new INA231 power_monitor driver

commander: lockdown is not termination
We use lockdown to prevent outputs like motors and servos from being active in HITL simulation. This means that we can't treat the lockdown flag as a flight_terminated, otherwise we can't arm in HITL at all.
2026-06-03 22:10:05 +08:00 · 2022-05-20 15:42:14 -04:00 · 2022-05-20 09:43:32 -04:00 · 2022-05-20 09:38:43 -04:00 · 2022-05-20 15:36:42 +02:00 · 2022-05-20 13:51:51 +02:00
299 changed files with 5527 additions and 3652 deletions
@@ -61,18 +61,20 @@ pipeline {
                     "holybro_kakutef7_default",
                     "holybro_kakuteh7_default",
                     "holybro_pix32v5_default",
-                     "matek_h743-slim",
                     "matek_gnss-m9n-f4_canbootloader",
                     "matek_gnss-m9n-f4_default",
+                     "matek_h743-mini_default",
+                     "matek_h743-slim_default",
+                     "matek_h743_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v1_rtps",
                     "modalai_fc-v2_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
-                     "mro_ctrl-zero-h7_default",
-                     "mro_ctrl-zero-h7_rtps",
                     "mro_ctrl-zero-h7-oem_default",
                     "mro_ctrl-zero-h7-oem_rtps",
+                     "mro_ctrl-zero-h7_default",
+                     "mro_ctrl-zero-h7_rtps",
                     "mro_pixracerpro_default",
                     "mro_pixracerpro_rtps",
                     "mro_x21-777_default",
@@ -87,26 +89,26 @@ pipeline {
                     "nxp_ucans32k146_canbootloader",
                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
-                     "raspberrypi_pico_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
+                     "px4_fmu-v2_lto",
                     "px4_fmu-v2_multicopter",
                     "px4_fmu-v2_rover",
-                     "px4_fmu-v2_lto",
                     "px4_fmu-v3_default",
                     "px4_fmu-v4_default",
                     "px4_fmu-v4pro_default",
+                     "px4_fmu-v5_cyphal",
                     "px4_fmu-v5_debug",
                     "px4_fmu-v5_default",
+                     "px4_fmu-v5_lto",
                     "px4_fmu-v5_rtps",
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
-                     "px4_fmu-v5_uavcanv1",
-                     "px4_fmu-v5_lto",
                     "px4_fmu-v5x_default",
                     "px4_fmu-v6u_default",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
+                     "raspberrypi_pico_default",
                     "sky-drones_smartap-airlink_default",
                     "spracing_h7extreme_default",
                     "uvify_core_default"
@@ -37,8 +37,10 @@ jobs:
          holybro_kakutef7,
          holybro_kakuteh7,
          holybro_pix32v5,
-          matek_h743-slim,
          matek_gnss-m9n-f4,
+          matek_h743,
+          matek_h743-mini,
+          matek_h743-slim,
          modalai_fc-v1,
          modalai_fc-v2,
          mro_ctrl-zero-f7,
@@ -53,7 +55,6 @@ jobs:
          nxp_fmurt1062-v1,
          nxp_ucans32k146,
          omnibus_f4sd,
-          raspberrypi_pico,
          px4_fmu-v2,
          px4_fmu-v3,
          px4_fmu-v4,
@@ -62,6 +63,7 @@ jobs:
          px4_fmu-v5x,
          px4_fmu-v6u,
          px4_fmu-v6x,
+          raspberrypi_pico,
          sky-drones_smartap-airlink,
          spracing_h7extreme,
          uvify_core
@@ -36,14 +36,14 @@
 [submodule "Tools/jsbsim_bridge"]
 	path = Tools/jsbsim_bridge
 	url = https://github.com/PX4/px4-jsbsim-bridge.git
-[submodule "src/drivers/uavcan_v1/libcanard"]
-	path = src/drivers/uavcan_v1/libcanard
-	url = https://github.com/UAVCAN/libcanard.git
-[submodule "src/drivers/uavcan_v1/public_regulated_data_types"]
-	path = src/drivers/uavcan_v1/public_regulated_data_types
-	url = https://github.com/UAVCAN/public_regulated_data_types.git
-[submodule "src/drivers/uavcan_v1/legacy_data_types"]
-	path = src/drivers/uavcan_v1/legacy_data_types
+[submodule "src/drivers/cyphal/libcanard"]
+	path = src/drivers/cyphal/libcanard
+	url = https://github.com/opencyphal/libcanard.git
+[submodule "src/drivers/cyphal/public_regulated_data_types"]
+	path = src/drivers/cyphal/public_regulated_data_types
+	url = https://github.com/opencyphal/public_regulated_data_types.git
+[submodule "src/drivers/cyphal/legacy_data_types"]
+	path = src/drivers/cyphal/legacy_data_types
 	url = https://github.com/PX4/public_regulated_data_types.git
 	branch = legacy
 [submodule "src/lib/crypto/monocypher"]
@@ -9,3 +9,5 @@ launch.json
 ipch/

 browse.vc.db*
+
+*.log
@@ -330,7 +330,7 @@ px4io_update: px4_io-v2_default cubepilot_io-v2_default
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
+bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status

 .PHONY: coverity_scan
@@ -7,6 +7,11 @@

 . ${R}etc/init.d/rc.vtol_defaults

+# TODO: Enable motor failure detection when the
+# VTOL no longer reports 0A for all ESCs in SITL
+param set-default FD_ACT_EN 0
+param set-default FD_ACT_MOT_TOUT 500
+
 # param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 2

@@ -9,7 +9,7 @@

 param set-default MAV_TYPE 21

-# param set-default SYS_CTRL_ALLOC 1
+param set-default SYS_CTRL_ALLOC 1
 param set-default CA_AIRFRAME 3

 param set-default CA_ROTOR_COUNT 4
@@ -27,9 +27,7 @@ param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05

 param set-default CA_ROTOR0_TILT 1
-param set-default CA_ROTOR1_TILT 2
 param set-default CA_ROTOR2_TILT 3
-param set-default CA_ROTOR3_TILT 4
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
@@ -1,6 +1,4 @@

-mixer append /dev/pwm_output0 etc/mixers/mount_legs.aux.mix
-
 mavlink start -x -u 14558 -r 4000 -f -m onboard -o 14530 -p

 # shellcheck disable=SC2154
@@ -1,40 +0,0 @@
-#!/bin/sh
-#
-# @name Steadidrone QU4D
-#
-# @type Quadrotor Wide
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 feed-through of RC AUX1 channel
-# @output MAIN6 feed-through of RC AUX2 channel
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-# @output AUX4 feed-through of RC FLAPS channel
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default BAT1_N_CELLS 4
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_P 0.13
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.004
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_P 0.19
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.004
-param set-default MC_YAW_P 4
-
-set MIXER quad_w
@@ -1,48 +0,0 @@
-#!/bin/sh
-#
-# @name Steadidrone MAVRIK
-#
-# @type Octo Coax Wide
-# @class Copter
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 motor 5
-# @output MAIN6 motor 6
-# @output MAIN7 motor 7
-# @output MAIN8 motor 8
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-
-param set-default MC_PITCH_P 4
-param set-default MC_PITCHRATE_P 0.24
-param set-default MC_PITCHRATE_I 0.09
-param set-default MC_PITCHRATE_D 0.013
-param set-default MC_PITCHRATE_MAX 180
-
-param set-default MC_ROLL_P 4
-param set-default MC_ROLLRATE_P 0.16
-param set-default MC_ROLLRATE_I 0.07
-param set-default MC_ROLLRATE_D 0.009
-param set-default MC_ROLLRATE_MAX 180
-
-param set-default MC_YAW_P 3
-
-param set-default MPC_HOLD_MAX_XY 0.25
-param set-default MPC_THR_MIN 0.15
-param set-default MPC_Z_VEL_MAX_DN 2
-
-param set-default BAT1_N_CELLS 4
-
-set MIXER octo_cox_w
-
-set PWM_OUT 12345678
@@ -1,37 +0,0 @@
-#!/bin/sh
-#
-# @name CruiseAder Claire
-#
-# @type VTOL Tiltrotor
-# @class VTOL
-#
-# @maintainer Samay Siga <samay_s@icloud.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-param set-default MAV_TYPE 21
-
-param set-default PWM_AUX_DISARM 1000
-param set-default PWM_AUX_MAX 2000
-param set-default PWM_AUX_MIN 1000
-param set-default PWM_AUX_RATE 50
-
-param set-default PWM_MAIN_MAX 2000
-
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 13
-param set-default VT_IDLE_PWM_MC 1080
-param set-default VT_TILT_FW 0.9
-param set-default VT_TILT_MC 0.08
-param set-default VT_TILT_TRANS 0.5
-param set-default VT_ELEV_MC_LOCK 0
-param set-default VT_TYPE 1
-
-set MIXER claire
-set MIXER_AUX claire
-
-set PWM_OUT 1234
@@ -131,7 +131,6 @@ param set-default VT_F_TRANS_DUR 1
 param set-default VT_IDLE_PWM_MC 1025
 param set-default VT_B_REV_OUT 0.5
 param set-default VT_B_TRANS_THR 0.7
-param set-default VT_FW_PERM_STAB 1
 param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4

@@ -1,45 +0,0 @@
-#!/bin/sh
-#
-# @name IO Camflyer
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_AIRSPD_MAX 15
-param set-default FW_AIRSPD_TRIM 13
-param set-default FW_R_TC 0.3
-param set-default FW_P_TC 0.3
-param set-default FW_L1_DAMPING 0.74
-param set-default FW_L1_PERIOD 16
-param set-default FW_LND_ANG 15
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_HVIRT 13
-param set-default FW_LND_TLALT 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_PR_FF 0.35
-param set-default FW_RR_FF 0.6
-param set-default FW_RR_P 0.04
-
-param set-default PWM_MAIN_DISARM 1000
-
-
-set MIXER fw_generic_wing
-
-# Provide ESC a constant 1000 us pulse while disarmed
-set PWM_OUT 4
@@ -1,29 +0,0 @@
-#!/bin/sh
-#
-# @name FX-79 Buffalo Flying Wing
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 right aileron
-# @output MAIN2 left aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_AIRSPD_MAX 30
-param set-default FW_AIRSPD_MIN 13
-
-param set-default NAV_LOITER_RAD 150
-
-set MIXER fw_generic_wing
@@ -1,23 +0,0 @@
-#!/bin/sh
-#
-# @name Viper
-#
-# @type Flying Wing
-# @class Plane
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Simon Wilks <simon@uaventure.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-set MIXER Viper
@@ -1,53 +0,0 @@
-#!/bin/sh
-#
-# @name Modified Parrot Disco
-#
-# @url
-#
-# @type Flying Wing
-# @class Plane
-#
-# @output MAIN1 left aileron
-# @output MAIN2 right aileron
-# @output MAIN4 throttle
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Jan Liphardt <JTLiphardt@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-####################################
-# Airspeed
-####################################
-param set-default FW_AIRSPD_MAX  27 # = 52 knots
-
-####################################
-# Pitch
-####################################
-
-# Pitch rate feed forward (def = 0.5 %/rad/sec)
-param set-default FW_PR_FF 0.35
-
-####################################
-# Roll
-####################################
-
-# Basic limits (def = 50 deg)
-param set-default FW_R_LIM 40
-
-# Roll rate upper limit (def = 70 deg/s)
-param set-default FW_R_RMAX 50
-
-param set-default PWM_MAIN_DISARM 1000
-
-set MIXER fw_generic_wing.main.mix
-
-# Provide ESC a constant 1000 us pulse
-set PWM_OUT 4
@@ -1,21 +0,0 @@
-#!/bin/sh
-#
-# @name DJI F330 w/ DJI ESCs
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-# @board px4_fmu-v2 exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_I 0.05
-
-
-# DJI ESCs do not support calibration and need a higher min
-param set-default PWM_MAIN_MIN 1230
@@ -1,20 +0,0 @@
-#!/bin/sh
-#
-# @name DJI F450 w/ DJI ESCs
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer Lorenz Meier <lorenz@px4.io>
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default MC_ROLL_P 7
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_PITCH_P 7
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_YAWRATE_P 0.3
-
-# DJI ESCs do not support calibration and need a higher min
-param set-default PWM_MAIN_MIN 1230
@@ -1,27 +0,0 @@
-#!/bin/sh
-#
-# @name DJI Matrice 100
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @maintainer James Goppert <james.goppert@gmail.com>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-param set-default BAT1_N_CELLS 6
-
-param set-default MC_ROLLRATE_P 0.05
-param set-default MC_ROLLRATE_I 0.05
-param set-default MC_ROLLRATE_D 0.001
-param set-default MC_PITCHRATE_P 0.05
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCHRATE_D 0.001
-
-param set-default MC_YAWRATE_I 0
-
-param set-default PWM_MAIN_MIN 1200
@@ -52,22 +52,16 @@ px4_add_romfs_files(

 	# [3000, 3999] Flying wing"
 	3000_generic_wing
-	3030_io_camflyer
 	3031_phantom
 	3032_skywalker_x5
 	3033_wingwing
-	3034_fx79
-	3035_viper
 	3036_pigeon
-	3037_parrot_disco_mod
 	3100_tbs_caipirinha

 	# [4000, 4999] Quadrotor x"
 	4001_quad_x
 	4003_qavr5
 	4009_qav250
-	4010_dji_f330
-	4011_dji_f450
 	4014_s500
 	4015_holybro_s500
 	4016_holybro_px4vision
@@ -81,7 +75,6 @@ px4_add_romfs_files(
 	4051_s250aq
 	4052_holybro_qav250
 	4053_holybro_kopis2
-	4060_dji_matrice_100
 	4061_atl_mantis_edu
 	4071_ifo
 	4072_draco
@@ -112,7 +105,6 @@ px4_add_romfs_files(
 	# [10000, 10999] Quadrotor Wide arm / H frame"
 	10015_tbs_discovery
 	10016_3dr_iris
-	10017_steadidrone_qu4d
 	10018_tbs_endurance

 	# [11000, 11999] Hexa Cox
@@ -120,7 +112,6 @@ px4_add_romfs_files(

 	# [12000, 12999] Octo Cox
 	12001_octo_cox
-	12002_steadidrone_mavrik

 	# [13000, 13999] VTOL
 	13000_generic_vtol_standard
@@ -133,7 +124,6 @@ px4_add_romfs_files(
 	13007_vtol_AAVVT_quad
 	13008_QuadRanger
 	13009_vtol_spt_ranger
-	13010_claire
 	13012_convergence
 	13013_deltaquad
 	13014_vtol_babyshark
@@ -181,6 +181,30 @@ then
 	pcf8583 start -X -a 0x51
 fi

+# INA226 digital power monitor
+if param compare SENS_EN_INA226 1
+then
+	ina226 -X start
+fi
+
+# INA228 digital power monitor
+if param compare SENS_EN_INA228 1
+then
+	ina228 -X start
+fi
+
+# INA231 digital power monitor
+if param compare SENS_EN_INA231 1
+then
+	ina231 -X start
+fi
+
+# INA238 digital power monitor
+if param compare SENS_EN_INA238 1
+then
+	ina238 -X start
+fi
+
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -298,9 +298,9 @@ else
 			tune_control play error
 		fi
 	else
-		if param greater -s UAVCAN_V1_ENABLE 0
+		if param greater -s CYPHAL_ENABLE 0
 		then
-			uavcan_v1 start
+			cyphal start
 		fi
 	fi

@@ -40,8 +40,6 @@ px4_add_romfs_files(
 	babyshark.main.mix
 	blade130.main.mix
 	CCPM.main.mix
-	claire.aux.mix
-	claire.main.mix
 	cloudship.main.mix
 	coax.main.mix
 	delta.main.mix
@@ -83,7 +81,6 @@ px4_add_romfs_files(
 	tri_y_yaw-.main.mix
 	uuv_x.main.mix
 	vectored6dof.main.mix
-	Viper.main.mix
 	vtol_AAERT.aux.mix
 	vtol_AAVVT.aux.mix
 	vtol_TTTTAAER.aux.mix
@@ -1,66 +0,0 @@
-Viper Delta-wing mixer
-=================================
-# @board px4_fmu-v2 exclude
-
-Designed for Viper.
-
-TODO (sjwilks): Add mixers for flaps.
-
-This file defines mixers suitable for controlling a delta wing aircraft using
-PX4FMU. The configuration assumes the elevon servos are connected to PX4FMU
-servo outputs 0 and 1 and the motor speed control to output 3. Output 2 is
-assumed to be unused.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch) and 3 (thrust).
-
-See the README for more information on the scaler format.
-
-Elevon mixers
-------------
-Three scalers total (output, roll, pitch).
-
-On the assumption that the two elevon servos are physically reversed, the pitch
-input is inverted between the two servos.
-
-The scaling factor for roll inputs is adjusted to implement differential travel
-for the elevons.
-
-M: 2
-S: 0 0   7500   7500      0 -10000  10000
-S: 0 1   8000   8000      0 -10000  10000
-
-M: 2
-S: 0 0   7500   7500      0 -10000  10000
-S: 0 1  -8000  -8000      0 -10000  10000
-
-Output 2
--------
-This mixer is empty.
-
-Z:
-
-Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
-
-Inputs to the mixer come from channel group 2 (payload), channels 0
-(bay servo 1), 1 (bay servo 2) and 3 (drop release).
-----------------------------------------------------
-
-M: 1
-S: 2 0  10000  10000      0 -10000  10000
-
-M: 1
-S: 2 1  10000  10000      0 -10000  10000
-
-M: 1
-S: 2 2  -8000  -8000      0 -10000  10000
-
-
@@ -1,28 +0,0 @@
-# mixer for the CruiseAder Claire tilt mechansim servo and elevons
-
-=======================================================================
-
-
-Tilt mechanism servo mixer
-
---------------------------
-
-M: 1
-
-
-S: 1 8  10000  10000      0 -10000  10000
-
-
-
-Elevon mixers
-
-------------
-
-M: 2
-
-S: 1 0   7500   7500      0 -10000  10000
-S: 1 1   7500   7500      0 -10000  10000
-
-M: 2
-S: 1 0    7500    7500    0 -10000  10000
-S: 1 1   -7500   -7500    0 -10000  10000
@@ -1,8 +0,0 @@
-# CruiseAder Claire Main Multirotor mixer for PX4FMU
-# @board px4_fmu-v2 exclude
-
-#
-
-#===========================
-
-R: 4x
@@ -13,8 +13,7 @@ exec find boards msg src platforms test \
    -path platforms/qurt/dspal -prune -o \
    -path src/drivers/uavcan/libuavcan -prune -o \
    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
-    -path src/drivers/uavcan_v1/libcanard -prune -o \
-    -path src/drivers/uavcannode_gps_demo/libcanard -prune -o \
+    -path src/drivers/cyphal/libcanard -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
    -path src/lib/events/libevents -prune -o \
    -path src/lib/parameters/uthash -prune -o \
@@ -200,13 +200,12 @@ if [[ $INSTALL_SIM == "true" ]]; then

