[DO NOT MERGE] test param save from HPWORK

2026-05-31 05:10:04 +08:00 · 2021-03-25 15:33:01 -04:00
332 changed files with 4113 additions and 5139 deletions
@@ -45,9 +45,7 @@ pipeline {
                     "cuav_can-gps-v1_canbootloader",
                     "cuav_can-gps-v1_default",
                     "cuav_nora_default",
-                     "cuav_nora_test",
                     "cuav_x7pro_default",
-                     "cuav_x7pro_test",
                     "cubepilot_cubeorange_console",
                     "cubepilot_cubeorange_default",
                     "cubepilot_cubeyellow_console",
@@ -55,11 +53,9 @@ pipeline {
                     "holybro_can-gps-v1_canbootloader",
                     "holybro_can-gps-v1_default",
                     "holybro_durandal-v1_default",
-                     "holybro_durandal-v1_test",
                     "holybro_kakutef7_default",
                     "holybro_pix32v5_default",
                     "modalai_fc-v1_default",
-                     "modalai_fc-v1_rtps",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7_default",
@@ -52,12 +52,12 @@ pipeline {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/cubepilot_io-v2_default.bin" || true' // force px4io update
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                  }
                }
                stage("status") {
@@ -84,9 +84,9 @@ pipeline {
          }
        }

-        stage("cuav_x7pro_test") {
+        stage("cuav_x7pro_default") {
          stages {
-            stage("build cuav_x7pro_test") {
+            stage("build cuav_x7pro_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
@@ -99,10 +99,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make cuav_x7pro_test'
+                sh 'make cuav_x7pro_default'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'cuav_x7pro_default'
              }
              post {
                always {
@@ -119,21 +119,21 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'cuav_x7pro_test'
+                    unstash 'cuav_x7pro_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_test/cuav_x7pro_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/cuav_x7pro_default/cuav_x7pro_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 2000"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                  }
                }
                stage("status") {
@@ -255,13 +255,13 @@ pipeline {
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"'   // generic vtol standard
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
@@ -331,13 +331,12 @@ pipeline {
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
@@ -407,13 +406,13 @@ pipeline {
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"'   // generic vtol standard
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 13000"' // generic vtol standard
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
@@ -483,13 +482,13 @@ pipeline {
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
@@ -562,14 +561,13 @@ pipeline {
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"'  // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'   // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                 // reboot to apply
                  }
                }
                stage("status") {
@@ -639,13 +637,12 @@ pipeline {
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"' // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
@@ -718,14 +715,13 @@ pipeline {
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"'  // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"'        // limit cpu usage
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'   // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 250"' // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0"'       // limit cpu usage
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'   // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                 // reboot to apply
                  }
                }
                stage("status") {
@@ -795,13 +791,12 @@ pipeline {
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic vtol standardulticopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
@@ -828,9 +823,9 @@ pipeline {
          }
        }

-        stage("holybro_durandal-v1_test") {
+        stage("holybro_durandal-v1_default") {
          stages {
-            stage("build holybro_durandal-v1_test") {
+            stage("build holybro_durandal-v1_default") {
              agent {
                docker {
                  image 'px4io/px4-dev-nuttx-focal:2020-09-14'
@@ -843,10 +838,10 @@ pipeline {
                sh 'make distclean'
                sh 'ccache -s'
                sh 'git fetch --tags'
-                sh 'make holybro_durandal-v1_test'
+                sh 'make holybro_durandal-v1_default'
                sh 'make sizes'
                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_test'
+                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/upload_jlink_gdb.sh, Tools/HIL/*.py', name: 'holybro_durandal-v1_default'
              }
              post {
                always {
@@ -863,21 +858,24 @@ pipeline {
                  steps {
                    sh 'export'
                    sh 'find /dev/serial'
-                    unstash 'holybro_durandal-v1_test'
+                    unstash 'holybro_durandal-v1_default'
                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_test/holybro_durandal-v1_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
+                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/holybro_durandal-v1_default/holybro_durandal-v1_default.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
                  }
                }
                stage("configure") {
                  steps {
                    // configure
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set DSHOT_CONFIG 600"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 4000"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_USE_IO 0"'          // for dshot
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io forceupdate 14662 /etc/extras/px4_io-v2_default.bin" || true' // force px4io update
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
                  }
                }
                stage("status") {
@@ -948,13 +946,12 @@ pipeline {
                stage("configure") {
                  steps {
                    // configure
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'    // disable buzzer
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'    // generic quadcopter
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'       // update bootloader
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set CBRK_BUZZER 782097"'  // disable buzzer
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOCONFIG 2"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_AUTOSTART 4001"'  // generic multicopter
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set SYS_BL_UPDATE 1"'     // update bootloader
                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                  // reboot to apply
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "reboot" || true'                // reboot to apply
                  }
                }
                stage("status") {
@@ -17,36 +17,28 @@ jobs:
        config: [
          airmind_mindpx-v2_default,
          ark_can-flow_canbootloader,
-          ark_can-flow_debug,
          ark_can-flow_default,
          av_x-v1_default,
          bitcraze_crazyflie21_default,
          bitcraze_crazyflie_default,
          cuav_can-gps-v1_canbootloader,
-          cuav_can-gps-v1_debug,
          cuav_can-gps-v1_default,
          cuav_nora_default,
-          cuav_nora_test,
          cuav_x7pro_default,
-          cuav_x7pro_test,
          cubepilot_cubeorange_console,
          cubepilot_cubeorange_default,
          cubepilot_cubeyellow_console,
          cubepilot_cubeyellow_default,
-          cubepilot_io-v2_default,
          holybro_can-gps-v1_canbootloader,
-          holybro_can-gps-v1_debug,
          holybro_can-gps-v1_default,
          holybro_durandal-v1_default,
-          holybro_durandal-v1_test,
          holybro_kakutef7_default,
          holybro_pix32v5_default,
          modalai_fc-v1_default,
-          modalai_fc-v1_rtps,
-          mro_ctrl-zero-f7-oem_default,
          mro_ctrl-zero-f7_default,
-          mro_ctrl-zero-h7-oem_default,
+          mro_ctrl-zero-f7-oem_default,
          mro_ctrl-zero-h7_default,
+          mro_ctrl-zero-h7-oem_default,
          mro_pixracerpro_default,
          mro_x21-777_default,
          mro_x21_default,
@@ -57,8 +49,8 @@ jobs:
          nxp_fmuk66-v3_rtps,
          nxp_fmuk66-v3_socketcan,
          nxp_fmurt1062-v1_default,
-          nxp_ucans32k146_canbootloader,
          nxp_ucans32k146_default,
+          nxp_ucans32k146_canbootloader,
          omnibus_f4sd_default,
          px4_fmu-v2_default,
          px4_fmu-v2_fixedwing,
@@ -70,14 +62,12 @@ jobs:
          px4_fmu-v4_default,
          px4_fmu-v4pro_default,
          px4_fmu-v5_ctrlalloc,
-          px4_fmu-v5_debug,
          px4_fmu-v5_default,
          px4_fmu-v5_fixedwing,
          px4_fmu-v5_multicopter,
          px4_fmu-v5_optimized,
          px4_fmu-v5_rover,
          px4_fmu-v5_rtps,
-          px4_fmu-v5_stackcheck,
          px4_fmu-v5_uavcanv0periph,
          px4_fmu-v5_uavcanv1,
          px4_fmu-v5x_base_phy_DP83848C,
@@ -28,9 +28,9 @@ jobs:
        token: ${{ secrets.ACCESS_TOKEN }}

    - name: Download MAVSDK
-      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.38.0/mavsdk_0.38.0_ubuntu20.04_amd64.deb
+      run: wget https://github.com/mavlink/MAVSDK/releases/download/v0.36.0/mavsdk_0.36.0_ubuntu20.04_amd64.deb
    - name: Install MAVSDK
-      run: dpkg -i mavsdk_0.38.0_ubuntu20.04_amd64.deb
+      run: dpkg -i mavsdk_0.36.0_ubuntu20.04_amd64.deb

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -96,26 +96,21 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cuav_x7pro_default
-    cubepilot_cubeorange_console:
+    cubepilot_cubeorange_default:
      short: cubepilot_cubeorange
      buildType: MinSizeRel
      settings:
-        CONFIG: cubepilot_orange_console
+        CONFIG: cubepilot_orange_default
+    cubepilot_cubeyellow_default:
+      short: cubepilot_cubeyellow
+      buildType: MinSizeRel
+      settings:
+        CONFIG: cubepilot_cubeyellow_default
    emlid_navio2_default:
      short: emlid_navio2
      buildType: MinSizeRel
      settings:
        CONFIG: emlid_navio2_default
-    holybro_can-gps-v1_canbootloader:
-      short: holybro_can-gps-v1_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_can-gps-v1_canbootloader
-    holybro_can-gps-v1_default:
-      short: holybro_can-gps-v1_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_can-gps-v1_default
    holybro_durandal-v1_default:
      short: holybro_durandal-v1
      buildType: MinSizeRel
@@ -89,7 +89,6 @@ pipeline {
          }
          steps {
            sh 'make distclean'
-            sh 'git fetch --all --tags'
            sh 'make airframe_metadata'
            dir('build/px4_sitl_default/docs') {
              archiveArtifacts(artifacts: 'airframes.md, airframes.xml')
@@ -109,11 +108,10 @@ pipeline {
          }
          steps {
            sh 'make distclean'
-            sh 'git fetch --all --tags'
            sh 'make parameters_metadata'
            dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
-              stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters'
+              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, params.json.xz')
+              stash includes: 'parameters.md, parameters.xml, params.json.xz', name: 'metadata_parameters'
            }
          }
          post {
@@ -129,7 +127,6 @@ pipeline {
          }
          steps {
            sh 'make distclean'
-            sh 'git fetch --all --tags'
            sh 'make module_documentation'
            dir('build/px4_sitl_default/docs') {
              archiveArtifacts(artifacts: 'modules/*.md')
@@ -153,7 +150,6 @@ pipeline {
          steps {
            sh 'export'
            sh 'make distclean'
-            sh 'git fetch --all --tags'
            sh 'make uorb_graphs'
            dir('Tools/uorb_graph') {
              archiveArtifacts(artifacts: 'graph_px4_sitl.json')
@@ -346,7 +342,7 @@ pipeline {
            withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
-              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.json.xz', path: 'Firmware/master/')
+              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'params.json.xz', path: 'Firmware/master/')
            }
          }
          when {
@@ -303,7 +303,7 @@ check_%:
 	@echo

 uorb_graphs:
-	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --exclude-path src/lib --file Tools/uorb_graph/graph_full
+	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph
@@ -85,24 +85,23 @@ See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and
 This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.

 ### Pixhawk Standard Boards
-  * FMUv6X and FMUv6U (STM32H7, 2021)
-    * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
-  * FMUv5 and FMUv5X (STM32F7, 2019/20)
-    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
-    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
-    * [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
-    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
-    * [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
-  * FMUv4 (STM32F4, 2015)
-    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
-    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
-  * FMUv3 (STM32F4, 2014)
+  * FMUv2
+    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
+    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
+  * FMUv3
    * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
    * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
    * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
-  * FMUv2 (STM32F4, 2013)
-    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
-    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
+  * FMUv4 (STM32F4)
+    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
+  * FMUv5 (STM32F7)
+    * [Pixhawk 4](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
+    * [CUAV V5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
+    * [CUAV V5 nano](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
+  * FMUv6X and FMUv6U (STM32H7)
+    * Various vendors will provide FMUv6X and FMUv6U based designs Q2/2021

 ### Manufacturer and Community supported
  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
@@ -76,6 +76,15 @@ unset BOARD_RC_DEFAULTS
 #
 rgbled start -X -q
 rgbled_ncp5623c start -X -q
+rgbled_pwm start
+
+if param greater -s LIGHT_EN_BLINKM 0
+then
+	if blinkm start -X
+	then
+		blinkm systemstate
+	fi
+fi

 #
 # board sensors: rc.sensors
@@ -10,39 +10,43 @@
 . ${R}etc/init.d/rc.mc_defaults
 . ${R}etc/init.d/rc.ctrlalloc

-param set-default MPC_USE_HTE 0
+if [ $AUTOCNF = yes ]
+then
+	param set MPC_USE_HTE 0

-param set-default VM_MASS 1.5
-param set-default VM_INERTIA_XX 0.03
-param set-default VM_INERTIA_YY 0.03
-param set-default VM_INERTIA_ZZ 0.05
+	param set VM_MASS 1.5
+	param set VM_INERTIA_XX 0.03
+	param set VM_INERTIA_YY 0.03
+	param set VM_INERTIA_ZZ 0.05

-param set-default CA_AIRFRAME 0
-param set-default CA_METHOD 1
-param set-default CA_ACT0_MIN 0.0
-param set-default CA_ACT1_MIN 0.0
-param set-default CA_ACT2_MIN 0.0
-param set-default CA_ACT3_MIN 0.0
-param set-default CA_ACT0_MAX 1.0
-param set-default CA_ACT1_MAX 1.0
-param set-default CA_ACT2_MAX 1.0
-param set-default CA_ACT3_MAX 1.0
+	param set CA_AIRFRAME 0
+	param set CA_METHOD 1
+	param set CA_ACT0_MIN 0.0
+	param set CA_ACT1_MIN 0.0
+	param set CA_ACT2_MIN 0.0
+	param set CA_ACT3_MIN 0.0
+	param set CA_ACT0_MAX 1.0
+	param set CA_ACT1_MAX 1.0
+	param set CA_ACT2_MAX 1.0
+	param set CA_ACT3_MAX 1.0

