Install microDDS build requirements ubuntu.sh --microdds

Update ubuntu.sh to Jammy
Commander: fix overlooked rebase naming error
2026-05-26 12:00:04 +08:00 · 2022-05-25 21:30:14 -04:00 · 2022-05-25 19:07:15 -04:00 · 2022-05-25 21:10:19 +02:00 · 2022-05-25 17:08:48 +02:00 · 2022-05-25 09:56:40 -04:00
403 changed files with 15712 additions and 10797 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 +89,27 @@ 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-v6c_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"
@@ -794,7 +794,7 @@ void resetParameters() {
 void runTests() {

  // test loading a range of airframes
-  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 1000 1001 2100 3000 4001 6001 8001 10016'
+  sh './Tools/HIL/test_airframes.sh `find /dev/serial -name *usb-*` 2100 3000 4001 6001 8001 10016'

  resetParameters()

@@ -864,12 +864,15 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_fake_pos" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_pos" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_vel" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
@@ -1,32 +1,34 @@
 ---
-name: Bug report
+name: 🐛 Bug report
 about: Create a report to help us improve
+labels: bug-report

 ---

-**Describe the bug**
+## Describe the bug
 A clear and concise description of the bug.

-**To Reproduce**
+## To Reproduce
 Steps to reproduce the behavior:
 1. Drone switched on '...'
 2. Uploaded mission '....' (attach QGC mission file)
 3. Took off '....'
 4. See error

-**Expected behavior**
+## Expected behavior
 A clear and concise description of what you expected to happen.

-**Log Files and Screenshots**
+## Log Files and Screenshots
 *Always* provide a link to the flight log file:
 - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/master/en/getting_started/flight_reporting.html)).
- Share the link to a log showing the problem on [PX4 Flight Review](http://logs.px4.io/).
+- Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
+- Share the link to the log (Copy and paste the URL of the log)

 Add screenshots to help explain your problem.

-**Drone (please complete the following information):**
+## Drone (please complete the following information):
 - Describe the type of drone.
 - Photo of the IMU / autopilot setup if possible.

-**Additional context**
+## Additional context
 Add any other context about the problem here.
@@ -1,19 +1,20 @@
 ---
 name: 🚀 Feature Request
 about: Suggest an idea for this project
+labels: feature-request

 ---

 For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).

-**Describe problem solved by the proposed feature**
+## Describe problem solved by the proposed feature
 A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...

-**Describe your preferred solution**
+## Describe your preferred solution
 A clear and concise description of what you want to happen.

-**Describe possible alternatives**
+## Describe possible alternatives
 A clear and concise description of alternative solutions or features you've considered.

-**Additional context**
+## Additional context
 Add any other context or screenshots for the feature request here.
@@ -1,10 +1,13 @@
 ---
 name: ⛔ Support Question
-about: See [PX4 Discuss](http://discuss.px4.io/) for questions about using PX4.
+about: See http://discuss.px4.io/ for questions about using PX4.

 ---

-We use GitHub issues only to discuss PX4 bugs and new features. For
-questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).
+## Attention! Please read the note below
+
+We use GitHub issues only to discuss PX4 bugs and new features.
+
+**For questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).**

 Thanks!
@@ -1,9 +1,11 @@
 ---
 name: ⛔ Documentation Issue
-about: See https://github.com/PX4/Devguide for documentation issues
+about: See https://github.com/PX4/px4_user_guide for documentation issues

 ---

-PX4 has dedicated repositories for developer documentation (https://github.com/PX4/Devguide) and user documentation (https://github.com/PX4/px4_user_guide).
+## Attention! Please read the note below
+
+**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.**

 Thanks!
@@ -1,17 +1,17 @@
 Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.

-**Describe problem solved by this pull request**
-A clear and concise description of the problem this proposed change will solve.
+## Describe problem solved by this pull request
+A clear and concise description of the problem this proposed change will solve. Or, what it will improve.
 E.g. For this use case I ran into...

-**Describe your solution**
+## Describe your solution
 A clear and concise description of what you have implemented.

-**Describe possible alternatives**
+## Describe possible alternatives
 A clear and concise description of alternative solutions or features you've considered.

-**Test data / coverage**
+## Test data / coverage
 How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.

-**Additional context**
+## Additional context
 Add any other related context or media.
@@ -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,
@@ -53,15 +55,16 @@ jobs:
          nxp_fmurt1062-v1,
          nxp_ucans32k146,
          omnibus_f4sd,
-          raspberrypi_pico,
          px4_fmu-v2,
          px4_fmu-v3,
          px4_fmu-v4,
          px4_fmu-v4pro,
          px4_fmu-v5,
          px4_fmu-v5x,
+          px4_fmu-v6c,
          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
@@ -325,12 +325,13 @@ px4io_update: px4_io-v2_default cubepilot_io-v2_default
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6c/extras/px4_io-v2_default.bin
 	# cubepilot_io-v2_default
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
 	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
@@ -95,10 +95,9 @@ fi

 if param compare SYS_AUTOCONFIG 1
 then
+	# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
+	param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
 	set AUTOCNF yes
-
-	# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
-	param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
 fi

 # multi-instance setup
@@ -196,14 +195,6 @@ fi

 . "$autostart_file"

-#
-# If autoconfig parameter was set, reset it and save parameters.
-#
-if [ $AUTOCNF = yes ]
-then
-	param set SYS_AUTOCONFIG 0
-fi
-
 # Simulator IMU data provided at 250 Hz
 param set IMU_INTEG_RATE 250

@@ -61,6 +61,8 @@ param set-default HIL_ACT_FUNC6 400

 param set SYS_HITL 1

+param set UAVCAN_ENABLE 0
+
 # disable some checks to allow to fly
 # - with usb
 param set-default CBRK_USB_CHK 197848
@@ -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
@@ -15,6 +15,8 @@ set MIXER quad_x

 param set SYS_HITL 1

+param set UAVCAN_ENABLE 0
+
 param set-default CA_ROTOR_COUNT 4
 param set-default CA_ROTOR0_PX 0.15
 param set-default CA_ROTOR0_PY 0.15
@@ -94,6 +94,8 @@ param set-default HIL_ACT_FUNC8 203

 param set SYS_HITL 1

+param set UAVCAN_ENABLE 0
+
 # disable some checks to allow to fly
 # - with usb
 param set-default CBRK_USB_CHK 197848
@@ -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
@@ -21,7 +21,6 @@ set +e
 # it wastes flash
 #
 set R /
-set AUTOCNF no
 set FCONFIG /fs/microsd/etc/config.txt
 set FEXTRAS /fs/microsd/etc/extras.txt
 set FRC /fs/microsd/etc/rc.txt
@@ -177,13 +176,12 @@ else
 	fi

 	#
-	# Set AUTOCNF flag to use it in AUTOSTART scripts.
+	# If the airframe has been previously reset SYS_AUTCONFIG will have been set to 1 and other params will be reset on the next boot.
 	#
 	if param greater SYS_AUTOCONFIG 0
 	then
-		# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
-		param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
-		set AUTOCNF yes
+		# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
+		param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
 	fi

