Rover module: Temp

Add differential drive control module to all targets that have rover support
Differential Rover: PR fixes
2026-05-27 09:40:05 +08:00 · 2023-12-19 15:04:34 +01:00 · 2023-12-19 11:55:52 +01:00 · 2023-12-19 11:54:41 +01:00 · 2023-12-19 11:39:36 +01:00 · 2023-12-19 11:37:08 +01:00
150 changed files with 1329 additions and 531 deletions
@@ -0,0 +1 @@
+--ignore-dir=Documentation
@@ -0,0 +1,33 @@
+# How to install:
+#   gem install github_changelog_generator
+# How to run:
+#   github_changelog_generator -u PX4 -p Firmware
+# Description:
+#   The following params are sensible defaults for the PX4 project,
+#   if you want to do a changelog before a release you need to update since-tag and future-releases,
+
+# Params:
+#   github_changelog_generator --help for all options
+
+# max-issues
+#   max threshold for github api queries
+#   make sure you set your CHANGELOG_GITHUB_TOKEN before
+#   running
+max-issues=1500
+
+# exclude-tags-regex
+#   excludes release candidates
+exclude-tags-regex=rc[0-9]{1,}|beta[0-9]{1,}
+
+# since-tag
+#   version of last stable release
+#   you need to change this depending on what you need
+#   if you want a changelog between versions this is the lowest version
+since-tag=1.6.5
+
+# future-release
+#   version you are about to release
+#   if you want a changelog between a version and all unreleased changes grouped as a release
+#     eg: v1.6.5 to v1.7.0
+future-release=v1.7.0
+
@@ -0,0 +1,35 @@
+language: cpp
+
+git:
+  depth: 100
+  submodules: false
+
+matrix:
+  fast_finish: true
+  include:
+    - os: linux
+      dist: xenial
+      # In order to stay under the coverity rate limit, we only run this weekly
+      # and not on push which is configured in travis-ci settings.
+      if: branch = main
+
+before_install:
+    - echo -n | openssl s_client -connect scan.coverity.com:443 | sed -ne '/-BEGIN CERTIFICATE-/,/-END CERTIFICATE-/p' | sudo tee -a /etc/ssl/certs/ca-
+
+install:
+    - export PATH=$HOME/.local/bin:$PATH
+    - pip install --user --upgrade pip
+    - pip install --user -r Tools/setup/requirements.txt
+
+script:
+    - make
+
+addons:
+  coverity_scan:
+    project:
+      name: "PX4/Firmware"
+      description: "Build submitted via Travis CI"
+    notification_email: ci@px4.io
+    build_command_prepend: "make distclean"
+    build_command: "make px4_sitl_default"
+    branch_pattern: coverity_scan
@@ -0,0 +1,172 @@
+# This file is NOT licensed under the GPLv3, which is the license for the rest
+# of YouCompleteMe.
+#
+# Here's the license text for this file:
+#
+# This is free and unencumbered software released into the public domain.
+#
+# Anyone is free to copy, modify, publish, use, compile, sell, or
+# distribute this software, either in source code form or as a compiled
+# binary, for any purpose, commercial or non-commercial, and by any
+# means.
+#
+# In jurisdictions that recognize copyright laws, the author or authors
+# of this software dedicate any and all copyright interest in the
+# software to the public domain. We make this dedication for the benefit
+# of the public at large and to the detriment of our heirs and
+# successors. We intend this dedication to be an overt act of
+# relinquishment in perpetuity of all present and future rights to this
+# software under copyright law.
+#
+# THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND,
+# EXPRESS OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
+# MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
+# IN NO EVENT SHALL THE AUTHORS BE LIABLE FOR ANY CLAIM, DAMAGES OR
+# OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE,
+# ARISING FROM, OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR
+# OTHER DEALINGS IN THE SOFTWARE.
+#
+# For more information, please refer to <http://unlicense.org/>
+
+import os
+import ycm_core
+
+# These are the compilation flags that will be used in case there's no
+# compilation database set (by default, one is not set).
+# CHANGE THIS LIST OF FLAGS. YES, THIS IS THE DROID YOU HAVE BEEN LOOKING FOR.
+flags = [
+'-Wall',
+'-Wextra',
+'-Werror',
+#'-Wc++98-compat',
+'-Wno-long-long',
+'-Wno-variadic-macros',
+'-fexceptions',
+'-DNDEBUG',
+# You 100% do NOT need -DUSE_CLANG_COMPLETER in your flags; only the YCM
+# source code needs it.
+#'-DUSE_CLANG_COMPLETER',
+# THIS IS IMPORTANT! Without a "-std=<something>" flag, clang won't know which
+# language to use when compiling headers. So it will guess. Badly. So C++
+# headers will be compiled as C headers. You don't want that so ALWAYS specify
+# a "-std=<something>".
+# For a C project, you would set this to something like 'c99' instead of
+# 'c++14'.
+'-std=c++14',
+# ...and the same thing goes for the magic -x option which specifies the
+# language that the files to be compiled are written in. This is mostly
+# relevant for c++ headers.
+# For a C project, you would set this to 'c' instead of 'c++'.
+'-x',
+'c++',
+'-undef', # get rid of standard definitions to allow us to include arm math header
+'-I', os.path.join(os.path.expanduser("~"),'gcc-arm-none-eabi-4_7-2013q3/arm-none-eabi/include'),
+'-I', 'Build/px4_io-v2_default.build/nuttx-export/include/',
+'-I', './NuttX/nuttx/arch/arm/include',
+'-include', './src/include/visibility.h',
+'-I', './src',
+'-I', './src/modules',
+'-I', './src/include',
+'-I', './src/lib',
+'-I', './NuttX',
+]
+
+
+# Set this to the absolute path to the folder (NOT the file!) containing the
+# compile_commands.json file to use that instead of 'flags'. See here for
+# more details: http://clang.llvm.org/docs/JSONCompilationDatabase.html
+#
+# Most projects will NOT need to set this to anything; you can just change the
+# 'flags' list of compilation flags. Notice that YCM itself uses that approach.
+compilation_database_folder = ''
+
+if os.path.exists( compilation_database_folder ):
+  database = ycm_core.CompilationDatabase( compilation_database_folder )
+else:
+  database = None
+
+SOURCE_EXTENSIONS = [ '.cpp', '.cxx', '.cc', '.c', '.m', '.mm' ]
+
+def DirectoryOfThisScript():
+  return os.path.dirname( os.path.abspath( __file__ ) )
+
+
+def MakeRelativePathsInFlagsAbsolute( flags, working_directory ):
+  if not working_directory:
+    return list( flags )
+  new_flags = []
+  make_next_absolute = False
+  path_flags = [ '-isystem', '-I', '-iquote', '--sysroot=' ]
+  for flag in flags:
+    new_flag = flag
+
+    if make_next_absolute:
+      make_next_absolute = False
+      if not flag.startswith( '/' ):
+        new_flag = os.path.join( working_directory, flag )
+
+    for path_flag in path_flags:
+      if flag == path_flag:
+        make_next_absolute = True
+        break
+
+      if flag.startswith( path_flag ):
+        path = flag[ len( path_flag ): ]
+        new_flag = path_flag + os.path.join( working_directory, path )
+        break
+
+    if new_flag:
+      new_flags.append( new_flag )
+  return new_flags
+
+
+def IsHeaderFile( filename ):
+  extension = os.path.splitext( filename )[ 1 ]
+  return extension in [ '.h', '.hxx', '.hpp', '.hh' ]
+
+
+def GetCompilationInfoForFile( filename ):
+  # The compilation_commands.json file generated by CMake does not have entries
+  # for header files. So we do our best by asking the db for flags for a
+  # corresponding source file, if any. If one exists, the flags for that file
+  # should be good enough.
+  if IsHeaderFile( filename ):
+    basename = os.path.splitext( filename )[ 0 ]
+    for extension in SOURCE_EXTENSIONS:
+      replacement_file = basename + extension
+      if os.path.exists( replacement_file ):
+        compilation_info = database.GetCompilationInfoForFile(
+          replacement_file )
+        if compilation_info.compiler_flags_:
+          return compilation_info
+    return None
+  return database.GetCompilationInfoForFile( filename )
+
+
+def FlagsForFile( filename, **kwargs ):
+  if database:
+    # Bear in mind that compilation_info.compiler_flags_ does NOT return a
+    # python list, but a "list-like" StringVec object
+    compilation_info = GetCompilationInfoForFile( filename )
+    if not compilation_info:
+      return None
+
+    final_flags = MakeRelativePathsInFlagsAbsolute(
+      compilation_info.compiler_flags_,
+      compilation_info.compiler_working_dir_ )
+
+    # NOTE: This is just for YouCompleteMe; it's highly likely that your project
+    # does NOT need to remove the stdlib flag. DO NOT USE THIS IN YOUR
+    # ycm_extra_conf IF YOU'RE NOT 100% SURE YOU NEED IT.
+    #try:
+    #  final_flags.remove( '-stdlib=libc++' )
+    #except ValueError:
+    #  pass
+  else:
+    relative_to = DirectoryOfThisScript()
+    final_flags = MakeRelativePathsInFlagsAbsolute( flags, relative_to )
+
+  return {
+    'flags': final_flags,
+    'do_cache': True
+  }
@@ -0,0 +1,83 @@
+{
+	"folders":
+	[
+		{
+			"path": ".",
+			"file_exclude_patterns":
+			[
+				"*.o",
+				"*.a",
+				"*.d",
+				".built",
+				".context",
+				".depend",
+				".config",
+				".version",
+				"Make.dep",
+				".configured",
+				"*.sublime-project",
+				"*.sublime-workspace",
+				".project",
+				".cproject",
+				"cscope.out"
+			],
+			"folder_exclude_patterns":
+			[
+				".settings",
+				"nuttx/arch/arm/src/board",
+				"nuttx/arch/arm/src/chip",
+				"build_*"
+			]
+		}
+	],
+	"settings":
+	{
+		"tab_size": 8,
+		"translate_tabs_to_spaces": false,
+		"highlight_line": true,
+		"AStyleFormatter":
+		{
+			"options_c":
+			{
+				"use_only_additional_options": true,
+				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
+			},
+			"options_c++":
+			{
+				"use_only_additional_options": true,
+				"additional_options_file": "${project_path}/Tools/astyle/astylerc"
+			}
+		}
+	},
+	"build_systems":
+	[
+		{
+			"name": "PX4: make all",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make"],
+			"shell": true
+		},
+		{
+			"name": "PX4: make and upload",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make upload px4_fmu-v2_default -j8"],
+			"shell": true
+		},
+		{
+			"name": "PX4: make posix",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make posix"],
+			"shell": true
+		},
+		{
+			"name": "MindPX_V2: make and upload",
+			"working_dir": "${project_path}",
+			"file_regex": "^(..[^:]*):([0-9]+):?([0-9]+)?:? (.*)$",
+			"cmd": ["make upload mindpx-v2_default -j8"],
+			"shell": true
+		}
+	]
+}
@@ -66,6 +66,7 @@ param set-default SIM_GZ_SV_FUNC2 202
 param set-default SIM_GZ_SV_FUNC3 203

 param set-default COM_RC_IN_MODE 1
+param set-default ASPD_PRIMARY 1

 param set-default CA_SV_CS_COUNT 3
 param set-default CA_SV_CS0_TYPE 1
@@ -153,6 +153,7 @@ fi

 param set-default BAT1_N_CELLS 4

+param set-default CBRK_AIRSPD_CHK 0
 param set-default CBRK_SUPPLY_CHK 894281

 # disable check, no CPU load reported on posix yet
@@ -28,13 +28,13 @@ param set-default BAT1_CAPACITY 23000
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025