 	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
 		java_version=11
-		gazebo_version=9
 	elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 		java_version=13
-		gazebo_version=11
+	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+		java_version=11
 	else
 		java_version=14
-		gazebo_version=11
 	fi
 	# Java (jmavsim or fastrtps)
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -220,20 +219,30 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	sudo update-alternatives --set java $(update-alternatives --list java | grep "java-$java_version")

 	# Gazebo
+	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+		gazebo_version=9
+		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
+	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+		gazebo_packages="gazebo libgazebo-dev"
+	else
+		# default and Ubuntu 20.04
+		gazebo_version=11
+		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
+	fi
+
 	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
 	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 	# Update list, since new gazebo-stable.list has been added
 	sudo apt-get update -y --quiet
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		dmidecode \
-		gazebo$gazebo_version \
+		$gazebo_packages \
 		gstreamer1.0-plugins-bad \
 		gstreamer1.0-plugins-base \
 		gstreamer1.0-plugins-good \
 		gstreamer1.0-plugins-ugly \
 		gstreamer1.0-libav \
 		libeigen3-dev \
-		libgazebo$gazebo_version-dev \
 		libgstreamer-plugins-base1.0-dev \
 		libimage-exiftool-perl \
 		libopencv-dev \
@@ -4,6 +4,7 @@ CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_RPM=n
+CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
@@ -4,6 +4,7 @@ CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_RPM=n
+CONFIG_DRIVERS_UAVCAN=n
 CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
@@ -31,7 +31,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PWM=y
@@ -6,32 +6,38 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_COMMON_BAROMETERS=y
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=n
+CONFIG_DRIVERS_CAMERA_TRIGGER=n
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
-CONFIG_COMMON_LIGHT=y
-CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_COMMON_DISTANCE_SENSOR=n
+CONFIG_COMMON_LIGHT=n
+CONFIG_COMMON_MAGNETOMETER=n
 CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_PWM_OUT_SIM=n
 CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_RPM=y
+CONFIG_DRIVERS_RPM=n
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
+CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -43,42 +49,42 @@ CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_VMOUNT=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_MODULES_GIMBAL=n
+CONFIG_SYSTEMCMDS_BL_UPDATE=n
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_ESC_CALIB=y
+CONFIG_SYSTEMCMDS_DUMPFILE=n
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=n
+CONFIG_SYSTEMCMDS_MFT=n
 CONFIG_SYSTEMCMDS_MIXER=y
-CONFIG_SYSTEMCMDS_MOTOR_TEST=y
-CONFIG_SYSTEMCMDS_MTD=y
+CONFIG_SYSTEMCMDS_MOTOR_TEST=n
+CONFIG_SYSTEMCMDS_MTD=n
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+CONFIG_SYSTEMCMDS_SD_BENCH=n
+CONFIG_SYSTEMCMDS_SD_STRESS=n
+CONFIG_SYSTEMCMDS_SERIAL_TEST=n
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=n
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_EXAMPLES_FAKE_GPS=n
@@ -11,7 +11,7 @@
 # CONFIG_STM32H7_SYSCFG is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/matek/h743-slim/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/matek/h743-mini/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
@@ -30,7 +30,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_PRODUCTID=0x004b
-CONFIG_CDCACM_PRODUCTSTR="Matek H743-slim"
+CONFIG_CDCACM_PRODUCTSTR="Matek H743-mini"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x3162
@@ -51,7 +51,6 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LIB_BOARDCTL=y
-CONFIG_FS_PROCFS_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_PREALLOC_TIMERS=50
@@ -284,17 +284,17 @@

 #define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)

-/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
- * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
+/* 20 MHz Max for now - more reliable on some boards than 25 MHz
+ * 20 MHz = PLL1Q/(2*div), div =  PLL1Q/(2*freq), div = 6 = 240 / 40
 */

 #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (6 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
 #  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif
 #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_SDXFR_CLKDIV    (6 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
 #  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif
@@ -45,11 +45,11 @@ CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_PRODUCTID=0x0036
-CONFIG_CDCACM_PRODUCTSTR="MatekH743-slim"
+CONFIG_CDCACM_PRODUCTSTR="MatekH743-mini"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x1B8C
-CONFIG_CDCACM_VENDORSTR="PX4"
+CONFIG_CDCACM_VENDORSTR="Matek"
 CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
@@ -86,7 +86,6 @@ CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MKFATFS_BUFFER_ALIGMENT=32
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
@@ -120,8 +120,8 @@

 /* PWM
 */
-#define DIRECT_PWM_OUTPUT_CHANNELS   10
-#define DIRECT_INPUT_TIMER_CHANNELS  10
+#define DIRECT_PWM_OUTPUT_CHANNELS   12
+#define DIRECT_INPUT_TIMER_CHANNELS  12

 #define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS

@@ -37,7 +37,7 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
 	initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
 	initIOTimer(Timer::Timer4, DMA{DMA::Index1, DMA::Stream6, DMA::Channel2}),
-	// initIOTimer(Timer::Timer15),
+	initIOTimer(Timer::Timer15),
 };

 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -51,8 +51,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
-	// initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),
-	// initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel2}, {GPIO::PortE, GPIO::Pin6}),
+	initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),
+	initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel2}, {GPIO::PortE, GPIO::Pin6}),
 };

 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
@@ -7,17 +7,22 @@ CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=n
+CONFIG_DRIVERS_CAMERA_TRIGGER=n
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
+CONFIG_COMMON_LIGHT=n
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_PWM_OUT_SIM=n
 CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_RPM=n
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
@@ -43,32 +48,42 @@ CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_MODULES_GIMBAL=n
+CONFIG_SYSTEMCMDS_BL_UPDATE=n
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_ESC_CALIB=y
+CONFIG_SYSTEMCMDS_DUMPFILE=n
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=n
+CONFIG_SYSTEMCMDS_MFT=n
 CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_TEST=n
+CONFIG_SYSTEMCMDS_MTD=n
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=y
+CONFIG_SYSTEMCMDS_SD_BENCH=n
+CONFIG_SYSTEMCMDS_SD_STRESS=n
+CONFIG_SYSTEMCMDS_SERIAL_TEST=n
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=n
 CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_FAKE_GPS=n
@@ -11,7 +11,7 @@
 # CONFIG_STM32H7_SYSCFG is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/matek/h743-slim/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/matek/h743/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
@@ -51,7 +51,6 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LIB_BOARDCTL=y
-CONFIG_FS_PROCFS_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_PREALLOC_TIMERS=50
@@ -284,17 +284,17 @@

 #define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)

-/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
- * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
+/* 20 MHz Max for now - more reliable on some boards than 25 MHz
+ * 20 MHz = PLL1Q/(2*div), div =  PLL1Q/(2*freq), div = 6 = 240 / 40
 */

 #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (6 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
 #  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif
 #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_SDXFR_CLKDIV    (6 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
 #  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif
@@ -50,7 +50,7 @@ CONFIG_CDCACM_PRODUCTSTR="MatekH743"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x1B8C
-CONFIG_CDCACM_VENDORSTR="PX4"
+CONFIG_CDCACM_VENDORSTR="Matek"
 CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
@@ -120,8 +120,8 @@

 /* PWM
 */
-#define DIRECT_PWM_OUTPUT_CHANNELS   10
-#define DIRECT_INPUT_TIMER_CHANNELS  10
+#define DIRECT_PWM_OUTPUT_CHANNELS   12
+#define DIRECT_INPUT_TIMER_CHANNELS  12

 #define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS

@@ -37,7 +37,7 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
 	initIOTimer(Timer::Timer5, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
 	initIOTimer(Timer::Timer4, DMA{DMA::Index1, DMA::Stream6, DMA::Channel2}),
-	// initIOTimer(Timer::Timer15),
+	initIOTimer(Timer::Timer15),
 };

 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
@@ -51,8 +51,8 @@ constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
 	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel4}, {GPIO::PortD, GPIO::Pin15}),
-	// initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),
-	// initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel2}, {GPIO::PortE, GPIO::Pin6}),
+	initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel1}, {GPIO::PortE, GPIO::Pin5}),
+	initIOTimerChannel(io_timers, {Timer::Timer15, Timer::Channel2}, {GPIO::PortE, GPIO::Pin6}),
 };

 constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
@@ -47,7 +47,7 @@

 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 	initIOTimer(Timer::Timer1, DMA{DMA::Index2, DMA::Stream5, DMA::Channel6}),
-	initIOTimer(Timer::Timer4),
+	initIOTimer(Timer::Timer4, DMA{DMA::Index1, DMA::Stream6, DMA::Channel2}),
 };


@@ -1,4 +1,4 @@
 CONFIG_DRIVERS_UAVCAN=n
-CONFIG_DRIVERS_UAVCAN_V1=y
-CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
-CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y
+CONFIG_DRIVERS_CYPHAL=y
+CONFIG_CYPHAL_BMS_SUBSCRIBER=y
+CONFIG_CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER=y
@@ -1,9 +1,9 @@
 CONFIG_DRIVERS_UAVCAN=n
-CONFIG_DRIVERS_UAVCAN_V1=y
-CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
-CONFIG_UAVCAN_V1_ESC_SUBSCRIBER=y
-CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_0=y
-CONFIG_UAVCAN_V1_GNSS_SUBSCRIBER_1=y
-CONFIG_UAVCAN_V1_READINESS_PUBLISHER=y
-CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER=y
-CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y
+CONFIG_DRIVERS_CYPHAL=y
+CONFIG_CYPHAL_BMS_SUBSCRIBER=y
+CONFIG_CYPHAL_ESC_SUBSCRIBER=y
+CONFIG_CYPHAL_GNSS_SUBSCRIBER_0=y
+CONFIG_CYPHAL_GNSS_SUBSCRIBER_1=y
+CONFIG_CYPHAL_READINESS_PUBLISHER=y
+CONFIG_CYPHAL_UORB_ACTUATOR_OUTPUTS_PUBLISHER=y
+CONFIG_CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER=y
@@ -7,10 +7,10 @@ CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_UAVCAN_V1=y
-CONFIG_UAVCAN_V1_CLIENT=y
-CONFIG_UAVCAN_V1_APP_DESCRIPTOR=y
-CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER=y
+CONFIG_DRIVERS_CYPHAL=y
+CONFIG_CYPHAL_CLIENT=y
+CONFIG_CYPHAL_APP_DESCRIPTOR=y
+CONFIG_CYPHAL_UORB_SENSOR_GPS_PUBLISHER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
@@ -6,4 +6,4 @@
 pwm_out mode_pwm1 start

 ifup can0
-uavcan_v1 start
+cyphal start
@@ -159,10 +159,12 @@ int s32k1xx_bringup(void)
 	if (s32k1xx_gpioread(BOARD_REVISION_DETECT_PIN)) {
 		/* STB high -> active CAN phy */
 		s32k1xx_pinconfig(PIN_CAN0_STB  | GPIO_OUTPUT_ONE);
+		s32k1xx_pinconfig(PIN_CAN1_STB  | GPIO_OUTPUT_ONE);

 	} else {
 		/* STB low -> active CAN phy */
 		s32k1xx_pinconfig(PIN_CAN0_STB  | GPIO_OUTPUT_ZERO);
+		s32k1xx_pinconfig(PIN_CAN1_STB  | GPIO_OUTPUT_ZERO);
 	}

 #endif
@@ -110,7 +110,7 @@ const struct clock_configuration_s g_initial_clkconfig = {
 		{
 			.mode        = SCG_SPLL_MONITOR_DISABLE,         /* SPLLCM */
 			.div1        = SCG_ASYNC_CLOCK_DIV_BY_1,         /* SPLLDIV1 */
-			.div2        = SCG_ASYNC_CLOCK_DIV_BY_1,         /* SPLLDIV2 */
+			.div2        = SCG_ASYNC_CLOCK_DIV_BY_2,         /* SPLLDIV2 */
 			.prediv      = 1,                                /* PREDIV */
 			.mult        = 40,                               /* MULT */
 			.src         = 0,                                /* SOURCE */
@@ -101,7 +101,7 @@ const struct peripheral_clock_config_s g_peripheral_clockconfig0[] = {
 #else
 		.clkgate = false,
 #endif
-		.clksrc  = CLK_SRC_SIRC_DIV2,
+		.clksrc  = CLK_SRC_SPLL_DIV2,
 	},
 	{
 		.clkname = LPSPI0_CLK,
@@ -110,7 +110,7 @@ const struct peripheral_clock_config_s g_peripheral_clockconfig0[] = {
 #else
 		.clkgate = false,
 #endif
-		.clksrc  = CLK_SRC_SIRC_DIV2,
+		.clksrc  = CLK_SRC_SPLL_DIV2,
 	},
 	{
 		.clkname = LPUART0_CLK,
@@ -119,7 +119,7 @@ const struct peripheral_clock_config_s g_peripheral_clockconfig0[] = {
 #else
 		.clkgate = false,
 #endif
-		.clksrc  = CLK_SRC_SIRC_DIV2,
+		.clksrc  = CLK_SRC_SPLL_DIV2,
 	},
 	{
 		.clkname = LPUART1_CLK,
@@ -128,7 +128,7 @@ const struct peripheral_clock_config_s g_peripheral_clockconfig0[] = {
 #else
 		.clkgate = false,
 #endif
-		.clksrc  = CLK_SRC_SIRC_DIV2,
+		.clksrc  = CLK_SRC_SPLL_DIV2,
 	},
 	{
 		.clkname    = RTC0_CLK,
@@ -1,3 +1,4 @@
+CONFIG_DRIVERS_OSD=n
 CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_EKF2=y
@@ -7,9 +7,7 @@ CONFIG_SYSTEMCMDS_BL_UPDATE=n
 CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE_MS4525DO=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
-CONFIG_SYSTEMCMDS_PERF=y
@@ -1,3 +1,2 @@
 CONFIG_SYSTEMCMDS_BL_UPDATE=n
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_I2C=y
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
@@ -2,6 +2,6 @@
 CONFIG_DRIVERS_HEATER=n
 CONFIG_DRIVERS_OSD=n
 CONFIG_DRIVERS_UAVCAN=n
-CONFIG_DRIVERS_UAVCAN_V1=y
-CONFIG_UAVCAN_V1_BMS_SUBSCRIBER=y
-CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER=y
+CONFIG_CYPHAL_BMS_SUBSCRIBER=y
+CONFIG_CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER=y
+CONFIG_DRIVERS_CYPHAL=y
@@ -21,6 +21,7 @@ CONFIG_MODULES_FW_POS_CONTROL=n
 CONFIG_MODULES_FW_POS_CONTROL_L1=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_SIH=n
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
 CONFIG_MODULES_VTOL_ATT_CONTROL=n
@@ -4,6 +4,7 @@ CONFIG_COMMON_TELEMETRY=n
 CONFIG_DRIVERS_BATT_SMBUS=n
 CONFIG_DRIVERS_CAMERA_CAPTURE=n
 CONFIG_DRIVERS_CAMERA_TRIGGER=n
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
 CONFIG_DRIVERS_HEATER=n
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=n
@@ -1,4 +1,5 @@
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
 CONFIG_COMMON_HYGROMETERS=n
 CONFIG_COMMON_TELEMETRY=n
 CONFIG_DRIVERS_ADC_ADS1115=n
@@ -33,6 +33,7 @@ CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
+CONFIG_DRIVERS_POWER_MONITOR_INA231=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
@@ -164,6 +164,7 @@ set(msg_files
 	timesync.msg
 	timesync_status.msg
 	trajectory_bezier.msg
+	trajectory_setpoint.msg
 	trajectory_waypoint.msg
 	transponder_report.msg
 	tune_control.msg
@@ -4,7 +4,9 @@ uint64 timestamp_sample	    # the timestamp the data this control response is ba

 uint16 reversible_flags     # bitset which motors are configured to be reversible

-uint8 NUM_CONTROLS = 8
-float32[8] control # range: [-1, 1], where 1 means maximum positive thrust,
-                   # -1 maximum negative (if not supported by the output, <0 maps to NaN),
-                   # and NaN maps to disarmed (stop the motors)
+uint8 ACTUATOR_FUNCTION_MOTOR1 = 101
+
+uint8 NUM_CONTROLS = 12
+float32[12] control # range: [-1, 1], where 1 means maximum positive thrust,
+                    # -1 maximum negative (if not supported by the output, <0 maps to NaN),
+                    # and NaN maps to disarmed (stop the motors)
@@ -7,7 +7,7 @@ uint8 ACTION_RELEASE_CONTROL = 0	# exit test mode for the given function
 uint8 ACTION_DO_CONTROL = 1			# enable actuator test mode

 uint8 FUNCTION_MOTOR1 = 101
-uint8 MAX_NUM_MOTORS  = 8
+uint8 MAX_NUM_MOTORS  = 12
 uint8 FUNCTION_SERVO1 = 201
 uint8 MAX_NUM_SERVOS  = 8

@@ -19,3 +19,5 @@ int8 ACTUATOR_SATURATION_LOWER     = -2 # The actuator is saturated (with a valu
 int8[16] actuator_saturation            # Indicates actuator saturation status.
                                        # Note 1: actuator saturation does not necessarily imply that the thrust setpoint or the torque setpoint were not achieved.
                                        # Note 2: an actuator with limited dynamics can be indicated as upper-saturated even if it as not reached its maximum value.
+
+uint16 handled_motor_failure_mask        # Bitmask of failed motors that were removed from the allocation / effectiveness matrix. Not necessarily identical to the report from FailureDetector
@@ -8,6 +8,8 @@ uint8 esc_address					# Address of current ESC (in most cases 1-8 / must be set

 uint8 esc_state					# State of ESC - depend on Vendor

+uint8 actuator_function				# actuator output function (one of Motor1...MotorN)
+
 uint16 failures					# Bitmask to indicate the internal ESC faults

 uint8 FAILURE_OVER_CURRENT = 0 			# (1 << 0)
@@ -6,8 +6,9 @@ bool fd_pitch
 bool fd_alt
 bool fd_ext
 bool fd_arm_escs
-bool fd_high_wind
 bool fd_battery
 bool fd_imbalanced_prop
+bool fd_motor

 float32 imbalanced_prop_metric      # Metric of the imbalanced propeller check (low-passed)
+uint16 motor_failure_mask           # Bit-mask with motor indices, indicating critical motor failures
@@ -2,22 +2,24 @@
 # These fields are scaled and offset-compensated where possible and do not
 # change with board revisions and sensor updates.