-param set-default CA_MC_R0_PX 0.1515
-param set-default CA_MC_R0_PY 0.245
-param set-default CA_MC_R0_CT 6.5
-param set-default CA_MC_R0_KM 0.05
-param set-default CA_MC_R1_PX -0.1515
-param set-default CA_MC_R1_PY -0.1875
-param set-default CA_MC_R1_CT 6.5
-param set-default CA_MC_R1_KM 0.05
-param set-default CA_MC_R2_PX 0.1515
-param set-default CA_MC_R2_PY -0.245
-param set-default CA_MC_R2_CT 6.5
-param set-default CA_MC_R2_KM -0.05
-param set-default CA_MC_R3_PX -0.1515
-param set-default CA_MC_R3_PY 0.1875
-param set-default CA_MC_R3_CT 6.5
-param set-default CA_MC_R3_KM -0.05
+	param set CA_MC_R0_PX 0.1515
+	param set CA_MC_R0_PY 0.245
+	param set CA_MC_R0_CT 6.5
+	param set CA_MC_R0_KM 0.05
+	param set CA_MC_R1_PX -0.1515
+	param set CA_MC_R1_PY -0.1875
+	param set CA_MC_R1_CT 6.5
+	param set CA_MC_R1_KM 0.05
+	param set CA_MC_R2_PX 0.1515
+	param set CA_MC_R2_PY -0.245
+	param set CA_MC_R2_CT 6.5
+	param set CA_MC_R2_KM -0.05
+	param set CA_MC_R3_PX -0.1515
+	param set CA_MC_R3_PY 0.1875
+	param set CA_MC_R3_CT 6.5
+	param set CA_MC_R3_KM -0.05
+
+fi

 set MIXER direct
@@ -7,6 +7,8 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-param set-default EKF2_RNG_AID 1
-param set-default EKF2_RNG_A_HMAX 10
-
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_RNG_AID 1
+	param set EKF2_RNG_A_HMAX 10
+fi
@@ -8,12 +8,15 @@

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

-# EKF2: Multi GPS blending (as the model has 2 GPS's)
-param set-default SENS_GPS_MASK 7
-param set-default TRIG_INTERFACE 3
-param set-default TRIG_MODE 4
-param set-default MNT_MODE_IN 4
-param set-default MNT_MODE_OUT 2
-param set-default MNT_DO_STAB 2
+if [ $AUTOCNF = yes ]
+then
+	# EKF2: Multi GPS blending (as the model has 2 GPS's)
+	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 4
+	param set MNT_MODE_OUT 2
+	param set MNT_DO_STAB 2
+fi

 set MIXER quad_x
@@ -7,14 +7,16 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-# EKF2
-param set-default EKF2_AID_MASK 2
-param set-default EKF2_EVP_NOISE 0.05
-param set-default EKF2_EVA_NOISE 0.05
+if [ $AUTOCNF = yes ]
+then
+	# EKF2
+	param set EKF2_AID_MASK 2
+	param set EKF2_EVP_NOISE 0.05
+	param set EKF2_EVA_NOISE 0.05

-# LPE: Flow-only mode
-param set-default LPE_FUSION 242
-param set-default LPE_FAKE_ORIGIN 1
-
-param set-default MPC_ALT_MODE 2
+	# LPE: Flow-only mode
+	param set LPE_FUSION 242
+	param set LPE_FAKE_ORIGIN 1

+	param set MPC_ALT_MODE 2
+fi
@@ -7,9 +7,12 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-# enable fusion of landing target velocity
-param set-default LTEST_MODE 1
-param set-default PLD_HACC_RAD 0.1
+if [ $AUTOCNF = yes ]
+then
+	# enable fusion of landing target velocity
+	param set LTEST_MODE 1
+	param set PLD_HACC_RAD 0.1
+fi

 # Start up Landing Target Estimator module
 landing_target_estimator start
@@ -7,5 +7,7 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-param set-default LPE_FUSION 242
-
+if [ $AUTOCNF = yes ]
+then
+	param set LPE_FUSION 242
+fi
@@ -7,13 +7,15 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-# EKF2: Vision position and heading
-param set-default EKF2_AID_MASK 24
-param set-default EKF2_EV_DELAY 5
+if [ $AUTOCNF = yes ]
+then
+	# EKF2: Vision position and heading
+	param set EKF2_AID_MASK 24
+	param set EKF2_EV_DELAY 5

-# LPE: Vision + baro
-param set-default LPE_FUSION 132
-
-# AEQ: External heading set to use vision input
-param set-default ATT_EXT_HDG_M 1
+	# LPE: Vision + baro
+	param set LPE_FUSION 132

+	# AEQ: External heading set to use vision input
+	param set ATT_EXT_HDG_M 1
+fi
@@ -7,7 +7,10 @@

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

-param set-default MC_PITCHRATE_P 0.1
-param set-default MC_ROLLRATE_P 0.1
+if [ $AUTOCNF = yes ]
+then
+	param set MC_PITCHRATE_P 0.1
+	param set MC_ROLLRATE_P 0.1
+fi

 set MIXER quad_x
@@ -7,6 +7,8 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-param set-default COM_OBS_AVOID 1
-param set-default MPC_XY_CRUISE 5.0
-
+if [ $AUTOCNF = yes ]
+then
+	param set COM_OBS_AVOID 1
+	param set MPC_XY_CRUISE 5.0
+fi
@@ -7,12 +7,15 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-# EKF2
-param set-default EKF2_AID_MASK 2
-param set-default SENS_FLOW_ROT 0
+if [ $AUTOCNF = yes ]
+then
+	# EKF2
+	param set EKF2_AID_MASK 2
+	param set SENS_FLOW_ROT 0

-# LPE: Flow-only mode
-param set-default LPE_FUSION 242
-param set-default LPE_FAKE_ORIGIN 1
+	# LPE: Flow-only mode
+	param set LPE_FUSION 242
+	param set LPE_FAKE_ORIGIN 1

-param set-default MPC_ALT_MODE 2
+	param set MPC_ALT_MODE 2
+fi
@@ -7,6 +7,9 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-# EKF2: Vision velocity and heading
-param set-default EKF2_AID_MASK 272
-param set-default EKF2_EV_DELAY 5
+if [ $AUTOCNF = yes ]
+then
+	# EKF2: Vision velocity and heading
+	param set EKF2_AID_MASK 272
+	param set EKF2_EV_DELAY 5
+fi
@@ -7,5 +7,8 @@

 . ${R}etc/init.d-posix/airframes/10016_iris

-# EKF2: Multi GPS blending
-param set-default SENS_GPS_MASK 7
+if [ $AUTOCNF = yes ]
+then
+	# EKF2: Multi GPS blending
+	param set EKF2_GPS_MASK 7 # Uses speed, hpos and vpos accuracy
+fi
@@ -5,13 +5,16 @@

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

-#Set data link loss failsafe mode (0: disabled)
-param set-default NAV_DLL_ACT 0
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0

-# disable circuit breaker for airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128

-#param set CBRK_GPSFAIL 240024
+	#param set CBRK_GPSFAIL 240024
+fi

 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}
@@ -5,13 +5,16 @@

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

-#Set data link loss failsafe mode (0: disabled)
-param set-default NAV_DLL_ACT 0
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0

-# disable circuit breaker for airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128

-#param set CBRK_GPSFAIL 240024
+	#param set CBRK_GPSFAIL 240024
+fi

 set MAV_TYPE 12
 param set MAV_TYPE ${MAV_TYPE}
@@ -5,11 +5,15 @@

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

-#Set data link loss failsafe mode (0: disabled)
-param set-default NAV_DLL_ACT 0
+if [ $AUTOCNF = yes ]
+then
+	#Set data link loss failsafe mode (0: disabled)
+	param set NAV_DLL_ACT 0

-# disable circuit breaker for airspeed sensor
-param set-default CBRK_AIRSPD_CHK 162128
+	# disable circuit breaker for airspeed sensor
+	param set CBRK_AIRSPD_CHK 162128
+
+fi

 set PWM_OUT 12345678
 set MIXER_FILE etc/mixers-sitl/vectored6dof_sitl.main.mix
@@ -5,50 +5,54 @@

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

-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
-param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set EKF2_MAG_ACCLIM 0
+	param set EKF2_MAG_YAWLIM 0

-param set-default FW_LND_AIRSPD_SC 1
-param set-default FW_LND_ANG 8
-param set-default FW_THR_LND_MAX 0
+	param set FW_LND_AIRSPD_SC 1
+	param set FW_LND_ANG 8
+	param set FW_THR_LND_MAX 0

-param set-default FW_L1_PERIOD 12
+	param set FW_L1_PERIOD 12

-param set-default FW_MAN_P_MAX 30
+	param set FW_MAN_P_MAX 30

-param set-default FW_PR_I 0.4
-param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.2
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
-param set-default FW_P_LIM_MIN -15
+	param set FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PR_FF 0.2
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15

-param set-default FW_RR_FF 0.1
-param set-default FW_RR_P 0.3
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.3

-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_THR_CRUISE 0.25
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_THR_CRUISE 0.25

-param set-default FW_T_ALT_TC 2
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-param set-default FW_T_TAS_TC 2
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2

-param set-default FW_W_EN 1
+	param set FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 30
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 30

-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50

-param set-default RWTO_TKOFF 1
+	param set RWTO_TKOFF 1
+
+fi

 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -5,8 +5,10 @@

 . ${R}etc/init.d-posix/airframes/1030_plane

-# Camera trigger interface is MAVLink
-param set-default TRIG_INTERFACE 3
-
-# Distance trigger mode enabled
-param set-default TRIG_MODE 4
+if [ $AUTOCNF = yes ]
+then
+	# Camera trigger interface is MAVLink
+	param set TRIG_INTERFACE 3
+	# Distance trigger mode enabled
+	param set TRIG_MODE 4
+fi
@@ -5,5 +5,8 @@

 . ${R}etc/init.d-posix/airframes/1030_plane

-param set-default RWTO_TKOFF 0
+if [ $AUTOCNF = yes ]
+then
+	param set RWTO_TKOFF 0

+fi
@@ -5,5 +5,8 @@

 . ${R}etc/init.d-posix/airframes/1030_plane

-param set-default FW_LND_USETER 1
+if [ $AUTOCNF = yes ]
+then
+	param set FW_LND_USETER 1

+fi
@@ -5,55 +5,54 @@

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

-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	#param set EKF2_MAG_ACCLIM 0
+	#param set EKF2_MAG_YAWLIM 0

-param set-default FW_LND_AIRSPD_SC 1.1
-param set-default FW_LND_ANG 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_LND_HHDIST 30
-param set-default FW_LND_FL_PMIN 9.5
-param set-default FW_LND_FL_PMAX 20
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_TLALT 15
+	param set FW_LND_AIRSPD_SC 1.1
+	param set FW_LND_ANG 5
+	param set FW_THR_LND_MAX 0
+	param set FW_LND_HHDIST 30
+	param set FW_LND_FL_PMIN 9.5
+	param set FW_LND_FL_PMAX 20
+	param set FW_LND_FLALT 5
+	param set FW_LND_TLALT 15

-param set-default FW_L1_PERIOD 25
+	param set FW_L1_PERIOD 25

-param set-default FW_P_TC 0.4
-param set-default FW_PR_FF 0.40
-param set-default FW_PR_I 0.05
-param set-default FW_PR_P 0.05
+	param set FW_P_TC 0.4
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05

-param set-default FW_R_TC 0.45
-param set-default FW_RR_FF 0.40
-param set-default FW_RR_I 0.132
-param set-default FW_RR_P 0.085
+	param set FW_R_TC 0.45
+	param set FW_RR_FF 0.40
+	param set FW_RR_I 0.132
+	param set FW_RR_P 0.085

-param set-default FW_W_EN 1
+	param set FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
-param set-default MIS_DIST_WPS 10000
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 20
+	param set MIS_DIST_1WP 2500
+	param set MIS_DIST_WPS 10000

-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50

-param set-default RWTO_TKOFF 1
-
-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set FW_THR_SLEW_MAX 0.3
-
-param set-default RWTO_MAX_PITCH 20
-param set-default RWTO_MAX_ROLL 10
-
-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set-default RWTO_MAX_THR 0.6
-
-param set-default RWTO_PSP 8
-param set-default RWTO_AIRSPD_SCL 1.8
+	param set RWTO_TKOFF 1
+	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_MAX_PITCH 20
+	param set RWTO_MAX_ROLL 10
+	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_PSP 8
+	param set RWTO_AIRSPD_SCL 1.8

+fi

 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -5,54 +5,54 @@

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

-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	#param set EKF2_MAG_ACCLIM 0
+	#param set EKF2_MAG_YAWLIM 0

-param set-default FW_LND_AIRSPD_SC 1.1
-param set-default FW_LND_ANG 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_LND_HHDIST 30
-param set-default FW_LND_FL_PMIN 9.5
-param set-default FW_LND_FL_PMAX 20
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_TLALT 15
+	param set FW_LND_AIRSPD_SC 1.1
+	param set FW_LND_ANG 5
+	param set FW_THR_LND_MAX 0
+	param set FW_LND_HHDIST 30
+	param set FW_LND_FL_PMIN 9.5
+	param set FW_LND_FL_PMAX 20
+	param set FW_LND_FLALT 5
+	param set FW_LND_TLALT 15

-param set-default FW_L1_PERIOD 25
+	param set FW_L1_PERIOD 25

-param set-default FW_P_TC 0.4
-param set-default FW_PR_FF 0.40
-param set-default FW_PR_I 0.05
-param set-default FW_PR_P 0.05
+	param set FW_P_TC 0.4
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05

-param set-default FW_R_TC 0.45
-param set-default FW_RR_FF 0.40
-param set-default FW_RR_I 0.132
-param set-default FW_RR_P 0.085
+	param set FW_R_TC 0.45
+	param set FW_RR_FF 0.40
+	param set FW_RR_I 0.132
+	param set FW_RR_P 0.085

-param set-default FW_W_EN 1
+	param set FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
-param set-default MIS_DIST_WPS 10000
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 20
+	param set MIS_DIST_1WP 2500
+	param set MIS_DIST_WPS 10000

-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50

-param set-default RWTO_TKOFF 1
+	param set RWTO_TKOFF 1
+	#param set FW_THR_SLEW_MAX 0.3 # fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_MAX_PITCH 20
+	param set RWTO_MAX_ROLL 10
+	#param set RWTO_MAX_THR 0.6		# fix takeoff failure for JSBsim in autonomous mission mode.
+	param set RWTO_PSP 8
+	param set RWTO_AIRSPD_SCL 1.8

-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set FW_THR_SLEW_MAX 0.3
-
-param set-default RWTO_MAX_PITCH 20
-param set-default RWTO_MAX_ROLL 10
-
-# fix takeoff failure for JSBsim in autonomous mission mode.
-#param set RWTO_MAX_THR 0.6
-
-param set-default RWTO_PSP 8
-param set-default RWTO_AIRSPD_SCL 1.8
+fi

 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -5,39 +5,43 @@

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

-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
-param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set EKF2_MAG_ACCLIM 0
+	param set EKF2_MAG_YAWLIM 0

-param set-default FW_LND_AIRSPD_SC 1
-param set-default FW_LND_ANG 8
-param set-default FW_THR_LND_MAX 0
+	param set FW_LND_AIRSPD_SC 1
+	param set FW_LND_ANG 8
+	param set FW_THR_LND_MAX 0