-param set-default SYS_HAS_NUM_ASPD 0
+param set-default CBRK_AIRSPD_CHK 162128
 param set-default CBRK_IO_SAFETY 22027

 param set-default EKF2_GPS_POS_X -0.12
 param set-default EKF2_IMU_POS_X -0.12

-param set-default FW_USE_AIRSPD 0
+param set-default FW_ARSP_MODE 1
 param set-default NPFG_PERIOD 25
 param set-default FW_PR_FF 0.7
 param set-default FW_PR_I 0.18
@@ -54,5 +54,3 @@ param set-default MIS_TKO_LAND_REQ 2
 # FW takeoff acceleration can easily exceed ublox GPS 2G default.
 #
 param set-default GPS_UBX_DYNMODEL 8
-
-param set-default SYS_HAS_NUM_ASPD 1 # by default require an airspeed sensor
@@ -10,6 +10,9 @@ set VEHICLE_TYPE rover
 # MAV_TYPE_GROUND_ROVER 10
 param set-default MAV_TYPE 10

+# Enable Airspeed check circuit breaker because Rovers will have no airspeed sensor
+param set-default CBRK_AIRSPD_CHK 162128
+
 param set-default MIS_TAKEOFF_ALT 0.01

 param set-default NAV_ACC_RAD 2
@@ -5,7 +5,7 @@
 ekf2 start &

 # Start rover differential drive controller.
-differential_drive_control start
+rover_control start

 # Start Land Detector.
 land_detector start rover
@@ -9,3 +9,6 @@ set VEHICLE_TYPE uuv

 # MAV_TYPE_SUBMARINE 12
 param set-default MAV_TYPE 12
+
+# UUV don't have an airspeed sensor, so disable checks around it
+param set-default CBRK_AIRSPD_CHK 162128
@@ -42,6 +42,4 @@ param set-default MPC_MAN_Y_MAX 90

 param set-default RTL_TYPE 1

-param set-default SYS_HAS_NUM_ASPD 1 # by default require an airspeed sensor
-
 param set-default WV_EN 1
@@ -0,0 +1,20 @@
+{
+  "configurations": [
+    {
+      "browse": {
+        "databaseFilename": "${default}",
+        "limitSymbolsToIncludedHeaders": false
+      },
+      "includePath": [
+        "/opt/ros/humble/include/**",
+        "/usr/include/**"
+      ],
+      "name": "ROS",
+      "intelliSenseMode": "gcc-x64",
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "gnu11",
+      "cppStandard": "c++14"
+    }
+  ],
+  "version": 4
+}
@@ -0,0 +1,10 @@
+{
+    "python.autoComplete.extraPaths": [
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ],
+    "python.analysis.extraPaths": [
+        "/opt/ros/humble/lib/python3.10/site-packages",
+        "/opt/ros/humble/local/lib/python3.10/dist-packages"
+    ]
+}
@@ -0,0 +1,47 @@
+# Build version
+version: "{build}"
+# do not shallow clone because we want to infer the version from the last tag
+
+branches:
+  only:
+  - master
+  - beta
+  - stable
+
+# Build worker image (build VM template)
+image: Visual Studio 2017
+
+environment:
+  matrix:
+    - PX4_CONFIG: tests # this builds posix in px4_sitl_test folder and runs tests
+    - PX4_CONFIG: px4_fmu-v5_default
+
+install:
+# if the toolchain wasn't restored from build cache download and install it
+- ps: >-
+    if (-not (Test-Path C:\PX4)) {
+        Invoke-WebRequest https://s3-us-west-2.amazonaws.com/px4-tools/PX4+Windows+Cygwin+Toolchain/PX4+Windows+Cygwin+Toolchain+0.9.msi -OutFile C:\Toolchain.msi
+        Start-Process -Wait msiexec -ArgumentList '/I C:\Toolchain.msi /quiet /qn /norestart /log C:\install.log'
+    }
+
+# Note: using Start-Process -Wait is important
+# because otherwise the install begins but non-blocking and the result cannot be used just after
+
+build_script:
+# FIXME Temporary we need to create the home folder because it's not contained in installer 0.5 and CI fails if it doesn't exist
+- if not exist "C:\PX4\home" mkdir C:\PX4\home
+# setup the environmental variables to work within the installed cygwin toolchain
+- call C:\PX4\toolchain\scripts\setup-environment.bat x
+# safe the repopath for switching to it in cygwin bash
+- for /f %%i in ('cygpath -u %%CD%%') do set repopath=%%i
+# build the make target
+- call bash --login -c "cd $repopath && make $PX4_CONFIG"
+
+# Note: using bash --login is important
+# because otherwise certain things (like python; import numpy) do not work
+
+cache:
+# cache the entire toolchain installation folder to avoid
+# downloading it from AWS S3 and installing the MSI each time
+# it's ~1.8GB > 1GB free limit for build caches
+- C:\PX4 -> appveyor.yml
@@ -39,6 +39,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -39,6 +39,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -36,6 +36,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -25,6 +25,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -43,6 +43,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -44,6 +44,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -39,6 +39,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -27,6 +27,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -37,6 +37,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -32,6 +32,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 # CONFIG_EKF2_AUXVEL is not set
 # CONFIG_EKF2_BARO_COMPENSATION is not set
@@ -31,6 +31,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 # CONFIG_EKF2_AUXVEL is not set
 # CONFIG_EKF2_BARO_COMPENSATION is not set
@@ -32,6 +32,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 # CONFIG_EKF2_AUXVEL is not set
 # CONFIG_EKF2_BARO_COMPENSATION is not set
@@ -43,6 +43,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -41,6 +41,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -36,6 +36,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -37,6 +37,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -37,6 +37,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -35,6 +35,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -36,6 +36,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -35,6 +35,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -38,6 +38,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -39,6 +39,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -40,6 +40,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -41,6 +41,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -28,6 +28,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
@@ -15,6 +15,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
@@ -20,6 +20,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
@@ -1,3 +1,4 @@
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
 CONFIG_MODULES_MC_ATT_CONTROL=n
 CONFIG_MODULES_MC_POS_CONTROL=n
@@ -43,6 +43,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -44,6 +44,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -40,6 +40,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -48,6 +48,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -53,7 +53,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_DIFFERENTIAL_DRIVE_CONTROL=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -37,6 +37,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -40,6 +40,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -37,6 +37,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
@@ -16,6 +16,8 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1

+param set-default SYS_USE_IO 1
+
 safety_button start

 if param greater -s UAVCAN_ENABLE 0
@@ -18,7 +18,7 @@

 set HAVE_PM2 yes

-if ver hwtypecmp V6XRT005000
+if ver hwtypecmp V5X005000 V5X005001 V5X005002
 then
 	set HAVE_PM2 no
 fi
@@ -61,8 +61,8 @@ then
 	fi
 fi

-# Internal SPI bus ICM42686p (hard-mounted)
-icm42688p -6 -R 12 -b 1 -s start
+# Internal SPI bus ICM42688p (hard-mounted)
+icm42688p -R 12 -b 1 -s start

