030303f)
+
+
+#define BOARD_BATTERY1_V_DIV   (10.177939394f)
+#define BOARD_BATTERY1_A_PER_V (15.391030303f)
+
+
+/* User GPIOs
+ *
+ */

 /* Timer I/O PWM and capture
 *
@@ -260,6 +279,11 @@ __END_DECLS
 #define GPIO_ULTRASOUND_TRIGGER  /* PTD0 */  (GPIO_LOWDRIVE | GPIO_OUTPUT_ZERO | PIN_PORTD | PIN0)
 #define GPIO_ULTRASOUND_ECHO     /* PTA10 */ (GPIO_PULLUP | PIN_INT_BOTH | PIN_PORTA | PIN10)

+/* Power supply control and monitoring GPIOs */
+// None
+
+#define GPIO_PERIPH_3V3_EN  0
+

 /* Tone alarm output PTA11 - TMP 2_CH1 is On +P12-4, -P12-5
 * It is driving a NPN
@@ -298,7 +322,17 @@ __END_DECLS
 #define SPEKTRUM_POWER(on_true) VDD_3V3_SPEKTRUM_POWER_EN((on_true))


+/*
+ * By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
+
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_USB_VBUS_VALID))
+#define BOARD_ADC_BRICK_VALID   (1)
+#define BOARD_ADC_SERVO_VALID   (1)
+#define BOARD_ADC_PERIPH_5V_OC  (0)
+#define BOARD_ADC_HIPOWER_5V_OC (0)

 #define BOARD_HAS_PWM	DIRECT_PWM_OUTPUT_CHANNELS

@@ -387,10 +421,18 @@ __END_DECLS

 #define BOARD_NUM_IO_TIMERS 3

+/************************************************************************************
+ * Public data
+ ************************************************************************************/
+
 __BEGIN_DECLS

 #ifndef __ASSEMBLY__

+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
 /************************************************************************************
 * Name: fmuk66_spidev_initialize
 *
@@ -45,7 +45,6 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
-		#system_power # REVIEW
 		tap_esc
 		telemetry # all available telemetry drivers
 		tone_alarm
@@ -16,7 +16,6 @@
 #------------------------------------------------------------------------------

 board_adc start
-system_power start

 # Internal SPI bus ICM-20602
 icm20602 -R 2 -s start
@@ -265,6 +265,7 @@

 #define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
 #define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_B /* Brick 2 Is Chosen  */
+#define BOARD_NUMBER_BRICKS             2
 #define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C /* USB     Is Chosen */

 #define OC_INPUT_IOMUX  (IOMUX_CMOS_INPUT |  IOMUX_PULL_NONE | IOMUX_DRIVE_HIZ)
@@ -371,10 +372,18 @@
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif

+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */

 #define BOARD_ADC_USB_VALID     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
 #define BOARD_ADC_USB_CONNECTED (board_read_VBUS_state() == 0)

+/* FMUv5 never powers odd the Servo rail */
+
+#define BOARD_ADC_SERVO_VALID     (1)
+
 #define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
 #define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))

@@ -47,6 +47,12 @@
 #include <nuttx/compiler.h>
 #include <stdint.h>

+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+/* Configuration ************************************************************************************/
+
+/* omnibusf4sd GPIOs ***********************************************************************************/
 /* LEDs */
 // power - green
 // LED1 - PB5 - blue
@@ -57,8 +63,9 @@

 #define  FLASH_BASED_PARAMS

-/**
- * ADC channels:
+/*
+ * 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 (1 << 0) | (1 << 11) | (1 << 12)
@@ -67,7 +74,8 @@
 #define ADC_BATTERY_CURRENT_CHANNEL  11
 #define ADC_RC_RSSI_CHANNEL          0

-/* Define Battery 1 Voltage Divider and A per V */
+/* Define Battery 1 Voltage Divider and A per V
+ */
 #define BOARD_BATTERY1_V_DIV         (11.12f)
 #define BOARD_BATTERY1_A_PER_V       (31.f)