 	#
@@ -274,14 +272,6 @@ else
 		. $FCONFIG
 	fi

-	#
-	# If autoconfig parameter was set, reset it and save parameters.
-	#
-	if [ $AUTOCNF = yes ]
-	then
-		param set SYS_AUTOCONFIG 0
-	fi
-
 	#
 	# Check if UAVCAN is enabled, default to it for ESCs.
 	#
@@ -298,9 +288,9 @@ 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

@@ -565,7 +555,6 @@ fi
 # Unset all script parameters to free RAM.
 #
 unset R
-unset AUTOCNF
 unset FCONFIG
 unset FEXTRAS
 unset FRC
@@ -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 \
@@ -11,7 +11,7 @@ from pyulog import ULog
 from analysis.detectors import InAirDetector, PreconditionError
 from analysis.metrics import calculate_ecl_ekf_metrics
 from analysis.checks import perform_ecl_ekf_checks
-from analysis.post_processing import get_estimator_check_flags
+from analysis.post_processing import get_gps_check_fail_flags

 def analyse_ekf(
        ulog: ULog, check_levels: Dict[str, float], multi_instance: int = 0,
@@ -40,6 +40,11 @@ def analyse_ekf(
    except:
        raise PreconditionError('could not find estimator_status instance', multi_instance)

+    try:
+        estimator_status_flags = ulog.get_dataset('estimator_status_flags', multi_instance).data
+    except:
+        raise PreconditionError('could not find estimator_status_flags instance', multi_instance)
+
    try:
        _ = ulog.get_dataset('estimator_innovations', multi_instance).data
    except:
@@ -61,14 +66,14 @@ def analyse_ekf(
        'in_air_transition_time': round(in_air.take_off + in_air.log_start, 2),
        'on_ground_transition_time': round(in_air.landing + in_air.log_start, 2)}

-    control_mode, innov_flags, gps_fail_flags = get_estimator_check_flags(estimator_status)
+    gps_fail_flags = get_gps_check_fail_flags(estimator_status)

    sensor_checks, innov_fail_checks = find_checks_that_apply(
-        control_mode, estimator_status,
+        estimator_status_flags, estimator_status,
        pos_checks_when_sensors_not_fused=pos_checks_when_sensors_not_fused)

    metrics = calculate_ecl_ekf_metrics(
-        ulog, innov_flags, innov_fail_checks, sensor_checks, in_air, in_air_no_ground_effects,
+        ulog, estimator_status_flags, innov_fail_checks, sensor_checks, in_air, in_air_no_ground_effects,
        multi_instance, red_thresh=red_thresh, amb_thresh=amb_thresh)

    check_status, master_status = perform_ecl_ekf_checks(
@@ -78,12 +83,12 @@ def analyse_ekf(


 def find_checks_that_apply(
-    control_mode: dict, estimator_status: dict, pos_checks_when_sensors_not_fused: bool = False) ->\
+    estimator_status_flags: dict, estimator_status: dict, pos_checks_when_sensors_not_fused: bool = False) ->\
        Tuple[List[str], List[str]]:
    """
    finds the checks that apply and stores them in lists for the std checks and the innovation
    fail checks.
-    :param control_mode:
+    :param estimator_status_flags:
    :param estimator_status:
    :param b_pos_only_when_sensors_fused:
    :return: a tuple of two lists that contain strings for the std checks and for the innovation
@@ -97,7 +102,7 @@ def find_checks_that_apply(
    innov_fail_checks.append('posv')

    # Magnetometer Sensor Checks
-    if (np.amax(control_mode['yaw_aligned']) > 0.5):
+    if (np.amax(estimator_status_flags['cs_yaw_align']) > 0.5):
        sensor_checks.append('mag')

        innov_fail_checks.append('magx')
@@ -106,13 +111,14 @@ def find_checks_that_apply(
        innov_fail_checks.append('yaw')

    # Velocity Sensor Checks
-    if (np.amax(control_mode['using_gps']) > 0.5):
+    if (np.amax(estimator_status_flags['cs_gps']) > 0.5):
        sensor_checks.append('vel')
-        innov_fail_checks.append('vel')
+        innov_fail_checks.append('velh')
+        innov_fail_checks.append('velv')

    # Position Sensor Checks
-    if (pos_checks_when_sensors_not_fused or (np.amax(control_mode['using_gps']) > 0.5)
-        or (np.amax(control_mode['using_evpos']) > 0.5)):
+    if (pos_checks_when_sensors_not_fused or (np.amax(estimator_status_flags['cs_gps']) > 0.5)
+        or (np.amax(estimator_status_flags['cs_ev_pos']) > 0.5)):
        sensor_checks.append('pos')
        innov_fail_checks.append('posh')

@@ -128,7 +134,7 @@ def find_checks_that_apply(
        innov_fail_checks.append('hagl')

    # optical flow sensor checks
-    if (np.amax(control_mode['using_optflow']) > 0.5):
+    if (np.amax(estimator_status_flags['cs_opt_flow']) > 0.5):
        innov_fail_checks.append('ofx')
        innov_fail_checks.append('ofy')

@@ -123,7 +123,8 @@ def perform_sensor_innov_checks(
                                              ('magy', 'magy_fail_percentage', 'mag'),
                                              ('magz', 'magz_fail_percentage', 'mag'),
                                              ('yaw', 'yaw_fail_percentage', 'yaw'),
-                                              ('vel', 'vel_fail_percentage', 'vel'),
+                                              ('velh', 'vel_fail_percentage', 'vel'),
+                                              ('velv', 'vel_fail_percentage', 'vel'),
                                              ('posh', 'pos_fail_percentage', 'pos'),
                                              ('tas', 'tas_fail_percentage', 'tas'),
                                              ('hagl', 'hagl_fail_percentage', 'hagl'),
@@ -11,7 +11,7 @@ import numpy as np
 from analysis.detectors import InAirDetector

 def calculate_ecl_ekf_metrics(
-        ulog: ULog, innov_flags: Dict[str, float], innov_fail_checks: List[str],
+        ulog: ULog, estimator_status_flags: Dict[str, float], innov_fail_checks: List[str],
        sensor_checks: List[str], in_air: InAirDetector, in_air_no_ground_effects: InAirDetector,
        multi_instance: int = 0, red_thresh: float = 1.0, amb_thresh: float = 0.5) -> Tuple[dict, dict, dict, dict]:

@@ -20,7 +20,7 @@ def calculate_ecl_ekf_metrics(
        red_thresh=red_thresh, amb_thresh=amb_thresh)

    innov_fail_metrics = calculate_innov_fail_metrics(
-        innov_flags, innov_fail_checks, in_air, in_air_no_ground_effects)
+        estimator_status_flags, innov_fail_checks, in_air, in_air_no_ground_effects)

    imu_metrics = calculate_imu_metrics(ulog, multi_instance, in_air_no_ground_effects)

@@ -90,10 +90,10 @@ def calculate_sensor_metrics(


 def calculate_innov_fail_metrics(
-        innov_flags: dict, innov_fail_checks: List[str], in_air: InAirDetector,
+        estimator_status_flags: dict, innov_fail_checks: List[str], in_air: InAirDetector,
        in_air_no_ground_effects: InAirDetector) -> dict:
    """
-    :param innov_flags:
+    :param estimator_status_flags:
    :param innov_fail_checks:
    :param in_air:
    :param in_air_no_ground_effects:
@@ -103,17 +103,18 @@ def calculate_innov_fail_metrics(
    innov_fail_metrics = dict()