 # Internal on IMU SPI BMI088
 bmi088 -A -R 4 -s start
@@ -84,8 +84,6 @@ ist8310 -X -b 1 -R 10 start
 if param compare SENS_INT_BARO_EN 1
 then
 	bmp388 -I -b 3 -a 0x77 start
+	bmp388 -X -b 2 start
 fi
-
-bmp388 -X -b 2 start
-
 unset HAVE_PM2
@@ -1,66 +1,4 @@
-/* Static */
-*(.text.arm_ack_irq)
-*(.text.arm_doirq)
-*(.text.arm_svcall)
-*(.text.arm_switchcontext)
-*(.text.board_autoled_on)
-*(.text.clock_timer)
-*(.text.exception_common)
 *(.text.hrt_absolute_time)
-*(.text.hrt_tim_isr)
-*(.text.imxrt_configwaitints)
-*(.text.imxrt_dma_callback)
-*(.text.imxrt_dmach_interrupt)
-*(.text.imxrt_dmaterminate)
-*(.text.imxrt_edma_interrupt)
-*(.text.imxrt_endwait)
-*(.text.imxrt_gpio3_16_31_interrupt)
-*(.text.imxrt_interrupt)
-*(.text.imxrt_lpi2c_isr)
-*(.text.imxrt_recvdma)
-*(.text.imxrt_tcd_free)
-*(.text.imxrt_timerisr)
-*(.text.imxrt_usbinterrupt)
-*(.text.irq_dispatch)
-*(.text.memcpy)
-*(.text.nxsched_add_blocked)
-*(.text.nxsched_add_prioritized)
-*(.text.nxsched_add_readytorun)
-*(.text.nxsched_get_files)
-*(.text.nxsched_get_tcb)
-*(.text.nxsched_merge_pending)
-*(.text.nxsched_process_timer)
-*(.text.nxsched_remove_blocked)
-*(.text.nxsched_remove_readytorun)
-*(.text.nxsched_resume_scheduler)
-*(.text.nxsched_suspend_scheduler)
-*(.text.nxsem_add_holder)
-*(.text.nxsem_add_holder_tcb)
-*(.text.nxsem_clockwait)
-*(.text.nxsem_foreachholder)
-*(.text.nxsem_freecount0holder)
-*(.text.nxsem_freeholder)
-*(.text.nxsem_post)
-*(.text.nxsem_release_holder)
-*(.text.nxsem_restore_baseprio)
-*(.text.nxsem_tickwait)
-*(.text.nxsem_timeout)
-*(.text.nxsem_trywait)
-*(.text.nxsem_wait)
-*(.text.nxsem_wait_uninterruptible)
-*(.text.nxsig_timedwait)
-*(.text.sched_lock)
-*(.text.sched_note_resume)
-*(.text.sched_note_suspend)
-*(.text.sched_unlock)
-*(.text.sq_addafter)
-*(.text.sq_addlast)
-*(.text.sq_rem)
-*(.text.sq_remafter)
-*(.text.sq_remfirst)
-*(.text.uart_connected)
-*(.text.wd_timer)
-/* Auto-generated */
 *(.text._ZN4uORB7Manager27orb_add_internal_subscriberE6ORB_IDhPj)
 *(.text._ZN13MavlinkStream6updateERKy)
 *(.text._ZN7Mavlink16update_rate_multEv)
@@ -74,16 +12,20 @@
 *(.text._ZN4uORB12Subscription9subscribeEv.part.0)
 *(.text._ZN4uORB7Manager13orb_data_copyEPvS1_Rjb)
 *(.text._ZN4uORB10DeviceNode5writeEP4filePKcj)
+*(.text.exception_common)
 *(.text.strcmp)
 *(.text._ZN4uORB10DeviceNode7publishEPK12orb_metadataPvPKv)
 *(.text._ZN4uORB12DeviceMaster19getDeviceNodeLockedEPK12orb_metadatah)
 *(.text._Z12get_orb_meta6ORB_ID)
+*(.text.nxsem_wait)
 *(.text._ZN9ICM42688P12ProcessAccelERKyPKN20InvenSense_ICM42688P4FIFO4DATAEh)
+*(.text.nxsem_post)
 *(.text._ZN3px49WorkQueue3RunEv)
 *(.text._ZN9ICM42688P11ProcessGyroERKyPKN20InvenSense_ICM42688P4FIFO4DATAEh)
 *(.text._ZN4EKF23RunEv)
 *(.text.imxrt_lpspi_exchange)
 *(.text.imxrt_dmach_xfrsetup)
+*(.text.arm_doirq)
 *(.text._ZN7sensors10VehicleIMU7PublishEv)
 *(.text._ZN4math17WelfordMeanVectorIfLj3EE6updateERKN6matrix6VectorIfLj3EEE)
 *(.text._ZN7sensors10VehicleIMU10UpdateGyroEv)
@@ -98,11 +40,16 @@
 *(.text.perf_set_elapsed.part.0)
 *(.text._ZN4uORB12Subscription6updateEPv)
 *(.text._ZN12PX4Gyroscope10updateFIFOER18sensor_gyro_fifo_s)
+*(.text.hrt_tim_isr)
+*(.text.nxsig_timedwait)
+*(.text.nxsem_foreachholder)
 *(.text._ZN7sensors10VehicleIMU3RunEv)
 *(.text.up_unblock_task)
 *(.text.__aeabi_l2f)
 *(.text._ZN39ControlAllocationSequentialDesaturation23computeDesaturationGainERKN6matrix6VectorIfLj16EEES4_)
+*(.text.sched_unlock)
 *(.text.pthread_mutex_timedlock)
+*(.text.nxsem_restore_baseprio)
 *(.text._ZN7sensors22VehicleAngularVelocity21FilterAngularVelocityEiPfi)
 *(.text._ZN26MulticopterAttitudeControl3RunEv.part.0)
 *(.text._ZN6device3SPI9_transferEPhS1_j)
@@ -112,10 +59,12 @@
 *(.text.fs_getfilep)
 *(.text.MEM_DataCopy0_1)
 *(.text._ZN7sensors19VehicleAcceleration3RunEv)
+*(.text.sched_note_resume)
 *(.text.uart_ioctl)
 *(.text._ZN26MulticopterPositionControl3RunEv.part.0)
 *(.text.pthread_mutex_take)
 *(.text._ZN14ImuDownSampler6updateERKN9estimator9imuSampleE)
+*(.text.irq_dispatch)
 *(.text._ZN39ControlAllocationSequentialDesaturation6mixYawEv)
 *(.text._ZN16ControlAllocator25publish_actuator_controlsEv.part.0)
 *(.text._ZN9ICM42688P7RunImplEv)
@@ -125,27 +74,39 @@
 *(.text._ZN7sensors22VehicleAngularVelocity21SensorSelectionUpdateERKyb)
 *(.text._ZN3px49WorkQueue3AddEPNS_8WorkItemE)
 *(.text.wd_start)
+*(.text.sq_rem)
+*(.text.nxsem_add_holder_tcb)
+*(.text.imxrt_dmaterminate)
 *(.text.hrt_call_enter)
 *(.text._ZN4EKF220PublishLocalPositionERKy)
 *(.text._mav_finalize_message_chan_send)
+*(.text.nxsched_add_blocked)
+*(.text.arm_switchcontext)
 *(.text._ZN3Ekf19fixCovarianceErrorsEb)
+*(.text.nxsched_add_prioritized)
 *(.text._ZN7sensors22VehicleAngularVelocity16ParametersUpdateEb)
 *(.text.ioctl)
 *(.text._ZN6events12SendProtocol6updateERKy)
+*(.text.imxrt_dmach_interrupt)
+*(.text.sched_lock)
 *(.text._ZN6device3SPI8transferEPhS1_j)
 *(.text._ZN27MavlinkStreamDistanceSensor4sendEv)
 *(.text.hrt_call_internal)
+*(.text.arm_svcall)
 *(.text._ZN39ControlAllocationSequentialDesaturation18mixAirmodeDisabledEv)
 *(.text._ZN7Mavlink15get_free_tx_bufEv)
 *(.text.nx_poll)
+*(.text.sched_note_suspend)
 *(.text._ZN15MavlinkReceiver3runEv)
 *(.text._ZN9ICM42688P18ProcessTemperatureEPKN20InvenSense_ICM42688P4FIFO4DATAEh)
 *(.text._ZN15OutputPredictor19correctOutputStatesEyRKN6matrix10QuaternionIfEERKNS0_7Vector3IfEES8_S8_S8_)
 *(.text._ZN3Ekf12predictStateERKN9estimator9imuSampleE)
 *(.text._ZN3px46logger6Logger3runEv)
+*(.text.nxsem_freecount0holder)
 *(.text._ZN4uORB20SubscriptionInterval7updatedEv)
 *(.text._ZN24MavlinkStreamCommandLong4sendEv)
 *(.text._ZN9Commander3runEv)
+*(.text.nxsem_release_holder)
 *(.text._ZN3Ekf17predictCovarianceERKN9estimator9imuSampleE)
 *(.text.wd_cancel)
 *(.text._ZN7Sensors3RunEv)
@@ -162,13 +123,16 @@
 *(.text._ZN16ControlAllocator32publish_control_allocator_statusEi)
 *(.text.__ieee754_atan2f)
 *(.text._ZNK18DynamicSparseLayer3getEt)
+*(.text.nxsched_remove_readytorun)
 *(.text.__udivmoddi4)
 *(.text._ZN8Failsafe17checkStateAndModeERKyRKN12FailsafeBase5StateERK16failsafe_flags_s)
 *(.text._ZN29MavlinkStreamHygrometerSensor4sendEv)
+*(.text.nxsched_remove_blocked)
 *(.text.pthread_mutex_give)
 *(.text._ZN3Ekf18controlFusionModesERKN9estimator9imuSampleE)
 *(.text._ZN4cdev4CDev11poll_notifyEm)
 *(.text.file_vioctl)
+*(.text.wd_timer)
 *(.text._ZN7sensors18VotedSensorsUpdate11sensorsPollER17sensor_combined_s)
 *(.text.nxsig_nanosleep)
 *(.text.imxrt_lpspi1select)
@@ -184,6 +148,7 @@
 *(.text.cdcuart_ioctl)
 *(.text.cdcacm_sndpacket)
 *(.text._ZN7sensors22VehicleAngularVelocity16SensorBiasUpdateEb)
+*(.text.nxsched_merge_pending)
 *(.text._ZN13MavlinkStream11update_dataEv)
 *(.text._ZN7sensors18VotedSensorsUpdate21calcGyroInconsistencyEv)
 *(.text.param_set_used)
@@ -197,14 +162,18 @@
 *(.text._ZN22MavlinkStreamCollision4sendEv)
 *(.text.imxrt_lpi2c_transfer)
 *(.text.uart_putxmitchar)
+*(.text.nxsem_tickwait)
 *(.text.clock_nanosleep)
+*(.text.memcpy)
 *(.text.up_release_pending)
 *(.text.MEM_DataCopy0)
 *(.text._ZN22MavlinkStreamGPSRawInt4sendEv)
 *(.text.dq_rem)
 *(.text._ZN15GyroCalibration3RunEv.part.0)
+*(.text.imxrt_edma_interrupt)
 *(.text._ZN7sensors18VotedSensorsUpdate22calcAccelInconsistencyEv)
 *(.text._ZN24MavlinkStreamADSBVehicle4sendEv)
+*(.text.nxsched_process_timer)
 *(.text.sinf)
 *(.text.hrt_call_after)
 *(.text._ZN39ControlAllocationSequentialDesaturation8allocateEv)
@@ -215,6 +184,8 @@
 *(.text._ZN20MavlinkStreamESCInfo4sendEv)
 *(.text.sem_post)
 *(.text._ZN3px417ScheduledWorkItem15ScheduleDelayedEm)
+*(.text.nxsched_resume_scheduler)
+*(.text.nxsched_add_readytorun)
 *(.text._ZN10FlightTaskC1Ev)
 *(.text.usleep)
 *(.text._ZN14FlightTaskAutoC1Ev)
@@ -223,6 +194,7 @@
 *(.text.imxrt_gpio_write)
 *(.text._ZN3Ekf6updateEv)
 *(.text.__ieee754_acosf)
+*(.text.nxsem_wait_uninterruptible)
 *(.text._ZN3Ekf20updateIMUBiasInhibitERKN9estimator9imuSampleE)
 *(.text._ZN9Commander13dataLinkCheckEv)
 *(.text._ZN17FlightModeManager10switchTaskE15FlightTaskIndex)
@@ -232,8 +204,10 @@
 *(.text._ZN18MavlinkStreamDebug4sendEv)
 *(.text._ZN27MavlinkStreamServoOutputRawILi0EE4sendEv)
 *(.text.asinf)
+*(.text.nxsem_freeholder)
 *(.text._ZN6matrix5EulerIfEC1ERKNS_3DcmIfEE)
 *(.text._ZN4EKF227PublishInnovationTestRatiosERKy)
+*(.text.imxrt_gpio3_16_31_interrupt)
 *(.text._ZN4EKF213PublishStatusERKy)
 *(.text._ZN4EKF226PublishInnovationVariancesERKy)
 *(.text._ZN13land_detector23MulticopterLandDetector25_get_ground_contact_stateEv)
@@ -248,6 +222,7 @@
 *(.text._ZNK10ConstLayer3getEt)
 *(.text.__aeabi_uldivmod)
 *(.text.up_udelay)
+*(.text.imxrt_usbinterrupt)
 *(.text.up_idle)
 *(.text._ZN20MavlinkStreamGPS2Raw4sendEv)
 *(.text._ZN4EKF217UpdateCalibrationERKyRNS_19InFlightCalibrationERKN6matrix7Vector3IfEES8_fbb)
@@ -293,9 +268,11 @@
 *(.text._ZN36MavlinkStreamPositionTargetGlobalInt4sendEv)
 *(.text._ZN4uORB12Subscription4copyEPv)
 *(.text._ZN7sensors19VehicleAcceleration21SensorSelectionUpdateEb)
+*(.text.nxsem_add_holder)
 *(.text.crc_accumulate)
 *(.text._ZN3px46logger6Logger13update_paramsEv)
 *(.text._ZN11calibration14DeviceExternalEm)
+*(.text.sq_addafter)
 *(.text._ZN25MavlinkStreamHomePosition8get_sizeEv)
 *(.text.imxrt_lpspi_modifyreg32)
 *(.text._ZN7sensors19VehicleAcceleration16SensorBiasUpdateEb)
@@ -303,6 +280,7 @@
 *(.text._ZNK6matrix6MatrixIfLj3ELj1EEmlEf)
 *(.text._ZN6matrix5EulerIfEC1ERKNS_10QuaternionIfEE)
 *(.text.imxrt_queuedtd)
+*(.text.nxsched_suspend_scheduler)
 *(.text._ZN27MavlinkStreamDistanceSensor8get_sizeEv)
 *(.text._ZN3Ekf16fuseVelPosHeightEffi)
 *(.text._ZN3Ekf23controlBaroHeightFusionEv)
@@ -316,6 +294,7 @@
 *(.text._ZN7sensors14VehicleAirData3RunEv)
 *(.text.perf_count)
 *(.text._ZN3Ekf16controlMagFusionEv)
+*(.text.nxsem_clockwait)
 *(.text.pthread_sem_give)
 *(.text._ZN7sensors10VehicleIMU16ParametersUpdateEb)
 *(.text._ZN30MavlinkStreamUTMGlobalPosition4sendEv)
@@ -323,11 +302,13 @@
 *(.text._ZN12I2CSPIDriverI9ICM42688PE3RunEv)
 *(.text._ZN17ObstacleAvoidanceC1EP12ModuleParams)
 *(.text.imxrt_epcomplete.constprop.0)
+*(.text.imxrt_tcd_free)
 *(.text._ZNK6matrix6MatrixIfLj3ELj1EEmiERKS1_)
 *(.text._ZN9Commander30handleModeIntentionAndFailsafeEv)
 *(.text.perf_event_count)
 *(.text._ZN4EKF215PublishAttitudeERKy)
 *(.text._ZN19MavlinkStreamRawRpm8get_sizeEv)
+*(.text.nxsem_trywait)
 *(.text._ZNK3px46atomicIbE4loadEv)
 *(.text._ZN29MavlinkStreamHygrometerSensor8get_sizeEv)
 *(.text.pthread_mutex_add)
@@ -351,6 +332,7 @@
 *(.text._ZN3Ekf31checkVerticalAccelerationHealthERKN9estimator9imuSampleE)
 *(.text._ZN6matrix6MatrixIfLj3ELj1EEC1ERKS1_)
 *(.text.udp_pollsetup)
+*(.text.nxsem_timeout)
 *(.text._ZL14timer_callbackPv)
 *(.text._ZN3Ekf4fuseERKN6matrix6VectorIfLj23EEEf)
 *(.text._ZN13land_detector23MulticopterLandDetector22_set_hysteresis_factorEi)
@@ -414,6 +396,7 @@
 *(.text._ZN17MavlinkLogHandler4sendEv)
 *(.text._ZN7control10SuperBlock5setDtEf)
 *(.text._ZN29MavlinkStreamMountOrientation8get_sizeEv)
+*(.text.board_autoled_on)
 *(.text._ZN5PX4IO13io_get_statusEv)
 *(.text._ZN26MulticopterAttitudeControl3RunEv)
 *(.text._ZThn16_N31ActuatorEffectivenessMultirotor22getEffectivenessMatrixERN21ActuatorEffectiveness13ConfigurationE25EffectivenessUpdateReason)
@@ -449,6 +432,7 @@
 *(.text._ZN36MavlinkStreamGimbalDeviceSetAttitude4sendEv)
 *(.text._ZN16PreFlightChecker6updateEfRK23estimator_innovations_s)
 *(.text._ZN4math13expo_deadzoneIfEEKT_RS2_S3_S3_.isra.0)
+*(.text.nxsched_get_tcb)
 *(.text._ZN19StickAccelerationXYC1EP12ModuleParams)
 *(.text.imxrt_epsubmit)
 *(.text._ZN15PositionControl6updateEf)
@@ -471,6 +455,7 @@
 *(.text._ZN6Sticks25checkAndUpdateStickInputsEv)
 *(.text.atan2f)
 *(.text._ZN23MavlinkStreamRCChannels4sendEv)
+*(.text.sq_remfirst)
 *(.text._ZN4EKF221UpdateExtVisionSampleER17ekf2_timestamps_s)
 *(.text.imxrt_dmach_stop)
 *(.text._ZN9Commander16handleAutoDisarmEv)
@@ -503,6 +488,7 @@
 *(.text._ZN33FlightTaskManualAltitudeSmoothVelC1Ev)
 *(.text.powf)
 *(.text._ZN4EKF217PublishEventFlagsERKy)
+*(.text.sq_remafter)
 *(.text._ZN17FlightTaskDescend6updateEv)
 *(.text.imxrt_iomux_configure)
 *(.text.hrt_store_absolute_time)
@@ -607,6 +593,7 @@
 *(.text._ZN20MavlinkStreamESCInfo8get_sizeEv)
 *(.text._ZNK6matrix6VectorIfLj2EE4normEv)
 *(.text._Z15arm_auth_updateyb)
+*(.text.imxrt_lpi2c_isr)
 *(.text._ZN3LED5ioctlEP4fileim)
 *(.text._ZNK3px46logger9LogWriter20had_file_write_errorEv)
 *(.text._ZN29MavlinkStreamLocalPositionNED4sendEv)
@@ -640,11 +627,13 @@
 *(.text._ZN4EKF216PublishEvPosBiasERKy)
 *(.text._ZN21MavlinkStreamAttitude8get_sizeEv)
 *(.text._ZThn16_N7sensors19VehicleAcceleration3RunEv)
+*(.text.imxrt_timerisr)
 *(.text._ZN3Ekf24controlRangeHeightFusionEv)
 *(.text._ZN33MavlinkStreamTimeEstimateToTarget4sendEv)
 *(.text._ZN6matrix6MatrixIfLj3ELj1EE6setAllEf)
 *(.text._ZN12ModuleParamsD1Ev)
 *(.text._ZN3Ekf20controlFakeHgtFusionEv)
+*(.text.sq_addlast)
 *(.text.imxrt_reqcomplete)
 *(.text._ZNK6matrix7Vector3IfEmlEf)
 *(.text._ZN18ZeroVelocityUpdate6updateER3EkfRKN9estimator9imuSampleE)
@@ -664,6 +653,7 @@
 *(.text._ZN13BatteryChecks14checkAndReportERK7ContextR6Report)
 *(.text._ZN18DataValidatorGroup16get_sensor_stateEj)
 *(.text.uart_xmitchars_done)
+*(.text.nxsched_get_files)
 *(.text._ZN4EKF225PublishYawEstimatorStatusERKy)
 *(.text.sin)
 *(.text._ZN16PreFlightChecker27preFlightCheckVertVelFailedERK23estimator_innovations_sf)
@@ -712,6 +702,7 @@
 *(.text._ZThn8_N3ADC3RunEv)
 *(.text._ZN11StickTiltXYC1EP12ModuleParams)
 *(.text._ZN12SafetyButton3RunEv)
+*(.text.arm_ack_irq)
 *(.text._ZN6BMP38811set_op_modeEh)
 *(.text._ZN3GPS8callbackE15GPSCallbackTypePviS1_)
 *(.text._ZN13AnalogBattery19get_current_channelEv)
@@ -36,6 +36,7 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
 		bootloader_main.c
 		init.c
 		usb.c
+		imxrt_romapi.c
 		imxrt_flexspi_nor_boot.c
 		imxrt_flexspi_nor_flash.c
 		imxrt_clockconfig.c
@@ -47,7 +48,6 @@ if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
 			nuttx_drivers # sdio
 			px4_layer #gpio
 			arch_io_pins # iotimer
-			arch_board_romapi
 			bootloader
 	)
 	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
@@ -72,6 +72,7 @@ else()
 		spi.cpp
 		timer_config.cpp
 		usb.c
+		imxrt_romapi.c
 		imxrt_flexspi_fram.c
 		imxrt_flexspi_nor_boot.c
 		imxrt_flexspi_nor_flash.c
@@ -82,7 +83,6 @@ else()
 	target_link_libraries(drivers_board
 		PRIVATE
 			arch_board_hw_info
-			arch_board_romapi
 			arch_spi
 			drivers__led # drv_led_start
 			nuttx_arch # sdio
@@ -297,7 +297,6 @@
 #define GPIO_HW_VER_SENSE     /* GPIO_AD_23 GPIO9 Pin 22 */  ADC_GPIO(5, 22)
 #define HW_INFO_INIT_PREFIX   "V6XRT"
 #define V6XRT_00             HW_VER_REV(0x0,0x0) // First Release
-#define V6XRT_50             HW_VER_REV(0x5,0x0) // HB Mini Rev 0