@@ -100,10 +108,16 @@
 //#define GPIO_GPIO4_OUTPUT            _MK_GPIO_OUTPUT(GPIO_TIM5_CH2OUT)
 //#define GPIO_GPIO5_OUTPUT            _MK_GPIO_OUTPUT(GPIO_TIM1_CH1OUT)

-/* USB OTG FS PA9 OTG_FS_VBUS VBUS sensing */
+/* USB OTG FS
+ *
+ * PA9  OTG_FS_VBUS VBUS sensing
+ */
 #define GPIO_OTGFS_VBUS		(GPIO_INPUT|GPIO_FLOAT|GPIO_SPEED_100MHz|GPIO_OPENDRAIN|GPIO_PORTC|GPIO_PIN5)

-/* PWM Alternatively CH3/CH4 could be assigned to UART6_TX/RX */
+/* PWM
+ *
+ * Alternatively CH3/CH4 could be assigned to UART6_TX/RX
+ */
 #define DIRECT_PWM_OUTPUT_CHANNELS      4
 #define DIRECT_INPUT_TIMER_CHANNELS  4

@@ -146,8 +160,20 @@

 __BEGIN_DECLS

+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
 #ifndef __ASSEMBLY__

+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
 /****************************************************************************************************
 * Name: stm32_spiinitialize
 *
@@ -158,6 +184,15 @@ __BEGIN_DECLS

 extern void stm32_spiinitialize(void);

+
+/****************************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to configure USB IO.
+ *
+ ****************************************************************************************************/
+
 extern void stm32_usbinitialize(void);

 extern void board_peripheral_reset(int ms);
@@ -61,7 +61,6 @@ px4_add_board(
 		pwm_out
 		px4io
 		#roboclaw
-		system_power
 		#tap_esc
 		#telemetry # all available telemetry drivers
 		#test_ppm
@@ -7,7 +7,6 @@ rgbled start -I
 rgbled_ncp5623c start -I

 board_adc start
-system_power start

 # Internal I2C bus
 hmc5883 -T -I -R 4 start
@@ -108,7 +108,9 @@
 #define ADC_5V_RAIL_SENSE		4
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	15

-/* Define Battery 1 Voltage Divider and A per V */
+/* Define Battery 1 Voltage Divider and A per V
+ */
+
 #define BOARD_BATTERY1_V_DIV   (10.177939394f)
 #define BOARD_BATTERY1_A_PER_V (15.391030303f)

@@ -146,7 +148,10 @@
 #define PWMIN_TIMER_CHANNEL	2
 #define GPIO_PWM_IN		GPIO_TIM4_CH2IN_2

-
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
 #define BOARD_ADC_BRICK_VALID   (!px4_arch_gpioread(GPIO_VDD_BRICK_VALID))
 #define BOARD_ADC_SERVO_VALID   (!px4_arch_gpioread(GPIO_VDD_SERVO_VALID))
@@ -56,7 +56,6 @@ px4_add_board(
 		pwm_out
 		px4io
 		#roboclaw
-		system_power
 		#tap_esc
 		#telemetry # all available telemetry drivers
 		#test_ppm
@@ -57,7 +57,6 @@ px4_add_board(
 		pwm_out
 		px4io
 		roboclaw
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -7,7 +7,6 @@ rgbled start -I
 rgbled_ncp5623c start -I

 board_adc start
-system_power start

 # Internal I2C bus
 hmc5883 -T -I -R 4 start
@@ -55,7 +55,6 @@ px4_add_board(
 		pwm_out
 		px4io
 		roboclaw
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -108,7 +108,9 @@
 #define ADC_5V_RAIL_SENSE		4
 #define ADC_AIRSPEED_VOLTAGE_CHANNEL	15

-/* Define Battery 1 Voltage Divider and A per V */
+/* Define Battery 1 Voltage Divider and A per V
+ */
+
 #define BOARD_BATTERY1_V_DIV   (10.177939394f)
 #define BOARD_BATTERY1_A_PER_V (15.391030303f)

@@ -146,7 +148,10 @@
 #define PWMIN_TIMER_CHANNEL	2
 #define GPIO_PWM_IN		GPIO_TIM4_CH2IN_2