    # calculate innovation check fail metrics
-    for signal_id, signal, result in [('posv', 'posv_innov_fail', 'hgt_fail_percentage'),
-                                      ('magx', 'magx_innov_fail', 'magx_fail_percentage'),
-                                      ('magy', 'magy_innov_fail', 'magy_fail_percentage'),
-                                      ('magz', 'magz_innov_fail', 'magz_fail_percentage'),
-                                      ('yaw', 'yaw_innov_fail', 'yaw_fail_percentage'),
-                                      ('vel', 'vel_innov_fail', 'vel_fail_percentage'),
-                                      ('posh', 'posh_innov_fail', 'pos_fail_percentage'),
-                                      ('tas', 'tas_innov_fail', 'tas_fail_percentage'),
-                                      ('hagl', 'hagl_innov_fail', 'hagl_fail_percentage'),
-                                      ('ofx', 'ofx_innov_fail', 'ofx_fail_percentage'),
-                                      ('ofy', 'ofy_innov_fail', 'ofy_fail_percentage')]:
+    for signal_id, signal, result in [('posv', 'reject_ver_pos', 'hgt_fail_percentage'),
+                                      ('magx', 'reject_mag_x', 'magx_fail_percentage'),
+                                      ('magy', 'reject_mag_y', 'magy_fail_percentage'),
+                                      ('magz', 'reject_mag_z', 'magz_fail_percentage'),
+                                      ('yaw', 'reject_yaw', 'yaw_fail_percentage'),
+                                      ('velh', 'reject_hor_vel', 'vel_fail_percentage'),
+                                      ('velv', 'reject_ver_vel', 'vel_fail_percentage'),
+                                      ('posh', 'reject_hor_pos', 'pos_fail_percentage'),
+                                      ('tas', 'reject_airspeed', 'tas_fail_percentage'),
+                                      ('hagl', 'reject_hagl', 'hagl_fail_percentage'),
+                                      ('ofx', 'reject_optflow_x', 'ofx_fail_percentage'),
+                                      ('ofy', 'reject_optflow_y', 'ofy_fail_percentage')]:

        # only run innov fail checks, if they apply.
        if signal_id in innov_fail_checks:
@@ -125,7 +126,7 @@ def calculate_innov_fail_metrics(
                in_air_detector = in_air

            innov_fail_metrics[result] = calculate_stat_from_signal(
-                innov_flags, 'estimator_status', signal, in_air_detector,
+                estimator_status_flags, 'estimator_status_flags', signal, in_air_detector,
                lambda x: 100.0 * np.mean(x > 0.5))

    return innov_fail_metrics
@@ -152,7 +153,7 @@ def calculate_imu_metrics(ulog: ULog, multi_instance, in_air_no_ground_effects:

            if vehicle_imu_status_data['accel_device_id'][0] == estimator_status_data['accel_device_id'][0]:

-                for signal, result in [('delta_angle_coning_metric', 'imu_coning'),
+                for signal, result in [('gyro_coning_vibration', 'imu_coning'),
                                       ('gyro_vibration_metric', 'imu_hfgyro'),
                                       ('accel_vibration_metric', 'imu_hfaccel')]:

@@ -7,115 +7,6 @@ from typing import Tuple

 import numpy as np

-
-def get_estimator_check_flags(estimator_status: dict) -> Tuple[dict, dict, dict]:
-    """
-    :param estimator_status:
-    :return:
-    """
-    control_mode = get_control_mode_flags(estimator_status)
-    innov_flags = get_innovation_check_flags(estimator_status)
-    gps_fail_flags = get_gps_check_fail_flags(estimator_status)
-    return control_mode, innov_flags, gps_fail_flags
-
-
-def get_control_mode_flags(estimator_status: dict) -> dict:
-    """
-    :param estimator_status:
-    :return:
-    """
-
-    control_mode = dict()
-    # extract control mode metadata from estimator_status.control_mode_flags
-    # 0 - true if the filter tilt alignment is complete
-    # 1 - true if the filter yaw alignment is complete
-    # 2 - true if GPS measurements are being fused
-    # 3 - true if optical flow measurements are being fused
-    # 4 - true if a simple magnetic yaw heading is being fused
-    # 5 - true if 3-axis magnetometer measurement are being fused
-    # 6 - true if synthetic magnetic declination measurements are being fused
-    # 7 - true when the vehicle is airborne
-    # 8 - true when wind velocity is being estimated
-    # 9 - true when baro height is being fused as a primary height reference
-    # 10 - true when range finder height is being fused as a primary height reference
-    # 11 - true when range finder height is being fused as a primary height reference
-    # 12 - true when local position data from external vision is being fused
-    # 13 - true when yaw data from external vision measurements is being fused
-    # 14 - true when height data from external vision measurements is being fused
-    # 15 - true when synthetic sideslip measurements are being fused
-    # 16 - true true when the mag field does not match the expected strength
-    # 17 - true true when the vehicle is operating as a fixed wing vehicle
-    # 18 - true when the magnetometer has been declared faulty and is no longer being used
-    # 19 - true true when airspeed measurements are being fused
-    # 20 - true true when protection from ground effect induced static pressure rise is active
-    # 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
-    # 22 - true when yaw (not ground course) data from a GPS receiver is being fused
-    # 23 - true when the in-flight mag field alignment has been completed
-    # 24 - true when local earth frame velocity data from external vision measurements are being fused
-    # 25 - true when we are using a synthesized measurement for the magnetometer Z component
-    control_mode['tilt_aligned'] = ((2 ** 0 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['yaw_aligned'] = ((2 ** 1 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['using_gps'] = ((2 ** 2 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['using_optflow'] = ((2 ** 3 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['using_magyaw'] = ((2 ** 4 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['using_mag3d'] = ((2 ** 5 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['using_magdecl'] = ((2 ** 6 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['airborne'] = ((2 ** 7 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['estimating_wind'] = ((2 ** 8 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['using_barohgt'] = ((2 ** 9 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['using_rnghgt'] = ((2 ** 10 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['using_gpshgt'] = ((2 ** 11 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['using_evpos'] = ((2 ** 12 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['using_evyaw'] = ((2 ** 13 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['using_evhgt'] = ((2 ** 14 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['fuse_beta'] = ((2 ** 15 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['mag_field_disturbed'] = ((2 ** 16 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['fixed_wing'] = ((2 ** 17 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['mag_fault'] = ((2 ** 18 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['fuse_aspd'] = ((2 ** 19 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['gnd_effect'] = ((2 ** 20 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['rng_stuck'] = ((2 ** 21 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['gps_yaw'] = ((2 ** 22 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['mag_aligned_in_flight'] = ((2 ** 23 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['ev_vel'] = ((2 ** 24 & estimator_status['control_mode_flags']) > 0) * 1
-    control_mode['synthetic_mag_z'] = ((2 ** 25 & estimator_status['control_mode_flags']) > 0) * 1
-    return control_mode
-
-def get_innovation_check_flags(estimator_status: dict) -> dict:
-    """
-    :param estimator_status:
-    :return:
-    """
-
-    innov_flags = dict()
-    # innovation_check_flags summary
-    # 0 - true if velocity observations have been rejected
-    # 1 - true if horizontal position observations have been rejected
-    # 2 - true if true if vertical position observations have been rejected
-    # 3 - true if the X magnetometer observation has been rejected
-    # 4 - true if the Y magnetometer observation has been rejected
-    # 5 - true if the Z magnetometer observation has been rejected
-    # 6 - true if the yaw observation has been rejected
-    # 7 - true if the airspeed observation has been rejected
-    # 8 - true if synthetic sideslip observation has been rejected
-    # 9 - true if the height above ground observation has been rejected
-    # 10 - true if the X optical flow observation has been rejected
-    # 11 - true if the Y optical flow observation has been rejected
-    innov_flags['vel_innov_fail'] = ((2 ** 0 & estimator_status['innovation_check_flags']) > 0) * 1
-    innov_flags['posh_innov_fail'] = ((2 ** 1 & estimator_status['innovation_check_flags']) > 0) * 1
-    innov_flags['posv_innov_fail'] = ((2 ** 2 & estimator_status['innovation_check_flags']) > 0) * 1
-    innov_flags['magx_innov_fail'] = ((2 ** 3 & estimator_status['innovation_check_flags']) > 0) * 1
-    innov_flags['magy_innov_fail'] = ((2 ** 4 & estimator_status['innovation_check_flags']) > 0) * 1
-    innov_flags['magz_innov_fail'] = ((2 ** 5 & estimator_status['innovation_check_flags']) > 0) * 1
-    innov_flags['yaw_innov_fail'] = ((2 ** 6 & estimator_status['innovation_check_flags']) > 0) * 1
-    innov_flags['tas_innov_fail'] = ((2 ** 7 & estimator_status['innovation_check_flags']) > 0) * 1
-    innov_flags['sli_innov_fail'] = ((2 ** 8 & estimator_status['innovation_check_flags']) > 0) * 1
-    innov_flags['hagl_innov_fail'] = ((2 ** 9 & estimator_status['innovation_check_flags']) > 0) * 1
-    innov_flags['ofx_innov_fail'] = ((2 ** 10 & estimator_status['innovation_check_flags']) > 0) * 1
-    innov_flags['ofy_innov_fail'] = ((2 ** 11 & estimator_status['innovation_check_flags']) > 0) * 1
-    return innov_flags
-
-
 def get_gps_check_fail_flags(estimator_status: dict) -> dict:
    """
    :param estimator_status:
@@ -11,7 +11,7 @@ import numpy as np
 from matplotlib.backends.backend_pdf import PdfPages
 from pyulog import ULog