 #define BOARD_I2C_LATEINIT 1 /* See Note about SE550 Eanable */

@@ -540,8 +539,6 @@

 /* This board provides the board_on_reset interface */

-#define BOARD_HAS_ISP_BOOTLOADER 1
-
 #define BOARD_HAS_ON_RESET 1

 #define PX4_GPIO_INIT_LIST { \
@@ -22,7 +22,7 @@
 * Included Files
 ****************************************************************************/

-#include <px4_arch/imxrt_flexspi_nor_flash.h>
+#include "imxrt_flexspi_nor_flash.h"

 /****************************************************************************
 * Public Data
@@ -1,5 +1,5 @@
 /****************************************************************************
- * platforms/nuttx/src/px4/nxp/imrt/include/px4_arch/imxrt_flexspi_nor_flash.h
+ * boards/px4/fmu-v6xrt/src/imxrt_flexspi_nor_flash.h
 *
 * Licensed to the Apache Software Foundation (ASF) under one or more
 * contributor license agreements.  See the NOTICE file distributed with
@@ -18,8 +18,8 @@
 *
 ****************************************************************************/

-#ifndef __PX4_ARCH_IMXRT_FLEXSPI_NOR_FLASH_H
-#define __PX4_ARCH_IMXRT_FLEXSPI_NOR_FLASH_H
+#ifndef __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_FLEXSPI_NOR_FLASH_H
+#define __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_FLEXSPI_NOR_FLASH_H