-param set-default FW_L1_PERIOD 15
+	param set FW_L1_PERIOD 15

-param set-default FW_P_TC 0.5
-param set-default FW_PR_FF 0.40
-param set-default FW_PR_I 0.05
-param set-default FW_PR_P 0.05
+	param set FW_P_TC 0.5
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05

-param set-default FW_R_TC 0.7
-param set-default FW_RR_FF 0.20
-param set-default FW_RR_I 0.02
-param set-default FW_RR_P 0.22
+	param set FW_R_TC 0.7
+	param set FW_RR_FF 0.20
+	param set FW_RR_I 0.02
+	param set FW_RR_P 0.22

-param set-default FW_L1_PERIOD 12
+	param set FW_L1_PERIOD 12

-param set-default FW_W_EN 1
+	param set FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 30
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 30

-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50

-param set-default RWTO_TKOFF 1
+	param set RWTO_TKOFF 1
+
+fi

 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -5,46 +5,52 @@

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

-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	#param set EKF2_MAG_ACCLIM 0
+	#param set EKF2_MAG_YAWLIM 0

-param set-default FW_LND_AIRSPD_SC 1.1
-param set-default FW_LND_ANG 5
-param set-default FW_THR_LND_MAX 0
-param set-default FW_LND_HHDIST 30
-param set-default FW_LND_FL_PMIN 9.5
-param set-default FW_LND_FL_PMAX 20
-param set-default FW_LND_FLALT 5
-param set-default FW_LND_TLALT 15
+	param set FW_LND_AIRSPD_SC 1.1
+	param set FW_LND_ANG 5
+	param set FW_THR_LND_MAX 0
+	param set FW_LND_HHDIST 30
+	param set FW_LND_FL_PMIN 9.5
+	param set FW_LND_FL_PMAX 20
+	param set FW_LND_FLALT 5
+	param set FW_LND_TLALT 15

-param set-default FW_L1_PERIOD 25
+	param set FW_L1_PERIOD 25

-param set-default FW_P_TC 0.4
-param set-default FW_PR_FF 0.40
-param set-default FW_PR_I 0.05
-param set-default FW_PR_P 0.05
+	param set FW_P_TC 0.4
+	param set FW_PR_FF 0.40
+	param set FW_PR_I 0.05
+	param set FW_PR_P 0.05

-param set-default FW_R_TC 0.45
-param set-default FW_RR_FF 0.40
-param set-default FW_RR_I 0.132
-param set-default FW_RR_P 0.085
+	param set FW_R_TC 0.45
+	param set FW_RR_FF 0.40
+	param set FW_RR_I 0.132
+	param set FW_RR_P 0.085

-param set-default FW_W_EN 1
+	param set FW_W_EN 1

-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500
-param set-default MIS_DIST_WPS 10000
+	param set MIS_LTRMIN_ALT 30
+	param set MIS_TAKEOFF_ALT 20
+	param set MIS_DIST_1WP 2500
+	param set MIS_DIST_WPS 10000

-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
+	param set NAV_ACC_RAD 15
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 50

-param set-default RWTO_TKOFF 1
-param set-default RWTO_MAX_PITCH 20
-param set-default RWTO_MAX_ROLL 10
-param set-default RWTO_PSP 8
-param set-default RWTO_AIRSPD_SCL 1.8
+	param set RWTO_TKOFF 1
+	param set RWTO_MAX_PITCH 20
+	param set RWTO_MAX_ROLL 10
+	param set RWTO_PSP 8
+	param set RWTO_AIRSPD_SCL 1.8
+
+fi

 set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
 set MIXER custom
@@ -7,46 +7,50 @@

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

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

-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_YAW_P 1.6
+	param set MC_ROLLRATE_P 0.3
+	param set MC_YAW_P 1.6

-param set-default MIS_TAKEOFF_ALT 10
+	param set MIS_TAKEOFF_ALT 10

-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 3
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_D_ACC 0.1

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

-param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_B_TRANS_DUR 8
-param set-default VT_TYPE 2
+	param set VT_FWD_THRUST_EN 4
+	param set VT_F_TRANS_THR 0.75
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_B_TRANS_DUR 8
+	param set VT_TYPE 2
+
+fi

 set MAV_TYPE 22

@@ -7,40 +7,44 @@

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

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

-param set-default MC_ROLLRATE_P 0.3
+	param set MC_ROLLRATE_P 0.3

-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 3
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_D_ACC 0.1

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

-param set-default VT_F_TRANS_DUR 1.5
-param set-default VT_F_TRANS_THR 0.7
-param set-default VT_TYPE 0
+	param set VT_F_TRANS_DUR 1.5
+	param set VT_F_TRANS_THR 0.7
+	param set VT_TYPE 0

-param set-default WV_EN 0
+	param set WV_EN 0
+
+fi

 set MAV_TYPE 20

@@ -7,44 +7,48 @@

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

-param set-default FW_L1_PERIOD 12
-param set-default FW_MAN_P_MAX 30
-param set-default FW_PR_FF 0.2
-param set-default FW_PR_I 0.4
-param set-default FW_PR_P 0.9
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
-param set-default FW_P_LIM_MIN -15
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_P 0.3
-param set-default FW_THR_CRUISE 0.38
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_T_ALT_TC 2
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-param set-default FW_T_TAS_TC 2
+if [ $AUTOCNF = yes ]
+then
+	param set FW_L1_PERIOD 12
+	param set FW_MAN_P_MAX 30
+	param set FW_PR_FF 0.2
+	param set FW_PR_I 0.4
+	param set FW_PR_P 0.9
+	param set FW_PSP_OFF 2
+	param set FW_P_LIM_MAX 32
+	param set FW_P_LIM_MIN -15
+	param set FW_RR_FF 0.1
+	param set FW_RR_P 0.3
+	param set FW_THR_CRUISE 0.38
+	param set FW_THR_MAX 0.6
+	param set FW_THR_MIN 0.05
+	param set FW_T_ALT_TC 2
+	param set FW_T_CLMB_MAX 8
+	param set FW_T_HRATE_FF 0.5
+	param set FW_T_SINK_MAX 2.7
+	param set FW_T_SINK_MIN 2.2
+	param set FW_T_TAS_TC 2

-param set-default MC_YAW_P 1.6
+	param set MC_YAW_P 1.6

-param set-default MIS_TAKEOFF_ALT 10
+	param set MIS_TAKEOFF_ALT 10

-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 3
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_D_ACC 0.1

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

-param set-default VT_B_TRANS_DUR 8
-param set-default VT_FWD_THRUST_EN 4
-param set-default VT_MOT_ID 1234
-param set-default VT_TILT_TRANS 0.6
-param set-default VT_TYPE 1
+	param set VT_B_TRANS_DUR 8
+	param set VT_FWD_THRUST_EN 4
+	param set VT_MOT_ID 1234
+	param set VT_TILT_TRANS 0.6
+	param set VT_TYPE 1
+
+fi

 set MAV_TYPE 21

@@ -7,50 +7,53 @@

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

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

-param set-default MC_ROLLRATE_P 0.3
-param set-default MC_YAW_P 1.6
+	param set MC_ROLLRATE_P 0.3
+	param set MC_YAW_P 1.6

-param set-default MIS_TAKEOFF_ALT 10
+	param set MIS_TAKEOFF_ALT 10

-param set-default MPC_ACC_HOR_MAX 2
-param set-default MPC_XY_P 0.8
-param set-default MPC_XY_VEL_P_ACC 3
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_D_ACC 0.1
+	param set MPC_ACC_HOR_MAX 2
+	param set MPC_XY_P 0.8
+	param set MPC_XY_VEL_P_ACC 3
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_D_ACC 0.1

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

-param set-default VT_FWD_THRUST_EN 4
-param set-default VT_F_TRANS_THR 0.75
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-param set-default VT_B_TRANS_DUR 8
-param set-default VT_TYPE 2
+	param set VT_FWD_THRUST_EN 4
+	param set VT_F_TRANS_THR 0.75
+	param set VT_MOT_ID 1234
+	param set VT_FW_MOT_OFFID 1234
+	param set VT_B_TRANS_DUR 8
+	param set VT_TYPE 2

-param set-default RC_MAP_AUX1 8
-param set-default RC_MAP_AUX2 9
-param set-default RC_MAP_AUX3 10
+	param set RC_MAP_AUX1 8
+	param set RC_MAP_AUX2 9
+	param set RC_MAP_AUX3 10
+fi

 set MAV_TYPE 22

@@ -5,28 +5,32 @@

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

-param set-default GND_L1_DIST 5
-param set-default GND_L1_PERIOD 10
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_SPEED_D 0.001
-param set-default GND_SPEED_I 3
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_THR_SC 1
-param set-default GND_SPEED_TRIM 4
-param set-default GND_THR_CRUISE 0.3
-param set-default GND_THR_MAX 0.5
-param set-default GND_THR_MIN 0
+if [ $AUTOCNF = yes ]
+then
+	param set GND_L1_DIST 5
+	param set GND_L1_PERIOD 10
+	param set GND_SP_CTRL_MODE 1
+	param set GND_SPEED_D 0.001
+	param set GND_SPEED_I 3
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_THR_SC 1
+	param set GND_SPEED_TRIM 4
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0

-param set-default MIS_LTRMIN_ALT 0.01
-param set-default MIS_TAKEOFF_ALT 0.01
-param set-default NAV_ACC_RAD 0.5
-param set-default NAV_LOITER_RAD 2
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	param set NAV_ACC_RAD 0.5
+	param set NAV_LOITER_RAD 2

-param set-default CBRK_AIRSPD_CHK 162128
+	param set CBRK_AIRSPD_CHK 162128

-param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
+	param set GND_MAX_ANG 0.6
+	param set GND_WHEEL_BASE 2.0
+
+fi

 set MAV_TYPE 10

@@ -6,27 +6,31 @@

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

-param set-default GND_L1_DIST 5
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_SPEED_D 3
-param set-default GND_SPEED_I 0.001
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_THR_SC 1
-param set-default GND_SPEED_TRIM 4
-param set-default GND_THR_CRUISE 0.3
-param set-default GND_THR_MAX 0.5
-param set-default GND_THR_MIN 0
+if [ $AUTOCNF = yes ]
+then
+	param set GND_L1_DIST 5
+	param set GND_SP_CTRL_MODE 1
+	param set GND_SPEED_D 3
+	param set GND_SPEED_I 0.001
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_THR_SC 1
+	param set GND_SPEED_TRIM 4
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0

-param set-default MIS_LTRMIN_ALT 0.01
-param set-default MIS_TAKEOFF_ALT 0.01
-param set-default NAV_ACC_RAD 0.5
-param set-default NAV_LOITER_RAD 2
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	param set NAV_ACC_RAD 0.5
+	param set NAV_LOITER_RAD 2

-param set-default CBRK_AIRSPD_CHK 162128
+	param set CBRK_AIRSPD_CHK 162128

-param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
+	param set GND_MAX_ANG 0.6
+	param set GND_WHEEL_BASE 2.0
+
+fi

 set MAV_TYPE 10

@@ -10,28 +10,32 @@

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

-param set-default GND_L1_DIST 5
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_SPEED_D 3
-param set-default GND_SPEED_I 0.001
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_P 0.25
-param set-default GND_SPEED_THR_SC 1
-param set-default GND_SPEED_TRIM 15
-param set-default GND_SPEED_MAX 25
-param set-default GND_THR_CRUISE 0.3
-param set-default GND_THR_MAX 0.5
-param set-default GND_THR_MIN 0
+if [ $AUTOCNF = yes ]
+then
+	param set GND_L1_DIST 5
+	param set GND_SP_CTRL_MODE 1
+	param set GND_SPEED_D 3
+	param set GND_SPEED_I 0.001
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_P 0.25
+	param set GND_SPEED_THR_SC 1
+	param set GND_SPEED_TRIM 15
+	param set GND_SPEED_MAX 25
+	param set GND_THR_CRUISE 0.3
+	param set GND_THR_MAX 0.5
+	param set GND_THR_MIN 0

-param set-default MIS_LTRMIN_ALT 0.01
-param set-default MIS_TAKEOFF_ALT 0.01
-param set-default NAV_ACC_RAD 0.5
-param set-default NAV_LOITER_RAD 2
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	param set NAV_ACC_RAD 0.5
+	param set NAV_LOITER_RAD 2

-param set-default CBRK_AIRSPD_CHK 162128
+	param set CBRK_AIRSPD_CHK 162128

-param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 3.0
+	param set GND_MAX_ANG 0.6
+	param set GND_WHEEL_BASE 3.0
+
+fi

 set MAV_TYPE 10

@@ -5,28 +5,32 @@

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

-param set-default GND_L1_DIST 5
-param set-default GND_L1_PERIOD 100
-param set-default GND_SP_CTRL_MODE 1
-param set-default GND_SPEED_D 0.001
-param set-default GND_SPEED_I 8
-param set-default GND_SPEED_IMAX 0.125
-param set-default GND_SPEED_P 2
-param set-default GND_SPEED_THR_SC 1
-param set-default GND_SPEED_TRIM 1
-param set-default GND_THR_CRUISE 0.85
-param set-default GND_THR_MAX 1
-param set-default GND_THR_MIN 0
+if [ $AUTOCNF = yes ]
+then
+	param set GND_L1_DIST 5
+	param set GND_L1_PERIOD 100
+	param set GND_SP_CTRL_MODE 1
+	param set GND_SPEED_D 0.001
+	param set GND_SPEED_I 8
+	param set GND_SPEED_IMAX 0.125
+	param set GND_SPEED_P 2
+	param set GND_SPEED_THR_SC 1
+	param set GND_SPEED_TRIM 1
+	param set GND_THR_CRUISE 0.85
+	param set GND_THR_MAX 1
+	param set GND_THR_MIN 0

-param set-default MIS_LTRMIN_ALT 0.01
-param set-default MIS_TAKEOFF_ALT 0.01
-param set-default NAV_ACC_RAD 0.5
-param set-default NAV_LOITER_RAD 2
+	param set MIS_LTRMIN_ALT 0.01
+	param set MIS_TAKEOFF_ALT 0.01
+	param set NAV_ACC_RAD 0.5
+	param set NAV_LOITER_RAD 2