-from analysis.post_processing import magnetic_field_estimates_from_states, get_estimator_check_flags
+from analysis.post_processing import magnetic_field_estimates_from_states, get_gps_check_fail_flags
 from plotting.data_plots import TimeSeriesPlot, InnovationPlot, ControlModeSummaryPlot, \
    CheckFlagsPlot
 from analysis.detectors import PreconditionError
@@ -33,6 +33,11 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
    except:
        raise PreconditionError('could not find estimator_status instance', multi_instance)

+    try:
+        estimator_status_flags = ulog.get_dataset('estimator_status_flags', multi_instance).data
+    except:
+        raise PreconditionError('could not find estimator_status_flags instance', multi_instance)
+
    try:
        estimator_states = ulog.get_dataset('estimator_states', multi_instance).data
    except:
@@ -68,12 +73,13 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
    except:
        raise PreconditionError('could not find innovation data')

-    control_mode, innov_flags, gps_fail_flags = get_estimator_check_flags(estimator_status)
+    gps_fail_flags = get_gps_check_fail_flags(estimator_status)

    status_time = 1e-6 * estimator_status['timestamp']
+    status_flags_time = 1e-6 * estimator_status_flags['timestamp']

    b_finishes_in_air, b_starts_in_air, in_air_duration, in_air_transition_time, \
-    on_ground_transition_time = detect_airtime(control_mode, status_time)
+    on_ground_transition_time = detect_airtime(estimator_status_flags, status_flags_time)

    with PdfPages(output_plot_filename) as pdf_pages:

@@ -173,9 +179,9 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str

        # plot control mode summary A
        data_plot = ControlModeSummaryPlot(
-            status_time, control_mode, [['tilt_aligned', 'yaw_aligned'],
-            ['using_gps', 'using_optflow', 'using_evpos'], ['using_barohgt', 'using_gpshgt',
-             'using_rnghgt', 'using_evhgt'], ['using_magyaw', 'using_mag3d', 'using_magdecl']],
+            status_flags_time, estimator_status_flags, [['cs_tilt_align', 'cs_yaw_align'],
+            ['cs_gps', 'cs_opt_flow', 'cs_ev_pos'], ['cs_baro_hgt', 'cs_gps_hgt',
+             'cs_rng_hgt', 'cs_ev_hgt'], ['cs_mag_hdg', 'cs_mag_3d', 'cs_mag_dec']],
            x_label='time (sec)', y_labels=['aligned', 'pos aiding', 'hgt aiding', 'mag aiding'],
            annotation_text=[['tilt alignment', 'yaw alignment'], ['GPS aiding', 'optical flow aiding',
             'external vision aiding'], ['Baro aiding', 'GPS aiding', 'rangefinder aiding',
@@ -188,7 +194,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
        # plot control mode summary B
        # construct additional annotations for the airborne plot
        airborne_annotations = list()
-        if np.amin(np.diff(control_mode['airborne'])) > -0.5:
+        if np.amin(np.diff(estimator_status_flags['cs_in_air'])) > -0.5:
            airborne_annotations.append(
                (on_ground_transition_time, 'air to ground transition not detected'))
        else:
@@ -197,7 +203,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
        if in_air_duration > 0.0:
            airborne_annotations.append(((in_air_transition_time + on_ground_transition_time) / 2,
                                         'duration = {:.1f} sec'.format(in_air_duration)))
-        if np.amax(np.diff(control_mode['airborne'])) < 0.5:
+        if np.amax(np.diff(estimator_status_flags['cs_in_air'])) < 0.5:
            airborne_annotations.append(
                (in_air_transition_time, 'ground to air transition not detected'))
        else:
@@ -205,7 +211,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
                (in_air_transition_time, 'in-air at {:.1f} sec'.format(in_air_transition_time)))

        data_plot = ControlModeSummaryPlot(
-            status_time, control_mode, [['airborne'], ['estimating_wind']],
+            status_flags_time, estimator_status_flags, [['cs_in_air'], ['cs_wind']],
            x_label='time (sec)', y_labels=['airborne', 'estimating wind'], annotation_text=[[], []],
            additional_annotation=[airborne_annotations, []],
            plot_title='EKF Control Status - Figure B', pdf_handle=pdf_pages)
@@ -214,15 +220,15 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str