 /****************************************************************************
 * Included Files
@@ -349,4 +349,4 @@ extern const struct flexspi_nor_config_s g_flash_config;
 extern const struct flexspi_nor_config_s g_flash_fast_config;


-#endif /* __PX4_ARCH_IMXRT_FLEXSPI_NOR_FLASH_H */
+#endif /* __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_FLEXSPI_NOR_FLASH_H */
@@ -1,7 +1,7 @@
 /****************************************************************************
- * platforms/nuttx/src/px4/nxp/imrt/romapi/imxrt_romapi.c
+ * boards/px4/fmu-v6xrt/src/imxrt_romapi.c
 *
- * Copyright 2017-2024 NXP
+ * Copyright 2017-2020 NXP
 * All rights reserved.
 *
 * SPDX-License-Identifier: BSD-3-Clause
@@ -22,8 +22,8 @@

 #include "arm_internal.h"

-#include <px4_arch/imxrt_flexspi_nor_flash.h>
-#include <px4_arch/imxrt_romapi.h>
+#include "imxrt_flexspi_nor_flash.h"
+#include "imxrt_romapi.h"

 #include <hardware/rt117x/imxrt117x_anadig.h>

@@ -1,14 +1,14 @@
 /****************************************************************************
- * platforms/nuttx/src/px4/nxp/imrt/include/px4_arch/imxrt_romapi.h
+ * boards/px4/fmu-v6xrt/src/imxrt_romapi.c
 *
- * Copyright 2017-2024 NXP
+ * Copyright 2017-2020 NXP
 * All rights reserved.
 *
 * SPDX-License-Identifier: BSD-3-Clause
 *
 ****************************************************************************/
-#ifndef __PX4_ARCH_IMXRT_ROMAPI_H
-#define __PX4_ARCH_IMXRT_ROMAPI_H
+#ifndef __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_ROMAPI_H
+#define __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_ROMAPI_H

 /****************************************************************************
 *
@@ -370,8 +370,4 @@ void ROM_FLEXSPI_NorFlash_ClearCache(uint32_t instance);

 /*@}*/

-#ifdef __cplusplus
-}
-#endif
-
-#endif /* __PX4_ARCH_IMXRT_ROMAPI_H */
+#endif /* __BOARDS_PX4_FMU_V6XRT_SRC_IMXRT_ROMAPI_H */
@@ -66,7 +66,8 @@

 #include "arm_internal.h"
 #include "imxrt_flexspi_nor_boot.h"
-#include <px4_arch/imxrt_flexspi_nor_flash.h>
+#include "imxrt_flexspi_nor_flash.h"
+#include "imxrt_romapi.h"
 #include "imxrt_iomuxc.h"
 #include "imxrt_flexcan.h"
 #include "imxrt_enet.h"
@@ -78,12 +79,10 @@

 #include <arch/board/board.h>

-
 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
 #include <systemlib/px4_macros.h>
 #include <px4_arch/io_timer.h>
-#include <px4_arch/imxrt_romapi.h>
 #include <px4_platform_common/init.h>
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2018, 2021, 2024 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2018, 2021 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -46,14 +46,12 @@
 * Included Files
 ****************************************************************************/

-#include <nuttx/config.h>
-#include <board_config.h>
-
-#include <inttypes.h>
+#include <px4_platform_common/px4_config.h>
 #include <stdbool.h>
 #include <syslog.h>

 #include "systemlib/px4_macros.h"
+#include "px4_log.h"

 /****************************************************************************
 * Pre-Processor Definitions
@@ -100,30 +98,8 @@ static const px4_hw_mft_item_t hw_mft_list_V00[] = {
 	},
 };

-static const px4_hw_mft_item_t hw_mft_list_V50[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_unknown,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-};
-
 static px4_hw_mft_list_entry_t mft_lists[] = {
 	{V6XRT_00, hw_mft_list_V00, arraySize(hw_mft_list_V00)},
-	{V6XRT_50, hw_mft_list_V50, arraySize(hw_mft_list_V50)}, // HB Mini
 };

 /************************************************************************************
@@ -146,7 +122,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 16;
+		uint32_t ver_rev = board_get_hw_version() << 8;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -157,7 +133,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
+			PX4_ERR("Board %4" PRIx32 " is not supported!", ver_rev);
 		}
 	}

@@ -65,7 +65,7 @@

 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::LPSPI1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42686P, SPI::CS{GPIO::Port2, GPIO::Pin11}, SPI::DRDY{GPIO::Port3, GPIO::Pin19}), /* GPIO_EMC_B2_01 GPIO2_IO11, GPIO_AD_20, GPIO3_IO19 */
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::Port2, GPIO::Pin11}, SPI::DRDY{GPIO::Port3, GPIO::Pin19}), /* GPIO_EMC_B2_01 GPIO2_IO11, GPIO_AD_20, GPIO3_IO19 */
 	}, {GPIO::Port2, GPIO::Pin1}), // Power GPIO_EMC_B1_33  GPIO2_IO01