-
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
 #define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
 #define BOARD_ADC_BRICK_VALID   (!px4_arch_gpioread(GPIO_VDD_BRICK_VALID))
 #define BOARD_ADC_SERVO_VALID   (!px4_arch_gpioread(GPIO_VDD_SERVO_VALID))
@@ -51,7 +51,6 @@ px4_add_board(
 		pwm_out
 		px4io
 		roboclaw
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -53,7 +53,6 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -4,7 +4,6 @@
 #------------------------------------------------------------------------------

 board_adc start
-system_power start

 # We know there are sketchy boards out there
 # as chinese companies produce Pixracers without
@@ -49,7 +49,6 @@ px4_add_board(
 		rc_input
 		roboclaw
 		safety_button
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -39,10 +39,20 @@

 #pragma once

+/****************************************************************************************************
+ * Included Files
+ ****************************************************************************************************/
+
 #include <px4_platform_common/px4_config.h>
 #include <nuttx/compiler.h>
 #include <stdint.h>

+/****************************************************************************************************
+ * Definitions
+ ****************************************************************************************************/
+/* Configuration ************************************************************************************/
+
+/* PX4FMU GPIOs ***********************************************************************************/
 /* LEDs */
 #define GPIO_LED1                    (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN11)
 #define GPIO_LED2                    (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN1)
@@ -88,11 +98,18 @@
 #define GPIO_TONE_ALARM_IDLE         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
 #define GPIO_TONE_ALARM              (GPIO_ALT|GPIO_AF1|GPIO_SPEED_2MHz|GPIO_PUSHPULL|GPIO_PORTA|GPIO_PIN15)

-/* PWM: Six PWM outputs are configured */
+/**
+ * PWM:
+ *
+ * Six PWM outputs are configured.
+ */
 #define DIRECT_PWM_OUTPUT_CHANNELS   6
 #define DIRECT_INPUT_TIMER_CHANNELS  6

-/* USB OTG FS: PA9 OTG_FS_VBUS VBUS sensing. */
+/**
+ * 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)

 /* High-resolution timer */
@@ -103,6 +120,7 @@
 #define GPIO_PPM_IN                  (GPIO_ALT|GPIO_AF2|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN0)

 /* RC Serial port */
+
 #define RC_SERIAL_PORT               "/dev/ttyS4"

 /* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2. */
@@ -131,6 +149,7 @@
 #define GPIO_HEATER_OUTPUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN6)

 /* Power switch controls */
+
 #define SPEKTRUM_POWER(_on_true)     px4_arch_gpiowrite(GPIO_SPEKTRUM_PWR_EN, (!_on_true))

 /**
@@ -147,9 +166,17 @@
 #define SPEKTRUM_RX_AS_UART()       /* Can be left as uart */
 #define SPEKTRUM_OUT(_one_true)      px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))

+/**
+ * By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
 #define BOARD_ADC_USB_CONNECTED      (px4_arch_gpioread(GPIO_OTGFS_VBUS))
 #define BOARD_ADC_BRICK_VALID        (px4_arch_gpioread(GPIO_VDD_BRICK_VALID))
 #define BOARD_ADC_USB_VALID          (px4_arch_gpioread(GPIO_VDD_USB_VALID))
+#define BOARD_ADC_SERVO_VALID        (1)
+#define BOARD_ADC_PERIPH_5V_OC       (0)
+#define BOARD_ADC_HIPOWER_5V_OC      (0)

 #define BOARD_HAS_PWM    DIRECT_PWM_OUTPUT_CHANNELS

@@ -162,13 +189,25 @@

 __BEGIN_DECLS

+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
 #ifndef __ASSEMBLY__

+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
 /****************************************************************************************************
 * Name: stm32_spiinitialize
 *
 * Description:
- *   Called to configure SPI chip select GPIO pins for the board.
+ *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
 *
 ****************************************************************************************************/

@@ -49,7 +49,6 @@ px4_add_board(
 		rc_input
 		#roboclaw
 		safety_button
-		system_power
 		tap_esc
 		telemetry # all available telemetry drivers
 		test_ppm
--- a/Show More
+++ b/Show More