        # plot innovation_check_flags summary
        data_plot = CheckFlagsPlot(
-            status_time, innov_flags, [['vel_innov_fail', 'posh_innov_fail'], ['posv_innov_fail',
-                                                                               'hagl_innov_fail'],
-                                       ['magx_innov_fail', 'magy_innov_fail', 'magz_innov_fail',
-                                        'yaw_innov_fail'], ['tas_innov_fail'], ['sli_innov_fail'],
-                                       ['ofx_innov_fail',
-                                        'ofy_innov_fail']], x_label='time (sec)',
+            status_flags_time, estimator_status_flags, [['reject_hor_vel', 'reject_hor_pos'], ['reject_ver_vel', 'reject_ver_pos',
+                                                                               'reject_hagl'],
+                                       ['reject_mag_x', 'reject_mag_y', 'reject_mag_z',
+                                        'reject_yaw'], ['reject_airspeed'], ['reject_sideslip'],
+                                       ['reject_optflow_x',
+                                        'reject_optflow_y']], x_label='time (sec)',
            y_labels=['failed', 'failed', 'failed', 'failed', 'failed', 'failed'],
            y_lim=(-0.1, 1.1),
-            legend=[['vel NED', 'pos NE'], ['hgt absolute', 'hgt above ground'],
+            legend=[['vel NE', 'pos NE'], ['vel D', 'hgt absolute', 'hgt above ground'],
                    ['mag_x', 'mag_y', 'mag_z', 'yaw'], ['airspeed'], ['sideslip'],
                    ['flow X', 'flow Y']],
            plot_title='EKF Innovation Test Fails', annotate=False, pdf_handle=pdf_pages)
@@ -344,33 +350,33 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
        data_plot.close()


-def detect_airtime(control_mode, status_time):
+def detect_airtime(estimator_status_flags, status_flags_time):
    # define flags for starting and finishing in air
    b_starts_in_air = False
    b_finishes_in_air = False
    # calculate in-air transition time
-    if (np.amin(control_mode['airborne']) < 0.5) and (np.amax(control_mode['airborne']) > 0.5):
-        in_air_transtion_time_arg = np.argmax(np.diff(control_mode['airborne']))
-        in_air_transition_time = status_time[in_air_transtion_time_arg]
-    elif (np.amax(control_mode['airborne']) > 0.5):
-        in_air_transition_time = np.amin(status_time)
+    if (np.amin(estimator_status_flags['cs_in_air']) < 0.5) and (np.amax(estimator_status_flags['cs_in_air']) > 0.5):
+        in_air_transtion_time_arg = np.argmax(np.diff(estimator_status_flags['cs_in_air']))
+        in_air_transition_time = status_flags_time[in_air_transtion_time_arg]
+    elif (np.amax(estimator_status_flags['cs_in_air']) > 0.5):
+        in_air_transition_time = np.amin(status_flags_time)
        print('log starts while in-air at ' + str(round(in_air_transition_time, 1)) + ' sec')
        b_starts_in_air = True
    else:
        in_air_transition_time = float('NaN')
        print('always on ground')
    # calculate on-ground transition time
-    if (np.amin(np.diff(control_mode['airborne'])) < 0.0):
-        on_ground_transition_time_arg = np.argmin(np.diff(control_mode['airborne']))
-        on_ground_transition_time = status_time[on_ground_transition_time_arg]
-    elif (np.amax(control_mode['airborne']) > 0.5):
-        on_ground_transition_time = np.amax(status_time)
+    if (np.amin(np.diff(estimator_status_flags['cs_in_air'])) < 0.0):
+        on_ground_transition_time_arg = np.argmin(np.diff(estimator_status_flags['cs_in_air']))
+        on_ground_transition_time = status_flags_time[on_ground_transition_time_arg]
+    elif (np.amax(estimator_status_flags['cs_in_air']) > 0.5):
+        on_ground_transition_time = np.amax(status_flags_time)
        print('log finishes while in-air at ' + str(round(on_ground_transition_time, 1)) + ' sec')
        b_finishes_in_air = True
    else:
        on_ground_transition_time = float('NaN')
        print('always on ground')
-    if (np.amax(np.diff(control_mode['airborne'])) > 0.5) and (np.amin(np.diff(control_mode['airborne'])) < -0.5):
+    if (np.amax(np.diff(estimator_status_flags['cs_in_air'])) > 0.5) and (np.amin(np.diff(estimator_status_flags['cs_in_air'])) < -0.5):
        if ((on_ground_transition_time - in_air_transition_time) > 0.0):
            in_air_duration = on_ground_transition_time - in_air_transition_time
        else:
@@ -16,6 +16,8 @@ set -e
 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
 INSTALL_ARCH=`uname -m`
+INSTALL_UDDS="false"
+INSTALL_SIM_JAMMY="false"

 # Parse arguments
 for arg in "$@"
@@ -28,6 +30,14 @@ do
 		INSTALL_SIM="false"
 	fi

+	if [[ $arg == "--microdds" ]]; then
+		INSTALL_UDDS="true"
+	fi
+
+	if [[ $arg == "--sim_jammy" ]]; then
+		INSTALL_SIM_JAMMY="true"
+	fi
+
 done

 # detect if running in docker
@@ -67,6 +77,10 @@ elif [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
 	echo "Ubuntu 18.04"
 elif [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
 	echo "Ubuntu 20.04"
+elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+	echo "Ubuntu 22.04, simulation build off by default." 
+	echo "Use --sim_jammy to enable simulation build."
+	INSTALL_SIM=$INSTALL_SIM_JAMMY
 fi


@@ -146,7 +160,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		util-linux \
 		vim-common \
 		;
-	if [[ "${UBUNTU_RELEASE}" == "20.04" ]]; then
+	if [[ "${UBUNTU_RELEASE}" == "20.04" || "${UBUNTU_RELEASE}" == "22.04" ]]; then
 		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		kconfig-frontends \
 		;
@@ -173,7 +187,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then

 	else
 		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
-		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
+		wget -q --show-progress -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
 			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;

 		# add arm-none-eabi-gcc to user's PATH
@@ -187,6 +201,25 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 	fi
 fi

+# Install microDDS tools (fastrtpsgen)
+if [[ $INSTALL_UDDS == "true" ]] && [ ! -f /usr/local/bin/fastrtpsgen ]; then
+	if command -v gradle &> /dev/null || [ ! -d /opt/gradle ]; then
+		echo "Installing gradle 6.3"
+		wget -q --show-progress -O /tmp/gradle-6.3-bin.zip https://downloads.gradle-dn.com/distributions/gradle-6.3-bin.zip
+		sudo mkdir -p /opt/gradle
+		sudo unzip -d /opt/gradle /tmp/gradle-6.3-bin.zip
+		export PATH=$PATH:/opt/gradle/gradle-6.3/bin
+	fi
+	echo "Installing fastrtpsgen"
+	git clone --recursive https://github.com/eProsima/Fast-DDS-Gen.git -b v1.0.4 /tmp/Fast-DDS-Gen
+	cd /tmp/Fast-DDS-Gen
+	gradle assemble
+	sudo env "PATH=$PATH" gradle install
+elif [[ $INSTALL_UDDS == "true" ]]; then
+	echo "fastrtpsgen already installed."
+fi
+
+
 # Simulation tools
 if [[ $INSTALL_SIM == "true" ]]; then