-param set-default CBRK_AIRSPD_CHK 162128
+	param set CBRK_AIRSPD_CHK 162128

-param set-default GND_MAX_ANG 0.6
-param set-default GND_WHEEL_BASE 2.0
+	param set GND_MAX_ANG 0.6
+	param set GND_WHEEL_BASE 2.0
+
+fi

 set MAV_TYPE 11

@@ -12,47 +12,52 @@

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

-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
-param set-default ASPD_STALL 10.0
+if [ $AUTOCNF = yes ]
+then
+	param set EKF2_ARSP_THR 8
+	param set EKF2_FUSE_BETA 1
+	param set ASPD_STALL 10.0

-param set-default FW_P_RMAX_NEG 20.0
-param set-default FW_P_RMAX_POS 60.0
-param set-default FW_W_RMAX 10
-param set-default FW_W_EN 1
+	param set FW_P_RMAX_NEG 20.0
+	param set FW_P_RMAX_POS 60.0
+	param set FW_W_RMAX 10
+	param set FW_W_EN 1

-param set-default FW_PR_IMAX 0.4
-param set-default FW_R_TC 0.4
-param set-default FW_RR_FF 0.5
-param set-default FW_RR_I 0.1
-param set-default FW_RR_IMAX 0.2
-param set-default FW_RR_P 0.08
+	param set FW_PR_IMAX 0.4
+	param set FW_R_TC 0.4
+	param set FW_RR_FF 0.5
+	param set FW_RR_I 0.1
+	param set FW_RR_IMAX 0.2
+	param set FW_RR_P 0.08

-param set-default MIS_LTRMIN_ALT 50
-param set-default MIS_TAKEOFF_ALT 3
+	param set MIS_LTRMIN_ALT 50
+	param set MIS_TAKEOFF_ALT 3

-param set-default NAV_ACC_RAD 20
-param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 100
+	param set NAV_ACC_RAD 20
+	param set NAV_DLL_ACT 2
+	param set NAV_LOITER_RAD 100

-param set-default RWTO_TKOFF 1
+	param set RWTO_TKOFF 1

-param set-default FW_ARSP_SCALE_EN 0
+	param set FW_ARSP_SCALE_EN 0

-param set-default FW_AIRSPD_MAX 35
-param set-default FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 15
+	param set FW_AIRSPD_MAX 35
+	param set FW_AIRSPD_MIN 7
+	param set FW_AIRSPD_TRIM 15

-param set-default FW_P_LIM_MAX 25
-param set-default FW_P_LIM_MIN -5
-param set-default FW_R_LIM 30
+	param set FW_P_LIM_MAX 25
+	param set FW_P_LIM_MIN -5
+	param set FW_R_LIM 30

-param set-default FW_MAN_P_MAX 30.0
-param set-default FW_MAN_R_MAX 30.0
+	param set FW_MAN_P_MAX 30.0
+	param set FW_MAN_R_MAX 30.0
+
+	param set FW_THR_CRUISE 0.8
+	param set FW_THR_IDLE 0
+	param set COM_DISARM_PRFLT 0
+
+fi

-param set-default FW_THR_CRUISE 0.8
-param set-default FW_THR_IDLE 0
-param set-default COM_DISARM_PRFLT 0

 set MIXER_FILE etc/mixers-sitl/autogyro_sitl.main.mix
 set MIXER custom
@@ -9,21 +9,24 @@

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

-param set-default MC_PITCHRATE_P 0.1
-param set-default MC_PITCHRATE_I 0.05
-param set-default MC_PITCH_P 6.0
-param set-default MC_ROLLRATE_P 0.15
-param set-default MC_ROLLRATE_I 0.1
-param set-default MC_ROLL_P 6.0
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_P_ACC 3
+if [ $AUTOCNF = yes ]
+then
+	param set MC_PITCHRATE_P 0.1
+	param set MC_PITCHRATE_I 0.05
+	param set MC_PITCH_P 6.0
+	param set MC_ROLLRATE_P 0.15
+	param set MC_ROLLRATE_I 0.1
+	param set MC_ROLL_P 6.0
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 3

-param set-default RTL_DESCEND_ALT 10
+	param set RTL_DESCEND_ALT 10

-param set-default TRIG_INTERFACE 3
-param set-default TRIG_MODE 4
-param set-default MNT_MODE_IN 4
-param set-default MNT_DO_STAB 2
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 4
+	param set MNT_DO_STAB 2
+fi

 set MAV_TYPE 13

@@ -7,24 +7,27 @@

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

-param set-default MC_PITCHRATE_P 0.0800
-param set-default MC_PITCHRATE_I 0.0400
-param set-default MC_PITCHRATE_D 0.0010
-param set-default MC_PITCH_P 9.0
-param set-default MC_ROLLRATE_P 0.0800
-param set-default MC_ROLLRATE_I 0.0400
-param set-default MC_ROLLRATE_D 0.0010
-param set-default MC_ROLL_P 9.0
-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_P_ACC 3
+if [ $AUTOCNF = yes ]
+then
+	param set MC_PITCHRATE_P 0.0800
+	param set MC_PITCHRATE_I 0.0400
+	param set MC_PITCHRATE_D 0.0010
+	param set MC_PITCH_P 9.0
+	param set MC_ROLLRATE_P 0.0800
+	param set MC_ROLLRATE_I 0.0400
+	param set MC_ROLLRATE_D 0.0010
+	param set MC_ROLL_P 9.0
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 3

-param set-default RTL_DESCEND_ALT 10
+	param set RTL_DESCEND_ALT 10

-param set-default TRIG_INTERFACE 3
-param set-default TRIG_MODE 4
-param set-default MNT_MODE_IN 4
-param set-default MNT_MODE_OUT 2
-param set-default MAV_PROTO_VER 2
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 4
+	param set MNT_MODE_OUT 2
+	param set MAV_PROTO_VER 2
+fi

 set MAV_TYPE 13

@@ -8,63 +8,66 @@
 . ${R}etc/init.d/rc.mc_defaults
 . ${R}etc/init.d/rc.ctrlalloc

-param set-default MPC_XY_VEL_I_ACC 4
-param set-default MPC_XY_VEL_P_ACC 3
+if [ $AUTOCNF = yes ]
+then
+	param set MPC_XY_VEL_I_ACC 4
+	param set MPC_XY_VEL_P_ACC 3

-param set-default RTL_DESCEND_ALT 10
-param set-default RTL_LAND_DELAY 0
+	param set RTL_DESCEND_ALT 10
+	param set RTL_LAND_DELAY 0

-param set-default TRIG_INTERFACE 3
-param set-default TRIG_MODE 4
-param set-default MNT_MODE_IN 0
-param set-default MAV_PROTO_VER 2
+	param set TRIG_INTERFACE 3
+	param set TRIG_MODE 4
+	param set MNT_MODE_IN 0
+	param set MAV_PROTO_VER 2

-param set-default MPC_USE_HTE 0
+	param set MPC_USE_HTE 0

-param set-default VM_MASS 2.66
-param set-default VM_INERTIA_XX 0.06
-param set-default VM_INERTIA_YY 0.06
-param set-default VM_INERTIA_ZZ 0.10
+	param set VM_MASS 2.66
+	param set VM_INERTIA_XX 0.06
+	param set VM_INERTIA_YY 0.06
+	param set VM_INERTIA_ZZ 0.10

-param set-default CA_AIRFRAME 0
-param set-default CA_METHOD 1
-param set-default CA_ACT0_MIN 0.0
-param set-default CA_ACT1_MIN 0.0
-param set-default CA_ACT2_MIN 0.0
-param set-default CA_ACT3_MIN 0.0
-param set-default CA_ACT4_MIN 0.0
-param set-default CA_ACT5_MIN 0.0
-param set-default CA_ACT0_MAX 1.0
-param set-default CA_ACT1_MAX 1.0
-param set-default CA_ACT2_MAX 1.0
-param set-default CA_ACT3_MAX 1.0
-param set-default CA_ACT4_MAX 1.0
-param set-default CA_ACT5_MAX 1.0
+	param set CA_AIRFRAME 0
+	param set CA_METHOD 1
+	param set CA_ACT0_MIN 0.0
+	param set CA_ACT1_MIN 0.0
+	param set CA_ACT2_MIN 0.0
+	param set CA_ACT3_MIN 0.0
+	param set CA_ACT4_MIN 0.0
+	param set CA_ACT5_MIN 0.0
+	param set CA_ACT0_MAX 1.0
+	param set CA_ACT1_MAX 1.0
+	param set CA_ACT2_MAX 1.0
+	param set CA_ACT3_MAX 1.0
+	param set CA_ACT4_MAX 1.0
+	param set CA_ACT5_MAX 1.0

-param set-default CA_MC_R0_PX 0.0
-param set-default CA_MC_R0_PY 1.0
-param set-default CA_MC_R0_CT 9.5
-param set-default CA_MC_R0_KM -0.05
-param set-default CA_MC_R1_PX 0.0
-param set-default CA_MC_R1_PY -1.0
-param set-default CA_MC_R1_CT 9.5
-param set-default CA_MC_R1_KM 0.05
-param set-default CA_MC_R2_PX 0.866025
-param set-default CA_MC_R2_PY -0.5
-param set-default CA_MC_R2_CT 9.5
-param set-default CA_MC_R2_KM -0.05
-param set-default CA_MC_R3_PX -0.866025
-param set-default CA_MC_R3_PY 0.5
-param set-default CA_MC_R3_CT 9.5
-param set-default CA_MC_R3_KM 0.05
-param set-default CA_MC_R4_PX 0.866025
-param set-default CA_MC_R4_PY 0.5
-param set-default CA_MC_R4_CT 9.5
-param set-default CA_MC_R4_KM 0.05
-param set-default CA_MC_R5_PX -0.866025
-param set-default CA_MC_R5_PY -0.5
-param set-default CA_MC_R5_CT 9.5
-param set-default CA_MC_R5_KM -0.05
+	param set CA_MC_R0_PX 0.0
+	param set CA_MC_R0_PY 1.0
+	param set CA_MC_R0_CT 9.5
+	param set CA_MC_R0_KM -0.05
+	param set CA_MC_R1_PX 0.0
+	param set CA_MC_R1_PY -1.0
+	param set CA_MC_R1_CT 9.5
+	param set CA_MC_R1_KM 0.05
+	param set CA_MC_R2_PX 0.866025
+	param set CA_MC_R2_PY -0.5
+	param set CA_MC_R2_CT 9.5
+	param set CA_MC_R2_KM -0.05
+	param set CA_MC_R3_PX -0.866025
+	param set CA_MC_R3_PY 0.5
+	param set CA_MC_R3_CT 9.5
+	param set CA_MC_R3_KM 0.05
+	param set CA_MC_R4_PX 0.866025
+	param set CA_MC_R4_PY 0.5
+	param set CA_MC_R4_CT 9.5
+	param set CA_MC_R4_KM 0.05
+	param set CA_MC_R5_PX -0.866025
+	param set CA_MC_R5_PY -0.5
+	param set CA_MC_R5_CT 9.5
+	param set CA_MC_R5_KM -0.05
+fi

 set MAV_TYPE 13

@@ -98,7 +98,7 @@ then
 	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*
+	param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
 fi

 # multi-instance setup
@@ -177,10 +177,6 @@ if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_OF_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 0.5" | bc)
 	echo "COM_OF_LOSS_T set to $COM_OF_LOSS_T_LONGER"
 	param set COM_OF_LOSS_T $COM_OF_LOSS_T_LONGER
-
-	COM_OBC_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 5.0" | bc)
-	echo "COM_OBC_LOSS_T set to $COM_OBC_LOSS_T_LONGER"
-	param set COM_OBC_LOSS_T $COM_OBC_LOSS_T_LONGER
 fi

 # Autostart ID
@@ -220,21 +216,7 @@ dataman start
 # only start the simulator if not in replay mode, as both control the lockstep time
 if ! replay tryapplyparams
 then
-  # Check if PX4_SIM_HOSTNAME environment variable is empty
-  # If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-  # If both are empty use localhost for simulator
-  if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-    if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-      echo "PX4 SIM HOST: localhost"
-      simulator start -c $simulator_tcp_port
-    else
-      echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
-      simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port 
-    fi
-  else
-    echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
-    simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port 
-  fi
+	simulator start -c $simulator_tcp_port
 fi
 load_mon start
 battery_simulator start
@@ -275,7 +257,7 @@ fi
 if [ -e etc/init.d-posix/rc.mavlink_override ]
 then
 	echo "Running non-default mavlink config rc.mavlink_override"
-	. ${R}etc/init.d-posix/rc.mavlink_override
+	sh etc/init.d-posix/rc.mavlink_override
 else
 	# GCS link
 	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
@@ -14,7 +14,7 @@
 . ${R}etc/init.d/rc.vtol_defaults


-param set-default PWM_AUX_DISARM 1000
+param set-default PWM_AUX_DISARMED 1000
 param set-default PWM_AUX_MAX 2000
 param set-default PWM_AUX_MIN 1000
 param set-default PWM_AUX_RATE 50
@@ -112,7 +112,7 @@ param set-default MPC_YAWRAUTO_MAX 20
 param set-default NAV_DLL_ACT 0
 param set-default NAV_LOITER_RAD 100

-param set-default PWM_AUX_DISARM 950
+param set-default PWM_AUX_DISARMED 950

 param set-default PWM_MAIN_DIS5 1500
 param set-default PWM_MAIN_DIS6 1500
@@ -31,7 +31,7 @@ set VEHICLE_TYPE mc
 param set-default NAV_ACC_RAD 2

 param set-default PWM_AUX_RATE 400
-param set-default PWM_AUX_DISARM 900
+param set-default PWM_AUX_DISARMED 900
 param set-default PWM_AUX_MIN 1075
 param set-default PWM_AUX_MAX 1950

@@ -33,7 +33,7 @@ param set-default MC_YAW_P 4

 param set-default NAV_ACC_RAD 2

-param set-default PWM_AUX_DISARM 950
+param set-default PWM_AUX_DISARMED 950
 param set-default PWM_AUX_RATE 50
 param set-default PWM_MAIN_MIN 1100
 param set-default PWM_MAIN_MAX 1900
@@ -16,6 +16,8 @@
 set MIXER quad_x
 set PWM_OUT 1234

+set PARAM_DEFAULTS_VER 2
+

 param set-default BAT_N_CELLS 4

@@ -7,6 +7,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+#
 # @output MAIN0 Speed of left wheels
 # @output MAIN1 Speed of right wheels
 #
@@ -108,18 +108,11 @@ then
 	vl53l1x start -X
 fi