-uint64 timestamp				# time since system start (microseconds)
+uint64 timestamp                                # time since system start (microseconds)

-int32 RELATIVE_TIMESTAMP_INVALID = 2147483647	# (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid
+int32 RELATIVE_TIMESTAMP_INVALID = 2147483647   # (0x7fffffff) If one of the relative timestamps is set to this value, it means the associated sensor values are invalid

 # gyro timstamp is equal to the timestamp of the message
-float32[3] gyro_rad			# average angular rate measured in the FRD body frame XYZ-axis in rad/s over the last gyro sampling period
-uint32 gyro_integral_dt		# gyro measurement sampling period in microseconds
+float32[3] gyro_rad                     # average angular rate measured in the FRD body frame XYZ-axis in rad/s over the last gyro sampling period
+uint32 gyro_integral_dt                 # gyro measurement sampling period in microseconds

-int32 accelerometer_timestamp_relative	# timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
-float32[3] accelerometer_m_s2		# average value acceleration measured in the FRD body frame XYZ-axis in m/s^2 over the last accelerometer sampling period
-uint32 accelerometer_integral_dt	# accelerometer measurement sampling period in microseconds
+int32 accelerometer_timestamp_relative  # timestamp + accelerometer_timestamp_relative = Accelerometer timestamp
+float32[3] accelerometer_m_s2           # average value acceleration measured in the FRD body frame XYZ-axis in m/s^2 over the last accelerometer sampling period
+uint32 accelerometer_integral_dt        # accelerometer measurement sampling period in microseconds

 uint8 CLIPPING_X = 1
 uint8 CLIPPING_Y = 2
 uint8 CLIPPING_Z = 4
-uint8 accelerometer_clipping            # bitfield indicating if there was any accelerometer clipping (per axis) during the sampling period

-uint8 accel_calibration_count  	# Calibration changed counter. Monotonically increases whenever accelermeter calibration changes.
-uint8 gyro_calibration_count   	# Calibration changed counter. Monotonically increases whenever rate gyro calibration changes.
+uint8 accelerometer_clipping    # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame
+uint8 gyro_clipping             # bitfield indicating if there was any gyro clipping (per axis) during the integration time frame
+
+uint8 accel_calibration_count   # Calibration changed counter. Monotonically increases whenever accelermeter calibration changes.
+uint8 gyro_calibration_count    # Calibration changed counter. Monotonically increases whenever rate gyro calibration changes.
@@ -11,6 +11,8 @@ float32 temperature       # temperature in degrees Celsius

 uint32 error_count

+uint8[3] clip_counter     # clip count per axis in the sample period
+
 uint8 samples             # number of raw samples that went into this message

 uint8 ORB_QUEUE_LENGTH = 8
@@ -59,8 +59,7 @@ rtps:
    send:    true
  - msg:     vehicle_local_position_setpoint
    receive: true
-  - msg:     trajectory_setpoint # multi-topic / alias of vehicle_local_position_setpoint
-    base:    vehicle_local_position_setpoint
+  - msg:     trajectory_setpoint
    receive: true
  - msg:     vehicle_odometry
    send:    true
@@ -0,0 +1,15 @@
+# Trajectory setpoint in NED frame
+# Input to PID position controller.
+# Needs to be kinematically consistent and feasible for smooth flight.
+# setting a value to NaN means the state should not be controlled
+
+uint64 timestamp # time since system start (microseconds)
+
+# NED local world frame
+float32[3] position # in meters
+float32[3] velocity # in meters/second
+float32[3] acceleration # in meters/second^2
+float32[3] jerk # in meters/second^3 (for logging only)
+
+float32 yaw # euler angle of desired attitude in radians -PI..+PI
+float32 yawspeed # angular velocity around NED frame z-axis in radians/second
@@ -1,12 +1,12 @@
 # This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use

-uint64 timestamp		    # time since system start (microseconds)
+uint64 timestamp                # time since system start (microseconds)

-uint64 timestamp_sample     # the timestamp of the raw data (microseconds)
+uint64 timestamp_sample         # the timestamp of the raw data (microseconds)

-float32[4] q			    # Quaternion rotation from the FRD body frame to the NED earth frame
-float32[4] delta_q_reset 	# Amount by which quaternion has changed during last reset
-uint8 quat_reset_counter	# Quaternion reset counter
+float32[4] q                    # Quaternion rotation from the FRD body frame to the NED earth frame
+float32[4] delta_q_reset        # Amount by which quaternion has changed during last reset
+uint8 quat_reset_counter        # Quaternion reset counter

 # TOPICS vehicle_attitude vehicle_attitude_groundtruth vehicle_vision_attitude
 # TOPICS estimator_attitude
@@ -8,12 +8,15 @@ uint32 gyro_device_id           # Gyroscope unique device ID for the sensor that

 float32[3] delta_angle          # delta angle about the FRD body frame XYZ-axis in rad over the integration time frame (delta_angle_dt)
 float32[3] delta_velocity       # delta velocity in the FRD body frame XYZ-axis in m/s over the integration time frame (delta_velocity_dt)
+
 uint16 delta_angle_dt           # integration period in microseconds
 uint16 delta_velocity_dt        # integration period in microseconds

 uint8 CLIPPING_X = 1
 uint8 CLIPPING_Y = 2
 uint8 CLIPPING_Z = 4
+
+uint8 delta_angle_clipping     # bitfield indicating if there was any gyro clipping (per axis) during the integration time frame
 uint8 delta_velocity_clipping   # bitfield indicating if there was any accelerometer clipping (per axis) during the integration time frame

 uint8 accel_calibration_count  	# Calibration changed counter. Monotonically increases whenever accelermeter calibration changes.
@@ -4,6 +4,7 @@ uint32 accel_device_id          # unique device ID for the sensor that does not
 uint32 gyro_device_id           # unique device ID for the sensor that does not change between power cycles

 uint32[3] accel_clipping        # total clipping per axis
+uint32[3] gyro_clipping         # total clipping per axis

 uint32 accel_error_count
 uint32 gyro_error_count
@@ -1,18 +1,19 @@
 # Local position setpoint in NED frame
-# setting something to NaN means the state should not be controlled
+# Telemetry of PID position controller to monitor tracking.
+# NaN means the state was not controlled

 uint64 timestamp	# time since system start (microseconds)

 float32 x		# in meters NED
 float32 y		# in meters NED
 float32 z		# in meters NED
-float32 yaw		# in radians NED -PI..+PI
-float32 yawspeed	# in radians/sec
+
 float32 vx		# in meters/sec
 float32 vy		# in meters/sec
 float32 vz		# in meters/sec
+
 float32[3] acceleration # in meters/sec^2
-float32[3] jerk # in meters/sec^3
 float32[3] thrust	# normalized thrust vector in NED

-# TOPICS vehicle_local_position_setpoint trajectory_setpoint
+float32 yaw		# in radians NED -PI..+PI
+float32 yawspeed	# in radians/sec
@@ -1,5 +1,3 @@
-# If you change the order, add or remove arming_state_t states make sure to update the arrays
-# in state_machine_helper.cpp as well.
 uint64 timestamp				# time since system start (microseconds)

 uint8 ARMING_STATE_INIT = 0
@@ -11,15 +9,15 @@ uint8 ARMING_STATE_IN_AIR_RESTORE = 5
 uint8 ARMING_STATE_MAX = 6

 # FailureDetector status
-uint8 FAILURE_NONE = 0
-uint8 FAILURE_ROLL = 1 	        # (1 << 0)
-uint8 FAILURE_PITCH = 2	        # (1 << 1)
-uint8 FAILURE_ALT = 4 	        # (1 << 2)
-uint8 FAILURE_EXT = 8 	        # (1 << 3)
-uint8 FAILURE_ARM_ESC = 16      # (1 << 4)
-uint8 FAILURE_HIGH_WIND = 32        # (1 << 5)
-uint8 FAILURE_BATTERY = 64          # (1 << 6)
-uint8 FAILURE_IMBALANCED_PROP = 128 # (1 << 7)
+uint16 FAILURE_NONE = 0
+uint16 FAILURE_ROLL = 1              # (1 << 0)
+uint16 FAILURE_PITCH = 2             # (1 << 1)
+uint16 FAILURE_ALT = 4               # (1 << 2)
+uint16 FAILURE_EXT = 8               # (1 << 3)
+uint16 FAILURE_ARM_ESC = 16          # (1 << 4)
+uint16 FAILURE_BATTERY = 32          # (1 << 5)
+uint16 FAILURE_IMBALANCED_PROP = 64  # (1 << 6)
+uint16 FAILURE_MOTOR = 128           # (1 << 7)

 # HIL
 uint8 HIL_STATE_OFF = 0
@@ -32,7 +30,7 @@ uint8 NAVIGATION_STATE_POSCTL = 2		# Position control mode
 uint8 NAVIGATION_STATE_AUTO_MISSION = 3		# Auto mission mode
 uint8 NAVIGATION_STATE_AUTO_LOITER = 4		# Auto loiter mode
 uint8 NAVIGATION_STATE_AUTO_RTL = 5		# Auto return to launch mode
-uint8 NAVIGATION_STATE_AUTO_LANDENGFAIL = 8 	# Auto land on engine failure
+uint8 NAVIGATION_STATE_UNUSED3 = 8 	        # Free slot
 uint8 NAVIGATION_STATE_UNUSED = 9	        # Free slot
 uint8 NAVIGATION_STATE_ACRO = 10		# Acro mode
 uint8 NAVIGATION_STATE_UNUSED1 = 11		# Free slot
@@ -69,13 +67,12 @@ uint8 system_type			# system type, contains mavlink MAV_TYPE
 uint8 system_id			# system id, contains MAVLink's system ID field
 uint8 component_id			# subsystem / component id, contains MAVLink's component ID field

-uint8 vehicle_type          # Type of vehicle (fixed-wing, rotary wing, ground)
+uint8 vehicle_type          # Type of vehicle (rotary wing/fixed-wing/rover/airship, see above)
                            # If the vehicle is a VTOL, then this value will be VEHICLE_TYPE_ROTARY_WING while flying as a multicopter,
                            # and VEHICLE_TYPE_FIXED_WING when flying as a fixed-wing

 bool is_vtol				# True if the system is VTOL capable
 bool is_vtol_tailsitter                 # True if the system performs a 90° pitch down rotation during transition from MC to FW
-bool vtol_fw_permanent_stab		# True if VTOL should stabilize attitude for fw in manual mode
 bool in_transition_mode			# True if VTOL is doing a transition
 bool in_transition_to_fw		# True if VTOL is doing a transition from MC to FW

@@ -86,11 +83,10 @@ uint8 data_link_lost_counter			# counts unique data link lost events

 bool high_latency_data_link_lost 			# Set to true if the high latency data link (eg. RockBlock Iridium 9603 telemetry module) is lost

-bool engine_failure				# Set to true if an engine failure is detected
 bool mission_failure				# Set to true if mission could not continue/finish
 bool geofence_violated

-uint8 failure_detector_status			# Bitmask containing FailureDetector status [0, 0, 0, 0, 0, FAILURE_ALT, FAILURE_PITCH, FAILURE_ROLL]
+uint16 failure_detector_status			# Bitmask containing FailureDetector status [0, 0, 0, 0, 0, FAILURE_ALT, FAILURE_PITCH, FAILURE_ROLL]

 # see SYS_STATUS mavlink message for the following
 # lower 32 bits are for the base flags, higher 32 bits are or the extended flags
@@ -28,7 +28,6 @@ bool flight_terminated

 bool circuit_breaker_engaged_power_check
 bool circuit_breaker_engaged_airspd_check
-bool circuit_breaker_engaged_enginefailure_check
 bool circuit_breaker_flight_termination_disabled
 bool circuit_breaker_engaged_usb_check
 bool circuit_breaker_engaged_posfailure_check	# set to true when the position valid checks have been disabled
@@ -7,8 +7,6 @@ uint8 VEHICLE_VTOL_STATE_FW = 4

 uint64 timestamp			# time since system start (microseconds)

-bool vtol_in_rw_mode			# true: vtol vehicle is in rotating wing mode
-bool vtol_in_trans_mode
-bool in_transition_to_fw		# True if VTOL is doing a transition from MC to FW
+uint8 vehicle_vtol_state		# current state of the vtol, see VEHICLE_VTOL_STATE
+
 bool vtol_transition_failsafe		# vtol in transition failsafe mode
-bool fw_permanent_stab			# In fw mode stabilize attitude even if in manual mode
@@ -55,6 +55,16 @@ endif()
 # build NuttX
 add_subdirectory(NuttX ${PX4_BINARY_DIR}/NuttX)

+# check that CONFIG_ARCH_BOARD_CUSTOM_DIR is in PX4_BOARD_DIR
+if(CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH)
+	get_filename_component(nuttx_defconfig_root "${NUTTX_DEFCONFIG}/../.." ABSOLUTE)
+	get_filename_component(nuttx_config_from_defconfig "${NUTTX_DIR}/${CONFIG_ARCH_BOARD_CUSTOM_DIR}" ABSOLUTE)
+
+	if(NOT ${nuttx_defconfig_root} MATCHES ${nuttx_config_from_defconfig})
+		message(FATAL_ERROR "NuttX custom board directory (${CONFIG_ARCH_BOARD_CUSTOM_DIR}) isn't in board directory (${PX4_BOARD_DIR})")
+	endif()
+endif()
+
 set(nuttx_libs)
 set(SCRIPT_PREFIX)
 if("${PX4_BOARD_LABEL}" STREQUAL "bootloader")
@@ -34,13 +34,13 @@
 /**
 * @file EscClient.hpp
 *
- * Client-side implementation of DS-15 specification ESC service
+ * Client-side implementation of UDRAL specification ESC service
 *
- * Publishes the following UAVCAN v1 messages:
+ * Publishes the following Cyphal messages:
 *   reg.drone.service.actuator.common.sp.Value8.0.1
 *   reg.drone.service.common.Readiness.0.1
 *
- * Subscribes to the following UAVCAN v1 messages:
+ * Subscribes to the following Cyphal messages:
 *   reg.drone.service.actuator.common.Feedback.0.1
 *   reg.drone.service.actuator.common.Status.0.1
 *
@@ -57,9 +57,9 @@
 #include <drivers/drv_hrt.h>
 #include <lib/mixer_module/mixer_module.hpp>

-// DS-15 Specification Messages
-#include <reg/drone/service/actuator/common/sp/Vector31_0_1.h>
-#include <reg/drone/service/common/Readiness_0_1.h>
+// UDRAL Specification Messages
+#include <reg/udral/service/actuator/common/sp/Vector31_0_1.h>
+#include <reg/udral/service/common/Readiness_0_1.h>

 /// TODO: Allow derived class of Subscription at same time, to handle ESC Feedback/Status
 class UavcanEscController : public UavcanPublisher
@@ -67,8 +67,8 @@ class UavcanEscController : public UavcanPublisher
 public:
 	static constexpr int MAX_ACTUATORS = MixingOutput::MAX_ACTUATORS;

-	UavcanEscController(CanardInstance &ins, UavcanParamManager &pmgr) :
-		UavcanPublisher(ins, pmgr, "ds_015", "esc") { };
+	UavcanEscController(CanardHandle &handle, UavcanParamManager &pmgr) :
+		UavcanPublisher(handle, pmgr, "udral", "esc") { };

 	~UavcanEscController() {};

@@ -80,45 +80,47 @@ public:

 			if (new_arming.armed != _armed.armed) {
 				_armed = new_arming;
+				size_t payload_size = reg_udral_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_;

 				// Only publish if we have a valid publication ID set
 				if (_port_id == 0) {
 					return;
 				}

-				reg_drone_service_common_Readiness_0_1 msg_arming {};
+				reg_udral_service_common_Readiness_0_1 msg_arming {};

 				if (_armed.armed) {
-					msg_arming.value = reg_drone_service_common_Readiness_0_1_ENGAGED;
+					msg_arming.value = reg_udral_service_common_Readiness_0_1_ENGAGED;

 				} else if (_armed.prearmed) {
-					msg_arming.value = reg_drone_service_common_Readiness_0_1_STANDBY;
+					msg_arming.value = reg_udral_service_common_Readiness_0_1_STANDBY;

 				} else {
-					msg_arming.value = reg_drone_service_common_Readiness_0_1_SLEEP;
+					msg_arming.value = reg_udral_service_common_Readiness_0_1_SLEEP;
 				}

-				uint8_t arming_payload_buffer[reg_drone_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
+				uint8_t arming_payload_buffer[reg_udral_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];

 				CanardPortID arming_pid = static_cast<CanardPortID>(static_cast<uint32_t>(_port_id) + 1);
-				CanardTransfer transfer = {
-					.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
+				const CanardTransferMetadata transfer_metadata = {
 					.priority       = CanardPriorityNominal,
 					.transfer_kind  = CanardTransferKindMessage,
 					.port_id        = arming_pid,                // This is the subject-ID.
 					.remote_node_id = CANARD_NODE_ID_UNSET,      // Messages cannot be unicast, so use UNSET.
 					.transfer_id    = _arming_transfer_id,
-					.payload_size   = reg_drone_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_,
-					.payload        = &arming_payload_buffer,
 				};

-				int result = reg_drone_service_common_Readiness_0_1_serialize_(&msg_arming, arming_payload_buffer,
-						&transfer.payload_size);
+				int result = reg_udral_service_common_Readiness_0_1_serialize_(&msg_arming, arming_payload_buffer,
+						&payload_size);

 				if (result == 0) {
 					// set the data ready in the buffer and chop if needed
 					++_arming_transfer_id;  // The transfer-ID shall be incremented after every transmission on this subject.
-					result = canardTxPush(&_canard_instance, &transfer);
+					result = _canard_handle.TxPush(hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
+								       &transfer_metadata,
+								       payload_size,
+								       &arming_payload_buffer
+								      );
 				}
 			}
 		}
@@ -127,7 +129,8 @@ public:
 	void update_outputs(bool stop_motors, uint16_t outputs[MAX_ACTUATORS], unsigned num_outputs)
 	{
 		if (_port_id > 0) {
-			reg_drone_service_actuator_common_sp_Vector31_0_1 msg_sp {0};
+			reg_udral_service_actuator_common_sp_Vector31_0_1 msg_sp {0};
+			size_t payload_size = reg_udral_service_common_Readiness_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_;

 			for (uint8_t i = 0; i < MAX_ACTUATORS; i++) {
 				if (i < num_outputs) {
@@ -139,29 +142,30 @@ public:
 				}
 			}

+
 			PX4_INFO("Publish %d values %f, %f, %f, %f", num_outputs, (double)msg_sp.value[0], (double)msg_sp.value[1],
 				 (double)msg_sp.value[2], (double)msg_sp.value[3]);

-			uint8_t esc_sp_payload_buffer[reg_drone_service_actuator_common_sp_Vector31_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];
+			uint8_t esc_sp_payload_buffer[reg_udral_service_actuator_common_sp_Vector31_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_];