@@ -200,13 +233,12 @@ 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 +252,30 @@ 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 -
+	wget -q --show-progress 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 +7,6 @@ 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
@@ -397,27 +397,15 @@
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8]  */
 #define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */

-#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8)
-#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN9)
-
 #define GPIO_I2C2_SCL GPIO_I2C2_SCL_2       /* PF1 */
 #define GPIO_I2C2_SDA GPIO_I2C2_SDA_2       /* PF0 */

-#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN1)
-#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN0)
-
 #define GPIO_I2C3_SCL GPIO_I2C3_SCL_2       /* PH7 */
 #define GPIO_I2C3_SDA GPIO_I2C3_SDA_2       /* PH8 */

-#define GPIO_I2C3_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTH | GPIO_PIN7)
-#define GPIO_I2C3_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTH | GPIO_PIN8)
-
 #define GPIO_I2C4_SCL GPIO_I2C4_SCL_2       /* PF14 */
 #define GPIO_I2C4_SDA GPIO_I2C4_SDA_2       /* PF15 */

-#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN14)
-#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN15)
-
 /* SDMMC1
 *
 *      VDD 3.3
@@ -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
@@ -459,7 +459,15 @@ static inline bool board_get_external_lockout_state(void)
 		GPIO_RSSI_IN_INIT,                \
 		GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
 		GPIO_SAFETY_SWITCH_IN,            \
-		GPIO_nARMED_INIT                  \
+		GPIO_nARMED_INIT,                  \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SCL), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SDA), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SCL), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SDA), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C3_SCL), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C3_SDA), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SCL), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SDA), \
 	}

 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -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
@@ -394,27 +394,15 @@
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
 #define GPIO_I2C1_SDA GPIO_I2C1_SDA_1       /* PB7  */

-#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8)
-#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
-
 #define GPIO_I2C2_SCL GPIO_I2C2_SCL_2       /* PF1 */
 #define GPIO_I2C2_SDA GPIO_I2C2_SDA_2       /* PF0 */

-#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN1)
-#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN0)
-
 #define GPIO_I2C3_SCL GPIO_I2C3_SCL_2       /* PH7 */
 #define GPIO_I2C3_SDA GPIO_I2C3_SDA_2       /* PH8 */

-#define GPIO_I2C3_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTH | GPIO_PIN7)
-#define GPIO_I2C3_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTH | GPIO_PIN8)
-
 #define GPIO_I2C4_SCL GPIO_I2C4_SCL_2       /* PF14 */
 #define GPIO_I2C4_SDA GPIO_I2C4_SDA_2       /* PF15 */

-#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN14)
-#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTF | GPIO_PIN15)
-
 /* SDMMC2
 *
 *      VDD 3.3
@@ -423,7 +423,15 @@
 		GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
 		GPIO_SAFETY_SWITCH_IN,            \
 		GPIO_PG6,                         \
-		GPIO_nARMED_INIT                  \
+		GPIO_nARMED_INIT,                  \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SCL), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C1_SDA), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SCL), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C2_SDA), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C3_SCL), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C3_SDA), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SCL), \
+		PX4_MAKE_GPIO_OUTPUT_CLEAR(GPIO_I2C4_SDA), \
 	}