-# ADIS16448 spi external IMU
-if param compare -s SENS_EN_ADIS164X 1
-then
-	adis16448 -S start
-fi
-
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
-	icm20948_i2c_passthrough -X -q start
-
 	# compasses
+	ak09916 -X -R 6 -q start # external AK09916 (Here2) is rotated 270 degrees yaw
 	hmc5883 -T -X -q start
 	ist8308 -X -q start
 	ist8310 -X -q start
@@ -128,9 +121,6 @@ then
 	qmc5883l -X -q start
 	rm3100 -X -q start

-	# start last (wait for possible icm20948 passthrough mode)
-	ak09916 -X -q start
-
 	# differential pressure sensors
 	if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
 	then
@@ -51,6 +51,12 @@ set STARTUP_TUNE 1
 set USE_IO no
 set VEHICLE_TYPE none

+# Airframe parameter versioning: airframe maintainers can set this in the
+# airframe startup script, and then increase it by one whenever an airframe
+# parameter is updated - it will ensure that these parameters will be updated
+# when the firmware is flashed.
+set PARAM_DEFAULTS_VER 1
+
 #
 # Mount the procfs.
 #
@@ -165,8 +171,12 @@ else
 	#
 	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*
+		if param compare SYS_AUTOCONFIG 1
+		then
+			# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
+			param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT* SYS_PARAM_VER
+		fi
+
 		set AUTOCNF yes
 	fi

@@ -229,6 +239,14 @@ else
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q

+	if param greater -s LIGHT_EN_BLINKM 0
+	then
+		if blinkm start -X
+		then
+			blinkm systemstate
+		fi
+	fi
+
 	#
 	# Set parameters and env variables for selected AUTOSTART.
 	#
@@ -254,34 +272,6 @@ else
 		param set SYS_AUTOCONFIG 0
 	fi

-	#
-	# Check if UAVCAN is enabled, default to it for ESCs.
-	#
-	if param greater -s UAVCAN_ENABLE 0
-	then
-		# Start core UAVCAN module.
-		if uavcan start
-		then
-			if param greater UAVCAN_ENABLE 1
-			then
-				# Start UAVCAN firmware update server and dynamic node ID allocation server.
-				uavcan start fw
-				tune_control play -t 1
-				if param greater UAVCAN_ENABLE 2
-				then
-					set OUTPUT_MODE uavcan_esc
-				fi
-			fi
-		else
-			tune_control play error
-		fi
-	else
-		if param greater -s UAVCAN_V1_ENABLE 0
-		then
-			uavcan_v1 start
-		fi
-	fi
-
 	#
 	# Check if PX4IO present and update firmware if needed.
 	# Assumption IOFW set to firmware file and IO_PRESENT = no
@@ -313,8 +303,6 @@ else
 					else
 						tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
 					fi
-				else
-					tune_control stop
 				fi
 			fi
 		fi
@@ -426,6 +414,34 @@ else
 		camera_feedback start
 	fi

+	#
+	# Check if UAVCAN is enabled, default to it for ESCs.
+	#
+	if param greater -s UAVCAN_ENABLE 0
+	then
+		# Start core UAVCAN module.
+		if uavcan start
+		then
+			if param greater UAVCAN_ENABLE 1
+			then
+				# Start UAVCAN firmware update server and dynamic node ID allocation server.
+				uavcan start fw
+				tune_control play -t 1
+				if param greater UAVCAN_ENABLE 2
+				then
+					set OUTPUT_MODE uavcan_esc
+				fi
+			fi
+		else
+			tune_control play error
+		fi
+	fi
+
+	if param greater -s UAVCAN_V1_ENABLE 0
+	then
+		uavcan_v1 start
+	fi
+
 	#
 	# Optional board mavlink streams: rc.board_mavlink
 	#
@@ -554,6 +570,15 @@ else
 		fi
 	fi

+	if ! param compare SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
+	then
+		echo "Switched to different parameter version. Resetting parameters."
+		param set SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
+		param set SYS_AUTOCONFIG 2
+		param save
+		reboot
+	fi
+
 #
 # End of autostart.
 #
@@ -578,6 +603,7 @@ unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE
 unset OUTPUT_MODE
+unset PARAM_DEFAULTS_VER
 unset PARAM_FILE
 unset PWM_AUX_OUT
 unset PWM_AUX_RATE
@@ -190,6 +190,7 @@ if rc_serial_output_dir is None and serial_params_output_file is None:
 serial_commands = []
 ethernet_configuration = []
 additional_params = ""
+additional_ethernet_params = ""

 if ethernet_supported:
    ethernet_configuration.append({
@@ -210,7 +211,7 @@ def parse_yaml_serial_config(yaml_config):
        ret.append(serial_config)
    return ret

-def parse_yaml_parameters_config(yaml_config, ethernet_supported):
+def parse_yaml_parameters_config(yaml_config):
    """ parse the parameters section from the yaml config file """
    if 'parameters' not in yaml_config:
        return ''
@@ -223,7 +224,79 @@ def parse_yaml_parameters_config(yaml_config, ethernet_supported):
        param_group = parameters_section.get('group', None)
        for param_name in definitions:
            param = definitions[param_name]
-            if param.get('requires_ethernet', False) and not ethernet_supported:
+            if 'ethernet' in param:
+                continue
+            num_instances = param.get('num_instances', 1)
+            instance_start = param.get('instance_start', 0) # offset
+
+            # get the type and extract all tags
+            tags = '@group {:}'.format(param_group)
+            if param['type'] == 'enum':
+                param_type = 'INT32'
+                for key in param['values']:
+                    tags += '\n * @value {:} {:}'.format(key, param['values'][key])
+            elif param['type'] == 'boolean':
+                param_type = 'INT32'
+                tags += '\n * @boolean'
+            elif param['type'] == 'int32':
+                param_type = 'INT32'
+            elif param['type'] == 'float':
+                param_type = 'FLOAT'
+            else:
+                raise Exception("unknown param type {:}".format(param['type']))
+
+            for tag in ['decimal', 'increment', 'category', 'volatile', 'bit',
+                        'min', 'max', 'unit', 'reboot_required']:
+                if tag in param:
+                    tags += '\n * @{:} {:}'.format(tag, param[tag])
+
+            for i in range(num_instances):
+                # default value
+                default_value = 0
+                if 'default' in param:
+                    # default can be a list of num_instances or a single value
+                    if type(param['default']) == list:
+                        assert len(param['default']) == num_instances
+                        default_value = param['default'][i]
+                    else:
+                        default_value = param['default']
+
+                if type(default_value) == bool:
+                    default_value = int(default_value)
+
+                # output the existing C-style format
+                ret += '''
+/**
+ * {short_descr}
+ *
+ * {long_descr}
+ *
+ * {tags}
+ */
+PARAM_DEFINE_{param_type}({name}, {default_value});
+'''.format(short_descr=param['description']['short'].replace("\n", "\n * "),
+           long_descr=param['description']['long'].replace("\n", "\n * "),
+           tags=tags,
+           param_type=param_type,
+           name=param_name,
+           default_value=default_value,
+          ).replace('${i}', str(i+instance_start))
+    return ret
+
+def parse_yaml_ethernet_parameters_config(yaml_config):
+    """ parse the parameters section from the yaml config file """
+    if 'parameters' not in yaml_config:
+        return ''
+    parameters_section_list = yaml_config['parameters']
+    for parameters_section in parameters_section_list:
+        if 'definitions' not in parameters_section:
+            return ''
+        definitions = parameters_section['definitions']
+        ret = ''
+        param_group = parameters_section.get('group', None)
+        for param_name in definitions:
+            param = definitions[param_name]
+            if 'ethernet' not in param:
                continue
            num_instances = param.get('num_instances', 1)
            instance_start = param.get('instance_start', 0) # offset
@@ -289,8 +362,9 @@ for yaml_file in args.config_files:
            serial_commands.extend(parse_yaml_serial_config(yaml_config))

            # TODO: additional params should be parsed in a separate script
-            additional_params += parse_yaml_parameters_config(
-                yaml_config, ethernet_supported)
+            additional_params += parse_yaml_parameters_config(yaml_config)
+            if ethernet_supported:
+                additional_ethernet_params += parse_yaml_ethernet_parameters_config(yaml_config)

        except yaml.YAMLError as exc:
            print(exc)
@@ -355,7 +429,7 @@ for serial_command in serial_commands:
            'default_port': default_port,
            'param_group': port_config['group'],
            'description_extended': port_config.get('description_extended', ''),
-			'supports_networking': serial_command.get('supports_networking', False)
+			'ethernet_config': serial_command.get('ethernet', 'none')
            })

 if verbose:
@@ -399,5 +473,6 @@ if serial_params_output_file is not None:
        fid.write(template.render(serial_devices=serial_devices,
            ethernet_configuration=ethernet_configuration,
            commands=commands, serial_ports=serial_ports,
-            additional_definitions=additional_params))
+            additional_definitions=additional_params,
+            additional_ethernet_definitions=additional_ethernet_params))

@@ -17,9 +17,9 @@ if param compare "$PRT" {{ serial_device.index }}; then
 fi

 {% endfor %}
-
 {% for config in ethernet_configuration -%}
 if param compare "$PRT" {{ config.index }}; then
 	set SERIAL_DEV ethernet
 fi
+
 {% endfor %}
@@ -58,11 +58,10 @@ PARAM_DEFINE_INT32(SER_{{ serial_device.tag }}_BAUD, {{ serial_device.default_ba
 {%- for serial_device in serial_devices %}
 * @value {{ serial_device.index }} {{ serial_device.label }}
 {%- endfor %}
-{%- if command.supports_networking %}
+{%- if command.ethernet_config != "none" %}
 {%- for config in ethernet_configuration %}
 * @value {{ config.index }} {{ config.label }}
-{%- endfor %}
-{%- endif %}
+{%- endfor %}{% endif %}
 * @group {{ command.param_group }}
 * @reboot_required true
 */
@@ -73,3 +72,5 @@ PARAM_DEFINE_INT32({{ command.port_param_name }}, {{ command.default_port }});

 {{ additional_definitions }}

+{{ additional_ethernet_definitions }}
+
@@ -44,7 +44,7 @@ parser.add_argument('-m', '--modules', action='store',
                    default='')


-logging.basicConfig(level=logging.WARNING,format='%(message)s')
+logging.basicConfig(level=logging.WARNING)
 log = logging.getLogger()

 def get_N_colors(N, s=0.8, v=0.9):
@@ -61,9 +61,6 @@ class PubSub(object):
    """ Collects either publication or subscription information for nodes
    (modules and topics) & edges """

-    # special value to signal an ambiguous was found -- don't record this topic, and stop processing.
-    AMBIGUOUS_SITE_TOPIC = "AMBIGUOUS"
-
    def __init__(self, name, topic_blacklist, regexes):
        """
            :param is_publication: if True, publications, False for
@@ -77,12 +74,13 @@ class PubSub(object):
        self._topic_blacklist = topic_blacklist
        self._regexes = set([ re.compile(regex) for regex in regexes])

-    def match(self, source_line: str) -> str:
+    def match(self, source_line: str) -> Set[str]:
        """ Extract subscribed/published topics from a source string
        :param src_str: string of C/C++ code with comments and whitespace removed
-        :return: if any topic was found, returned as a str.   On error, raise on exception.  On ambiguous line, return `AMBIGUOUS_SITE_TOPIC`.  Otherwise, return `None`
+        :return: if any topic was found, it is returned as a str.  Otherwise, None
        """

+        matches = set()
        for regex in self._regexes:
            # just the matches for this particular pattern:
            match = regex.search(source_line)
@@ -90,10 +88,11 @@ class PubSub(object):
            if match is None:
                continue

-            # # all regexes should contain 2 capture groups  (or else this code block crashes)
+            # all regexes should contain 2 capture groups
+            # total_match = match.group(0)
            route_group, topic_group = match.groups()

-            log.debug("          ####:{}:  {}, {}".format( self._name, route_group, topic_group))
+            log.debug(f"          ####:{self._name}:  {route_group}, {topic_group}")

            # # TODO: handle this case... but not sure where, yet
            # if match == 'ORB_ID_VEHICLE_ATTITUDE_CONTROLS': # special case
@@ -103,31 +102,49 @@ class PubSub(object):
            if route_group:
                if route_group == 'ORB_ID':
                    log.debug("            >>> Found ORB_ID topic: " + topic_group +  "    w/regex: " + str(regex.pattern))
-                    return self._filter_topic(topic_group)
+                    self._add_topic(matches, topic_group)
+                    break
+                elif route_group == '<' and topic_group.endswith('_s'):
+                    topic_group = topic_group[:-2]
+                    log.debug("            >>> Found C++ template-declaration: " + topic_group +  "    w/regex: " + str(regex.pattern))
+                    self._add_topic(matches, topic_group)
+                    # continue processing
+                elif route_group in ['{','('] and topic_group.endswith('_s'):
+                    topic_group = topic_group[:-2]
+                    log.debug("            >>> Found standard declaration: " + topic_group +  "    w/regex: " + str(regex.pattern))
+                    self._add_topic(matches, topic_group)
+                    break
                elif route_group == '[':
-                    if not topic_group:
-                        log.debug("            !! found an ambiguous site => return an empty set")
-                        return PubSub.AMBIGUOUS_SITE_TOPIC
+                    if topic_group.endswith('_s'):
+                        topic_group = topic_group[:-2]
+                        log.debug("            >>> Found array declaration: " + topic_group +  "    w/regex: " + str(regex.pattern))
+                        self._add_topic(matches, topic_group)
+                        break
+                    else:
+                        # no topic found -- ambiguity -- return an empty set
+                        return set()
+                elif 'Multi' in route_group and topic_group.endswith('_s'):
+                        topic_group = topic_group[:-2]
+                        log.debug("            >>> Found 'multi' declaration: " + topic_group +  "    w/regex: " + str(regex.pattern))
+                        self._add_topic(matches, topic_group)
+                        break
                else:
                    raise SyntaxError('!!! Encountered regex case:  `route_group` contains unrecognized value!: '+ route_group+'  (::'+str(regex.pattern)+')\n'
                                        + "        ("+ route_group+', '+topic_group +")\n"
                                        + "        " + source_line)
-            elif route_group.empty() and topic_group.empty():
-                log.debug('!!! Found ambiguous site, without `ORB_ID` or topic (::'+str(regex.pattern))
-                return PubSub.AMBIGUOUS_SITE_TOPIC

            else:
                raise SyntaxError("            !!! unhandled case:  unknown-variant: "+route_group+", " + topic_group + " ....from regex: " + str(regex.pattern))