-			CanardTransfer transfer = {
-				.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
+			const CanardTransferMetadata transfer_metadata = {
 				.priority       = CanardPriorityNominal,
 				.transfer_kind  = CanardTransferKindMessage,
 				.port_id        = _port_id,                // This is the subject-ID.
 				.remote_node_id = CANARD_NODE_ID_UNSET,       // Messages cannot be unicast, so use UNSET.
 				.transfer_id    = _transfer_id,
-				.payload_size   = reg_drone_service_actuator_common_sp_Vector31_0_1_SERIALIZATION_BUFFER_SIZE_BYTES_,
-				.payload        = &esc_sp_payload_buffer,
 			};

-			int result = reg_drone_service_actuator_common_sp_Vector31_0_1_serialize_(&msg_sp, esc_sp_payload_buffer,
-					&transfer.payload_size);
+			int result = reg_udral_service_actuator_common_sp_Vector31_0_1_serialize_(&msg_sp, esc_sp_payload_buffer,
+					&payload_size);

 			if (result == 0) {
 				// set the data ready in the buffer and chop if needed
 				++_transfer_id;  // The transfer-ID shall be incremented after every transmission on this subject.
-				result = canardTxPush(&_canard_instance, &transfer);
+				result = _canard_handle.TxPush(hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
+							       &transfer_metadata,
+							       payload_size,
+							       &esc_sp_payload_buffer);
 			}
 		}
 	};
@@ -175,7 +179,7 @@ private:
 	/**
 	 * ESC status message reception will be reported via this callback.
 	 */
-	void esc_status_sub_cb(const CanardTransfer &msg);
+	void esc_status_sub_cb(const CanardRxTransfer &msg);

 	uint8_t _rotor_count {0};

@@ -34,14 +34,14 @@
 /**
 * @file EscServer.hpp
 *
- * Server-side implementation of DS-15 specification ESC service
+ * Server-side implementation of UDRAL specification ESC service
 * (Used for CANNode control of an ESC via PWM output)
 *
- * Subscribes to the following UAVCAN v1 messages:
+ * Subscribes to the following Cyphal messages:
 *   reg.drone.service.actuator.common.sp.Value8.0.1
 *   reg.drone.service.common.Readiness.0.1
 *
- * Publishes to the following UAVCAN v1 messages:
+ * Publishes to the following Cyphal messages:
 *   reg.drone.service.actuator.common.Feedback.0.1
 *   reg.drone.service.actuator.common.Status.0.1
 *
@@ -62,7 +62,7 @@
 #include <drivers/drv_hrt.h>
 #include <lib/mixer_module/mixer_module.hpp>

-// DS-15 Specification Messages
+// UDRAL Specification Messages
 #include <reg/drone/service/actuator/common/sp/Vector31_0_1.h>
 #include <reg/drone/service/common/Readiness_0_1.h>

@@ -41,7 +41,7 @@ px4_add_git_submodule(TARGET git_legacy_data_types PATH ${LEGACY_DSDL_DIR})

 find_program(NNVG_PATH nnvg)
 if(NNVG_PATH)
-	message("Generating UAVCANv1 DSDL headers using Nunavut")
+	message("Generating Cyphal DSDL headers using Nunavut")
 	execute_process(COMMAND ${NNVG_PATH} --outdir ${CMAKE_CURRENT_BINARY_DIR}/dsdlc_generated --target-language c -I ${DSDL_DIR}/uavcan ${DSDL_DIR}/reg)
 	execute_process(COMMAND ${NNVG_PATH} --outdir ${CMAKE_CURRENT_BINARY_DIR}/dsdlc_generated --target-language c -I ${LEGACY_DSDL_DIR}/uavcan ${LEGACY_DSDL_DIR}/legacy)
 	execute_process(COMMAND ${NNVG_PATH} --outdir ${CMAKE_CURRENT_BINARY_DIR}/dsdlc_generated --target-language c ${DSDL_DIR}/uavcan)
@@ -66,14 +66,14 @@ if(${PX4_PLATFORM} MATCHES "nuttx")
 	endif()
 endif()

-if(CONFIG_UAVCAN_V1_NODE_MANAGER)
+if(CONFIG_CYPHAL_NODE_MANAGER)
    list(APPEND SRCS
 		NodeManager.hpp
 		NodeManager.cpp
    )
 endif()

-if(CONFIG_UAVCAN_V1_NODE_CLIENT)
+if(CONFIG_CYPHAL_NODE_CLIENT)
    list(APPEND SRCS
 		NodeClient.hpp
 		NodeClient.cpp
@@ -86,29 +86,31 @@ endif()
 # Temporary measure to get Kconfig option as defines into this application
 # Ideally we want nicely decouple and define this in kconfig.cmake
 # But then we need to overhaul the src modules naming convention
-set(DRIVERS_UAVCAN_V1_OPTIONS)
+set(DRIVERS_CYPHAL_OPTIONS)
 get_cmake_property(_variableNames VARIABLES)
 foreach (_variableName ${_variableNames})
-    string(REGEX MATCH "^CONFIG_UAVCAN_V1_" UAVCAN_V1_OPTION ${_variableName})
+    string(REGEX MATCH "^CONFIG_CYPHAL_" CYPHAL_OPTION ${_variableName})

-    if(UAVCAN_V1_OPTION)
+    if(CYPHAL_OPTION)
        if(${${_variableName}} STREQUAL "y")
-            list(APPEND DRIVERS_UAVCAN_V1_OPTIONS "-D${_variableName}=1")
+            list(APPEND DRIVERS_CYPHAL_OPTIONS "-D${_variableName}=1")
        else()
-            list(APPEND DRIVERS_UAVCAN_V1_OPTIONS "-D${_variableName}=${${_variableName}}")
+            list(APPEND DRIVERS_CYPHAL_OPTIONS "-D${_variableName}=${${_variableName}}")
        endif()
    endif()
 endforeach()

+remove_definitions(-Werror)
+
 px4_add_module(
-	MODULE drivers__uavcan_v1
-	MAIN uavcan_v1
+	MODULE drivers__cyphal
+	MAIN cyphal
 	STACK_MAIN 4096
 	COMPILE_FLAGS
 		#-DCANARD_ASSERT
 		-DUINT32_C\(x\)=__UINT32_C\(x\)
 		-O0
-		${DRIVERS_UAVCAN_V1_OPTIONS}
+		${DRIVERS_CYPHAL_OPTIONS}
 	INCLUDES
 		${LIBCANARD_DIR}/libcanard/
 		${CMAKE_CURRENT_BINARY_DIR}/dsdlc_generated
@@ -119,8 +121,9 @@ px4_add_module(
 		SubscriptionManager.hpp
 		ParamManager.hpp
 		ParamManager.cpp
-		Uavcan.cpp
-		Uavcan.hpp
+		Cyphal.cpp
+		Cyphal.hpp
+		CanardHandle.cpp
 		Publishers/uORB/uorb_publisher.cpp
 		Subscribers/uORB/uorb_subscriber.cpp
 		${SRCS}
@@ -137,3 +140,6 @@ px4_add_module(
 		version
 		${DPNDS}
 	)
+
+# libcanard 3.0 introduces this warning, for now no intention to fix it thus we ignore this warning
+set_source_files_properties(${LIBCANARD_DIR}/libcanard/canard.c PROPERTIES COMPILE_FLAGS -Wno-cast-align)
@@ -0,0 +1,221 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "CanardHandle.hpp"
+
+#include <net/if.h>
+#include <sys/ioctl.h>
+#include <string.h>
+
+#include <px4_platform_common/log.h>
+
+#include "o1heap/o1heap.h"
+
+#include "Subscribers/BaseSubscriber.hpp"
+
+#if defined(__PX4_NUTTX)
+# if defined(CONFIG_NET_CAN)
+#  include "CanardSocketCAN.hpp"
+# elif defined(CONFIG_CAN)
+#  include "CanardNuttXCDev.hpp"
+# endif // CONFIG_CAN
+#endif // NuttX
+
+
+O1HeapInstance *cyphal_allocator{nullptr};
+
+static void *memAllocate(CanardInstance *const ins, const size_t amount) { return o1heapAllocate(cyphal_allocator, amount); }
+static void memFree(CanardInstance *const ins, void *const pointer) { o1heapFree(cyphal_allocator, pointer); }
+
+
+CanardHandle::CanardHandle(uint32_t node_id, const size_t capacity, const size_t mtu_bytes)
+{
+	_cyphal_heap = memalign(O1HEAP_ALIGNMENT, HeapSize);
+	cyphal_allocator = o1heapInit(_cyphal_heap, HeapSize, nullptr, nullptr);
+
+	if (cyphal_allocator == nullptr) {
+		PX4_ERR("o1heapInit failed with size %u", HeapSize);
+	}
+
+	_canard_instance = canardInit(&memAllocate, &memFree);
+
+	_canard_instance.node_id = node_id; // Defaults to anonymous; can be set up later at any point.
+
+	_queue = canardTxInit(capacity, mtu_bytes);
+
+#if defined(__PX4_NUTTX)
+# if defined(CONFIG_NET_CAN)
+	_can_interface = new CanardSocketCAN();
+# elif defined(CONFIG_CAN)
+	_can_interface = new CanardNuttXCDev();
+# endif // CONFIG_CAN
+#endif // NuttX
+
+}
+
+CanardHandle::~CanardHandle()
+{
+	_can_interface->close();
+	delete _can_interface;
+	_can_interface = nullptr;
+
+	delete static_cast<uint8_t *>(_cyphal_heap);
+	_cyphal_heap = nullptr;
+
+}
+
+
+bool CanardHandle::init()
+{
+	if (_can_interface) {
+		if (_can_interface->init() == PX4_OK) {
+			return true;
+		}
+	}
+
+	return false;
+}
+
+void CanardHandle::receive()
+{
+	/* Process received messages */
+
+	uint8_t data[64] {};
+	CanardRxFrame received_frame{};
+	received_frame.frame.payload = &data;
+
+	while (_can_interface->receive(&received_frame) > 0) {
+		CanardRxTransfer receive{};
+		CanardRxSubscription *subscription = nullptr;
+		int32_t result = canardRxAccept(&_canard_instance, received_frame.timestamp_usec, &received_frame.frame, 0, &receive,
+						&subscription);
+
+		if (result < 0) {
+			// An error has occurred: either an argument is invalid or we've ran out of memory.
+			// It is possible to statically prove that an out-of-memory will never occur for a given application if
+			// the heap is sized correctly; for background, refer to the Robson's Proof and the documentation for O1Heap.
+			// Reception of an invalid frame is NOT an error.
+			PX4_ERR("Receive error %" PRId32" \n", result);
+
+		} else if (result == 1) {
+			// A transfer has been received, process it.
+			// PX4_INFO("received Port ID: %d", receive.port_id);
+
+			if (subscription != nullptr) {
+				UavcanBaseSubscriber *sub_instance = (UavcanBaseSubscriber *)subscription->user_reference;
+				sub_instance->callback(receive);
+
+			} else {
+				PX4_ERR("No matching sub for %d", receive.metadata.port_id);
+			}
+
+			// Deallocate the dynamic memory afterwards.
+			_canard_instance.memory_free(&_canard_instance, (void *)receive.payload);
+
+		} else {
+			//PX4_INFO("RX canard %d", result);
+		}
+	}
+
+}
+
+void CanardHandle::transmit()
+{
+	// Look at the top of the TX queue.
+	for (const CanardTxQueueItem *ti = NULL; (ti = canardTxPeek(&_queue)) != NULL;) { // Peek at the top of the queue.
+		if ((0U == ti->tx_deadline_usec) || (ti->tx_deadline_usec > hrt_absolute_time())) { // Check the deadline.
+			// Send the frame. Redundant interfaces may be used here.
+			const int tx_res = _can_interface->transmit(*ti);
+
+			if (tx_res < 0) {
+				PX4_ERR("Transmit error %d, frame dropped, errno '%s'", tx_res, strerror(errno));
+
+			} else if (tx_res == 0) {
+				// Timeout - just exit and try again later
+				break;
+			}
+
+		}
+
+		// After the frame is transmitted or if it has timed out while waiting, pop it from the queue and deallocate:
+		_canard_instance.memory_free(&_canard_instance, canardTxPop(&_queue, ti));
+	}
+}
+
+int32_t CanardHandle::TxPush(const CanardMicrosecond             tx_deadline_usec,
+			     const CanardTransferMetadata *const metadata,
+			     const size_t                        payload_size,
+			     const void *const                   payload)
+{
+	return canardTxPush(&_queue, &_canard_instance, tx_deadline_usec, metadata, payload_size, payload);
+}
+
+int8_t CanardHandle::RxSubscribe(const CanardTransferKind    transfer_kind,
+				 const CanardPortID          port_id,
+				 const size_t                extent,
+				 const CanardMicrosecond     transfer_id_timeout_usec,
+				 CanardRxSubscription *const out_subscription)
+{
+	return canardRxSubscribe(&_canard_instance, transfer_kind, port_id, extent, transfer_id_timeout_usec, out_subscription);
+}
+
+int8_t CanardHandle::RxUnsubscribe(const CanardTransferKind transfer_kind,
+				   const CanardPortID       port_id)
+{
+	return canardRxUnsubscribe(&_canard_instance, transfer_kind, port_id);
+}
+
+CanardTreeNode *CanardHandle::getRxSubscriptions(CanardTransferKind kind)
+{
+	return _canard_instance.rx_subscriptions[kind];
+}
+
+O1HeapDiagnostics CanardHandle::getO1HeapDiagnostics()
+{
+	return o1heapGetDiagnostics(cyphal_allocator);
+}
+
+int32_t CanardHandle::mtu()
+{
+	return _queue.mtu_bytes;
+}
+
+CanardNodeID CanardHandle::node_id()
+{
+	return _canard_instance.node_id;
+}
+
+void CanardHandle::set_node_id(CanardNodeID id)
+{
+	_canard_instance.node_id = id;
+}
@@ -0,0 +1,87 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2022 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * 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 <canard.h>
+#include "o1heap/o1heap.h"
+#include "CanardInterface.hpp"
+
+class CanardHandle
+{
+	/*
+	* This memory is allocated for the 01Heap allocator used by
+	* libcanard to store incoming/outcoming data
+	* Current size of 8192 bytes is arbitrary, should be optimized further
+	* when more nodes and messages are on the CAN bus
+	*/
+	static constexpr unsigned HeapSize = 8192;
+
+public:
+	CanardHandle(uint32_t node_id, const size_t capacity, const size_t mtu_bytes);
+	~CanardHandle();
+
+	bool init();
+
+	void receive();
+	void transmit();
+
+	int32_t TxPush(const CanardMicrosecond             tx_deadline_usec,
+		       const CanardTransferMetadata *const metadata,
+		       const size_t                        payload_size,
+		       const void *const                   payload);
+
+	int8_t RxSubscribe(const CanardTransferKind    transfer_kind,
+			   const CanardPortID          port_id,
+			   const size_t                extent,
+			   const CanardMicrosecond     transfer_id_timeout_usec,
+			   CanardRxSubscription *const out_subscription);
+	int8_t RxUnsubscribe(const CanardTransferKind transfer_kind,
+			     const CanardPortID       port_id);
+	CanardTreeNode *getRxSubscriptions(CanardTransferKind kind);
+	O1HeapDiagnostics getO1HeapDiagnostics();
+
+	int32_t mtu();
+	CanardNodeID node_id();
+	void set_node_id(CanardNodeID id);
+
+private:
+	CanardInterface *_can_interface;
+
+	CanardInstance _canard_instance;
+
+	CanardTxQueue _queue;
+
+	void *_cyphal_heap{nullptr};
+
+};
@@ -35,6 +35,14 @@

 #include <canard.h>

+/// One frame stored in the transmission queue along with its metadata.
+struct CanardRxFrame {
+	CanardMicrosecond timestamp_usec;
+
+	/// The actual CAN frame data.
+	CanardFrame frame;
+};
+
 class CanardInterface
 {
 public:
@@ -48,12 +56,12 @@ public:
 	/// Send a CanardFrame
 	/// This function is blocking
 	/// The return value is number of bytes transferred, negative value on error.
-	virtual int16_t transmit(const CanardFrame &txframe, int timeout_ms = 0) = 0;
+	virtual int16_t transmit(const CanardTxQueueItem &txframe, int timeout_ms = 0) = 0;

 	/// Receive a CanardFrame
 	/// This function is blocking
 	/// The return value is number of bytes received, negative value on error.
-	virtual int16_t receive(CanardFrame *rxf) = 0;
+	virtual int16_t receive(CanardRxFrame *rxf) = 0;

 private:

@@ -65,7 +65,7 @@ int CanardNuttXCDev::init()
 	return 0;
 }

-int16_t CanardNuttXCDev::transmit(const CanardFrame &txf, int timeout_ms)
+int16_t CanardNuttXCDev::transmit(const CanardTxQueueItem &txf, int timeout_ms)
 {
 	if (_fd < 0) {
 		return -1;
@@ -93,13 +93,13 @@ int16_t CanardNuttXCDev::transmit(const CanardFrame &txf, int timeout_ms)

 	struct can_msg_s transmit_msg {};

-	transmit_msg.cm_hdr.ch_id = txf.extended_can_id;
+	transmit_msg.cm_hdr.ch_id = txf.frame.extended_can_id;

-	transmit_msg.cm_hdr.ch_dlc = txf.payload_size;
+	transmit_msg.cm_hdr.ch_dlc = txf.frame.payload_size;

 	transmit_msg.cm_hdr.ch_extid = 1;

-	memcpy(transmit_msg.cm_data, txf.payload, txf.payload_size);
+	memcpy(transmit_msg.cm_data, txf.frame.payload, txf.frame.payload_size);

 	const size_t msg_len = CAN_MSGLEN(transmit_msg.cm_hdr.ch_dlc);

@@ -112,7 +112,7 @@ int16_t CanardNuttXCDev::transmit(const CanardFrame &txf, int timeout_ms)
 	return 1;
 }

-int16_t CanardNuttXCDev::receive(CanardFrame *received_frame)
+int16_t CanardNuttXCDev::receive(CanardRxFrame *received_frame)
 {
 	if ((_fd < 0) || (received_frame == nullptr)) {
 		return -1;
@@ -140,9 +140,9 @@ int16_t CanardNuttXCDev::receive(CanardFrame *received_frame)
 			return -1;

 		} else {
-			received_frame->extended_can_id = receive_msg.cm_hdr.ch_id;
-			received_frame->payload_size = receive_msg.cm_hdr.ch_dlc;
-			memcpy((void *)received_frame->payload, receive_msg.cm_data, receive_msg.cm_hdr.ch_dlc);
+			received_frame->frame.extended_can_id = receive_msg.cm_hdr.ch_id;
+			received_frame->frame.payload_size = receive_msg.cm_hdr.ch_dlc;
+			memcpy((void *)received_frame->frame.payload, receive_msg.cm_data, receive_msg.cm_hdr.ch_dlc);
 			return nbytes;
 		}
 	}
@@ -51,15 +51,15 @@ public:
 	/// The return value is 0 on succes and -1 on error
 	int init();