 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -0,0 +1,3 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROMFSROOT=""
@@ -0,0 +1,91 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS6"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_COMMON_BAROMETERS=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
+CONFIG_DRIVERS_HEATER=y
+CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_POWER_MONITOR_INA226=y
+CONFIG_DRIVERS_POWER_MONITOR_INA228=y
+CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_PWM_OUT=y
+CONFIG_DRIVERS_PWM_OUT_SIM=y
+CONFIG_DRIVERS_PX4IO=y
+CONFIG_COMMON_TELEMETRY=y
+CONFIG_DRIVERS_TONE_ALARM=y
+CONFIG_DRIVERS_UAVCAN=y
+CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+CONFIG_MODULES_ESC_BATTERY=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+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_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_ROVER_POS_CONTROL=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIH=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_I2CDETECT=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_MIXER=y
+CONFIG_SYSTEMCMDS_MOTOR_TEST=y
+CONFIG_SYSTEMCMDS_MTD=y
+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_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -0,0 +1,13 @@
+{
+    "board_id": 56,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the PX4FMUv6C board",
+    "image": "",
+    "build_time": 0,
+    "summary": "PX4FMUv6C",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1966080,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,20 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+
+param set-default BAT1_V_DIV 18.1
+param set-default BAT2_V_DIV 18.1
+
+param set-default BAT1_A_PER_V 36.367515152
+param set-default BAT2_A_PER_V 36.367515152
+
+# Mavlink ethernet (CFG 1000)
+param set-default MAV_2_CONFIG 1000
+param set-default MAV_2_BROADCAST 1
+param set-default MAV_2_MODE 0
+param set-default MAV_2_RADIO_CTL 0
+param set-default MAV_2_RATE 100000
+param set-default MAV_2_REMOTE_PRT 14550
+param set-default MAV_2_UDP_PRT 14550
@@ -0,0 +1,21 @@
+#!/bin/sh
+#
+# PX4 FMUv6C specific board sensors init
+#------------------------------------------------------------------------------
+board_adc start
+
+# Internal SPI bus BMI055 accel/gyro
+bmi055 -A -R 4 -s start
+bmi055 -G -R 4 -s start
+
+# Internal SPI bus ICM42688p
+icm42688p -R 6 -s start
+
+# Internal barometer on I2C4
+ms5611 -I -b 4 -a 0x77 start
+
+# Internal compass on IMU I2C4
+ist8310 -I -b 4 -a 0xc -R 6 start
+
+# External compass on GPS/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
+ist8310 -X -b 1 -R 10 start
@@ -0,0 +1,17 @@
+#
+# For a description of the syntax of this configuration file,
+# see misc/tools/kconfig-language.txt.
+#
+config BOARD_HAS_PROBES
+	bool "Board provides GPIO or other Hardware for signaling to timing analyze."
+	default y
+	---help---
+		This board provides GPIO FMU-CH1-5, CAP1-6 as PROBE_1-11 to provide timing signals from selected drivers.
+
+config BOARD_USE_PROBES
+	bool "Enable the use the board provided FMU-CH1-5, CAP1-6 as PROBE_1-11"
+	default n
+	depends on BOARD_HAS_PROBES
+
+	---help---
+		Select to use GPIO FMU-CH1-5, CAP1-6  to provide timing signals from selected drivers.
@@ -0,0 +1,96 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DEV_CONSOLE is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_SPI_EXCHANGE is not set
+# CONFIG_STM32H7_SYSCFG is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fmu-v6c/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H753II=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_INITTHREAD_PRIORITY=254
+CONFIG_BOARD_LATE_INITIALIZE=y
+CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_C99_BOOL8=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x0038
+CONFIG_CDCACM_PRODUCTSTR="PX4 BL FMU v6C.x"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3185
+CONFIG_CDCACM_VENDORSTR="Auterion"
+CONFIG_CLOCK_MONOTONIC=y
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_DISABLE_PTHREAD=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FDCLONE_DISABLE=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_LIB_BOARDCTL=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_SDCLONE_DISABLE=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SPI=y
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=32
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_UART7=y
+CONFIG_SYSTEMTICK_HOOK=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGINT_CHAR=0x03
+CONFIG_TTY_SIGTSTP=y
+CONFIG_UART7_RXBUFSIZE=512
+CONFIG_UART7_RXDMA=y
+CONFIG_UART7_TXBUFSIZE=512
+CONFIG_UART7_TXDMA=y
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="bootloader_main"
@@ -0,0 +1,505 @@
+/************************************************************************************
+ * nuttx-configs/px4_fmu-v6c/include/board.h
+ *
+ *   Copyright (C) 2016-2019 Gregory Nutt. All rights reserved.
+ *   Authors: David Sidrane <david.sidrane@nscdg.com>
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name NuttX nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ************************************************************************************/
+#ifndef __NUTTX_CONFIG_PX4_FMU_V6C_INCLUDE_BOARD_H
+#define __NUTTX_CONFIG_PX4_FMU_V6C_INCLUDE_BOARD_H
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include "board_dma_map.h"
+
+#include <nuttx/config.h>
+
+#ifndef __ASSEMBLY__
+# include <stdint.h>
+#endif
+
+#include "stm32_rcc.h"
+#include "stm32_sdmmc.h"
+
+/************************************************************************************
+ * Pre-processor Definitions
+ ************************************************************************************/
+
+/* Clocking *************************************************************************/
+/* The px4_fmu-v6C  board provides the following clock sources:
+ *
+ *   X1: 16 MHz crystal for HSE
+ *
+ * So we have these clock source available within the STM32
+ *
+ *   HSI: 16 MHz RC factory-trimmed
+ *   HSE: 16 MHz crystal for HSE
+ */
+
+#define STM32_BOARD_XTAL        16000000ul
+
+#define STM32_HSI_FREQUENCY     16000000ul
+#define STM32_LSI_FREQUENCY     32000
+#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
+#define STM32_LSE_FREQUENCY     32768
+
+/* Main PLL Configuration.
+ *
+ * PLL source is HSE = 16,000,000
+ *
+ * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
+ * Subject to:
+ *
+ *     1 <= PLLM <= 63
+ *     4 <= PLLN <= 512
+ *   150 MHz <= PLL_VCOL <= 420MHz
+ *   192 MHz <= PLL_VCOH <= 836MHz
+ *
+ * SYSCLK  = PLL_VCO / PLLP
+ * CPUCLK  = SYSCLK / D1CPRE
+ * Subject to
+ *
+ *   PLLP1   = {2, 4, 6, 8, ..., 128}
+ *   PLLP2,3 = {2, 3, 4, ..., 128}
+ *   CPUCLK <= 480 MHz
+ */
+
+#define STM32_BOARD_USEHSE
+
+#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
+
+/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
+ *
+ *   PLL1_VCO = (16,000,000 / 1) * 60 = 960 MHz
+ *
+ *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
+ *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
+ *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
+ */
+
+#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVP1EN | \
+				 RCC_PLLCFGR_DIVQ1EN | \
+				 RCC_PLLCFGR_DIVR1EN)
+#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
+#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(60)
+#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
+#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(4)
+#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
+
+#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 60)
+#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
+#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
+#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
+
+/* PLL2 */
+
+#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
+				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
+				  RCC_PLLCFGR_DIVP2EN | \
+				  RCC_PLLCFGR_DIVQ2EN | \
+				  RCC_PLLCFGR_DIVR2EN)
+#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(4)
+#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(48)
+#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
+#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
+#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
+
+#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 4) * 48)
+#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
+
+/* PLL3 */
+
+#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
+				 RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
+				 RCC_PLLCFGR_DIVQ3EN)
+#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(4)
+#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(48)
+#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
+#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
+#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
+
+#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 4) * 48)
+#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
+#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
+
+/* SYSCLK = PLL1P = 480MHz
+ * CPUCLK = SYSCLK / 1 = 480 MHz
+ */
+
+#define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
+#define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
+#define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
+
+/* Configure Clock Assignments */
+
+/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
+ * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
+ */
+
+#define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
+#define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
+#define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
+#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */
+
+/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
+#define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
+#define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
+
+#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
+#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */
+
+#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
+#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* Timer clock frequencies */
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Kernel Clock Configuration
+ *
+ * Note: look at Table 54 in ST Manual
+ */
+
+/* I2C123 clock source */
+
+#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
+
+/* I2C4 clock source */
+
+#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
+
+/* SPI123 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
+
+/* SPI45 clock source */
+
+#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2
+
+/* SPI6 clock source */
+
+#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2
+
+/* USB 1 and 2 clock source */
+
+#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3
+
+/* ADC 1 2 3 clock source */
+
+#define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2
+
+/* FDCAN 1 2 clock source */
+
+#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
+
+#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
+
+/* FLASH wait states
+ *
+ *  ------------ ---------- -----------