-        return None
+        return matches

-    def _filter_topic(self, topic_name: str) -> str:
+    def _add_topic(self, topic_set: Set[str], topic_name: str):
        """ add topic to set, unless the topic is ignored """
        if topic_name in self._topic_blacklist:
            log.debug("                    XX Ignoring blacklisted topic " + topic_name)
-            return None
+            return
        else:
-            return topic_name
+            return topic_set.add(topic_name)

 class Publications(PubSub):
    """ Collects topic publication information for scopes """
@@ -172,7 +189,7 @@ class Scope(object):
        return self._name

    def reduce_ambiguities(self) -> Set[str]:
-        self.ambiguities = self.ambiguities - self.subscriptions - self.publications
+        self.ambiguities = self.ambiguities - self.subscriptions - self.ambiguities
        return self.dependencies

    @property
@@ -208,8 +225,8 @@ class Graph(object):
            - topic_blacklist
        """

+        self._comment_remove_pattern = re.compile( r'//.*?$|/\*.*?\*/|\'(?:\\.|[^\\\'])*\'|"(?:\\.|[^\\"])*"', re.DOTALL | re.MULTILINE)
        self._whitespace_pattern = re.compile(r'\s+')
-
        self._scope_blacklist = set(kwargs.get('scope_blacklist',set()))
        self._scope_whitelist = set(kwargs.get('scope_whitelist',set()))

@@ -232,27 +249,28 @@ class Graph(object):
        self._topic_colors = {} # key = topic, value = color (html string)

        # note: the source-file-string is pre-processed to remove whitespace -- regexes should ignore whitespace
-        # note: the regexes should 2 capture groups '()' to correctly register with downstream code
-        capture_cases_sub = [r"orb_subscribe\w*\((ORB_ID)(?:\(|::)(\w+)",
-                             r"orb_copy\((ORB_ID)(?:\(|::)(\w+)",
-                             r"Subscription\w*(?:<[^>]+>|)\w*(?:\[[^]]+\]|)[\{\(](ORB_ID)(?:\(|::)(\w+)",
-                             r"SubscriptionCallbackWorkItem\w+\{this,(ORB_ID)(?:\(|::)(\w+)",
+        # note:  the regexes should have at least 3 capture groups '()'; otherwise they break downstream code
+        capture_cases_sub = [r"\borb_subscribe(?:_multi|)\b\s*\(\s*(ORB_ID)\s*\(\s*(\w+)",
+                             r"(?:uORB::)Subscription(?:Interval|)\s+\w+\s*[\{\(]\s*(ORB_ID)\s*\(\s*(\w+)",
+                             r"(?:uORB::)Subscription(?:Data|MultiArray|Blocking|)\s*(<)\s*(\w+)",
+                             r"(?:uORB::)SubscriptionCallbackWorkItem\s+\w+\s*\{\s*this,\s*(ORB_ID)\((\w+)",
                            ]
        self._subscriptions = Subscriptions( self._topic_blacklist, capture_cases_sub)

        # note: the source-file-string is pre-processed to remove whitespace -- regexes should ignore whitespace
-        # note: the regexes should 2 capture groups '()' to correctly register with downstream code
-        capture_cases_pub = [r"orb_advertise(?:_multi|_queue|_multi_queue|)\((ORB_ID)(?:\(|::)(\w+)",
-                             r"orb_publish(?:_auto|)\((ORB_ID)(?:\(|::)(\w+)",
-                             r"Publication\w*<\w+>\w+(?:\[[^]]+\]|)[\(\{]*(ORB_ID)(?:\(|::)(\w+)",
+        # note: the regexes should have at least 3 capture groups '()'; otherwise they break downstream code
+        capture_cases_pub = [r"(?:uORB::)Publication(?:Data|Multi|)\s*(<)(\w+)>",
+                             r"orb_advertise(?:_multi|_queue|_multi_queue|)\s*\(\s*(ORB_ID)\s*\(\s*(\w+)",
+                             r"orb_publish(?:_auto|)\s*\(\s*(ORB_ID)\s*\(\s*(\w+)",
+                             r"(?:uORB::)Publication(?:Data|Multi|)\s*<\w+>\s+\w+\s*[\(\{](ORB_ID)\((\w+)"
                            ]
        self._publications = Publications( self._topic_blacklist, capture_cases_pub)

        # note: the source-file-string is pre-processed to remove whitespace -- regexes should ignore whitespace
-        # note: the regexes should 2 capture groups '()' to correctly register with downstream code
-        capture_cases_ambiguous = [ r"Publication\w*(?:\<\w+\>|)\w+(\[)()",
-                                    r"Subscription\w*(?:\<\w+\>|)\w+(\[)()",
-                                    r"(ORB_ID)(?:\(|::)(\w+)",
+        # note: the regexes should have at least 3 capture groups '()'; otherwise they break downstream code
+        capture_cases_ambiguous = [ r"orb_copy\s*\(\s*(ORB_ID)\s*\(\s*(\w+)",
+                                    r"(?:uORB::)Subscription[^\s]*\s+\w+\s*(\[)\s*\w+\s*\]()",
+                                    r"(ORB_ID)\s*\(\s*(\w+)",
                                  ]
        self._ambiguities = Ambiguities( self._topic_blacklist, capture_cases_ambiguous)

@@ -261,7 +279,7 @@ class Graph(object):
            return None
        return self._current_scope[-1]

-    def build(self, src_path_list, **kwargs):
+    def build(self, src_path_list, path_blacklist=[], **kwargs):
        """ parse the source tree & extract pub/sub information.
            :param use_topic_pubsub_union: if true, use all topics that have a
            publisher or subscriber. If false, use only topics with at least one
@@ -270,8 +288,7 @@ class Graph(object):
            fill in self._module_subsciptions & self._module_publications
        """

-
-        self._path_blacklist =  set([ os.path.normpath(p) for p in kwargs.get('path_blacklist',[]) ])
+        self._path_blacklist = [os.path.normpath(p) for p in path_blacklist]

        for path in src_path_list:
            log.info("## Add src path: " + path )
@@ -279,9 +296,9 @@ class Graph(object):

        # Summarize the found counts: (all topics are defined in 'dependency' library)
        log.info('### Summary: Total Scanned:')
-        log.info('    Library Count:      '+str(len(self._found_libraries)))
-        log.info('    Module Count:       '+str(len(self._found_modules)))
-        log.info('    Warning Count:      '+str(len(self._warnings)))
+        log.info('    Libraries Count:    '+str(len(self._found_libraries)))
+        log.info('    Modules Count:      '+str(len(self._found_modules)))
+        log.info('    Warnings Count:     '+str(len(self._warnings)))

        if kwargs['merge_depends']:
            graph.merge_depends()
@@ -290,21 +307,18 @@ class Graph(object):
        self._generate_print_lists(use_topic_pubsub_union=kwargs['use_topic_pubsub_union'], merge_depends=kwargs['merge_depends'])

        # Summarize the found counts:
-        log.info('### Summary (in-scope):')
-        log.info('    Scope Count:        '+str(len(self._print_scopes)))
-        log.info('    Ambiguous Topics:   '+str(len(self._print_ambiguities)))
-        log.info('    Linked Topics:      '+str(len(self._print_topics)))
-        log.info('    Warnings:           '+str(len(self._warnings)))
+        print('          ### Summary (in-scope):')
+        print('              Ambiguous Count:    '+str(len(self._print_ambiguities)))
+        print('              Scope Count:        '+str(len(self._print_scopes)))
+        print('              Topics Count:       '+str(len(self._print_topics)))
+        print('              Warnings Count:     '+str(len(self._warnings)))

        if 0 < len(self._warnings):
            # print out the list of warning-sites:
            log.info('## Warning Sites:')
            for w in self._warnings:
-                scope_name = 'no-scope'
-                if None is not w[0]:
-                    scope_name = w[0].name
                # warnings tuple contains: (current_scope, file_name, line_number, line)
-                log.info("    -['{}']:{:<64s}:{} = {}".format(scope_name, w[1].lstrip('/.'), w[2], w[3] ))
+                log.info("    -['{}']:{:<64s}:{} = {}".format(w[0].name, w[1].lstrip('/.'), w[2], w[3] ))

        # initialize colors
        color_list = get_N_colors(len(self._print_topics), 0.7, 0.85)
@@ -320,8 +334,9 @@ class Graph(object):
        published_topics = set()
        ambiguous_topics = set()

-        # gather all found scopes:
-        all_scopes = { **self._found_libraries, **self._found_modules }
+        # gather all possible modules...
+        # all_scopes = self._found_libraries | self._found_modules         # Python 3.9 or greater
+        all_scopes = { **self._found_libraries, **self._found_modules }    # Python 3.5 or greater

        if 0 == len(self._scope_whitelist):
            select_scopes = self._found_modules
@@ -331,28 +346,27 @@ class Graph(object):
                if scope_name in all_scopes:
                    select_scopes[scope_name] = all_scopes[scope_name]
        if not isinstance(select_scopes, dict) or 0 == len(select_scopes):
-            log.error("!! No requested modules not found -- exiting.")
-            sys.exit(0)
+            raise TypeError("'select_scopes' should be a set!! aborting.")

-        log.debug('### Condensing found topics: scope -> total')
+        log.debug(f'    >> Condensing found topics: scope -> total')
        for name,scope in select_scopes.items():
-            log.debug('    # Scope: '+ name )
+            log.debug(f'        @@ Scope: {name}')

-            log.debug('        ## Subs: ' + str(len(scope.subscriptions)))
-            for topic in sorted(scope.subscriptions):
-                log.debug('            - ' + topic)
+            log.debug(f'          ## Subs: {name}')
+            for topic in scope.subscriptions:
+                log.debug(f'            - {topic}')
                subscribed_topics.add(topic)

-            log.debug('        ## Pubs: ' + str(len(scope.publications)))
-            for topic in sorted(scope.publications):
-                log.debug('            - ' + topic )
+            log.debug(f'          ## Pubs: {name}')
+            for topic in scope.publications:
+                log.debug(f'            - {topic}')
                published_topics.add(topic)

            scope.reduce_ambiguities()

-            log.debug('        ## Ambiguities: ' + str(len(scope.ambiguities)))
-            for topic in sorted(scope.ambiguities):
-                log.debug('            - ' + topic )
+            log.debug(f'          ## Ambiguities: {name}')
+            for topic in scope.ambiguities:
+                log.debug(f'            - {topic}')
                ambiguous_topics.add(topic)

        # filter modules iff they have at least a subscription or a publication
@@ -386,11 +400,11 @@ class Graph(object):

        entries = os.listdir(path)

-        # check if entering a new scope
+        # check if entering a new module
        cmake_file = 'CMakeLists.txt'
-        new_scope = False
+        new_module = False
        if cmake_file in entries:
-            new_scope = self._extract_build_information(os.path.join(path, cmake_file), **kwargs)
+            new_module = self._extract_build_information(os.path.join(path, cmake_file), **kwargs)

        # iterate directories recursively
        for entry in entries:
@@ -400,23 +414,23 @@ class Graph(object):


        # iterate source files
-        # Note: Skip all entries if we're not in a scope -- both finding known pubs/subs and emitting warnings
-        for entry in entries:
-            file_name = os.path.join(path, entry)
-            if os.path.isfile(file_name):
-                _, ext = os.path.splitext(file_name)
-                if ext in ['.cpp', '.c', '.h', '.hpp']:
-                    self._process_source_file(file_name)
+        # Note: Skip all entries if we're not in a module -- both finding known pubs/subs and emitting warnings
+        if (0 == len(self._scope_whitelist)) or (0 < len(self._current_scope)) and (self._current_scope[-1].name in self._scope_whitelist):
+            for entry in entries:
+                file_name = os.path.join(path, entry)
+                if os.path.isfile(file_name):
+                    _, ext = os.path.splitext(file_name)
+                    if ext in ['.cpp', '.c', '.h', '.hpp']:
+                        self._process_source_file(file_name)

-        if new_scope:
+
+        if new_module:
            self._current_scope.pop()


    def _extract_build_information(self, file_name, **kwargs):
-        """ extract the module or library name from a CMakeLists.txt file and store
-            in self._current_scope if there is any
-            Also records dependencies, if any are specified.
-        """
+        """ extract the module name from a CMakeLists.txt file and store
+            in self._current_scope if there is any """

        datafile = open(file_name)
        found_module_def = False
@@ -482,59 +496,52 @@ class Graph(object):


            current_scope = self._get_current_scope()
-            if current_scope:
-                if current_scope.name in self._scope_blacklist:
-                    return
-                elif current_scope.name == 'uorb_tests': # skip this
-                    return
-                elif current_scope.name == 'uorb':

-                    # search and validate the ORB_ID_VEHICLE_ATTITUDE_CONTROLS define
-                    matches = self._orb_id_vehicle_attitude_controls_re.findall(content)
-                    for match in matches:
-                        if match != 'ORB_ID('+self._orb_id_vehicle_attitude_controls_topic:
-                            # if we land here, you need to change _orb_id_vehicle_attitude_controls_topic
-                            raise Exception(
-                                'The extracted define for ORB_ID_VEHICLE_ATTITUDE_CONTROLS '
-                                'is '+match+' but expected ORB_ID('+
-                                self._orb_id_vehicle_attitude_controls_topic)
+            if current_scope is None:
+                return  # ignore declarations outside of a declared module
+            elif current_scope.name in self._scope_blacklist:
+                return
+            elif current_scope.name == 'uorb_tests': # skip this
+                return
+            elif current_scope.name == 'uorb':

-                    return # skip uorb module for the rest
+                # search and validate the ORB_ID_VEHICLE_ATTITUDE_CONTROLS define
+                matches = self._orb_id_vehicle_attitude_controls_re.findall(content)
+                for match in matches:
+                    if match != 'ORB_ID('+self._orb_id_vehicle_attitude_controls_topic:
+                        # if we land here, you need to change _orb_id_vehicle_attitude_controls_topic
+                        raise Exception(
+                            'The extracted define for ORB_ID_VEHICLE_ATTITUDE_CONTROLS '
+                            'is '+match+' but expected ORB_ID('+
+                            self._orb_id_vehicle_attitude_controls_topic)
+
+                return # skip uorb module for the rest

            line_number = 0
-            for full_line in content.splitlines():
+            for line in content.splitlines():
                line_number += 1

-                short_line = re.sub(self._whitespace_pattern, '', full_line)
+                pub_topics = self._publications.match(line)
+                for each_topic in pub_topics:
+                    current_scope.publications.add(each_topic)
+                if pub_topics:
+                    continue