-	/// Send a CanardFrame to the CanardSocketInstance socket
+	/// Send a CanardTxQueueItem to the CanardSocketInstance socket
 	/// This function is blocking
 	/// The return value is number of bytes transferred, negative value on error.
-	int16_t transmit(const CanardFrame &txframe, int timeout_ms = 0);
+	int16_t transmit(const CanardTxQueueItem &txframe, int timeout_ms = 0);

-	/// Receive a CanardFrame from the CanardSocketInstance socket
+	/// Receive a CanardRxFrame from the CanardSocketInstance socket
 	/// This function is blocking
 	/// The return value is number of bytes received, negative value on error.
-	int16_t receive(CanardFrame *rxf);
+	int16_t receive(CanardRxFrame *rxf);

 private:
 	int _fd{-1};
@@ -152,22 +152,22 @@ int CanardSocketCAN::init()
 	return 0;
 }

-int16_t CanardSocketCAN::transmit(const CanardFrame &txf, int timeout_ms)
+int16_t CanardSocketCAN::transmit(const CanardTxQueueItem &txf, int timeout_ms)
 {
 	/* Copy CanardFrame to can_frame/canfd_frame */
 	if (_can_fd) {
-		_send_frame.can_id = txf.extended_can_id | CAN_EFF_FLAG;
-		_send_frame.len = txf.payload_size;
-		memcpy(&_send_frame.data, txf.payload, txf.payload_size);
+		_send_frame.can_id = txf.frame.extended_can_id | CAN_EFF_FLAG;
+		_send_frame.len = txf.frame.payload_size;
+		memcpy(&_send_frame.data, txf.frame.payload, txf.frame.payload_size);

 	} else {
 		struct can_frame *frame = (struct can_frame *)&_send_frame;
-		frame->can_id = txf.extended_can_id | CAN_EFF_FLAG;
-		frame->can_dlc = txf.payload_size;
-		memcpy(&frame->data, txf.payload, txf.payload_size);
+		frame->can_id = txf.frame.extended_can_id | CAN_EFF_FLAG;
+		frame->can_dlc = txf.frame.payload_size;
+		memcpy(&frame->data, txf.frame.payload, txf.frame.payload_size);
 	}

-	uint64_t deadline_systick = getMonotonicTimestampUSec() + (txf.timestamp_usec - hrt_absolute_time()) +
+	uint64_t deadline_systick = getMonotonicTimestampUSec() + (txf.tx_deadline_usec - hrt_absolute_time()) +
 				    CONFIG_USEC_PER_TICK; // Compensate for precision loss when converting hrt to systick

 	/* Set CAN_RAW_TX_DEADLINE timestamp  */
@@ -177,7 +177,7 @@ int16_t CanardSocketCAN::transmit(const CanardFrame &txf, int timeout_ms)
 	return sendmsg(_fd, &_send_msg, 0);
 }

-int16_t CanardSocketCAN::receive(CanardFrame *rxf)
+int16_t CanardSocketCAN::receive(CanardRxFrame *rxf)
 {
 	int32_t result = recvmsg(_fd, &_recv_msg, MSG_DONTWAIT);

@@ -189,15 +189,15 @@ int16_t CanardSocketCAN::receive(CanardFrame *rxf)

 	if (_can_fd) {
 		struct canfd_frame *recv_frame = (struct canfd_frame *)&_recv_frame;
-		rxf->extended_can_id = recv_frame->can_id & CAN_EFF_MASK;
-		rxf->payload_size = recv_frame->len;
-		rxf->payload = &recv_frame->data;
+		rxf->frame.extended_can_id = recv_frame->can_id & CAN_EFF_MASK;
+		rxf->frame.payload_size = recv_frame->len;
+		rxf->frame.payload = &recv_frame->data;

 	} else {
 		struct can_frame *recv_frame = (struct can_frame *)&_recv_frame;
-		rxf->extended_can_id = recv_frame->can_id & CAN_EFF_MASK;
-		rxf->payload_size = recv_frame->can_dlc;
-		rxf->payload = &recv_frame->data; //FIXME either copy or clearly state the pointer reference
+		rxf->frame.extended_can_id = recv_frame->can_id & CAN_EFF_MASK;
+		rxf->frame.payload_size = recv_frame->can_dlc;
+		rxf->frame.payload = &recv_frame->data; //FIXME either copy or clearly state the pointer reference
 	}

 	/* Read SO_TIMESTAMP value */
@@ -71,12 +71,12 @@ public:
 	/// Send a CanardFrame to the CanardSocketInstance socket
 	/// This function is blocking
 	/// The return value is number of bytes transferred, negative value on error.
-	int16_t transmit(const CanardFrame &txframe, int timeout_ms = 0);
+	int16_t transmit(const CanardTxQueueItem &txframe, int timeout_ms = 0);

 	/// Receive a CanardFrame from the CanardSocketInstance socket
 	/// This function is blocking
 	/// The return value is number of bytes received, negative value on error.
-	int16_t receive(CanardFrame *rxf);
+	int16_t receive(CanardRxFrame *rxf);

 	// TODO implement ioctl for CAN filter
 	//int16_t socketcanConfigureFilter(const fd_t fd, const size_t num_filters, const struct can_filter *filters);
@@ -31,13 +31,13 @@
 *
 ****************************************************************************/

-#include "Uavcan.hpp"
+#include "Cyphal.hpp"

 #include <lib/geo/geo.h>
 #include <lib/version/version.h>


-#ifdef CONFIG_UAVCAN_V1_APP_DESCRIPTOR
+#ifdef CONFIG_CYPHAL_APP_DESCRIPTOR
 #include "boot_app_shared.h"
 /*
 * This is the AppImageDescriptor used
@@ -60,54 +60,22 @@ boot_app_shared_section app_descriptor_t AppDescriptor = {

 using namespace time_literals;

-UavcanNode *UavcanNode::_instance;
+CyphalNode *CyphalNode::_instance;

-O1HeapInstance *uavcan_allocator{nullptr};
-
-static void *memAllocate(CanardInstance *const ins, const size_t amount) { return o1heapAllocate(uavcan_allocator, amount); }
-static void memFree(CanardInstance *const ins, void *const pointer) { o1heapFree(uavcan_allocator, pointer); }
-
-#if defined(__PX4_NUTTX)
-# if defined(CONFIG_NET_CAN)
-#  include "CanardSocketCAN.hpp"
-# elif defined(CONFIG_CAN)
-#  include "CanardNuttXCDev.hpp"
-# endif // CONFIG_CAN
-#endif // NuttX
-
-UavcanNode::UavcanNode(CanardInterface *interface, uint32_t node_id) :
+CyphalNode::CyphalNode(uint32_t node_id, size_t capacity, size_t mtu_bytes) :
 	ModuleParams(nullptr),
 	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::uavcan),
-	_can_interface(interface)
+	_canard_handle(node_id, capacity, mtu_bytes)
 {
 	pthread_mutex_init(&_node_mutex, nullptr);

-	_uavcan_heap = memalign(O1HEAP_ALIGNMENT, HeapSize);
-	uavcan_allocator = o1heapInit(_uavcan_heap, HeapSize, nullptr, nullptr);

-	if (uavcan_allocator == nullptr) {
-		PX4_ERR("o1heapInit failed with size %u", HeapSize);
-	}
-
-	_canard_instance = canardInit(&memAllocate, &memFree);
-
-	_canard_instance.node_id = node_id; // Defaults to anonymous; can be set up later at any point.
-
-	bool can_fd = false;
-
-	if (can_fd) {
-		_canard_instance.mtu_bytes = CANARD_MTU_CAN_FD;
-
-	} else {
-		_canard_instance.mtu_bytes = CANARD_MTU_CAN_CLASSIC;
-	}
-
-#ifdef CONFIG_UAVCAN_V1_NODE_MANAGER
+#ifdef CONFIG_CYPHAL_NODE_MANAGER
 	_node_manager.subscribe();
 #endif

-#ifdef CONFIG_UAVCAN_V1_NODE_CLIENT
-	_node_client = new NodeClient(_canard_instance, _param_manager);
+#ifdef CONFIG_CYPHAL_NODE_CLIENT
+	_node_client = new NodeClient(_canard_handle, _param_manager);

 	_node_client->subscribe();
 #endif
@@ -117,7 +85,7 @@ UavcanNode::UavcanNode(CanardInterface *interface, uint32_t node_id) :
 	_sub_manager.subscribe();
 }

-UavcanNode::~UavcanNode()
+CyphalNode::~CyphalNode()
 {
 	if (_instance) {
 		/* tell the task we want it to go away */
@@ -138,32 +106,25 @@ UavcanNode::~UavcanNode()
 		} while (_instance);
 	}

-	delete _can_interface;
-	_can_interface = nullptr;
-
 	perf_free(_cycle_perf);
 	perf_free(_interval_perf);
-
-	delete static_cast<uint8_t *>(_uavcan_heap);
-	_uavcan_heap = nullptr;
 }

-int UavcanNode::start(uint32_t node_id, uint32_t bitrate)
+int CyphalNode::start(uint32_t node_id, uint32_t bitrate)
 {
 	if (_instance != nullptr) {
 		PX4_WARN("Already started");
 		return -1;
 	}

-#if defined(__PX4_NUTTX)
-# if defined(CONFIG_NET_CAN)
-	CanardInterface *interface = new CanardSocketCAN();
-# elif defined(CONFIG_CAN)
-	CanardInterface *interface = new CanardNuttXCDev();
-# endif // CONFIG_CAN
-#endif // NuttX
+	bool can_fd = false;

-	_instance = new UavcanNode(interface, node_id);
+	if (can_fd) {
+		_instance = new CyphalNode(node_id, 8, CANARD_MTU_CAN_FD);
+
+	} else {
+		_instance = new CyphalNode(node_id, 64, CANARD_MTU_CAN_CLASSIC);
+	}

 	if (_instance == nullptr) {
 		PX4_ERR("Out of memory");
@@ -178,17 +139,16 @@ int UavcanNode::start(uint32_t node_id, uint32_t bitrate)
 	return PX4_OK;
 }

-void UavcanNode::init()
+void CyphalNode::init()
 {
 	// interface init
-	if (_can_interface) {
-		if (_can_interface->init() == PX4_OK) {
-			_initialized = true;
-		}
+	if (_canard_handle.init()) {
+		_initialized = true;
 	}
+
 }

-void UavcanNode::Run()
+void CyphalNode::Run()
 {
 	pthread_mutex_lock(&_node_mutex);

@@ -221,22 +181,22 @@ void UavcanNode::Run()
 	perf_begin(_cycle_perf);
 	perf_count(_interval_perf);

-	if (_canard_instance.node_id != CANARD_NODE_ID_UNSET) {
+	if (_canard_handle.node_id() != CANARD_NODE_ID_UNSET) {
 		// send uavcan::node::Heartbeat_1_0 @ 1 Hz
 		sendHeartbeat();

 		// Check all publishers
 		_pub_manager.update();

-#ifdef CONFIG_UAVCAN_V1_NODE_MANAGER
+#ifdef CONFIG_CYPHAL_NODE_MANAGER
 		_node_manager.update();
 #endif
 	}

-#ifdef CONFIG_UAVCAN_V1_NODE_CLIENT
+#ifdef CONFIG_CYPHAL_NODE_CLIENT

 	else if (_node_client != nullptr) {
-		if (_canard_instance.node_id == CANARD_NODE_ID_UNSET) {
+		if (_canard_handle.node_id() == CANARD_NODE_ID_UNSET) {
 			_node_client->update();

 		} else {
@@ -246,56 +206,19 @@ void UavcanNode::Run()

 #endif

-	transmit();
+	_canard_handle.transmit();

-	/* Process received messages */
+	_canard_handle.receive();

-	uint8_t data[64] {};
-	CanardFrame received_frame{};
-	received_frame.payload = &data;
-
-	while (!_task_should_exit.load() && _can_interface->receive(&received_frame) > 0) {
-		CanardTransfer receive{};
-		CanardRxSubscription *subscription = nullptr;
-		int32_t result = canardRxAccept2(&_canard_instance, &received_frame, 0, &receive, &subscription);
-
-		if (result < 0) {
-			// An error has occurred: either an argument is invalid or we've ran out of memory.
-			// It is possible to statically prove that an out-of-memory will never occur for a given application if
-			// the heap is sized correctly; for background, refer to the Robson's Proof and the documentation for O1Heap.
-			// Reception of an invalid frame is NOT an error.
-			PX4_ERR("Receive error %" PRId32" \n", result);
-
-		} else if (result == 1) {
-			// A transfer has been received, process it.
-			// PX4_INFO("received Port ID: %d", receive.port_id);
-
-			if (subscription != nullptr) {
-				UavcanBaseSubscriber *sub_instance = (UavcanBaseSubscriber *)subscription->user_reference;
-				sub_instance->callback(receive);
-
-			} else {
-				PX4_ERR("No matching sub for %d", receive.port_id);
-			}
-
-			// Deallocate the dynamic memory afterwards.
-			_canard_instance.memory_free(&_canard_instance, (void *)receive.payload);
-
-		} else {
-			//PX4_INFO("RX canard %d", result);
-		}
-	}
-
-	// Pop canardTx queue to send out responses to requets
-	transmit();
+	// Pop canardTx queue to send out responses to requests
+	_canard_handle.transmit();

 	perf_end(_cycle_perf);

 	if (_instance && _task_should_exit.load()) {
 		ScheduleClear();

-		if (_initialized &&  _can_interface != nullptr) {
-			_can_interface->close();
+		if (_initialized) {
 			_initialized = false;
 		}

@@ -305,55 +228,24 @@ void UavcanNode::Run()
 	pthread_mutex_unlock(&_node_mutex);
 }

-void UavcanNode::transmit()
+template <typename As, typename F>
+static void traverseTree(const CanardTreeNode *const root, const F &op)  // NOLINT this recursion is tightly bounded
 {
-	// Look at the top of the TX queue.
-	for (const CanardFrame *txf = nullptr; (txf = canardTxPeek(&_canard_instance)) != nullptr;) {
-		// Attempt transmission only if the frame is not yet timed out while waiting in the TX queue.
-		// Otherwise just drop it and move on to the next one.
-		const hrt_abstime now = hrt_absolute_time();
-
-		if (txf->timestamp_usec == 0 || txf->timestamp_usec > now) {
-			// Send the frame. Redundant interfaces may be used here.
-			const int tx_res = _can_interface->transmit(*txf);
-
-			if (tx_res < 0) {
-				// Failure - drop the frame and report
-				canardTxPop(&_canard_instance);
-
-				// Deallocate the dynamic memory afterwards.
-				_canard_instance.memory_free(&_canard_instance, (CanardFrame *)txf);
-				PX4_ERR("Transmit error %d, frame dropped, errno '%s'", tx_res, strerror(errno));
-
-			} else if (tx_res > 0) {
-				// Success - just drop the frame
-				canardTxPop(&_canard_instance);
-
-				// Deallocate the dynamic memory afterwards.
-				_canard_instance.memory_free(&_canard_instance, (CanardFrame *)txf);
-
-			} else {
-				// Timeout - just exit and try again later
-				break;
-			}
-
-		} else if (txf->timestamp_usec <= now) {
-			// Transmission timed out -- remove from queue and deallocate its memory
-			canardTxPop(&_canard_instance);
-
-			_canard_instance.memory_free(&_canard_instance, (CanardFrame *)txf);
-		}
+	if (root != nullptr) {
+		traverseTree<As, F>(root->lr[0], op);
+		op(static_cast<const As *>(static_cast<const void *>(root)));
+		traverseTree<As, F>(root->lr[1], op);
 	}
 }

-void UavcanNode::print_info()
+void CyphalNode::print_info()
 {
 	pthread_mutex_lock(&_node_mutex);

 	perf_print_counter(_cycle_perf);
 	perf_print_counter(_interval_perf);

-	O1HeapDiagnostics heap_diagnostics = o1heapGetDiagnostics(uavcan_allocator);
+	O1HeapDiagnostics heap_diagnostics = _canard_handle.getO1HeapDiagnostics();

 	PX4_INFO("Heap status %zu/%zu Peak alloc %zu Peak req %zu OOM count %" PRIu64,
 		 heap_diagnostics.allocated, heap_diagnostics.capacity,
@@ -362,44 +254,36 @@ void UavcanNode::print_info()

 	_pub_manager.printInfo();

-	CanardRxSubscription *rxs = _canard_instance.rx_subscriptions[CanardTransferKindMessage];
-
-	while (rxs != nullptr) {
-		if (rxs->user_reference == nullptr) {
-			PX4_INFO("Message port id %d", rxs->port_id);
+	traverseTree<CanardRxSubscription>(_canard_handle.getRxSubscriptions(CanardTransferKindMessage),
+	[&](const CanardRxSubscription * const sub) {
+		if (sub->user_reference == nullptr) {
+			PX4_INFO("Message port id %d", sub->port_id);

 		} else {
-			((UavcanBaseSubscriber *)rxs->user_reference)->printInfo();
+			((UavcanBaseSubscriber *)sub->user_reference)->printInfo();
 		}
+	});

-		rxs = rxs->next;
-	}

-	rxs = _canard_instance.rx_subscriptions[CanardTransferKindRequest];
-
-	while (rxs != nullptr) {
-		if (rxs->user_reference == nullptr) {
-			PX4_INFO("Service response port id %d", rxs->port_id);
+	traverseTree<CanardRxSubscription>(_canard_handle.getRxSubscriptions(CanardTransferKindRequest),
+	[&](const CanardRxSubscription * const sub) {
+		if (sub->user_reference == nullptr) {
+			PX4_INFO("Service response port id %d", sub->port_id);

 		} else {
-			((UavcanBaseSubscriber *)rxs->user_reference)->printInfo();
+			((UavcanBaseSubscriber *)sub->user_reference)->printInfo();
 		}
+	});

-		rxs = rxs->next;
-	}
-
-	rxs = _canard_instance.rx_subscriptions[CanardTransferKindResponse];
-
-	while (rxs != nullptr) {
-		if (rxs->user_reference == nullptr) {
-			PX4_INFO("Service request port id %d", rxs->port_id);
+	traverseTree<CanardRxSubscription>(_canard_handle.getRxSubscriptions(CanardTransferKindResponse),
+	[&](const CanardRxSubscription * const sub) {
+		if (sub->user_reference == nullptr) {
+			PX4_INFO("Service request port id %d", sub->port_id);

 		} else {
-			((UavcanBaseSubscriber *)rxs->user_reference)->printInfo();
+			((UavcanBaseSubscriber *)sub->user_reference)->printInfo();
 		}
-
-		rxs = rxs->next;
-	}
+	});

 	_mixing_output.printInfo();

@@ -412,7 +296,7 @@ static void print_usage()
 		 "\tuavcannode {start|status|stop}");
 }