 	initSPIBus(SPI::Bus::LPSPI2, {
@@ -24,6 +24,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -12,7 +12,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_DIFFERENTIAL_DRIVE_CONTROL=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_EKF2_AUX_GLOBAL_POSITION=y
 CONFIG_MODULES_EVENTS=y
@@ -27,6 +27,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
@@ -31,6 +31,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -37,6 +37,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -37,6 +37,7 @@ CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_ROVER_CONTROL=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
@@ -0,0 +1,205 @@
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
+<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
+	<storageModule moduleId="org.eclipse.cdt.core.settings">
+		<cconfiguration id="cdt.managedbuild.toolchain.gnu.cross.base.432866957">
+			<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="cdt.managedbuild.toolchain.gnu.cross.base.432866957" moduleId="org.eclipse.cdt.core.settings" name="Default">
+				<externalSettings/>
+				<extensions>
+					<extension id="org.eclipse.cdt.core.ELF" point="org.eclipse.cdt.core.BinaryParser"/>
+					<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+					<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
+				</extensions>
+			</storageModule>
+			<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+				<configuration artifactName="PX4-Firmware" buildProperties="" description="" id="cdt.managedbuild.toolchain.gnu.cross.base.432866957" name="Default" parent="org.eclipse.cdt.build.core.emptycfg">
+					<folderInfo id="cdt.managedbuild.toolchain.gnu.cross.base.432866957.1182904611" name="/" resourcePath="">
+						<toolChain id="cdt.managedbuild.toolchain.gnu.base.716090342" name="Linux GCC" superClass="cdt.managedbuild.toolchain.gnu.base">
+							<targetPlatform archList="all" binaryParser="org.eclipse.cdt.core.ELF" id="cdt.managedbuild.target.gnu.platform.base.328447809" name="Debug Platform" osList="linux,hpux,aix,qnx" superClass="cdt.managedbuild.target.gnu.platform.base"/>
+							<builder id="cdt.managedbuild.target.gnu.builder.base.977864740" keepEnvironmentInBuildfile="false" managedBuildOn="false" name="Gnu Make Builder" superClass="cdt.managedbuild.target.gnu.builder.base">
+								<outputEntries>
+									<entry excluding="build*" flags="VALUE_WORKSPACE_PATH" kind="outputPath" name=""/>
+								</outputEntries>
+							</builder>
+							<tool id="cdt.managedbuild.tool.gnu.archiver.base.1653222719" name="GCC Archiver" superClass="cdt.managedbuild.tool.gnu.archiver.base"/>
+							<tool id="cdt.managedbuild.tool.gnu.cpp.compiler.base.331692139" name="GCC C++ Compiler" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.base">
+								<option id="gnu.cpp.compiler.option.include.paths.1654158476" name="Include paths (-I)" superClass="gnu.cpp.compiler.option.include.paths" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/ecl}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/modules/systemlib}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/geo}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/platforms}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB/topics}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4_sitl_default/&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4_sitl_default/src/modules/systemlib/param&quot;"/>
+								</option>
+								<option id="gnu.cpp.compiler.option.preprocessor.def.1050909243" name="Defined symbols (-D)" superClass="gnu.cpp.compiler.option.preprocessor.def" valueType="definedSymbols">
+									<listOptionValue builtIn="false" value="__PX4_POSIX=1"/>
+									<listOptionValue builtIn="false" value="__PX4_LINUX=1"/>
+									<listOptionValue builtIn="false" value="__cplusplus=1"/>
+									<listOptionValue builtIn="false" value="__EXPORT"/>
+								</option>
+								<inputType id="cdt.managedbuild.tool.gnu.cpp.compiler.input.322788461" superClass="cdt.managedbuild.tool.gnu.cpp.compiler.input"/>
+							</tool>
+							<tool id="cdt.managedbuild.tool.gnu.c.compiler.base.1055476396" name="GCC C Compiler" superClass="cdt.managedbuild.tool.gnu.c.compiler.base">
+								<option id="gnu.c.compiler.option.include.paths.1309473256" name="Include paths (-I)" superClass="gnu.c.compiler.option.include.paths" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/ecl}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/modules/systemlib}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/geo}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/platforms}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB/topics}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4_sitl_default/&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4_sitl_default/src/modules/systemlib/param&quot;"/>
+								</option>
+								<option id="gnu.c.compiler.option.preprocessor.def.symbols.734675451" name="Defined symbols (-D)" superClass="gnu.c.compiler.option.preprocessor.def.symbols" valueType="definedSymbols">
+									<listOptionValue builtIn="false" value="__PX4_POSIX=1"/>
+									<listOptionValue builtIn="false" value="__PX4_LINUX=1"/>
+									<listOptionValue builtIn="false" value="__cplusplus=1"/>
+									<listOptionValue builtIn="false" value="__EXPORT"/>
+								</option>
+								<inputType id="cdt.managedbuild.tool.gnu.c.compiler.input.1650107366" superClass="cdt.managedbuild.tool.gnu.c.compiler.input"/>
+							</tool>
+							<tool id="cdt.managedbuild.tool.gnu.c.linker.base.1577413388" name="GCC C Linker" superClass="cdt.managedbuild.tool.gnu.c.linker.base"/>
+							<tool id="cdt.managedbuild.tool.gnu.cpp.linker.base.1471249362" name="GCC C++ Linker" superClass="cdt.managedbuild.tool.gnu.cpp.linker.base">
+								<inputType id="cdt.managedbuild.tool.gnu.cpp.linker.input.1062268162" superClass="cdt.managedbuild.tool.gnu.cpp.linker.input">
+									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
+									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
+								</inputType>
+							</tool>
+							<tool id="cdt.managedbuild.tool.gnu.assembler.base.900091175" name="GCC Assembler" superClass="cdt.managedbuild.tool.gnu.assembler.base">
+								<option id="gnu.both.asm.option.include.paths.2025449581" name="Include paths (-I)" superClass="gnu.both.asm.option.include.paths" valueType="includePath">
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/ecl}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/modules/systemlib}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/lib/geo}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/platforms}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/src/include}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware/uORB/topics}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/PX4-Firmware}&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4_sitl_default/&quot;"/>
+									<listOptionValue builtIn="false" value="&quot;${git_work_tree}/build/px4_sitl_default/src/modules/systemlib/param&quot;"/>
+								</option>
+								<inputType id="cdt.managedbuild.tool.gnu.assembler.input.674673703" superClass="cdt.managedbuild.tool.gnu.assembler.input"/>
+							</tool>
+						</toolChain>
+					</folderInfo>
+					<sourceEntries>
+						<entry flags="VALUE_WORKSPACE_PATH" kind="sourcePath" name="src"/>
+					</sourceEntries>
+				</configuration>
+			</storageModule>
+			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
+		</cconfiguration>
+	</storageModule>
+	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
+		<project id="PX4Firmware.null.2007659608" name="PX4Firmware"/>
+	</storageModule>
+	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
+	<storageModule moduleId="refreshScope" versionNumber="2">
+		<configuration configurationName="Default">
+			<resource resourceType="PROJECT" workspacePath="/PX4-Firmware"/>
+		</configuration>
+	</storageModule>
+	<storageModule moduleId="org.eclipse.cdt.internal.ui.text.commentOwnerProjectMappings"/>
+	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets">
+		<buildTargets>
+			<target name="px4_fmu-v2_default" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildTarget>px4_fmu-v2_default</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="px4_fmu-v4_default" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments/>
+				<buildTarget>px4_fmu-v4_default</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="all" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildTarget>all</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="px4_sitl_default" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments/>
+				<buildTarget>px4_sitl_default</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments/>
+				<buildTarget>check</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="clean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildTarget>clean</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="distclean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildTarget>distclean</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="tests" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments/>
+				<buildTarget>tests</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="submodulesclean" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildTarget>submodulesclean</buildTarget>
+				<stopOnError>false</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+			<target name="quick_check" path="" targetID="org.eclipse.cdt.build.MakeTargetBuilder">
+				<buildCommand>make</buildCommand>
+				<buildArguments/>
+				<buildTarget>quick_check</buildTarget>
+				<stopOnError>true</stopOnError>
+				<useDefaultCommand>true</useDefaultCommand>
+				<runAllBuilders>true</runAllBuilders>
+			</target>
+		</buildTargets>
+	</storageModule>
+	<storageModule moduleId="scannerConfiguration">
+		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.432866957;cdt.managedbuild.toolchain.gnu.cross.base.432866957.1182904611;cdt.managedbuild.tool.gnu.cross.cpp.compiler.1747549746;cdt.managedbuild.tool.gnu.cpp.compiler.input.576083683">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		</scannerConfigBuildInfo>
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.432866957;cdt.managedbuild.toolchain.gnu.cross.base.432866957.1182904611;cdt.managedbuild.tool.gnu.cpp.compiler.base.331692139;cdt.managedbuild.tool.gnu.cpp.compiler.input.322788461">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		</scannerConfigBuildInfo>
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.432866957;cdt.managedbuild.toolchain.gnu.cross.base.432866957.1182904611;cdt.managedbuild.tool.gnu.c.compiler.base.1055476396;cdt.managedbuild.tool.gnu.c.compiler.input.1650107366">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		</scannerConfigBuildInfo>
+		<scannerConfigBuildInfo instanceId="cdt.managedbuild.toolchain.gnu.cross.base.432866957;cdt.managedbuild.toolchain.gnu.cross.base.432866957.1182904611;cdt.managedbuild.tool.gnu.cross.c.compiler.595284732;cdt.managedbuild.tool.gnu.c.compiler.input.2047539569">
+			<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
+		</scannerConfigBuildInfo>
+	</storageModule>
+</cproject>
@@ -0,0 +1,69 @@
+<?xml version="1.0" encoding="UTF-8"?>
+<projectDescription>
+	<name>PX4-Firmware</name>
+	<comment></comment>
+	<projects>
+	</projects>
+	<buildSpec>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
+			<triggers>clean,full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+		<buildCommand>
+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
+			<triggers>full,incremental,</triggers>
+			<arguments>
+			</arguments>
+		</buildCommand>
+	</buildSpec>
+	<natures>
+		<nature>org.eclipse.cdt.core.cnature</nature>
+		<nature>org.eclipse.cdt.core.ccnature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
+	</natures>
+	<linkedResources>
+		<link>
+			<name>topics_sources</name>
+			<type>2</type>
+			<locationURI>uORB_SRC</locationURI>
+		</link>
+		<link>
+			<name>uORB</name>
+			<type>2</type>
+			<locationURI>uORB_LOC</locationURI>
+		</link>
+	</linkedResources>
+	<filteredResources>
+		<filter>
+			<id>1457837186676</id>
+			<name></name>
+			<type>26</type>
+			<matcher>
+				<id>org.eclipse.ui.ide.multiFilter</id>
+				<arguments>1.0-name-matches-false-false-.git</arguments>
+			</matcher>
+		</filter>
+		<filter>
+			<id>1457837186687</id>
+			<name></name>
+			<type>10</type>
+			<matcher>
+				<id>org.eclipse.ui.ide.multiFilter</id>
+				<arguments>1.0-name-matches-true-false-build*</arguments>
+			</matcher>
+		</filter>
+	</filteredResources>
+	<variableList>
+		<variable>
+			<name>uORB_LOC</name>
+			<value>$%7BPROJECT_LOC%7D/build/px4_sitl_default/uORB</value>
+		</variable>
+		<variable>
+			<name>uORB_SRC</name>
+			<value>$%7BPROJECT_LOC%7D/build/px4_sitl_default/msg/topics_sources</value>
+		</variable>
+	</variableList>
+</projectDescription>
@@ -1,5 +1,4 @@
 # Mode completion result, published by an active mode.
-# The possible values of nav_state are defined in the VehicleStatus msg.
 # Note that this is not always published (e.g. when a user switches modes or on
 # failsafe activation)
 uint64 timestamp				 # time since system start (microseconds)
@@ -11,5 +10,5 @@ uint8 RESULT_FAILURE_OTHER = 100 # Mode failed (generic error)

 uint8 result                     # One of RESULT_*

-uint8 nav_state                  # Source mode (values in VehicleStatus)
+uint8 nav_state                  # Source mode

@@ -22,7 +22,11 @@ float32 vz			# local velocity setpoint in m/s in NED
 float64 lat			# latitude, in deg
 float64 lon			# longitude, in deg
 float32 alt			# altitude AMSL, in m
-float32 yaw			# yaw (only in hover), in rad [-PI..PI), NaN = leave to flight task
+float32 yaw			# yaw (only for multirotors), in rad [-PI..PI), NaN = hold current yaw
+bool yaw_valid			# true if yaw setpoint valid
+
+float32 yawspeed		# yawspeed (only for multirotors, in rad/s)
+bool yawspeed_valid		# true if yawspeed setpoint valid

 float32 loiter_radius		# loiter major axis radius in m
 float32 loiter_minor_radius	# loiter minor axis radius (used for non-circular loiter shapes) in m
@@ -35,3 +39,5 @@ float32 acceptance_radius   # navigation acceptance_radius if we're doing waypoi
 float32 cruising_speed		# the generally desired cruising speed (not a hard constraint)
 bool gliding_enabled		# commands the vehicle to glide if the capability is available (fixed wing only)
 float32 cruising_throttle	# the generally desired cruising throttle (not a hard constraint), only has an effect for rover
+
+bool disable_weather_vane   # VTOL: disable (in auto mode) the weather vane feature that turns the nose into the wind
@@ -70,12 +70,6 @@ __EXPORT int px4_register_shutdown_hook(shutdown_hook_t hook);
 */
 __EXPORT int px4_unregister_shutdown_hook(shutdown_hook_t hook);

-/** Types of reboot requests for PX4 */
-typedef enum {
-	REBOOT_REQUEST = 0,          ///< Normal reboot
-	REBOOT_TO_BOOTLOADER = 1,    ///< Reboot to PX4 bootloader
-	REBOOT_TO_ISP = 2,           ///< Reboot to ISP bootloader
-} reboot_request_t;

 /**
 * Request the system to reboot.
@@ -89,7 +83,7 @@ typedef enum {
 * @return 0 on success, <0 on error
 */
 #if defined(CONFIG_BOARDCTL_RESET)
-__EXPORT int px4_reboot_request(reboot_request_t request = REBOOT_REQUEST, uint32_t delay_us = 0);
+__EXPORT int px4_reboot_request(bool to_bootloader = false, uint32_t delay_us = 0);
 #endif // CONFIG_BOARDCTL_RESET


@@ -108,7 +108,6 @@ static uint16_t shutdown_counter = 0; ///< count how many times the shutdown wor
 #define SHUTDOWN_ARG_IN_PROGRESS (1<<0)
 #define SHUTDOWN_ARG_REBOOT (1<<1)
 #define SHUTDOWN_ARG_TO_BOOTLOADER (1<<2)
-#define SHUTDOWN_ARG_TO_ISP (1<<3)
 static uint8_t shutdown_args = 0;

 static constexpr int max_shutdown_hooks = 1;
@@ -176,17 +175,7 @@ static void shutdown_worker(void *arg)
 		if (shutdown_args & SHUTDOWN_ARG_REBOOT) {
 #if defined(CONFIG_BOARDCTL_RESET)
 			PX4_INFO_RAW("Reboot NOW.");
-
-			if (shutdown_args & SHUTDOWN_ARG_TO_BOOTLOADER) {
-				boardctl(BOARDIOC_RESET, (uintptr_t)REBOOT_TO_BOOTLOADER);
-
-			} else if (shutdown_args & SHUTDOWN_ARG_TO_ISP) {
-				boardctl(BOARDIOC_RESET, (uintptr_t)REBOOT_TO_ISP);
-
-			} else {
-				boardctl(BOARDIOC_RESET, (uintptr_t)REBOOT_REQUEST);
-			}
-
+			boardctl(BOARDIOC_RESET, (shutdown_args & SHUTDOWN_ARG_TO_BOOTLOADER) ? 1 : 0);
 #else
 			PX4_PANIC("board reset not available");
 #endif
@@ -217,7 +206,7 @@ static void shutdown_worker(void *arg)
 }

 #if defined(CONFIG_BOARDCTL_RESET)
-int px4_reboot_request(reboot_request_t request, uint32_t delay_us)
+int px4_reboot_request(bool to_bootloader, uint32_t delay_us)
 {
 	pthread_mutex_lock(&shutdown_mutex);