-                topic = self._publications.match(short_line)
-                if topic:
-                    if current_scope:
-                        current_scope.publications.add(topic)
-                        continue
-                    else:
-                        raise AssertionError("Encountered Publication topic outside of any scope! " + file_name + " Aborting!")
+                sub_topics = self._subscriptions.match(line)
+                for each_topic in sub_topics:
+                    current_scope.subscriptions.add(each_topic)
+                if sub_topics:
+                    continue

-                topic = self._subscriptions.match(short_line)
-                if topic:
-                    if current_scope:
-                        current_scope.subscriptions.add(topic)
-                        continue
-                    else:
-                        raise AssertionError("Encountered Subscription topic outside of any scope! " + file_name + " Aborting!")
-
-                topic = self._ambiguities.match(short_line)
-                if topic:
-                    if current_scope:
-                        if topic != PubSub.AMBIGUOUS_SITE_TOPIC:
-                            current_scope.ambiguities.add(topic)
-                        self._warnings.append((current_scope, file_name, line_number, full_line))
-                        continue
-                    else:
-                        raise AssertionError("Encountered Ambiguous topic outside of any scope! " + file_name + " Aborting!")
+                ambi_topics = self._ambiguities.match(line)
+                for each_topic in ambi_topics:
+                    current_scope.ambiguities.add(each_topic)
+                    self._warnings.append((current_scope, file_name, line_number, line))

    def _in_scope(self, scope_name = None):
-        if 0 < len(self._current_scope):
+        if 0 == len(self._scope_whitelist):
+            return True
+        elif 0 < len(self._current_scope):
            if None is scope_name:
                scope_name = self._current_scope[-1].name
            if scope_name in self._scope_whitelist:
@@ -543,10 +550,8 @@ class Graph(object):
        return False

    def merge_depends(self):
-        log.info('### Merge Depends:')
-
        for modname,module in self._found_modules.items():
-            if modname in self._scope_whitelist or 0==len(self._scope_whitelist):
+            if self._in_scope(modname):
                for depname in module.dependencies:
                    if depname in self._found_libraries:
                        dep = self._found_libraries[depname]
@@ -725,38 +730,33 @@ if "__main__" == __name__:
    topic_blacklist = [ 'parameter_update', 'mavlink_log', 'log_message' ]
    print('Excluded topics: '+str(topic_blacklist))

+    # ignore certain modules; for any reason
+    scope_blacklist = []
+    if scope_blacklist:
+        print('Excluded Modules: '+str(topic_blacklist))
+
    if len(args.modules) == 0:
        scope_whitelist = []
    else:
        scope_whitelist = [ m.strip() for m in args.modules.split(',')]
        scope_whitelist = set(scope_whitelist)

-    graph = Graph(scope_whitelist=scope_whitelist, topic_blacklist=topic_blacklist)
-
-    # if no source paths are supplied, guess that we're in the project root, and apply it to the entire 'src/' tree
+    graph = Graph(scope_whitelist=scope_whitelist, scope_blacklist=scope_blacklist, topic_blacklist=topic_blacklist)
    if len(args.src_path) == 0:
        args.src_path = ['src']

-    # transcribe only the source paths that actually exist:
-    source_paths = []
+        if not os.path.exists(args.src_path[0]):
+            print(f"    !?could not find source directory: {args.src_path[0]}")
+            script_path = os.path.dirname(os.path.realpath(__file__))
+            args.src_path[0] = os.path.realpath(os.path.join( script_path, '..', '..', 'src' ))
+            print(f"        >> guessing at path: {args.src_path[0]}")
+
    for path in args.src_path:
-        if os.path.exists(path):
-            source_paths.append(path)
-        else:
-            log.warn("Could not find path: " + path)
+        if not os.path.exists(path):
+            print(f"    !?could not find source directory: {path} -- please check path!")
+            print(f"    Exiting.")

-    if 0 == len(source_paths):
-        print("!! None of the source directories were valid -- Exiting.")
-        sys.exit(-1)
-
-    # ignore certain paths
-    path_blacklist = ['src/lib/parameters/']
-    if 0 < len(args.exclude_path):
-        path_blacklist = args.exclude_path
-    if path_blacklist:
-        print('Excluded Path: '+str(path_blacklist))
-
-    graph.build(source_paths, path_blacklist=path_blacklist, use_topic_pubsub_union=args.use_topic_union, merge_depends=args.merge_depends)
+    graph.build(args.src_path, args.exclude_path, use_topic_pubsub_union=args.use_topic_union, merge_depends=args.merge_depends)

    if args.output == 'json':
        output_json = OutputJSON(graph)
@@ -15,7 +15,6 @@ px4_add_board(
 		TEL1:/dev/ttyS1
 		TEL2:/dev/ttyS2
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -27,18 +26,18 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
-		imu/invensense/icm20948 # required for ak09916 mag
 		imu/l3gd20
 		imu/lsm303d
 		imu/invensense/mpu6000
 		imu/invensense/mpu6500
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		#lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -46,7 +45,6 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
-		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -59,7 +57,6 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -76,15 +73,12 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
-		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -92,7 +86,6 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -108,7 +101,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -120,8 +112,6 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
-		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test
@@ -101,7 +101,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -117,7 +116,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
@@ -128,9 +126,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y
@@ -81,7 +81,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -97,7 +96,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
@@ -108,9 +106,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0
@@ -17,7 +17,6 @@ px4_add_board(
 		TEL3:/dev/ttyS2
 		TEL4:/dev/ttyS3
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -27,17 +26,18 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		#dshot
 		gps
+		#heater
 		#imu # all available imu drivers
 		imu/adis16477
 		imu/adis16497
-		imu/invensense/icm20948 # required for ak09916 mag
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		#lights/rgbled
+		#lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		#pwm_input
@@ -45,7 +45,6 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
-		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		#tone_alarm
@@ -58,7 +57,6 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -75,23 +73,19 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
-		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
-		bl_update
+		#bl_update
 		dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -99,14 +93,12 @@ px4_add_board(
 		motor_ramp
 		motor_test
 		nshterm
-		netman
 		param
 		perf
 		pwm
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -117,8 +109,6 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
-		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test
@@ -14,10 +14,12 @@
 # CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_ADDROUTE is not set
 # CONFIG_NSH_DISABLE_ARP is not set
 # CONFIG_NSH_DISABLE_BASENAME is not set
 # CONFIG_NSH_DISABLE_CMP is not set
 # CONFIG_NSH_DISABLE_DD is not set
+# CONFIG_NSH_DISABLE_DELROUTE is not set
 # CONFIG_NSH_DISABLE_DF is not set
 # CONFIG_NSH_DISABLE_DIRNAME is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
@@ -30,6 +32,7 @@
 # CONFIG_NSH_DISABLE_MKRD is not set
 # CONFIG_NSH_DISABLE_PRINTF is not set
 # CONFIG_NSH_DISABLE_PUT is not set
+# CONFIG_NSH_DISABLE_ROUTE is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_NSH_DISABLE_UNAME is not set
@@ -71,13 +74,15 @@ CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
 CONFIG_FAT_LFN_ALIAS_HASH=y
 CONFIG_FDCLONE_STDIO=y
-CONFIG_FSUTILS_IPCFG=y
 CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
+CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
+CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y
+CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -103,18 +108,12 @@ CONFIG_NETDB_DNSCLIENT=y
 CONFIG_NETDB_DNSCLIENT_ENTRIES=8
 CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
-CONFIG_NETINIT_DHCPC=y
-CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
-CONFIG_NETINIT_THREAD=y
-CONFIG_NETINIT_THREAD_PRIORITY=49
 CONFIG_NETUTILS_TELNETD=y
 CONFIG_NET_ARP_IPIN=y
 CONFIG_NET_ARP_SEND=y
 CONFIG_NET_BROADCAST=y
 CONFIG_NET_ICMP=y
-CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_ROUTE=y
 CONFIG_NET_SOCKOPTS=y
 CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
@@ -122,7 +121,6 @@ CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
-CONFIG_NET_UDP_WRITE_BUFFERS=y
 CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
@@ -130,10 +128,9 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_LINELEN=128
+CONFIG_NSH_LOGIN_PASSWORD="px4"
+CONFIG_NSH_LOGIN_USERNAME="px4"
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
@@ -158,9 +155,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
@@ -198,7 +192,6 @@ CONFIG_STM32F7_PHYSR_10FD=0x14
 CONFIG_STM32F7_PHYSR_10HD=0x4
 CONFIG_STM32F7_PHYSR_ALTCONFIG=y
 CONFIG_STM32F7_PHYSR_ALTMODE=0x1C
-CONFIG_STM32F7_PROGMEM=y
 CONFIG_STM32F7_PWR=y
 CONFIG_STM32F7_RTC=y
 CONFIG_STM32F7_RTC_HSECLOCK=y
@@ -233,7 +226,6 @@ CONFIG_STM32F7_USART_INVERT=y
 CONFIG_STM32F7_USART_SINGLEWIRE=y
 CONFIG_STM32F7_USART_SWAP=y
 CONFIG_STM32F7_WWDG=y
-CONFIG_SYSTEM_DHCPC_RENEW=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
 CONFIG_TASK_NAME_SIZE=24
@@ -14,7 +14,6 @@ px4_add_board(
 	TOOLCHAIN arm-linux-gnueabihf
 	TESTING
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/bmp280
@@ -25,8 +24,6 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		gps
 		#imu # all available imu drivers
-		imu/analog_devices/adis16448
-		imu/invensense/icm20948 # required for ak09916 mag
 		imu/invensense/mpu9250
 		linux_pwm_out
 		#magnetometer # all available magnetometer drivers
@@ -42,7 +39,6 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -67,8 +63,6 @@ px4_add_board(
 		sih
 		#simulator
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -82,9 +76,8 @@ px4_add_board(
 		perf
 		pwm
 		sd_bench
-		#serial_test
-		system_time
 		shutdown
+		system_time
 		tests # tests and test runner
 		#top
 		topic_listener
@@ -93,10 +86,8 @@ px4_add_board(
 		ver
 		work_queue
 	EXAMPLES
-		dyn_hello # dynamically loading modules example
 		fake_gps
-		fake_gyro
-		fake_magnetometer
+		dyn_hello # dynamically loading modules example
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		#hwtest # Hardware test
@@ -97,7 +97,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_FATDEVNO=0
 CONFIG_NSH_LINELEN=128
@@ -124,9 +123,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SEM_NNESTPRIO=8
@@ -96,7 +96,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_FATDEVNO=0
 CONFIG_NSH_LINELEN=128
@@ -123,9 +122,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SEM_NNESTPRIO=8
@@ -81,7 +81,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -97,7 +96,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
@@ -108,9 +106,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
+	TESTING
 	UAVCAN_INTERFACES 2
 	UAVCAN_TIMER_OVERRIDE 2
 	SERIAL_PORTS
@@ -18,7 +19,6 @@ px4_add_board(
 		# CONSOLE: /dev/ttyS4
 		# RC: /dev/ttyS5
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -30,28 +30,27 @@ px4_add_board(
 		gps
 		heater
 		#imu # all available imu drivers
-		imu/analog_devices/adis16448
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
-		imu/invensense/icm20948 # required for ak09916 mag
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
 		pwm_out
 		rc_input
 		roboclaw
-		rpm
 		safety_button
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -62,7 +61,6 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -79,15 +77,12 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
-		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
-		#uuv_att_control
-		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -95,7 +90,6 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -111,9 +105,8 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
-		#tests # tests and test runner
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -123,8 +116,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
+		fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test
@@ -3,9 +3,6 @@
 # board specific defaults
 #------------------------------------------------------------------------------

-# Enables the 2nd bank of mixers
-set AUX_BANK2 yes
-
 param set-default BAT_V_DIV 18
 param set-default BAT1_V_DIV 18
 param set-default BAT2_V_DIV 18
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# board specific MAVLink startup script.
+# board specific board MAVLink startup script.
 #------------------------------------------------------------------------------

 # Start MAVLink on the USB port
@@ -54,6 +54,7 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
@@ -250,27 +250,25 @@
 #define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */

 /* SPI */
-#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
+#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_3    /* PG11 */
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6 */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3   /* PD7 */

-#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_3) /* PG11 */
-#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3               /* PD7  */
+#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_6    /* PI1 */
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3   /* PI2 */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4   /* PI3 */

-#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1  */
-#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3               /* PI2  */
-#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4               /* PI3  */
+#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_2    /* PE2 */
+#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1   /* PE13 */
+#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2   /* PE6 */

-#define GPIO_SPI4_SCK    ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2  */
-#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1               /* PE13 */
-#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2               /* PE6  */
+#define GPIO_SPI5_SCK    GPIO_SPI5_SCK_1    /* PF7 */
+#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1   /* PF8 */
+#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2   /* PF9 */

-#define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
-#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
-#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
-
-#define GPIO_SPI6_SCK    ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */
-#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1               /* PG12 */
-#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2               /* PA7  */
+#define GPIO_SPI6_SCK    GPIO_SPI6_SCK_1    /* PG13 */
+#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1   /* PG12 */
+#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2   /* PA7 */

 /* I2C */
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
@@ -88,7 +88,6 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=4
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -106,7 +105,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -122,7 +120,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -135,9 +132,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
@@ -163,6 +157,8 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_DTCMEXCLUDE=y
+CONFIG_STM32H7_DTCM_PROCFS=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y
@@ -199,13 +199,11 @@ SECTIONS

 	/* Emit the the D3 power domain section for locating BDMA data */

-	.sram4_reserve (NOLOAD) :
+	.sram4 (NOLOAD) :
 	{
-		*(.sram4)
-		. = ALIGN(4);
-		_sram4_heap_start = ABSOLUTE(.);
 	} > SRAM4