-extern "C" __EXPORT int uavcan_v1_main(int argc, char *argv[])
+extern "C" __EXPORT int cyphal_main(int argc, char *argv[])
 {
 	if (argc < 2) {
 		print_usage();
@@ -420,18 +304,18 @@ extern "C" __EXPORT int uavcan_v1_main(int argc, char *argv[])
 	}

 	if (!strcmp(argv[1], "start")) {
-		if (UavcanNode::instance()) {
+		if (CyphalNode::instance()) {
 			PX4_ERR("already started");
 			return 1;
 		}

 		// CAN bitrate
 		int32_t bitrate = 0;
-		param_get(param_find("UAVCAN_V1_BAUD"), &bitrate);
+		param_get(param_find("CYPHAL_BAUD"), &bitrate);

 		// Node ID
 		int32_t node_id = 0;
-		param_get(param_find("UAVCAN_V1_ID"), &node_id);
+		param_get(param_find("CYPHAL_ID"), &node_id);

 		if (node_id == -1) {
 			node_id = CANARD_NODE_ID_UNSET;
@@ -439,11 +323,11 @@ extern "C" __EXPORT int uavcan_v1_main(int argc, char *argv[])

 		// Start
 		PX4_INFO("Node ID %" PRIu32 ", bitrate %" PRIu32, node_id, bitrate);
-		return UavcanNode::start(node_id, bitrate);
+		return CyphalNode::start(node_id, bitrate);
 	}

 	/* commands below require the app to be started */
-	UavcanNode *const inst = UavcanNode::instance();
+	CyphalNode *const inst = CyphalNode::instance();

 	if (!inst) {
 		PX4_ERR("application not running");
@@ -464,7 +348,7 @@ extern "C" __EXPORT int uavcan_v1_main(int argc, char *argv[])
 	return 1;
 }

-void UavcanNode::sendHeartbeat()
+void CyphalNode::sendHeartbeat()
 {
 	if (hrt_elapsed_time(&_uavcan_node_heartbeat_last) >= 1_s) {

@@ -473,21 +357,23 @@ void UavcanNode::sendHeartbeat()
 		heartbeat.health.value = uavcan_node_Health_1_0_NOMINAL;
 		heartbeat.mode.value = uavcan_node_Mode_1_0_OPERATIONAL;
 		const hrt_abstime now = hrt_absolute_time();
+		size_t payload_size = uavcan_node_Heartbeat_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_;

-		CanardTransfer transfer = {
-			.timestamp_usec = now + PUBLISHER_DEFAULT_TIMEOUT_USEC,
+		const CanardTransferMetadata transfer_metadata = {
 			.priority       = CanardPriorityNominal,
 			.transfer_kind  = CanardTransferKindMessage,
 			.port_id        = uavcan_node_Heartbeat_1_0_FIXED_PORT_ID_,
 			.remote_node_id = CANARD_NODE_ID_UNSET,
-			.transfer_id    = _uavcan_node_heartbeat_transfer_id++,
-			.payload_size   = uavcan_node_Heartbeat_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_,
-			.payload        = &_uavcan_node_heartbeat_buffer,
+			.transfer_id    = _uavcan_node_heartbeat_transfer_id++
 		};

-		uavcan_node_Heartbeat_1_0_serialize_(&heartbeat, _uavcan_node_heartbeat_buffer, &transfer.payload_size);
+		uavcan_node_Heartbeat_1_0_serialize_(&heartbeat, _uavcan_node_heartbeat_buffer, &payload_size);

-		int32_t result = canardTxPush(&_canard_instance, &transfer);
+		int32_t result = _canard_handle.TxPush(now + PUBLISHER_DEFAULT_TIMEOUT_USEC,
+						       &transfer_metadata,
+						       payload_size,
+						       &_uavcan_node_heartbeat_buffer
+						      );

 		if (result < 0) {
 			// An error has occurred: either an argument is invalid or we've ran out of memory.
@@ -51,21 +51,18 @@
 #include <uORB/topics/parameter_update.h>
 #include <uORB/topics/sensor_gps.h>

-#include "o1heap/o1heap.h"
-
 #include <canard.h>
-#include <canard_dsdl.h>

 #include "CanardInterface.hpp"

 #include "Publishers/Publisher.hpp"
 #include "Publishers/uORB/uorb_publisher.hpp"

-#ifdef CONFIG_UAVCAN_V1_NODE_MANAGER
+#ifdef CONFIG_CYPHAL_NODE_MANAGER
 #include "NodeManager.hpp"
 #endif

-#ifdef CONFIG_UAVCAN_V1_NODE_CLIENT
+#ifdef CONFIG_CYPHAL_NODE_CLIENT
 #include "NodeClient.hpp"
 #endif

@@ -76,8 +73,8 @@

 /**
 * UAVCAN mixing class.
- * It is separate from UavcanNode to have 2 WorkItems and therefore allowing independent scheduling
- * (I.e. UavcanMixingInterface runs upon actuator_control updates, whereas UavcanNode runs at
+ * It is separate from CyphalNode to have 2 WorkItems and therefore allowing independent scheduling
+ * (I.e. UavcanMixingInterface runs upon actuator_control updates, whereas CyphalNode runs at
 * a fixed rate or upon bus updates).
 * Both work items are expected to run on the same work queue.
 */
@@ -106,22 +103,15 @@ public:
 protected:
 	void Run() override;
 private:
-	friend class UavcanNode;
+	friend class CyphalNode;
 	pthread_mutex_t &_node_mutex;
 	UavcanEscController &_esc_controller;
 	// UavcanServoController &_servo_controller;
 	MixingOutput _mixing_output{"UCAN1_ESC", MAX_ACTUATORS, *this, MixingOutput::SchedulingPolicy::Auto, false, false};
 };

-class UavcanNode : public ModuleParams, public px4::ScheduledWorkItem
+class CyphalNode : public ModuleParams, public px4::ScheduledWorkItem
 {
-	/*
-	* This memory is allocated for the 01Heap allocator used by
-	* libcanard to store incoming/outcoming data
-	* Current size of 8192 bytes is arbitrary, should be optimized further
-	* when more nodes and messages are on the CAN bus
-	*/
-	static constexpr unsigned HeapSize = 8192;

 	/*
 	 * Base interval, has to be complemented with events from the CAN driver
@@ -131,14 +121,14 @@ class UavcanNode : public ModuleParams, public px4::ScheduledWorkItem

 public:

-	UavcanNode(CanardInterface *interface, uint32_t node_id);
-	~UavcanNode() override;
+	CyphalNode(uint32_t node_id, size_t capacity, size_t mtu_bytes);
+	~CyphalNode() override;

 	static int start(uint32_t node_id, uint32_t bitrate);

 	void print_info();

-	static UavcanNode *instance() { return _instance; }
+	static CyphalNode *instance() { return _instance; }

 	/* The bit rate that can be passed back to the bootloader */
 	int32_t active_bitrate{0};
@@ -148,22 +138,16 @@ private:
 	void Run() override;
 	void fill_node_info();

-	void transmit();
-
 	// Sends a heartbeat at 1s intervals
 	void sendHeartbeat();

-	void *_uavcan_heap{nullptr};
-
-	CanardInterface *_can_interface;
-
-	CanardInstance _canard_instance;
-
 	px4::atomic_bool _task_should_exit{false};	///< flag to indicate to tear down the CAN driver

 	bool _initialized{false};		///< number of actuators currently available

-	static UavcanNode *_instance;
+	static CyphalNode *_instance;
+
+	CanardHandle _canard_handle;

 	pthread_mutex_t _node_mutex;

@@ -178,26 +162,26 @@ private:
 	CanardTransferID _uavcan_node_heartbeat_transfer_id{0};

 	DEFINE_PARAMETERS(
-		(ParamInt<px4::params::UAVCAN_V1_ENABLE>) _param_uavcan_v1_enable,
-		(ParamInt<px4::params::UAVCAN_V1_ID>) _param_uavcan_v1_id,
-		(ParamInt<px4::params::UAVCAN_V1_BAUD>) _param_uavcan_v1_baud
+		(ParamInt<px4::params::CYPHAL_ENABLE>) _param_uavcan_v1_enable,
+		(ParamInt<px4::params::CYPHAL_ID>) _param_uavcan_v1_id,
+		(ParamInt<px4::params::CYPHAL_BAUD>) _param_uavcan_v1_baud
 	)

 	UavcanParamManager _param_manager;

-#ifdef CONFIG_UAVCAN_V1_NODE_MANAGER
-	NodeManager _node_manager {_canard_instance, _param_manager};
+#ifdef CONFIG_CYPHAL_NODE_MANAGER
+	NodeManager _node_manager {_canard_handle, _param_manager};
 #endif

-#ifdef CONFIG_UAVCAN_V1_NODE_CLIENT
+#ifdef CONFIG_CYPHAL_NODE_CLIENT
 	NodeClient *_node_client {nullptr};
 #endif

-	PublicationManager _pub_manager {_canard_instance, _param_manager};
-	SubscriptionManager _sub_manager {_canard_instance, _param_manager};
+	PublicationManager _pub_manager {_canard_handle, _param_manager};
+	SubscriptionManager _sub_manager {_canard_handle, _param_manager};

 	/// TODO: Integrate with PublicationManager
-	UavcanEscController _esc_controller {_canard_instance, _param_manager};
+	UavcanEscController _esc_controller {_canard_handle, _param_manager};

 	UavcanMixingInterface _mixing_output {_node_mutex, _esc_controller};

@@ -2,65 +2,65 @@
 # For a description of the syntax of this configuration file,
 # see the file kconfig-language.txt in the NuttX tools repository.
 #
-menuconfig DRIVERS_UAVCAN_V1
-	bool "UAVCANv1"
+menuconfig DRIVERS_CYPHAL
+	bool "Cyphal"
 	default n
 	---help---
-		Enable support for UAVCANv1
+		Enable support for Cyphal

-if DRIVERS_UAVCAN_V1
+if DRIVERS_CYPHAL
    choice
-        prompt "UAVCANv1 Mode"
+        prompt "Cyphal Mode"

-    config UAVCAN_V1_FMU
+    config CYPHAL_FMU
        bool "Server (FMU)"

-    config UAVCAN_V1_CLIENT
+    config CYPHAL_CLIENT
        bool "Client (Peripheral)"

    endchoice

-    config UAVCAN_V1_NODE_MANAGER
+    config CYPHAL_NODE_MANAGER
        bool "Node manager"
        default y
-        depends on UAVCAN_V1_FMU
+        depends on CYPHAL_FMU
        help
-            Implement UAVCAN v1 PNP server functionality and manages discovered nodes
+            Implement Cyphal PNP server functionality and manages discovered nodes

-    config UAVCAN_V1_NODE_CLIENT
+    config CYPHAL_NODE_CLIENT
        bool "Node client"
        default y
-        depends on UAVCAN_V1_CLIENT
+        depends on CYPHAL_CLIENT
        help
-            Implement UAVCAN v1 PNP client functionality
+            Implement Cyphal PNP client functionality

-    config UAVCAN_V1_APP_DESCRIPTOR
+    config CYPHAL_APP_DESCRIPTOR
        bool "UAVCAN v0 bootloader app descriptor"
        default n
-        depends on UAVCAN_V1_CLIENT && DRIVERS_BOOTLOADERS
+        depends on CYPHAL_CLIENT && DRIVERS_BOOTLOADERS
        help
            When the board uses the UAVCANv0 bootloader functionality you need a AppImageDescriptor defined


    menu "Publisher support"

-        config UAVCAN_V1_GNSS_PUBLISHER
+        config CYPHAL_GNSS_PUBLISHER
            bool "GNSS Publisher"
            default n

-        config UAVCAN_V1_ESC_CONTROLLER
+        config CYPHAL_ESC_CONTROLLER
            bool "ESC Controller"
            default n

-        config UAVCAN_V1_READINESS_PUBLISHER
+        config CYPHAL_READINESS_PUBLISHER
            bool "Readiness Publisher"
            default n

-        config UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER
+        config CYPHAL_UORB_ACTUATOR_OUTPUTS_PUBLISHER
            bool "uORB actuator_outputs publisher"
            default n

-        config UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER
+        config CYPHAL_UORB_SENSOR_GPS_PUBLISHER
            bool "uORB sensor_gps publisher"
            default n

@@ -68,36 +68,36 @@ if DRIVERS_UAVCAN_V1

    menu "Subscriber support"

-        config UAVCAN_V1_ESC_SUBSCRIBER
+        config CYPHAL_ESC_SUBSCRIBER
            bool "ESC Subscriber"
            default n

-        config UAVCAN_V1_GNSS_SUBSCRIBER_0
+        config CYPHAL_GNSS_SUBSCRIBER_0
            bool "GNSS Subscriber 0"
            default n

-        config UAVCAN_V1_GNSS_SUBSCRIBER_1
+        config CYPHAL_GNSS_SUBSCRIBER_1
            bool "GNSS Subscriber 1"
            default n

-        config UAVCAN_V1_BMS_SUBSCRIBER
+        config CYPHAL_BMS_SUBSCRIBER
            bool "BMS Subscriber"
            default n

-        config UAVCAN_V1_UORB_SENSOR_GPS_SUBSCRIBER
+        config CYPHAL_UORB_SENSOR_GPS_SUBSCRIBER
            bool "uORB sensor_gps Subscriber"
            default n
    endmenu

    menu "Advertised Services"
-        config UAVCAN_V1_GETINFO_RESPONDER
+        config CYPHAL_GETINFO_RESPONDER
            bool "GetInfo1.0 responder"
            default y
            help
                Responds to uavcan.node.GetInfo.1.0 request sending over node information
                See https://github.com/UAVCAN/public_regulated_data_types/blob/master/uavcan/node/430.GetInfo.1.0.uavcan for full response

-        config UAVCAN_V1_EXECUTECOMMAND_RESPONDER
+        config CYPHAL_EXECUTECOMMAND_RESPONDER
            bool "ExecuteCommand1.0 responder"
            default n
            help
@@ -107,4 +107,4 @@ if DRIVERS_UAVCAN_V1
    menu "Service invokers"
    endmenu

-endif #DRIVERS_UAVCAN_V1
+endif #DRIVERS_CYPHAL
@@ -44,15 +44,15 @@
 #include <crc64.h>
 #include "NodeClient.hpp"

-void NodeClient::callback(const CanardTransfer &receive)
+void NodeClient::callback(const CanardRxTransfer &receive)
 {
-	if (receive.remote_node_id != CANARD_NODE_ID_UNSET && _canard_instance.node_id == CANARD_NODE_ID_UNSET) {
+	if (receive.metadata.remote_node_id != CANARD_NODE_ID_UNSET && _canard_handle.node_id() == CANARD_NODE_ID_UNSET) {

 		int32_t allocated = CANARD_NODE_ID_UNSET;
 		px4_guid_t px4_guid;
 		board_get_px4_guid(px4_guid);

-		if (_canard_instance.mtu_bytes == CANARD_MTU_CAN_FD) {
+		if (_canard_handle.mtu() == CANARD_MTU_CAN_FD) {
 			uavcan_pnp_NodeIDAllocationData_2_0 msg;

 			size_t msg_size_in_bytes = receive.payload_size;
@@ -87,9 +87,9 @@ void NodeClient::callback(const CanardTransfer &receive)
 			return;
 		}

-		_canard_instance.node_id = allocated;
+		_canard_handle.set_node_id(allocated);

-		PX4_INFO("Allocated Node ID %d", _canard_instance.node_id);
+		PX4_INFO("Allocated Node ID %d", _canard_handle.node_id());

 	}
 }
@@ -103,38 +103,39 @@ void NodeClient::update()
 		int32_t result;

 		// Allocation already done, nothing to do
-		if (_canard_instance.node_id != CANARD_NODE_ID_UNSET) {
+		if (_canard_handle.node_id() != CANARD_NODE_ID_UNSET) {
 			return;
 		}

-		if (_canard_instance.mtu_bytes == CANARD_MTU_CAN_FD) {
+		if (_canard_handle.mtu() == CANARD_MTU_CAN_FD) {
 			// NodeIDAllocationData message
 			uavcan_pnp_NodeIDAllocationData_2_0 node_id_alloc_msg;
 			uint8_t node_id_alloc_payload_buffer[PNP2_PAYLOAD_SIZE];
+			size_t payload_size = PNP2_PAYLOAD_SIZE;

 			px4_guid_t px4_guid;
 			board_get_px4_guid(px4_guid);
 			memcpy(node_id_alloc_msg.unique_id, px4_guid, sizeof(node_id_alloc_msg.unique_id));
 			//node_id_alloc_msg.node_id.value = preffered_node_id; //FIXME preffered ID PX4 Param

-			CanardTransfer transfer = {
-				.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,      // Zero if transmission deadline is not limited.
+			const CanardTransferMetadata transfer_metadata = {
 				.priority       = CanardPriorityNominal,
 				.transfer_kind  = CanardTransferKindMessage,
 				.port_id        = PNP2_PORT_ID,                // This is the subject-ID.
 				.remote_node_id = CANARD_NODE_ID_UNSET,       // Messages cannot be unicast, so use UNSET.
 				.transfer_id    = _node_id_alloc_transfer_id,
-				.payload_size   = PNP2_PAYLOAD_SIZE,
-				.payload        = &node_id_alloc_payload_buffer,
 			};

 			result = uavcan_pnp_NodeIDAllocationData_2_0_serialize_(&node_id_alloc_msg, (uint8_t *)&node_id_alloc_payload_buffer,
-					&transfer.payload_size);
+					&payload_size);

 			if (result == 0) {
 				// set the data ready in the buffer and chop if needed
 				++_node_id_alloc_transfer_id;  // The transfer-ID shall be incremented after every transmission on this subject.
-				canardTxPush(&_canard_instance, &transfer);
+				_canard_handle.TxPush(hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
+						      &transfer_metadata,
+						      payload_size,
+						      &node_id_alloc_payload_buffer);
 			}

 		} else {
@@ -142,29 +143,30 @@ void NodeClient::update()
 			uavcan_pnp_NodeIDAllocationData_1_0 node_id_alloc_msg;
 			uavcan_pnp_NodeIDAllocationData_1_0_initialize_(&node_id_alloc_msg);
 			uint8_t node_id_alloc_payload_buffer[PNP1_PAYLOAD_SIZE];
+			size_t payload_size = PNP1_PAYLOAD_SIZE;

 			px4_guid_t px4_guid;
 			board_get_px4_guid(px4_guid);
 			node_id_alloc_msg.unique_id_hash = (crc64(px4_guid, PNP_UNIQUE_ID_SIZE) & 0xFFFFFFFFFFFF);

