WIP: ODOMETRY quality metric

WIP
MPC_SPOOLUP_TIME -> COM_SPOOLUP_TIME
2026-05-26 15:30:04 +08:00 · 2022-06-29 10:16:41 -04:00 · 2022-06-28 21:23:00 -04:00 · 2022-06-24 19:44:43 +02:00 · 2022-06-24 10:05:16 -05:00 · 2022-06-24 10:05:16 -05:00
580 changed files with 27774 additions and 13298 deletions
@@ -105,6 +105,7 @@ pipeline {
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
                     "px4_fmu-v5x_default",
+                     "px4_fmu-v6c_default",
                     "px4_fmu-v6u_default",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
@@ -794,7 +794,7 @@ void resetParameters() {
 void runTests() {

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

  resetParameters()

@@ -809,6 +809,9 @@ void runTests() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'

+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
+  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest
+
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
@@ -864,12 +867,15 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_fake_pos" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_pos" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_vel" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
@@ -1,32 +1,34 @@
 ---
-name: Bug report
+name: 🐛 Bug report
 about: Create a report to help us improve
+labels: bug-report

 ---

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

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

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

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

 Add screenshots to help explain your problem.

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

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

 ---

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

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

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

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

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

 ---

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

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

 ---

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

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

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

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

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

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

-**Additional context**
+## Additional context
 Add any other related context or media.
@@ -61,6 +61,7 @@ jobs:
          px4_fmu-v4pro,
          px4_fmu-v5,
          px4_fmu-v5x,
+          px4_fmu-v6c,
          px4_fmu-v6u,
          px4_fmu-v6x,
          raspberrypi_pico,
@@ -126,8 +126,6 @@
        },
        "search.showLineNumbers": true,
        "telemetry.enableTelemetry": false,
-        "terminal.integrated.copyOnSelection": true,
-        "terminal.integrated.rightClickBehavior": "paste",
        "terminal.integrated.scrollback": 5000,
        "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
        "workbench.editor.highlightModifiedTabs": true,
@@ -325,12 +325,13 @@ px4io_update: px4_io-v2_default cubepilot_io-v2_default
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
+	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6c/extras/px4_io-v2_default.bin
 	# cubepilot_io-v2_default
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
+bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status

 .PHONY: coverity_scan
@@ -86,10 +86,28 @@ unset BOARD_RC_SENSORS
 . ${R}etc/init.d/rc.serial

 # Check for flow sensor
-if param compare SENS_EN_PX4FLOW 1
+if param compare -s SENS_EN_PX4FLOW 1
 then
 	px4flow start -X &
 fi