+
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }
@@ -1,139 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR cuav
-	MODEL nora
-	LABEL test
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m7
-	ROMFSROOT px4fmu_common
-	BUILD_BOOTLOADER
-	TESTING
-	UAVCAN_INTERFACES 2
-	UAVCAN_TIMER_OVERRIDE 2
-	SERIAL_PORTS
-		GPS1:/dev/ttyS0
-		TEL1:/dev/ttyS1
-		GPS2:/dev/ttyS2
-		TEL2:/dev/ttyS3
-		# CONSOLE: /dev/ttyS4
-		# RC: /dev/ttyS5
-	DRIVERS
-		adc/ads1115
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		heater
-		#imu # all available imu drivers
-		imu/analog_devices/adis16448
-		imu/bosch/bmi088
-		imu/invensense/icm20649
-		imu/invensense/icm20689
-		imu/invensense/icm20948 # required for ak09916 mag
-		#irlock
-		lights # all available light drivers
-		lights/rgbled_pwm
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
-		pca9685
-		pca9685_pwm_out
-		power_monitor/ina226
-		#protocol_splitter
-		pwm_out_sim
-		pwm_out
-		rc_input
-		#roboclaw
-		#rpm
-		safety_button
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		#rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		#uuv_att_control
-		#uuv_pos_control
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		dmesg
-		dumpfile
-		esc_calib
-		gpio
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		serial_test
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
-		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
-	)
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
+	TESTING
 	UAVCAN_INTERFACES 2
 	UAVCAN_TIMER_OVERRIDE 2
 	SERIAL_PORTS
@@ -18,7 +19,6 @@ px4_add_board(
 		# CONSOLE: /dev/ttyS4
 		# RC: /dev/ttyS5
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -29,30 +29,27 @@ px4_add_board(
 		dshot
 		gps
 		heater
-		#imu # all available imu drivers
-		imu/analog_devices/adis16448
+		#imu # all relevant IMU drivers
 		imu/analog_devices/adis16470
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
-		imu/invensense/icm20948 # required for ak09916 mag
 		irlock
-		lights # all available light drivers
-		lights/rgbled_pwm
+		lights/rgbled
+		#lights/rgbled_ncp5623c
+		#lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
 		pwm_out
 		rc_input
-		roboclaw
-		rpm
 		safety_button
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -63,7 +60,6 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -80,15 +76,12 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
-		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
-		#uuv_att_control
-		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -96,7 +89,6 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -112,9 +104,8 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
-		#tests # tests and test runner
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -124,8 +115,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
+		fake_gyro
+		fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test
@@ -17,5 +17,7 @@ param set-default BAT2_A_PER_V 24
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1

+param set-default IMU_GYRO_FFT_EN 1
+
 rgbled_pwm start
 safety_button start
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# board specific MAVLink startup script.
+# board specific board MAVLink startup script.
 #------------------------------------------------------------------------------

 # Start MAVLink on the USB port
@@ -54,6 +54,7 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
@@ -88,7 +88,6 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=4
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -106,7 +105,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -122,7 +120,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -135,9 +132,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
@@ -163,6 +157,8 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_DTCMEXCLUDE=y
+CONFIG_STM32H7_DTCM_PROCFS=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y
@@ -199,13 +199,11 @@ SECTIONS

 	/* Emit the the D3 power domain section for locating BDMA data */

-	.sram4_reserve (NOLOAD) :
+	.sram4 (NOLOAD) :
 	{
-		*(.sram4)
-		. = ALIGN(4);
-		_sram4_heap_start = ABSOLUTE(.);
 	} > SRAM4

+
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }
@@ -1,140 +0,0 @@
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR cuav
-	MODEL x7pro
-	LABEL test
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m7
-	ROMFSROOT px4fmu_common
-	BUILD_BOOTLOADER
-	TESTING
-	UAVCAN_INTERFACES 2
-	UAVCAN_TIMER_OVERRIDE 2
-	SERIAL_PORTS
-		GPS1:/dev/ttyS0
-		TEL1:/dev/ttyS1
-		GPS2:/dev/ttyS2
-		TEL2:/dev/ttyS3
-		# CONSOLE: /dev/ttyS4
-		# RC: /dev/ttyS5
-	DRIVERS
-		adc/ads1115
-		adc/board_adc
-		barometer # all available barometer drivers
-		batt_smbus
-		camera_capture
-		camera_trigger
-		differential_pressure # all available differential pressure drivers
-		distance_sensor # all available distance sensor drivers
-		dshot
-		gps
-		heater
-		#imu # all available imu drivers
-		imu/analog_devices/adis16448
-		imu/analog_devices/adis16470
-		imu/bosch/bmi088
-		imu/invensense/icm20649
-		imu/invensense/icm20689
-		imu/invensense/icm20948 # required for ak09916 mag
-		#irlock
-		lights # all available light drivers
-		lights/rgbled_pwm
-		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
-		pca9685
-		pca9685_pwm_out
-		power_monitor/ina226
-		#protocol_splitter
-		pwm_out_sim
-		pwm_out
-		rc_input
-		#roboclaw
-		#rpm
-		safety_button
-		telemetry # all available telemetry drivers
-		test_ppm
-		tone_alarm
-		uavcan
-	MODULES
-		airspeed_selector
-		attitude_estimator_q
-		battery_status
-		camera_feedback
-		commander
-		dataman
-		ekf2
-		esc_battery
-		events
-		flight_mode_manager
-		fw_att_control
-		fw_pos_control_l1
-		gyro_calibration
-		gyro_fft
-		land_detector
-		landing_target_estimator
-		load_mon
-		local_position_estimator
-		logger
-		mavlink
-		mc_att_control
-		mc_hover_thrust_estimator
-		mc_pos_control
-		mc_rate_control
-		#micrortps_bridge
-		navigator
-		rc_update
-		#rover_pos_control
-		sensors
-		sih
-		temperature_compensation
-		#uuv_att_control
-		#uuv_pos_control
-		vmount
-		vtol_att_control
-	SYSTEMCMDS
-		bl_update
-		dmesg
-		dumpfile
-		esc_calib
-		gpio
-		hardfault_log
-		i2cdetect
-		led_control
-		mft
-		mixer
-		motor_ramp
-		motor_test
-		mtd
-		nshterm
-		param
-		perf
-		pwm
-		reboot
-		reflect
-		sd_bench
-		serial_test
-		system_time
-		tests # tests and test runner
-		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
-		ver
-		work_queue
-	EXAMPLES
-		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
-		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
-	)
@@ -19,7 +19,6 @@ px4_add_board(
 		# CONSOLE:/dev/ttyS4
 		GPS2:/dev/ttyS5
 	DRIVERS
-		#adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -31,16 +30,20 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
+		#imu/analog_devices/adis16448
+		#imu/adis16477
+		#imu/adis16497
 		imu/invensense/icm20602
 		imu/invensense/icm20649
 		imu/invensense/icm20948
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		#pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -84,8 +87,6 @@ px4_add_board(
 		sensors
 		#sih
 		#temperature_compensation
-		#uuv_att_control
-		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -109,8 +110,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		#serial_test
-		system_time
 		tests # tests and test runner
 		top
 		topic_listener
@@ -121,8 +120,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
+		fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test
@@ -19,7 +19,6 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		GPS2:/dev/ttyS5
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -36,12 +35,13 @@ px4_add_board(
 		imu/invensense/icm20649
 		imu/invensense/icm20948
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -85,8 +85,6 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
-		#uuv_att_control
-		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -110,8 +108,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		#serial_test
-		system_time
 		#tests # tests and test runner
 		top
 		topic_listener
@@ -122,8 +118,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
+		fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test
@@ -13,3 +13,5 @@ icm20948 -s -b 4 -R 10 -M start
 ms5611 -s -b 1 start
 icm20649 -s -b 1 start

+# standard Here/Here2 connected to GPS1
+ak09916 -X -b 1 -R 6 start # external AK09916 (Here2) is rotated 270 degrees yaw
@@ -54,6 +54,7 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
@@ -58,6 +58,7 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -88,7 +89,7 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=4
+CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -106,7 +107,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -122,7 +122,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -135,12 +134,9 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDMMC1_SDIO_PULLUP=y
+CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -162,6 +158,8 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_DTCMEXCLUDE=y
+CONFIG_STM32H7_DTCM_PROCFS=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y
@@ -202,6 +200,7 @@ CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGINT_CHAR=0x03
 CONFIG_TTY_SIGSTP=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
@@ -232,4 +231,3 @@ CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
 CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"
-CONFIG_WATCHDOG=y
@@ -59,6 +59,7 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -89,7 +90,7 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=4
+CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -107,7 +108,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -123,7 +123,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -136,9 +135,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
@@ -163,6 +159,8 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_DTCMEXCLUDE=y
+CONFIG_STM32H7_DTCM_PROCFS=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y
@@ -233,4 +231,3 @@ CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
 CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"
-CONFIG_WATCHDOG=y
@@ -198,15 +198,6 @@ SECTIONS
 		_ebss = ABSOLUTE(.);
 	} > AXI_SRAM

-	/* Emit the the D3 power domain section for locating BDMA data */
-
-	.sram4_reserve (NOLOAD) :
-	{
-		*(.sram4)
-		. = ALIGN(4);
-		_sram4_heap_start = ABSOLUTE(.);
-	} > SRAM4
-
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }
@@ -18,7 +18,6 @@ px4_add_board(
 		# CONSOLE:/dev/ttyS4
 		GPS2:/dev/ttyS5
 	DRIVERS
-		#adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -30,16 +29,18 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
+		imu/analog_devices/adis16448
 		imu/invensense/icm20602
 		imu/invensense/icm20649
 		imu/invensense/icm20948
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		#pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -53,7 +54,7 @@ px4_add_board(
 		uavcan
 	MODULES
 		airspeed_selector
-		#attitude_estimator_q
+		attitude_estimator_q
 		battery_status
 		camera_feedback
 		commander
@@ -69,7 +70,7 @@ px4_add_board(
 		land_detector
 		landing_target_estimator
 		load_mon
-		#local_position_estimator
+		local_position_estimator
 		logger
 		mavlink
 		mc_att_control
@@ -79,12 +80,10 @@ px4_add_board(
 		#micrortps_bridge
 		navigator
 		rc_update
-		#rover_pos_control
+		rover_pos_control
 		sensors
-		#sih
-		#temperature_compensation
-		#uuv_att_control
-		#uuv_pos_control
+		sih
+		temperature_compensation
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -108,8 +107,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		#serial_test
-		system_time
 		tests # tests and test runner
 		top
 		topic_listener
@@ -120,8 +117,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
+		fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test
@@ -18,7 +18,6 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		GPS2:/dev/ttyS5
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -35,12 +34,13 @@ px4_add_board(
 		imu/invensense/icm20649
 		imu/invensense/icm20948
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -49,7 +49,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
-		#test_ppm
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -84,8 +84,6 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -109,9 +107,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		#serial_test
-		system_time
-		#tests # tests and test runner
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -121,8 +117,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
+		fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test
@@ -13,3 +13,5 @@ icm20948 -s -b 4 -R 10 -M start
 ms5611 -s -b 1 start
 icm20649 -s -b 1 start

+# standard Here/Here2 connected to GPS1
+ak09916 -X -b 1 -R 6 start # external AK09916 (Here2) is rotated 270 degrees yaw
@@ -106,7 +106,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -122,7 +121,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -133,9 +131,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
@@ -107,7 +107,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -123,7 +122,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -134,9 +132,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
@@ -12,7 +12,6 @@ px4_add_board(
 	TOOLCHAIN arm-linux-gnueabihf
 	TESTING
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/ms5611
@@ -24,7 +23,6 @@ px4_add_board(
 		gps
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
-		imu/invensense/icm20948 # required for ak09916 mag
 		imu/invensense/mpu9250
 		imu/st/lsm9ds1
 		linux_pwm_out
@@ -42,7 +40,6 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -67,8 +64,6 @@ px4_add_board(
 		sih
 		#simulator
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -82,7 +77,6 @@ px4_add_board(
 		perf
 		pwm
 		sd_bench
-		#serial_test
 		system_time
 		shutdown
 		tests # tests and test runner
@@ -95,8 +89,6 @@ px4_add_board(
 	EXAMPLES
 		dyn_hello # dynamically loading modules example
 		fake_gps
-		fake_gyro
-		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		#hwtest # Hardware test
@@ -1,37 +0,0 @@
-include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR holybro
-	MODEL can-gps-v1
-	LABEL debug
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_MEMORY
-	CONSTRAINED_FLASH
-	ROMFSROOT cannode
-	UAVCAN_INTERFACES 2
-	DRIVERS
-		adc/board_adc
-		barometer/bmp388
-		bootloaders
-		gps
-		imu/bosch/bmi088
-		lights/rgbled_ncp5623c
-		magnetometer/bosch/bmm150
-		uavcannode
-	MODULES
-		#ekf2
-		load_mon
-		sensors
-	SYSTEMCMDS
-		i2cdetect
-		param
-		perf
-		reboot
-		top
-		#topic_listener
-		uorb
-		ver
-		work_queue
-)
@@ -8,7 +8,6 @@ px4_add_board(
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
-	CONSTRAINED_FLASH
 	ROMFSROOT cannode
 	UAVCAN_INTERFACES 2
 	DRIVERS
@@ -21,15 +20,14 @@ px4_add_board(
 		magnetometer/bosch/bmm150
 		uavcannode
 	MODULES
-		#ekf2
-		sensors
+		load_mon
 	SYSTEMCMDS
-		#i2cdetect
+		i2cdetect
 		param
-		#perf
-		#top
-		#topic_listener
-		#uorb
-		#ver
-		#work_queue
+		perf
+		reboot
+		top
+		topic_listener
+		ver
+		work_queue
 )
@@ -86,7 +86,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -102,7 +101,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
@@ -113,9 +111,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0
@@ -9,7 +9,8 @@ px4_add_board(
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
 	IO px4_io-v2_default
-	UAVCAN_INTERFACES 2
+	TESTING
+#	UAVCAN_INTERFACES 2  - No H7 or FD can support in UAVCAN
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS1
@@ -17,7 +18,6 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		TEL4:/dev/ttyS3
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -32,24 +32,26 @@ px4_add_board(
 		imu/analog_devices/adis16448
 		imu/bosch/bmi088
 		imu/invensense/icm20689
-		imu/invensense/icm20948 # required for ak09916 mag
-		#irlock
-		lights # all available light drivers
+		irlock
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
 		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
+#		pwm_input  - Need to create arch/stm32 arch/stm32h7 arch/kinetis and reloacate
+#					   all arch dependant code there
 		pwm_out_sim
 		pwm_out
 		px4io
 		roboclaw
-		rpm
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
-		uavcan
+#		uavcan - No H7 or FD can support in UAVCAN yet
 	MODULES
 		airspeed_selector
 		attitude_estimator_q
@@ -58,7 +60,6 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -75,15 +76,12 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
-		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
-		#uuv_att_control
-		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -91,7 +89,6 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -107,9 +104,8 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
-		#tests # tests and test runner
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -119,15 +115,13 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -54,6 +54,7 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
--- a/Show More
+++ b/Show More