@@ -228,11 +217,8 @@ int px4_reboot_request(reboot_request_t request, uint32_t delay_us)

 	shutdown_args |= SHUTDOWN_ARG_REBOOT;

-	if (request == REBOOT_TO_BOOTLOADER) {
+	if (to_bootloader) {
 		shutdown_args |= SHUTDOWN_ARG_TO_BOOTLOADER;
-
-	} else if (request == REBOOT_TO_ISP) {
-		shutdown_args |= SHUTDOWN_ARG_TO_ISP;
 	}

 	shutdown_time_us = hrt_absolute_time();
@@ -7,8 +7,8 @@
 #include <px4_defines.h>

 #include "hw_config.h"
-#include <px4_arch/imxrt_flexspi_nor_flash.h>
-#include <px4_arch/imxrt_romapi.h>
+#include "imxrt_flexspi_nor_flash.h"
+#include "imxrt_romapi.h"
 #include <hardware/rt117x/imxrt117x_ocotp.h>
 #include <hardware/rt117x/imxrt117x_anadig.h>
 #include <hardware/rt117x/imxrt117x_snvs.h>
@@ -187,7 +187,7 @@ static void mavlink_usb_check(void *arg)

 										if (param1 == 1) {
 											// 1: Reboot autopilot
-											px4_reboot_request(REBOOT_REQUEST, 0);
+											px4_reboot_request(false, 0);

 										} else if (param1 == 2) {
 											// 2: Shutdown autopilot
@@ -197,7 +197,7 @@ static void mavlink_usb_check(void *arg)

 										} else if (param1 == 3) {
 											// 3: Reboot autopilot and keep it in the bootloader until upgraded.
-											px4_reboot_request(REBOOT_TO_BOOTLOADER, 0);
+											px4_reboot_request(true, 0);
 										}
 									}
 								}
@@ -35,8 +35,6 @@ px4_add_library(arch_board_reset
 	board_reset.cpp
 )

-target_link_libraries(arch_board_reset PRIVATE arch_board_romapi)
-
 # up_systemreset
 if (NOT DEFINED CONFIG_BUILD_FLAT)
 	target_link_libraries(arch_board_reset PRIVATE nuttx_karch)
@@ -38,16 +38,11 @@
 */

 #include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/shutdown.h>
 #include <errno.h>
 #include <nuttx/board.h>
 #include <arm_internal.h>
 #include <hardware/rt117x/imxrt117x_snvs.h>

-
-#include <px4_arch/imxrt_flexspi_nor_flash.h>
-#include <px4_arch/imxrt_romapi.h>
-
 #define BOOT_RTC_SIGNATURE                0xb007b007
 #define PX4_IMXRT_RTC_REBOOT_REG          3
 #define PX4_IMXRT_RTC_REBOOT_REG_ADDRESS  IMXRT_SNVS_LPGPR3
@@ -66,13 +61,8 @@ static int board_reset_enter_bootloader()

 int board_reset(int status)
 {
-	if (status == REBOOT_TO_BOOTLOADER) {
+	if (status == 1) {
 		board_reset_enter_bootloader();
-
-	} else if (status == REBOOT_TO_ISP) {
-		uint32_t arg = 0xeb100000;
-		ROM_API_Init();
-		ROM_RunBootloader(&arg);
 	}

 #if defined(BOARD_HAS_ON_RESET)
@@ -1,36 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2019 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-px4_add_library(arch_board_romapi
-	imxrt_romapi.c
-)
@@ -38,7 +38,6 @@
 */

 #include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/shutdown.h>
 #include <errno.h>
 #include <nuttx/board.h>

@@ -73,7 +72,7 @@ static int board_reset_enter_bootloader()

 int board_reset(int status)
 {
-	if (status == REBOOT_TO_BOOTLOADER) {
+	if (status == 1) {
 		board_reset_enter_bootloader();
 	}

@@ -36,7 +36,7 @@ add_subdirectory(adc)
 add_subdirectory(../imxrt/board_critmon board_critmon)
 add_subdirectory(../imxrt/board_hw_info board_hw_info)
 add_subdirectory(../imxrt/board_reset board_reset)
-add_subdirectory(../imxrt/romapi romapi)
+#add_subdirectory(../imxrt/dshot dshot)
 add_subdirectory(../imxrt/hrt hrt)
 add_subdirectory(../imxrt/led_pwm led_pwm)
 add_subdirectory(../imxrt/io_pins io_pins)
@@ -1,36 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-#pragma once
-
-
-#include "../../../imxrt/include/px4_arch/imxrt_flexspi_nor_flash.h"
@@ -39,7 +39,6 @@
 */

 #include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/shutdown.h>
 #include <systemlib/px4_macros.h>
 #include <errno.h>
 #include <nuttx/board.h>
@@ -97,7 +96,7 @@ int board_configure_reset(reset_mode_e mode, uint32_t arg)

 int board_reset(int status)
 {
-	if (status == REBOOT_TO_BOOTLOADER) {
+	if (status == 1) {
 		board_reset_enter_bootloader();
 	}

@@ -39,7 +39,6 @@
 */

 #include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/shutdown.h>
 #include <errno.h>
 #include <nuttx/board.h>
 #include <hardware/s32k3xx_mc_me.h>
@@ -38,7 +38,6 @@
 */

 #include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/shutdown.h>
 #include <systemlib/px4_macros.h>
 #include <errno.h>

@@ -120,7 +119,7 @@

 int board_reset(int status)
 {
-	if (status == REBOOT_TO_BOOTLOADER) {
+	if (status == 1) {
 		// board_configure_reset(BOARD_RESET_MODE_BOOT_TO_BL, 0);
 	}

@@ -38,7 +38,6 @@
 */

 #include <px4_platform_common/px4_config.h>
-#include <px4_platform_common/shutdown.h>
 #include <systemlib/px4_macros.h>
 #include <errno.h>
 #include <stm32_pwr.h>
@@ -118,7 +117,7 @@ int board_configure_reset(reset_mode_e mode, uint32_t arg)

 int board_reset(int status)
 {
-	if (status == REBOOT_TO_BOOTLOADER) {
+	if (status == 1) {
 		board_configure_reset(BOARD_RESET_MODE_BOOT_TO_BL, 0);
 	}

@@ -126,9 +126,8 @@ int ICM42688P::probe()
 {
 	for (int i = 0; i < 3; i++) {
 		uint8_t whoami = RegisterRead(Register::BANK_0::WHO_AM_I);
-		uint8_t expected_whoami = isICM686 ? WHOAMI686 : WHOAMI;

-		if (whoami == expected_whoami) {
+		if (whoami == WHOAMI || (isICM686 && whoami == WHOAMI686)) {
 			return PX4_OK;

 		} else {
@@ -53,6 +53,7 @@
 #define CBRK_BUZZER_KEY         782097
 #define CBRK_SUPPLY_CHK_KEY	894281
 #define CBRK_IO_SAFETY_KEY	22027
+#define CBRK_AIRSPD_CHK_KEY	162128
 #define CBRK_FLIGHTTERM_KEY	121212
 #define CBRK_USB_CHK_KEY	197848
 #define CBRK_VTOLARMING_KEY	159753
@@ -69,6 +69,21 @@ PARAM_DEFINE_INT32(CBRK_SUPPLY_CHK, 0);
 */
 PARAM_DEFINE_INT32(CBRK_IO_SAFETY, 22027);

+/**
+ * Circuit breaker for airspeed sensor
+ *
+ * Setting this parameter to 162128 will disable the check for an airspeed sensor.
+ * The sensor driver will not be started and it cannot be calibrated.
+ * WARNING: ENABLING THIS CIRCUIT BREAKER IS AT OWN RISK
+ *
+ * @reboot_required true
+ * @min 0
+ * @max 162128
+ * @category Developer
+ * @group Circuit Breaker
+ */
+PARAM_DEFINE_INT32(CBRK_AIRSPD_CHK, 0);
+
 /**
 * Circuit breaker for flight termination
 *
@@ -35,8 +35,6 @@ public:
 		assert(y0 + Q <= N);
 	}

-	Slice(const Slice<Type, P, Q, M, N> &other) = default;
-
 	const Type &operator()(size_t i, size_t j) const
 	{
 		assert(i < P);
@@ -54,12 +52,6 @@ public:
 		return (*_data)(_x0 + i, _y0 + j);
 	}

-	// Separate function needed otherwise the default copy constructor matches before the deep copy implementation
-	Slice<Type, P, Q, M, N> &operator=(const Slice<Type, P, Q, M, N> &other)
-	{
-		return this->operator=<M, N>(other);
-	}
-
 	template<size_t MM, size_t NN>
 	Slice<Type, P, Q, M, N> &operator=(const Slice<Type, P, Q, MM, NN> &other)
 	{
@@ -262,12 +262,3 @@ TEST(MatrixSliceTest, Slice)
 	float O_check_data_12 [4] = {2.5, 3, 4, 5};
 	EXPECT_EQ(res_12, (SquareMatrix<float, 2>(O_check_data_12)));
 }
-
-TEST(MatrixSliceTest, XYAssignmentTest)
-{
-	Vector3f a(1, 2, 3);
-	Vector3f b(4, 5, 6);
-	// Assign first two elements from b to first two slot of a
-	a.xy() = b.xy();
-	EXPECT_EQ(a, Vector3f(4, 5, 3));
-}
@@ -85,7 +85,7 @@ public:

 	float canRun(const vehicle_local_position_s &local_pos, bool is_wind_valid) const;
 	/*
-	 * Computes the lateral acceleration and true airspeed references necessary to track
+	 * Computes the lateral acceleration and airspeed references necessary to track
 	 * a path in wind (including excess wind conditions).
 	 *
 	 * @param[in] curr_pos_local Current horizontal vehicle position in local coordinates [m]
@@ -150,12 +150,12 @@ public:
 	void setMaxTrackKeepingMinGroundSpeed(float min_gsp) { min_gsp_track_keeping_max_ = math::max(min_gsp, 0.0f); }

 	/*
-	 * Set the nominal airspeed reference (true airspeed) [m/s].
+	 * Set the nominal airspeed reference [m/s].
 	 */
 	void setAirspeedNom(float airsp) { airspeed_nom_ = math::max(airsp, 0.1f); }

 	/*
-	 * Set the maximum airspeed reference (true airspeed) [m/s].
+	 * Set the maximum airspeed reference [m/s].
 	 */
 	void setAirspeedMax(float airsp) { airspeed_max_ = math::max(airsp, 0.1f); }

@@ -306,8 +306,8 @@ private:
 	// ^disabling this parameter disables all other excess wind handling options, using only the nominal airspeed for reference