+if param compare -s IMU_GYRO_CAL_EN 1
+then
+	gyro_calibration start
+fi
+
+
+if param compare -s MBE_ENABLE 1
+then
+	# conservative mag bias estimation
+	param set-default MBE_LEARN_GAIN 5
+	param set-default IMU_GYRO_CUTOFF 20
+	mag_bias_estimator start
+fi
+
+param set-default SENS_MAG_RATE 100
+
+sensors start
+
 uavcannode start
 unset R
@@ -0,0 +1,101 @@
+#!/bin/sh
+#
+# @name 6DoF Omnicopter SITL
+#
+# @type Quadrotor Wide
+#
+# @maintainer Jaeyoung Lim <jalim@ethz.ch>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+param set-default SYS_CTRL_ALLOC 1
+
+
+param set-default CA_AIRFRAME 0
+
+param set-default CA_ROTOR_COUNT 8
+param set-default CA_R_REV 255
+
+param set-default CA_ROTOR0_PX 0.14435
+param set-default CA_ROTOR0_PY -0.14435
+param set-default CA_ROTOR0_PZ -0.14435
+param set-default CA_ROTOR0_KM 0.05 # CCW
+param set-default CA_ROTOR0_AX -0.788675
+param set-default CA_ROTOR0_AY -0.211325
+param set-default CA_ROTOR0_AZ -0.57735
+
+param set-default CA_ROTOR1_PX -0.14435
+param set-default CA_ROTOR1_PY -0.14435
+param set-default CA_ROTOR1_PZ -0.14435
+param set-default CA_ROTOR1_KM 0.05
+param set-default CA_ROTOR1_AX 0.211325
+param set-default CA_ROTOR1_AY -0.788675
+param set-default CA_ROTOR1_AZ 0.57735
+
+param set-default CA_ROTOR2_PX 0.14435
+param set-default CA_ROTOR2_PY 0.14435
+param set-default CA_ROTOR2_PZ -0.14435
+param set-default CA_ROTOR2_KM 0.05
+param set-default CA_ROTOR2_AX -0.211325
+param set-default CA_ROTOR2_AY 0.788675
+param set-default CA_ROTOR2_AZ 0.57735
+
+param set-default CA_ROTOR3_PX -0.14435
+param set-default CA_ROTOR3_PY 0.14435
+param set-default CA_ROTOR3_PZ -0.14435
+param set-default CA_ROTOR3_KM 0.05
+param set-default CA_ROTOR3_AX 0.788675
+param set-default CA_ROTOR3_AY 0.211325
+param set-default CA_ROTOR3_AZ -0.57735
+
+param set-default CA_ROTOR4_PX 0.14435
+param set-default CA_ROTOR4_PY -0.14435
+param set-default CA_ROTOR4_PZ 0.14435
+param set-default CA_ROTOR4_KM 0.05
+param set-default CA_ROTOR4_AX 0.788675
+param set-default CA_ROTOR4_AY 0.211325
+param set-default CA_ROTOR4_AZ -0.57735
+
+param set-default CA_ROTOR5_PX -0.14435
+param set-default CA_ROTOR5_PY -0.14435
+param set-default CA_ROTOR5_PZ 0.14435
+param set-default CA_ROTOR5_KM 0.05
+param set-default CA_ROTOR5_AX -0.211325
+param set-default CA_ROTOR5_AY 0.788675
+param set-default CA_ROTOR5_AZ 0.57735
+
+param set-default CA_ROTOR6_PX 0.14435
+param set-default CA_ROTOR6_PY 0.14435
+param set-default CA_ROTOR6_PZ 0.14435
+param set-default CA_ROTOR6_KM 0.05
+param set-default CA_ROTOR6_AX 0.211325
+param set-default CA_ROTOR6_AY -0.788675
+param set-default CA_ROTOR6_AZ 0.57735
+
+param set-default CA_ROTOR7_PX -0.14435
+param set-default CA_ROTOR7_PY 0.14435
+param set-default CA_ROTOR7_PZ 0.14435
+param set-default CA_ROTOR7_KM 0.05
+param set-default CA_ROTOR7_AX -0.788675
+param set-default CA_ROTOR7_AY -0.211325
+param set-default CA_ROTOR7_AZ -0.57735
+
+param set-default PWM_MAIN_FUNC1 101
+param set-default PWM_MAIN_FUNC2 102
+param set-default PWM_MAIN_FUNC3 103
+param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_MAIN_FUNC5 105
+param set-default PWM_MAIN_FUNC6 106
+param set-default PWM_MAIN_FUNC7 107
+param set-default PWM_MAIN_FUNC8 108
+
+# disable MC desaturation which improves attitude tracking
+param set-default CA_METHOD 0
+
+# disable attitude failure detection
+param set-default FD_FAIL_P 0
+param set-default FD_FAIL_R 0
+
+set MIXER skip
+set MIXER_AUX none
@@ -0,0 +1,23 @@
+#!/bin/sh
+#
+# @name QuadrotorX SITL for SIH
+#
+# @type Quadrotor
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+#
+
+. ${R}etc/init.d/rc.mc_defaults
+
+set MIXER quad_x
+
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
+param set SIH_VEHICLE_TYPE 0
@@ -0,0 +1,33 @@
+#!/bin/sh
+#
+# @name Plane SITL for SIH
+#
+# @type Plane
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+
+. ${R}etc/init.d/rc.fw_defaults
+
+set MIXER AERT
+
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default BAT_N_CELLS 3
+
+param set SIH_T_MAX 6.0
+param set SIH_MASS 0.3
+param set SIH_IXX 0.00402
+param set SIH_IYY 0.0144
+param set SIH_IZZ 0.0177
+param set SIH_IXZ 0.00046
+param set SIH_KDV 0.2
+
+param set SIH_VEHICLE_TYPE 1 	# sih as fixed wing
+param set RWTO_TKOFF 1  # enable takeoff from runway (as opposed to launched)
@@ -0,0 +1,45 @@
+#!/bin/sh
+#
+# @name SIH Tailsitter Duo
+#
+# @type VTOL
+#
+# @maintainer Romain Chiappinelli <romain.chiap@gmail.com>
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+param set-default VT_ELEV_MC_LOCK 0
+param set-default VT_TYPE 0
+param set-default VT_FW_DIFTHR_EN 1
+param set-default VT_FW_DIFTHR_SC 0.3
+param set-default MPC_MAN_Y_MAX 60
+param set-default MC_PITCH_P 5
+
+param set-default MAV_TYPE 19
+set MAV_TYPE 19
+set MIXER vtol_tailsitter_duo_sat
+
+# disable some checks to allow to fly:
+# - with usb
+param set-default CBRK_USB_CHK 197848
+# - without real battery
+param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default COM_PREARM_MODE 0
+param set-default CBRK_IO_SAFETY 22027
+
+param set-default BAT_N_CELLS 3
+
+param set SIH_T_MAX 2.0
+param set SIH_Q_MAX 0.0165
+param set SIH_MASS 0.2
+# IXX and IZZ are inverted from the thesis as the body frame is pitched by 90 deg
+param set SIH_IXX 0.00354
+param set SIH_IYY 0.000625
+param set SIH_IZZ 0.00300
+param set SIH_IXZ 0.0
+param set SIH_KDV 0.2
+param set SIH_L_ROLL 0.145
+
+# sih as tailsitter
+param set SIH_VEHICLE_TYPE 2
@@ -18,3 +18,7 @@ param set-default LPE_FAKE_ORIGIN 1