+ *  Vcore        MAX ACLK   WAIT STATES
+ *  ------------ ---------- -----------
+ *  1.15-1.26 V     70 MHz    0
+ *  (VOS1 level)   140 MHz    1
+ *                 210 MHz    2
+ *  1.05-1.15 V     55 MHz    0
+ *  (VOS2 level)   110 MHz    1
+ *                 165 MHz    2
+ *                 220 MHz    3
+ *  0.95-1.05 V     45 MHz    0
+ *  (VOS3 level)    90 MHz    1
+ *                 135 MHz    2
+ *                 180 MHz    3
+ *                 225 MHz    4
+ *  ------------ ---------- -----------
+ */
+
+#define BOARD_FLASH_WAITSTATES 2
+
+/* SDMMC definitions ********************************************************/
+
+/* Init 400kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
+
+#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
+ */
+
+#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << 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)
+#else
+#  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+
+#define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
+
+/* LED definitions ******************************************************************/
+/* The PX4 FMUV6C board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
+ * LED_RED a Red LED, that can be controlled by software.
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
+ * The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+/* LED definitions ******************************************************************/
+/* The px4_fmu-v6c board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
+ * LED_RED a Red LED, that can be controlled by software.
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
+ * The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+#define BOARD_LED1        0
+#define BOARD_LED2        1
+#define BOARD_LED3        2
+#define BOARD_NLEDS       3
+
+#define BOARD_LED_RED     BOARD_LED1
+#define BOARD_LED_GREEN   BOARD_LED2
+#define BOARD_LED_BLUE    BOARD_LED3
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+#define BOARD_LED2_BIT    (1 << BOARD_LED2)
+#define BOARD_LED3_BIT    (1 << BOARD_LED3)
+
+/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
+ * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
+ * events as follows:
+ *
+ *
+ *   SYMBOL                     Meaning                      LED state
+ *                                                        Red   Green Blue
+ *   ----------------------  --------------------------  ------ ------ ----*/
+
+#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
+#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
+#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
+#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
+#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
+#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
+#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
+#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
+#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
+
+/* Thus if the Green LED is statically on, NuttX has successfully booted and
+ * is, apparently, running normally.  If the Red LED is flashing at
+ * approximately 2Hz, then a fatal error has been detected and the system
+ * has halted.
+ */
+
+/* Alternate function pin selections ************************************************/
+
+#define GPIO_USART1_RX   GPIO_USART1_RX_2    /* PA10 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_3    /* PB6 */
+
+#define GPIO_USART2_RX   GPIO_USART2_RX_1   /* PA3   */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5   */
+
+#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9   */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8   */
+
+#define GPIO_UART5_RX    GPIO_UART5_RX_3    /* PD2  */
+#define GPIO_UART5_TX    GPIO_UART5_TX_3    /* PC12 */
+// GPIO_UART5_RTS   no remap                /* PC8  */
+// GPIO_UART5_CTS  No remap                 /* PC9  */
+
+#define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7 */
+#define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6  */
+
+#define GPIO_UART7_RX    GPIO_UART7_RX_3    /* PE7  */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
+#define GPIO_UART7_RTS   GPIO_UART7_RTS_1   /* PE9  */
+#define GPIO_UART7_CTS   GPIO_UART7_CTS_1   /* PE10 */
+
+#define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0 */
+#define GPIO_UART8_TX    GPIO_UART8_TX_1    /* PE1 */
+
+
+/* CAN
+ *
+ * CAN1 is routed to transceiver.
+ * CAN2 is routed to transceiver.
+ */
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_3     /* PD0  */
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_3     /* PD1  */
+#define GPIO_CAN2_RX     GPIO_CAN2_RX_2     /* PB5 */
+#define GPIO_CAN2_TX     GPIO_CAN2_TX_1     /* PB13  */
+
+/* SPI
+ * SPI1 is sensors
+ * SPI2 is FRAM
+ *
+ */
+
+#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
+
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1               /* PA7  */
+#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5  */
+
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_2               /* PC2  */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_3               /* PC3  */
+#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_5) /* PD3  */
+
+/* I2C
+ *
+ *   The optional _GPIO configurations allow the I2C driver to manually
+ *   reset the bus to clear stuck slaves.  They match the pin configuration,
+ *   but are normally-high GPIOs.
+ *
+ */
+
+#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
+#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1       /* PB7  */
+
+#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8)
+#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
+
+#define GPIO_I2C2_SCL GPIO_I2C2_SCL_1       /* PB10 */
+#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1       /* PB11*/
+
+#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
+#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN11)
+
+#define GPIO_I2C4_SCL GPIO_I2C4_SCL_1       /* PD12 */
+#define GPIO_I2C4_SDA GPIO_I2C4_SDA_1       /* PD13 */
+
+#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN12)
+#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN13)
+
+/* SDMMC2
+ *
+ *      VDD 3.3
+ *      GND
+ *      SDMMC2_CK                           PD6
+ *      SDMMC2_CMD                          PD7
+ *      SDMMC2_D0                           PB14
+ *      SDMMC2_D1                           PB15
+ *      SDMMC2_D2                           PB3
+ *      SDMMC2_D3                           PB4
+ */
+
+#define GPIO_SDMMC2_CK   GPIO_SDMMC2_CK_1  /* PD6  */
+#define GPIO_SDMMC2_CMD  GPIO_SDMMC2_CMD_1 /* PD7  */
+//      GPIO_SDMMC2_D0   No Remap          /* PB14 */
+//      GPIO_SDMMC2_D1   No Remap          /* PB15 */
+#define GPIO_SDMMC2_D2   GPIO_SDMMC2_D2_2  /* PB3  */
+//      GPIO_SDMMC2_D3    No Remap         /* PB4  */
+
+/* USB
+ *
+ *      OTG_FS_DM                           PA11
+ *      OTG_FS_DP                           PA12
+ *      VBUS                                PA9
+ */
+
+
+/* Board provides GPIO or other Hardware for signaling to timing analyzer */
+
+#if defined(CONFIG_BOARD_USE_PROBES)
+# include "stm32_gpio.h"
+# define PROBE_N(n) (1<<((n)-1))
+# define PROBE_1    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)   /* PA8  AUX1 */
+# define PROBE_2    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)  /* PE11 AUX2 */
+# define PROBE_3    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)  /* PE13 AUX3 */
+# define PROBE_4    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)  /* PE14 AUX4 */
+# define PROBE_5    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)  /* PD14 AUX5 */
+# define PROBE_6    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)  /* PD15 AUX6 */
+# define PROBE_7    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)   /* PA0  AUX7 */
+# define PROBE_8    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)   /* PA1  AUX8 */
+
+# define PROBE_INIT(mask) \
+	do { \
+		if ((mask)& PROBE_N(1)) { stm32_configgpio(PROBE_1); } \
+		if ((mask)& PROBE_N(2)) { stm32_configgpio(PROBE_2); } \
+		if ((mask)& PROBE_N(3)) { stm32_configgpio(PROBE_3); } \
+		if ((mask)& PROBE_N(4)) { stm32_configgpio(PROBE_4); } \
+		if ((mask)& PROBE_N(5)) { stm32_configgpio(PROBE_5); } \
+		if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
+		if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \
+		if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \
+	} while(0)
+
+# define PROBE(n,s)  do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
+# define PROBE_MARK(n) PROBE(n,false);PROBE(n,true)
+#else
+# define PROBE_INIT(mask)
+# define PROBE(n,s)
+# define PROBE_MARK(n)
+#endif
+
+#endif  /*__NUTTX_CONFIG_PX4_FMU_V6C_INCLUDE_BOARD_H  */
@@ -0,0 +1,79 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+// DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
+//                                                     V
+
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0     /* 1 DMA1:37 BMI055, ICM-42688-P */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0     /* 2 DMA1:38 BMI055, ICM-42688-P  */
+
+#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0     /* 3 DMA1:39 FRAM */
+#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0     /* 4 DMA1:40 FRAM */
+
+//#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /*  DMA1:41  GPS1 */
+//#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /*  DMA1:42  GPS1 */
+
+//#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_0 /*  DMA1:43 Telem3 */
+//#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_0 /*  DMA1:44 Telem3 */
+
+//#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /*  DMA1:45 DEBUG */
+//#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /*  DMA1:46 DEBUG */
+
+//#define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_0  /*  DMA1:63 EXT2 */
+//#define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_0  /*  DMA1:64 EXT2 */
+
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   /* 5 DMA1:71 PX4IO */
+#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   /* 6 DMA1:72 PX4IO */
+
+// Assigned in timer_config.cpp
+
+// Timer 4                                          /* 7 DMA1:32 TIM4UP */
+// Timer 5                                          /* 8 DMA1:50 TIM5UP */
+
+// DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
+//                                                     V
+
+
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 3 DMA2:45 DEBUG */
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 4 DMA2:46 DEBUG */
+
+#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    /* 5 DMA2:65 TELEM2 */
+#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    /* 6 DMA2:66  TELEM2 */
+
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    /* 7 DMA1:79  TELEM1 */
+#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    /* 8 DMA1:80  TELEM1 */
+
+//#define DMAMAP_UART8_RX   DMAMAP_DMA12_UART8RX_1  /*  DMA1:81  GPS2 */
+//#define DMAMAP_UART8_TX   DMAMAP_DMA12_UART8TX_1  /*  DMA1:82  GPS2 */
--- a/Show More
+++ b/Show More