 	// guidance settings
-	float airspeed_nom_{15.0f}; // nominal (desired) true airspeed reference (generally equivalent to cruise optimized airspeed) [m/s]
-	float airspeed_max_{20.0f}; // maximum true airspeed reference - the maximum achievable/allowed airspeed reference [m/s]
+	float airspeed_nom_{15.0f}; // nominal (desired) airspeed reference (generally equivalent to cruise optimized airspeed) [m/s]
+	float airspeed_max_{20.0f}; // maximum airspeed reference - the maximum achievable/allowed airspeed reference [m/s]
 	float roll_time_const_{0.0f}; // autopilot roll response time constant [s]
 	float min_gsp_desired_{0.0f}; // user defined miminum desired forward ground speed [m/s]
 	float min_gsp_track_keeping_max_{5.0f}; // maximum, minimum forward ground speed demand from track keeping logic [m/s]
@@ -341,8 +341,8 @@ private:
 	 * guidance outputs
 	 */

-	float airspeed_ref_{15.0f}; // true airspeed reference [m/s]
-	matrix::Vector2f air_vel_ref_{matrix::Vector2f{15.0f, 0.0f}}; // true air velocity reference vector [m/s]
+	float airspeed_ref_{15.0f}; // airspeed reference [m/s]
+	matrix::Vector2f air_vel_ref_{matrix::Vector2f{15.0f, 0.0f}}; // air velocity reference vector [m/s]
 	float lateral_accel_{0.0f}; // lateral acceleration reference [m/s^2]
 	float lateral_accel_ff_{0.0f}; // lateral acceleration demand to maintain path curvature [m/s^2]

@@ -358,7 +358,7 @@ private:
 	 * condition, path properties, and stability bounds.
 	 *
 	 * @param[in] ground_speed Vehicle ground speed [m/s]
-	 * @param[in] airspeed Vehicle true airspeed [m/s]
+	 * @param[in] airspeed Vehicle airspeed [m/s]
 	 * @param[in] wind_speed Wind speed [m/s]
 	 * @param[in] track_error Track error (magnitude) [m]
 	 * @param[in] path_curvature Path curvature at closest point on track [m^-1]
@@ -384,7 +384,7 @@ private:
 	/*
 	 * Cacluates an approximation of the wind factor (see [TODO: include citation]).
 	 *
-	 * @param[in] airspeed Vehicle true airspeed [m/s]
+	 * @param[in] airspeed Vehicle airspeed [m/s]
 	 * @param[in] wind_speed Wind speed [m/s]
 	 * @return Non-dimensional wind factor approximation
 	 */
@@ -395,7 +395,7 @@ private:
 	 * track keeping stability.
 	 *
 	 * @param[in] air_turn_rate The turn rate required to track the current path
-	 *            curvature at the current true airspeed, in a no-wind condition [rad/s]
+	 *            curvature at the current airspeed, in a no-wind condition [rad/s]
 	 * @param[in] wind_factor Non-dimensional wind factor (see [TODO: include citation])
 	 * @return Period upper bound [s]
 	 */
@@ -408,7 +408,7 @@ private:
 	 * and a safety factor should be applied in addition to the returned value.
 	 *
 	 * @param[in] air_turn_rate The turn rate required to track the current path
-	 *            curvature at the current true airspeed, in a no-wind condition [rad/s]
+	 *            curvature at the current airspeed, in a no-wind condition [rad/s]
 	 * @param[in] wind_factor Non-dimensional wind factor (see [TODO: include citation])
 	 * @return Period lower bound [s]
 	 */
@@ -493,8 +493,8 @@ private:

 	/*
 	 * Determines a reference air velocity *without curvature compensation, but
-	 * including "optimal" true airspeed reference compensation in excess wind conditions.
-	 * Nominal and maximum true airspeed member variables must be set before using this method.
+	 * including "optimal" airspeed reference compensation in excess wind conditions.
+	 * Nominal and maximum airspeed member variables must be set before using this method.
 	 *
 	 * @param[in] wind_vel Wind velocity vector [m/s]
 	 * @param[in] bearing_vec Bearing vector
@@ -512,7 +512,7 @@ private:
 	 * Projection of the air velocity vector onto the bearing line considering
 	 * a connected wind triangle.
 	 *
-	 * @param[in] airspeed Vehicle true airspeed [m/s]
+	 * @param[in] airspeed Vehicle airspeed [m/s]
 	 * @param[in] wind_cross_bearing 2D cross product of wind velocity and bearing vector [m/s]
 	 * @return Projection of air velocity vector on bearing vector [m/s]
 	 */
@@ -523,7 +523,7 @@ private:
 	 *
 	 * @param[in] wind_cross_bearing 2D cross product of wind velocity and bearing vector [m/s]
 	 * @param[in] wind_dot_bearing 2D dot product of wind velocity and bearing vector [m/s]
-	 * @param[in] airspeed Vehicle true airspeed [m/s]
+	 * @param[in] airspeed Vehicle airspeed [m/s]
 	 * @param[in] wind_speed Wind speed [m/s]
 	 * @return Binary bearing feasibility: 1 if feasible, 0 if infeasible
 	 */
@@ -549,7 +549,7 @@ private:
 	 * @param[in] wind_vel Wind velocity vector [m/s]
 	 * @param[in] bearing_vec Bearing vector
 	 * @param[in] wind_speed Wind speed [m/s]
-	 * @param[in] airspeed Vehicle true airspeed [m/s]
+	 * @param[in] airspeed Vehicle airspeed [m/s]
 	 * @return Air velocity vector [m/s]
 	 */
 	matrix::Vector2f infeasibleAirVelRef(const matrix::Vector2f &wind_vel, const matrix::Vector2f &bearing_vec,
@@ -562,7 +562,7 @@ private:
 	 *
 	 * @param[in] wind_cross_bearing 2D cross product of wind velocity and bearing vector [m/s]
 	 * @param[in] wind_dot_bearing 2D dot product of wind velocity and bearing vector [m/s]
-	 * @param[in] airspeed Vehicle true airspeed [m/s]
+	 * @param[in] airspeed Vehicle airspeed [m/s]
 	 * @param[in] wind_speed Wind speed [m/s]
 	 * @return bearing feasibility
 	 */
@@ -577,7 +577,7 @@ private:
 	 *            in direction of path
 	 * @param[in] ground_vel Vehicle ground velocity vector [m/s]
 	 * @param[in] wind_vel Wind velocity vector [m/s]
-	 * @param[in] airspeed Vehicle true airspeed [m/s]
+	 * @param[in] airspeed Vehicle airspeed [m/s]
 	 * @param[in] wind_speed Wind speed [m/s]
 	 * @param[in] signed_track_error Signed error to track at closest point (sign
 	 *             determined by path normal direction) [m]
@@ -594,7 +594,7 @@ private:
 	 *
 	 * @param[in] air_vel Vechile air velocity vector [m/s]
 	 * @param[in] air_vel_ref Reference air velocity vector [m/s]
-	 * @param[in] airspeed Vehicle true airspeed [m/s]
+	 * @param[in] airspeed Vehicle airspeed [m/s]
 	 * @return Lateral acceleration demand [m/s^2]
 	 */
 	float lateralAccel(const matrix::Vector2f &air_vel, const matrix::Vector2f &air_vel_ref,
@@ -42,36 +42,7 @@

 bool param_modify_on_import(bson_node_t node)
 {
-	// 2023-12-06: translate and invert FW_ARSP_MODE-> FW_USE_AIRSPD
-	{
-		if (strcmp("FW_ARSP_MODE", node->name) == 0) {
-			if (node->i32 == 0) {
-				node->i32 = 1;

-			} else {
-				node->i32 = 0;
-			}
-
-			strcpy(node->name, "FW_USE_AIRSPD");
-			PX4_INFO("copying and inverting %s -> %s", "FW_ARSP_MODE", "FW_USE_AIRSPD");
-			return true;
-		}
-	}
-
-	// 2023-12-06: translate CBRK_AIRSPD_CHK-> SYS_HAS_NUM_ASPD
-	{
-		if (strcmp("CBRK_AIRSPD_CHK", node->name) == 0) {
-			if (node->i32 == 162128) {
-				node->i32 = 0;
-
-				strcpy(node->name, "SYS_HAS_NUM_ASPD");
-				PX4_INFO("copying %s -> %s", "CBRK_AIRSPD_CHK", "SYS_HAS_NUM_ASPD");
-
-			}
-
-			return true;
-		}
-	}

 	return false;
 }
@@ -216,19 +216,6 @@ PARAM_DEFINE_INT32(SYS_HAS_MAG, 1);
 */
 PARAM_DEFINE_INT32(SYS_HAS_BARO, 1);

-/**
- * Control if the vehicle has an airspeed sensor
- *
- * Set this to 0 if the board has no airspeed sensor.
- * If set to 0, the preflight checks will not check for the presence of an
- * airspeed sensor.
- *
- * @group System
- * @min 0
- * @max 1
- */
-PARAM_DEFINE_INT32(SYS_HAS_NUM_ASPD, 0);
-
 /**
 * Number of distance sensors to check being available
 *
@@ -600,8 +600,9 @@ void AirspeedModule::select_airspeed_and_publish()
 	}

 	// check if airspeed based on ground-wind speed is valid and can be published
-	if (_valid_airspeed_index < airspeed_index::FIRST_SENSOR_INDEX
-	    || _param_airspeed_primary_index.get() == airspeed_index::GROUND_MINUS_WIND_INDEX) {
+	if (_param_airspeed_primary_index.get() > airspeed_index::DISABLED_INDEX &&
+	    (_valid_airspeed_index < airspeed_index::FIRST_SENSOR_INDEX
+	     || _param_airspeed_primary_index.get() == airspeed_index::GROUND_MINUS_WIND_INDEX)) {

 		// _vehicle_local_position_valid determines if ground-wind estimate is valid
 		if (_vehicle_local_position_valid &&
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
PerFrivik	a471755dac	Rover module: Temp	2023-12-19 15:04:34 +01:00
Matthias Grob	7cbc6241d7	Add differential drive control module to all targets that have rover support	2023-12-19 11:55:52 +01:00
Matthias Grob	257a66d99d	Differential Rover: PR fixes	2023-12-19 11:54:41 +01:00
Matthias Grob	a26be63f54	differential_drive_control: don't build by default also add dependency on control allocation parameter CA_R_REV	2023-12-19 11:39:36 +01:00
PerFrivik	679a4e2d98	Differential Rover: Differential drive module & library	2023-12-19 11:37:08 +01:00
PerFrivik	ddd201118d	Differential Drive: Added mixing interface for motors	2023-12-19 11:29:27 +01:00
PerFrivik	6e7ed49ad3	Differential Rover: Added logging and dds topics	2023-12-19 11:22:14 +01:00
PerFrivik	a33dccfcc2	Differential Rover: Update airframe architecture	2023-12-19 11:22:05 +01:00