-			CanardTransfer transfer = {
-				.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,      // Zero if transmission deadline is not limited.
+			const CanardTransferMetadata transfer_metadata = {
 				.priority       = CanardPriorityNominal,
 				.transfer_kind  = CanardTransferKindMessage,
 				.port_id        = PNP1_PORT_ID,                // This is the subject-ID.
 				.remote_node_id = CANARD_NODE_ID_UNSET,       // Messages cannot be unicast, so use UNSET.
 				.transfer_id    = _node_id_alloc_transfer_id,
-				.payload_size   = PNP1_PAYLOAD_SIZE,
-				.payload        = &node_id_alloc_payload_buffer,
 			};

 			result = uavcan_pnp_NodeIDAllocationData_1_0_serialize_(&node_id_alloc_msg, (uint8_t *)&node_id_alloc_payload_buffer,
-					&transfer.payload_size);
+					&payload_size);

 			if (result == 0) {
 				// set the data ready in the buffer and chop if needed
 				++_node_id_alloc_transfer_id;  // The transfer-ID shall be incremented after every transmission on this subject.
-				canardTxPush(&_canard_instance, &transfer);
+				_canard_handle.TxPush(hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
+						      &transfer_metadata,
+						      payload_size,
+						      &node_id_alloc_payload_buffer);
 			}
 		}

@@ -62,30 +62,30 @@
 class NodeClient : public UavcanBaseSubscriber
 {
 public:
-	NodeClient(CanardInstance &ins, UavcanParamManager &pmgr) : UavcanBaseSubscriber(ins, "NodeIDAllocationData", 0),
-		_canard_instance(ins) { };
+	NodeClient(CanardHandle &handle, UavcanParamManager &pmgr) : UavcanBaseSubscriber(handle, "", "NodeIDAllocationData",
+				0),
+		_canard_handle(handle) { };

 	void subscribe() override
 	{

-		canardRxSubscribe(&_canard_instance,
-				  CanardTransferKindMessage,
-				  (_canard_instance.mtu_bytes == CANARD_MTU_CAN_FD ? PNP2_PORT_ID : PNP1_PORT_ID),  // The fixed Subject-ID
-				  (_canard_instance.mtu_bytes == CANARD_MTU_CAN_FD ? PNP2_PAYLOAD_SIZE : PNP1_PAYLOAD_SIZE),
-				  CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
-				  &_subj_sub._canard_sub);
+		_canard_handle.RxSubscribe(CanardTransferKindMessage,
+					   (_canard_handle.mtu() == CANARD_MTU_CAN_FD ? PNP2_PORT_ID : PNP1_PORT_ID),  // The fixed Subject-ID
+					   (_canard_handle.mtu() == CANARD_MTU_CAN_FD ? PNP2_PAYLOAD_SIZE : PNP1_PAYLOAD_SIZE),
+					   CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
+					   &_subj_sub._canard_sub);
 	}

 	bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_1_0 &msg);
 	bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_2_0 &msg);

-	void callback(const CanardTransfer &receive); // NodeIDAllocation callback
+	void callback(const CanardRxTransfer &receive); // NodeIDAllocation callback

 	void update();

 private:

-	CanardInstance &_canard_instance;
+	CanardHandle &_canard_handle;
 	CanardTransferID _node_id_alloc_transfer_id{0};

 	hrt_abstime _nodealloc_request_last{0};
@@ -43,9 +43,9 @@

 #include "NodeManager.hpp"

-void NodeManager::callback(const CanardTransfer &receive)
+void NodeManager::callback(const CanardRxTransfer &receive)
 {
-	if (_canard_instance.mtu_bytes == CANARD_MTU_CAN_FD) {
+	if (_canard_handle.mtu() == CANARD_MTU_CAN_FD) {
 		uavcan_pnp_NodeIDAllocationData_2_0 node_id_alloc_msg {};
 		size_t msg_size_in_bytes = receive.payload_size;
 		uavcan_pnp_NodeIDAllocationData_2_0_deserialize_(&node_id_alloc_msg, (const uint8_t *)receive.payload,
@@ -73,7 +73,7 @@ bool NodeManager::HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_1_0 &msg)

 		/* Search for an available NodeID to assign */
 		for (i = 1; i < sizeof(nodeid_registry) / sizeof(nodeid_registry[0]); i++) {
-			if (i == _canard_instance.node_id) {
+			if (i == _canard_handle.node_id()) {
 				continue; // Don't give our NodeID to a node

 			} else if (nodeid_registry[i].node_id == 0) { // Unused
@@ -96,24 +96,25 @@ bool NodeManager::HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_1_0 &msg)
 			PX4_INFO("Received NodeID allocation request assigning %i", msg.allocated_node_id.elements[0].value);

 			uint8_t node_id_alloc_payload_buffer[uavcan_pnp_NodeIDAllocationData_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_];
+			size_t payload_size = uavcan_pnp_NodeIDAllocationData_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_;

-			CanardTransfer transfer = {
-				.timestamp_usec = hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
+			const CanardTransferMetadata transfer_metadata = {
 				.priority       = CanardPriorityNominal,
 				.transfer_kind  = CanardTransferKindMessage,
 				.port_id        = uavcan_pnp_NodeIDAllocationData_1_0_FIXED_PORT_ID_, // This is the subject-ID.
 				.remote_node_id = CANARD_NODE_ID_UNSET,       // Messages cannot be unicast, so use UNSET.
 				.transfer_id    = _uavcan_pnp_nodeidallocation_v1_transfer_id,
-				.payload_size   = uavcan_pnp_NodeIDAllocationData_1_0_SERIALIZATION_BUFFER_SIZE_BYTES_,
-				.payload        = &node_id_alloc_payload_buffer,
 			};

-			int result = uavcan_pnp_NodeIDAllocationData_1_0_serialize_(&msg, node_id_alloc_payload_buffer, &transfer.payload_size);
+			int result = uavcan_pnp_NodeIDAllocationData_1_0_serialize_(&msg, node_id_alloc_payload_buffer, &payload_size);

 			if (result == 0) {
 				// set the data ready in the buffer and chop if needed
 				++_uavcan_pnp_nodeidallocation_v1_transfer_id;  // The transfer-ID shall be incremented after every transmission on this subject.
-				result = canardTxPush(&_canard_instance, &transfer);
+				_canard_handle.TxPush(hrt_absolute_time() + PUBLISHER_DEFAULT_TIMEOUT_USEC,
+						      &transfer_metadata,
+						      payload_size,
+						      &node_id_alloc_payload_buffer);
 			}

 			_register_request_last = hrt_absolute_time();
@@ -132,7 +133,7 @@ bool NodeManager::HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_2_0 &msg)
 }


-void NodeManager::HandleListResponse(const CanardTransfer &receive)
+void NodeManager::HandleListResponse(const CanardRxTransfer &receive)
 {
 	uavcan_register_List_Response_1_0 msg;

@@ -142,21 +143,21 @@ void NodeManager::HandleListResponse(const CanardTransfer &receive)
 	if (msg.name.name.count == 0) {
 		// Index doesn't exist, we've parsed through all registers
 		for (uint32_t i = 0; i < sizeof(nodeid_registry) / sizeof(nodeid_registry[0]); i++) {
-			if (nodeid_registry[i].node_id == receive.remote_node_id) {
+			if (nodeid_registry[i].node_id == receive.metadata.remote_node_id) {
 				nodeid_registry[i].register_setup = true; // Don't update anymore
 			}
 		}

 	} else {
 		for (uint32_t i = 0; i < sizeof(nodeid_registry) / sizeof(nodeid_registry[0]); i++) {
-			if (nodeid_registry[i].node_id == receive.remote_node_id) {
+			if (nodeid_registry[i].node_id == receive.metadata.remote_node_id) {
 				nodeid_registry[i].register_index++; // Increment index counter for next update()
 				nodeid_registry[i].register_setup = false;
 				nodeid_registry[i].retry_count = 0;
 			}
 		}

-		if (_access_request.setPortId(receive.remote_node_id, msg.name, NULL)) { //FIXME confirm handler
+		if (_access_request.setPortId(receive.metadata.remote_node_id, msg.name, NULL)) { //FIXME confirm handler
 			PX4_INFO("Set portID succesfull");

 		} else {
@@ -70,37 +70,37 @@ typedef struct {
 class NodeManager : public UavcanBaseSubscriber, public UavcanServiceRequestInterface
 {
 public:
-	NodeManager(CanardInstance &ins, UavcanParamManager &pmgr) : UavcanBaseSubscriber(ins, "", "NodeIDAllocationData", 0),
-		_canard_instance(ins), _access_request(ins, pmgr), _list_request(ins) { };
+	NodeManager(CanardHandle &handle, UavcanParamManager &pmgr) : UavcanBaseSubscriber(handle, "", "NodeIDAllocationData",
+				0),
+		_canard_handle(handle), _access_request(handle, pmgr), _list_request(handle) { };

 	void subscribe() override
 	{
 		_access_request.subscribe();
 		_list_request.subscribe();

-		canardRxSubscribe(&_canard_instance,
-				  CanardTransferKindMessage,
-				  (_canard_instance.mtu_bytes == CANARD_MTU_CAN_FD ? PNP2_PORT_ID : PNP1_PORT_ID),  // The fixed Subject-ID
-				  (_canard_instance.mtu_bytes == CANARD_MTU_CAN_FD ? PNP2_PAYLOAD_SIZE : PNP1_PAYLOAD_SIZE),
-				  CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
-				  &_subj_sub._canard_sub);
+		_canard_handle.RxSubscribe(CanardTransferKindMessage,
+					   (_canard_handle.mtu() == CANARD_MTU_CAN_FD ? PNP2_PORT_ID : PNP1_PORT_ID),  // The fixed Subject-ID
+					   (_canard_handle.mtu() == CANARD_MTU_CAN_FD ? PNP2_PAYLOAD_SIZE : PNP1_PAYLOAD_SIZE),
+					   CANARD_DEFAULT_TRANSFER_ID_TIMEOUT_USEC,
+					   &_subj_sub._canard_sub);
 	}

 	bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_1_0 &msg);
 	bool HandleNodeIDRequest(uavcan_pnp_NodeIDAllocationData_2_0 &msg);

-	void response_callback(const CanardTransfer &receive) override
+	void response_callback(const CanardRxTransfer &receive) override
 	{
 		HandleListResponse(receive);
 	}
-	void callback(const CanardTransfer &receive); // NodeIDAllocation callback
+	void callback(const CanardRxTransfer &receive); // NodeIDAllocation callback

-	void HandleListResponse(const CanardTransfer &receive);
+	void HandleListResponse(const CanardRxTransfer &receive);

 	void update();

 private:
-	CanardInstance &_canard_instance;
+	CanardHandle &_canard_handle;
 	CanardTransferID _uavcan_pnp_nodeidallocation_v1_transfer_id{0};
 	UavcanNodeEntry nodeid_registry[16] {0}; //TODO configurable or just rewrite

@@ -56,10 +56,11 @@ void PublicationManager::updateDynamicPublications()

 		for (auto &dynpub : _dynpublishers) {
 			// Check if subscriber has already been created
-			const char *subj_name = dynpub->getSubjectName();
+			char full_subj_name[200];
+			snprintf(full_subj_name, sizeof(full_subj_name), "%s%s", dynpub->getPrefixName(), dynpub->getSubjectName());
 			const uint8_t instance = dynpub->getInstance();

-			if (strcmp(subj_name, sub.subject_name) == 0 && instance == sub.instance) {
+			if (strcmp(full_subj_name, sub.subject_name) == 0 && instance == sub.instance) {
 				found_publisher = true;
 				break;
 			}
@@ -77,7 +78,7 @@ void PublicationManager::updateDynamicPublications()
 			uint16_t port_id = value.natural16.value.elements[0];

 			if (port_id <= CANARD_PORT_ID_MAX) { // PortID is set, create a subscriber
-				UavcanPublisher *dynpub = sub.create_pub(_canard_instance, _param_manager);
+				UavcanPublisher *dynpub = sub.create_pub(_canard_handle, _param_manager);

 				if (dynpub == nullptr) {
 					PX4_ERR("Out of memory");
@@ -44,33 +44,33 @@

 #include <px4_platform_common/px4_config.h>

-#ifndef CONFIG_UAVCAN_V1_GNSS_PUBLISHER
-#define CONFIG_UAVCAN_V1_GNSS_PUBLISHER 0
+#ifndef CONFIG_CYPHAL_GNSS_PUBLISHER
+#define CONFIG_CYPHAL_GNSS_PUBLISHER 0
 #endif

-#ifndef CONFIG_UAVCAN_V1_ESC_CONTROLLER
-#define CONFIG_UAVCAN_V1_ESC_CONTROLLER 0
+#ifndef CONFIG_CYPHAL_ESC_CONTROLLER
+#define CONFIG_CYPHAL_ESC_CONTROLLER 0
 #endif

-#ifndef CONFIG_UAVCAN_V1_READINESS_PUBLISHER
-#define CONFIG_UAVCAN_V1_READINESS_PUBLISHER 0
+#ifndef CONFIG_CYPHAL_READINESS_PUBLISHER
+#define CONFIG_CYPHAL_READINESS_PUBLISHER 0
 #endif

-#ifndef CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER
-#define CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER 0
+#ifndef CONFIG_CYPHAL_UORB_ACTUATOR_OUTPUTS_PUBLISHER
+#define CONFIG_CYPHAL_UORB_ACTUATOR_OUTPUTS_PUBLISHER 0
 #endif

-#ifndef CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER
-#define CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER 0
+#ifndef CONFIG_CYPHAL_UORB_SENSOR_GPS_PUBLISHER
+#define CONFIG_CYPHAL_UORB_SENSOR_GPS_PUBLISHER 0
 #endif

 /* Preprocessor calculation of publisher count */

-#define UAVCAN_PUB_COUNT CONFIG_UAVCAN_V1_GNSS_PUBLISHER + \
-	CONFIG_UAVCAN_V1_ESC_CONTROLLER + \
-	CONFIG_UAVCAN_V1_READINESS_PUBLISHER + \
-	CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER + \
-	CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER
+#define UAVCAN_PUB_COUNT CONFIG_CYPHAL_GNSS_PUBLISHER + \
+	CONFIG_CYPHAL_ESC_CONTROLLER + \
+	CONFIG_CYPHAL_READINESS_PUBLISHER + \
+	CONFIG_CYPHAL_UORB_ACTUATOR_OUTPUTS_PUBLISHER + \
+	CONFIG_CYPHAL_UORB_SENSOR_GPS_PUBLISHER

 #include <px4_platform_common/defines.h>
 #include <drivers/drv_hrt.h>
@@ -81,12 +81,12 @@
 #include <uORB/topics/sensor_gps.h>

 #include "Actuators/EscClient.hpp"
-#include "Publishers/DS-015/Readiness.hpp"
-#include "Publishers/DS-015/Gnss.hpp"
+#include "Publishers/udral/Readiness.hpp"
+#include "Publishers/udral/Gnss.hpp"
 #include "Publishers/uORB/uorb_publisher.hpp"

 typedef struct {
-	UavcanPublisher *(*create_pub)(CanardInstance &ins, UavcanParamManager &pmgr) {};
+	UavcanPublisher *(*create_pub)(CanardHandle &handle, UavcanParamManager &pmgr) {};
 	const char *subject_name;
 	const uint8_t instance;
 } UavcanDynPubBinder;
@@ -94,7 +94,7 @@ typedef struct {
 class PublicationManager
 {
 public:
-	PublicationManager(CanardInstance &ins, UavcanParamManager &pmgr) : _canard_instance(ins), _param_manager(pmgr) {}
+	PublicationManager(CanardHandle &handle, UavcanParamManager &pmgr) : _canard_handle(handle), _param_manager(pmgr) {}
 	~PublicationManager();

 	void update();
@@ -104,57 +104,57 @@ public:
 private:
 	void updateDynamicPublications();

-	CanardInstance &_canard_instance;
+	CanardHandle &_canard_handle;
 	UavcanParamManager &_param_manager;
 	List<UavcanPublisher *> _dynpublishers;


 	const UavcanDynPubBinder _uavcan_pubs[UAVCAN_PUB_COUNT] {
-#if CONFIG_UAVCAN_V1_GNSS_PUBLISHER
+#if CONFIG_CYPHAL_GNSS_PUBLISHER
 		{
-			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanPublisher *
+			[](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanPublisher *
 			{
-				return new UavcanGnssPublisher(ins, pmgr, 0);
+				return new UavcanGnssPublisher(handle, pmgr, 0);
 			},
 			"gps",
 			0
 		},
 #endif
-#if CONFIG_UAVCAN_V1_ESC_CONTROLLER
+#if CONFIG_CYPHAL_ESC_CONTROLLER
 		{
-			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanPublisher *
+			[](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanPublisher *
 			{
-				return new UavcanEscController(ins, pmgr);
+				return new UavcanEscController(handle, pmgr);
 			},
 			"esc",
 			0
 		},
 #endif
-#if CONFIG_UAVCAN_V1_READINESS_PUBLISHER
+#if CONFIG_CYPHAL_READINESS_PUBLISHER
 		{
-			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanPublisher *
+			[](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanPublisher *
 			{
-				return new UavcanReadinessPublisher(ins, pmgr, 0);
+				return new UavcanReadinessPublisher(handle, pmgr, 0);
 			},
 			"readiness",
 			0
 		},
 #endif
-#if CONFIG_UAVCAN_V1_UORB_ACTUATOR_OUTPUTS_PUBLISHER
+#if CONFIG_CYPHAL_UORB_ACTUATOR_OUTPUTS_PUBLISHER
 		{
-			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanPublisher *
+			[](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanPublisher *
 			{
-				return new uORB_over_UAVCAN_Publisher<actuator_outputs_s>(ins, pmgr, ORB_ID(actuator_outputs));
+				return new uORB_over_UAVCAN_Publisher<actuator_outputs_s>(handle, pmgr, ORB_ID(actuator_outputs));
 			},
 			"uorb.actuator_outputs",
 			0
 		},
 #endif
-#if CONFIG_UAVCAN_V1_UORB_SENSOR_GPS_PUBLISHER
+#if CONFIG_CYPHAL_UORB_SENSOR_GPS_PUBLISHER
 		{
-			[](CanardInstance & ins, UavcanParamManager & pmgr) -> UavcanPublisher *
+			[](CanardHandle & handle, UavcanParamManager & pmgr) -> UavcanPublisher *
 			{
-				return new uORB_over_UAVCAN_Publisher<sensor_gps_s>(ins, pmgr, ORB_ID(sensor_gps));
+				return new uORB_over_UAVCAN_Publisher<sensor_gps_s>(handle, pmgr, ORB_ID(sensor_gps));
 			},
 			"uorb.sensor_gps",
 			0
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	dd58bd6df2	new INA231 power_monitor driver	2022-05-20 15:42:14 -04:00
Julian Oes	33a77c225c	commander: lockdown is not termination We use lockdown to prevent outputs like motors and servos from being active in HITL simulation. This means that we can't treat the lockdown flag as a flight_terminated, otherwise we can't arm in HITL at all.	2022-05-20 09:43:32 -04:00
Nicolas MARTIN	a0cb7f6258	HITL: undefined time_remaining_s should be NAN	2022-05-20 09:38:43 -04:00
Nico van Duijn	04071b9456	Commander: ignore MAV_CMD_REQUEST_MSG This commit adds the MAV_CMD_REQUEST_MESSAGE to the list of vehicle commands which are ignored without generating a warning sound.	2022-05-20 15:36:42 +02:00
Matthias Grob	38e027ee45	ArmStateMachine: remove dependency on armed.armed To have the internal state as single source of truth for the arming state within Commander.	2022-05-20 13:51:51 +02:00
Matthias Grob	37c485ce89	ArmStateMachine: move arm state into the class	2022-05-20 13:51:51 +02:00
Matthias Grob	47532ca07b	ArmStateMachine: replace state name array with method	2022-05-20 13:51:51 +02:00
alessandro	c5bbf4553b	ubuntu.sh: fix gazebo and openjdk for 22.04	2022-05-20 06:38:09 +02:00
Matthias Grob	887fe7dba2	commander_params: shorten low battery action delay I got multiple times the feedback now that a consistent delay is helpful and makes sense but the default delay is too long for low battery action where you're trying to come back in time and possibly the emergency reaction kicks in while the critical action is executing which leads to a longer accumulated delay.	2022-05-19 21:54:09 +02:00
Daniel Agar	fd4b62032e	commander: publish actuator_armed first on any change	2022-05-19 12:47:50 -04:00
PX4 BuildBot	9518b65f93	Update submodule mavlink to latest Thu May 19 00:38:59 UTC 2022 - mavlink in PX4/Firmware (87c73145b36a835b1635de0498a5613a7af5cafc): https://github.com/mavlink/mavlink/commit/a1cb2c0e71f191f04da3d92d92db8702a7e91ff6 - mavlink current upstream: https://github.com/mavlink/mavlink/commit/99e82cad70494903a23a67de08ff9cbb5918d8f3 - Changes: https://github.com/mavlink/mavlink/compare/a1cb2c0e71f191f04da3d92d92db8702a7e91ff6...99e82cad70494903a23a67de08ff9cbb5918d8f3 99e82cad 2022-05-19 Hamish Willee - Deprecated GPS_INJECT_DATA (#1842) bf3df03d 2022-05-16 Hamish Willee - WIND_COV - accuracy units are m/s (#1844) a73d4864 2022-05-11 Hamish Willee - development.xml FIGURE_EIGHT_EXECUTION_STATUS - add a note about it being set at lower rate (#1841)	2022-05-18 21:41:08 -04:00
mcsauder	e8da98fd14	Add gyro clipping to mirror accel clipping monitoring instances.	2022-05-18 21:16:05 -04:00
mcsauder	ea10eacb99	Replace EKF/common.h #defines with enums.	2022-05-18 09:25:19 -04:00
Silvan Fuhrer	8f2c84d36f	VTOL paras: add min of 0.1 to transition times Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Silvan Fuhrer	c29ca6c959	tailsitter: guard against division by 0 Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Silvan Fuhrer	3cf07e1be5	VTOL: rename params _PTCH to _PITCH Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Silvan Fuhrer	7c5f0121a5	VTOL: remove some unsued variables Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Silvan Fuhrer	2b7efeacca	vtol_vehicle_status: replace several status bools by single vehicle_vtol_state Replace vtol_in_rw_mode, vtol_in_trans_mode, in_transition_to_fw by vehicle_vtol_state. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Silvan Fuhrer	635f64a2e5	Commander: remove permanent stabilization option for fixed-wing flight Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Silvan Fuhrer	d8444df11c	Set tailsitter flag via vehicle status Removes the necessity of including vtol_type.h in other modules. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Silvan Fuhrer	7292ce483c	VTOL: move to cpp params API Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-18 10:01:04 +02:00
Daniel Agar	ff16131874	icm42670p run at full speed	2022-05-17 08:14:22 -07:00
Daniel Agar	83daf648ef	drivers/imu/invensense/icm42670p: cleanup and small fixes	2022-05-17 08:14:22 -07:00
Peter van der Perk	3ea492b7a2	UCANS32K146 Fix CAN1 STB pin	2022-05-17 03:13:05 -07:00
Matthias Grob	02e11eddce	mavlink_mission: add more specific information to the error message	2022-05-17 07:49:00 +02:00
Junwoo Hwang	146f0cafe0	Add get*Expo() functions to the Sticks library To return Exponential Values, which is helpful for reducing the sensitivity of the stick around the centered value (0), since it's exponential curve. Useful for user adjustment implementations, where accidentally touching the stick wouldn't have so much effect when using the Exponential value, compared to using the raw position value.	2022-05-16 23:55:05 +02:00
Matthias Grob	4bd2d4cf35	rc_update: add unit tests for mode slot To verify RC mode switch and mode button functionality works as expected.	2022-05-16 14:37:29 +02:00
achim	3fe4c6e3f5	boards: matek h743-mini specify drivers to still fit to flash - the code has become a bit bigger again that now the drivers have to be specified a bit more precisely to still fit into the flash.	2022-05-13 14:05:04 -04:00
Beat Küng	32df76ca8a	dshot: handle DSHOT_MIN for reversible outputs Also ensures there's no deadband if dead_l == dead_h (the default).	2022-05-13 14:04:01 -04:00
Matthias Grob	57a0289627	trajectory_setpoint: correct comment typo "kinematically" Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>	2022-05-12 17:19:48 +02:00
Matthias Grob	4017f4bb0b	vehicle_local_position_setpoint: reorder fields for clarity	2022-05-12 17:19:48 +02:00
Matthias Grob	b67fbac296	uuv_pos_control: siplify passing on trajectory position setpoint	2022-05-12 17:19:48 +02:00
Matthias Grob	200124f094	mavlink_receiver: check entire Vectors for NAN Note: Behavioral change Inf also results in the flag being true.	2022-05-12 17:19:48 +02:00
Matthias Grob	8ca28f3796	Separate message for trajectory setpoint	2022-05-12 17:19:48 +02:00
Beat Küng	9166b6953d	output drivers: init SmartLock after exit_and_cleanup This fixes an invalid memory access when exiting the module: exit_and_cleanup destroys the object, but lock_guard is destructed after and accesses the lock.	2022-05-12 08:16:35 -04:00
Beat Küng	0a9378e0f6	mavsdk_tests: ensure motor is stopped for motor failure test	2022-05-12 07:58:56 +02:00
Alessandro Simovic	b5a3c58a95	sitl: loosen some timeouts The typhoon_h480 model would not always complete takeoff in 30 seconds or finish the mission within 60 seconds.	2022-05-12 07:58:56 +02:00
Alessandro Simovic	5c1932dcca	disable engine failure detector for SITL VTOL Tried increasing ESC timeout for VTOL first VTOL sitl tests are failing because the ESC telemetry seems to be coming in at 0.3 Hz	2022-05-12 07:58:56 +02:00
Alessandro Simovic	06f69cd469	Add SITL tests for control allocation	2022-05-12 07:58:56 +02:00
Beat Küng	0f860045f7	failure_detector: add failure injector class for motor telemetry This allows to test motor failures via 'failure motor off -i 1' on a real system.	2022-05-12 07:58:56 +02:00
Alessandro Simovic	4640f395d7	simulator_mavlink: Add ESC telemetry	2022-05-12 07:58:56 +02:00
Alessandro Simovic	20ccfbb719	control_allocator: remove failed motor from effectiveness - limit to handling only 1 motor failure - Log which motor failures are handled - Remove motor from effectiveness matrix without recomputing the scale / normalization	2022-05-12 07:58:56 +02:00
Alessandro Simovic	fb71e7587c	failure_detector: add motor/ESC failure detection	2022-05-12 07:58:56 +02:00
Beat Küng	dfd934fbdb	esc_report: add actuator_function	2022-05-12 07:58:56 +02:00
Hamish Willee	aab2feb8f5	pwm.cpp: remove the test example (#19587 )	2022-05-12 07:56:13 +02:00
alexklimaj	0f69f8ced8	Fix uavcan battery causing immediate RTL time remaining low	2022-05-11 21:48:12 -04:00
Daniel Agar	fba7c972d1	drivers/rc_input: ensure RC inversion is disabled initially and latch RC_INPUT_PROTO conservatively - this allows jumping straight to a non-SBUS RC protocol - increased the scan time per protocol 300->500 ms, which the newer DSM parser seems to need in some cases. - only set RC_INPUT_PROTO if we've had a successful RC lock for > 3 seconds	2022-05-11 14:30:41 -04:00
Daniel Agar	c772e5230f	commander: remove compile time dependencies on non-commander parameters - this allows builds with mavlink fully disabled - move commander MAN_ARM_GESTURE, RC_MAP_ARM_SW, MC_AIRMODE checks to manual_control	2022-05-11 10:14:23 -04:00
Beat Küng	8d36ba6727	log_writer_file: fix corner case when mission log is enabled Normally _should_run for mission is only ever true if _should_run for the normal log is. There are exceptions though: - the log buffer fails to allocate - there was a write failure (e.g. due to SD card removal) In that situation, the writer would not wait anymore but busy-loop.	2022-05-11 10:06:35 -04:00
Beat Küng	ebbe08bc86	log_writer_file: protect access to _should_run, use px4::atomicbool for _exit_thread	2022-05-11 10:06:35 -04:00
Peter van der Perk	0053aeec97	Cyphal restore O1Heap statistics	2022-05-11 09:49:18 -04:00
Peter van der Perk	e62e8b58d1	Update UCANS32K146 clocking to use XTAL and support higher pheriphal freq	2022-05-11 06:02:39 -07:00
Silvan Fuhrer	ea2c1095c2	ROMFS: SITL tiltrotor: enable control allocaton and only tilt front motors Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-11 10:19:37 +02:00
Silvan Fuhrer	866f9fa95b	Control Allocation: add option to disable yaw by differential thrust This replaces the propeller_torque_disabled flag to disable yaw by differential thrust for tiltrotor and tailsitter VTOLs, as propeller_torque_disabled is not enough to set effectiveness of an acutator in the yaw axis to 0 in case it's tilted. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-11 10:19:37 +02:00
Silvan Fuhrer	46179586fb	Control Allocation: Tiltrotor: pass only thrust magnitude instead of 3D thrust to allocator Special case tiltrotor: instead of passing a 3D thrust vector (that would mostly have a x-component in FW, and z in MC), pass the vector magnitude as z-component, plus the collective tilt. Passing 3D thrust plus tilt is not feasible as they can't be allocated independently, and with the current controller it's not possible to have collective tilt calculated by the allocator directly. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-11 10:19:37 +02:00
Daniel Agar	a71d101869	ROMFS: delete 3037_parrot_disco_mod airframe	2022-05-10 16:23:20 -04:00
Daniel Agar	42d7fb0b66	ROMFS: delete 3035_viper airframe and mixer	2022-05-10 16:23:20 -04:00
Daniel Agar	61c5d11375	ROMFS: delete 3034_fx79 airframe	2022-05-10 16:23:20 -04:00
Daniel Agar	f1a1ed4958	ROMFS: delete 3030_io_camflyer airframe	2022-05-10 16:23:20 -04:00
Daniel Agar	b00d0720cd	ROMFS: delete 13010_claire airframe	2022-05-10 16:23:20 -04:00
Daniel Agar	451cc5058d	ROMFS: delete minimal DJI airframes	2022-05-10 16:23:20 -04:00
Daniel Agar	fa1891ace2	ROMFS: delete steadidrone airframes	2022-05-10 16:23:20 -04:00
Daniel Agar	af5e903b82	.vscode/.gitignore ignore all log files	2022-05-10 11:39:55 -04:00
Daniel Agar	b77bb6d88d	Makefile: bootloaders_update add all Matek targets	2022-05-10 11:39:54 -04:00
Daniel Agar	45e3fad3e0	Update submodule GPSDrivers to latest Tue May 10 12:38:49 UTC 2022 - GPSDrivers in PX4/Firmware (`3ac8fdbe29`): https://github.com/PX4/PX4-GPSDrivers/commit/6534b050ee1a48af7932c46a9a87277eed1cc997 - GPSDrivers current upstream: https://github.com/PX4/PX4-GPSDrivers/commit/58968922b718176be8756f11113d16b2cfbc4022 - Changes: https://github.com/PX4/PX4-GPSDrivers/compare/6534b050ee1a48af7932c46a9a87277eed1cc997...58968922b718176be8756f11113d16b2cfbc4022 5896892 2022-04-26 Seppe Geuens - sbf: add heading support (#100) Co-authored-by: PX4 BuildBot <bot@px4.io>	2022-05-10 11:38:52 -04:00
PX4 BuildBot	4b7b7dfa8d	Update submodule mavlink to latest Tue May 10 12:39:00 UTC 2022 - mavlink in PX4/Firmware (d6dff7daa984514185a8f31f6e653a69a278ded8): https://github.com/mavlink/mavlink/commit/3b52eac09c2e37325e4bc49cd2667ea37bf1d7d2 - mavlink current upstream: https://github.com/mavlink/mavlink/commit/a1cb2c0e71f191f04da3d92d92db8702a7e91ff6 - Changes: https://github.com/mavlink/mavlink/compare/3b52eac09c2e37325e4bc49cd2667ea37bf1d7d2...a1cb2c0e71f191f04da3d92d92db8702a7e91ff6 a1cb2c0e 2022-05-05 KonradRudin - Figure eight MAV_CMD (#1831) 0ebdf846 2022-04-28 Hamish Willee - common.xml: Deprecate MAV_CMD_GET_MESSAGE_INTERVAL for MAV_CMD_REQUEST_MESSAGE. (#1835) f357fc78 2022-04-27 Hamish Willee - Deprecate MAV_CMD_GET_HOME_POSITION for MAV_CMD_REQUEST_MESSAGE (#1834)	2022-05-10 11:37:55 -04:00
Daniel Agar	371a551f05	github actions: add all matek targets and sort	2022-05-10 11:33:01 -04:00
Daniel Agar	73f4c3ea87	Jenkins: compile add all matek targets and sort	2022-05-10 11:32:52 -04:00
Daniel Agar	6d390f393c	boards: matek_h743-mini_bootloader fix NuttX CONFIG_ARCH_BOARD_CUSTOM_DIR	2022-05-10 11:28:26 -04:00
Daniel Agar	5778553508	boards: matek_h743_bootloader fix NuttX CONFIG_ARCH_BOARD_CUSTOM_DIR	2022-05-10 11:26:15 -04:00
Daniel Agar	a80a74af79	Jenkins: compile update uavcanv1 -> cyphal	2022-05-10 11:23:22 -04:00
Daniel Agar	858292209d	boards: px4_fmu-v5_uavcanv0periph disable common differential pressure sensors to save flash	2022-05-10 11:17:24 -04:00
Peter van der Perk	b1ad4e8864	Upgrade libcanard to 3.0 and rename uavcan_v1 to cyphal Did some prep work for redundant interfaces by introducing CanardHandle class to decouple physical interfaces from cyphal.cpp	2022-05-10 09:46:18 -04:00
Beat Küng	3ac8fdbe29	px4/fmu-v5/stackcheck: disable module to reduce flash	2022-05-10 10:25:06 +02:00
Beat Küng	689ceefada	px4/fmu-v2/fixedwing: disable module to reduce flash	2022-05-10 10:24:55 +02:00
Beat Küng	fc062ffad4	omnibus/f4sd/ekf2: disable module to reduce flash	2022-05-10 10:24:43 +02:00
Konrad	0e464a91be	Remove contradicting geofence parameter description The flight termination action on geofence violation is described as only trigger, when the corresponding circuit breaker is not disabled. However, the description of the circuit breaker states, that the geofence action is not depedning on this circuit breaker. The implementation follows the description of the circuit breaker. Hence the GF_ACTION description is adapted.	2022-05-10 09:01:12 +02:00
Beat Küng	6a35c9f5fe	px4/fmu-v5/protected.px4board: disable module to reduce flash	2022-05-10 08:57:39 +02:00
Beat Küng	639c5c741e	px4/fmu-v2/multicopter.px4board: disable module to reduce flash	2022-05-10 08:57:39 +02:00
Beat Küng	abb37a3d27	holybro/kakutef7: disable module to reduce flash	2022-05-10 08:57:39 +02:00
Beat Küng	5d114329d7	cubepilot/cubeorange/test.px4board: disable module to reduce flash	2022-05-10 08:57:39 +02:00
Beat Küng	adc6472480	cuav/x7pro/test.px4board: disable module to reduce flash	2022-05-10 08:57:39 +02:00
Beat Küng	5cdb6fbd8e	control_allocator: add helicopter mixer Same logic as the existing mixer. Untested.	2022-05-10 08:57:39 +02:00
Beat Küng	32402f31df	control_allocator: increase max num motors to 12	2022-05-10 08:57:39 +02:00
Beat Küng	9f5c5591a2	ActuatorEffectivenessRotors: fix motor count check Check during init to avoid out-of-bound access.	2022-05-10 08:57:39 +02:00
Daniel Agar	15296ab453	cmake: NuttX check that CONFIG_ARCH_BOARD_CUSTOM_DIR is in PX4_BOARD_DIR	2022-05-09 15:23:18 -04:00
Silvan Fuhrer	5d6c8c986d	Commander: high wind speed handling updates - add logic for detecting high wind speed in Commander, and handle it toghether with wind speed warning - trigger and enforce RTL if COM_WIND_MAX is breached Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-09 19:09:40 +02:00
Silvan Fuhrer	1aad82f87d	Commander: add max flight time RTL Adds COM_FLT_TIME_MAX param and logic in Commander to enforce RTL when flight time is above this value. User can only override to LAND mode, but not proceed flight beyond that. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-09 19:09:40 +02:00
Daniel Agar	2e1cdc9e75	boards: modalai_fc-v1 enable dshot on all outputs	2022-05-09 11:31:31 -04:00
Igor Mišić	ce4e9f6690	uavcan: use timer 6 by default on stm32f7	2022-05-06 19:45:53 -04:00
achim	9c12c2a152	boards: matek h743 update unified target	2022-05-06 14:57:37 -04:00
achim	76cf4332d9	boards: matek_h743-mini sync all Matek H743 boards	2022-05-06 14:56:20 -04:00
Thomas Stastny	90789be68f	fw pos ctrl: turn back to takeoff point with npfg	2022-05-06 16:36:03 +02:00
Thomas Stastny	3ef5f433b5	fw pos ctrl: add missing guidance control interval setting to control_manual_position()	2022-05-06 16:36:03 +02:00
Thomas Stastny	1ab9fb22ee	fw pos ctrl: fix state switching logic for takeoff and landing	2022-05-06 16:36:03 +02:00
Matthias Grob	b3776134b8	Commander: ensure diconnected battery is cleared from bit field	2022-05-06 10:32:27 -04:00