 param set-default MPC_ALT_MODE 2

+param set-default SENS_FLOW_ROT 6
+param set-default SENS_FLOW_MINHGT 0.7
+param set-default SENS_FLOW_MAXHGT 3.0
+param set-default SENS_FLOW_MAXR 2.5
@@ -9,7 +9,6 @@

 # EKF2
 param set-default EKF2_AID_MASK 2
-param set-default SENS_FLOW_ROT 0

 # LPE: Flow-only mode
 param set-default LPE_FUSION 242
@@ -35,8 +35,12 @@ px4_add_romfs_files(
 	10016_iris
 	10017_iris_ctrlalloc
 	10018_iris_foggy_lidar
+	10019_omnicopter
 	10020_if750a
 	10030_px4vision
+	10040_quadx
+	10041_airplane
+	10042_xvert
 	1010_iris_opt_flow
 	1010_iris_opt_flow.post
 	1011_iris_irlock
@@ -30,3 +30,12 @@ mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $ud

 # Onboard link to gimbal
 mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote
+
+# To display for SIH sitl
+if [ "$SIM_MODE" = "sihsim" ]; then
+	udp_sihsim_port_local=$((19450+px4_instance))
+	udp_sihsim_port_remote=$((19410+px4_instance))
+	mavlink start -x -u $udp_sihsim_port_local -r 400000 -m custom -o $udp_sihsim_port_remote
+	mavlink stream -r 200 -s HIL_ACTUATOR_CONTROLS -u  $udp_sihsim_port_local
+	mavlink stream -r 25 -s HIL_STATE_QUATERNION -u  $udp_sihsim_port_local
+fi
@@ -95,10 +95,9 @@ fi

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

 # multi-instance setup
@@ -155,6 +154,8 @@ param set-default SDLOG_DIRS_MAX 7

 param set-default TRIG_INTERFACE 3

+param set-default SYS_FAILURE_EN 1
+
 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
 	COM_DL_LOSS_T_LONGER=$(echo "$PX4_SIM_SPEED_FACTOR * 10" | bc)
@@ -196,14 +197,6 @@ fi

 . "$autostart_file"

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

@@ -211,8 +204,11 @@ param set IMU_INTEG_RATE 250
 . px4-rc.params

 dataman start
+# start sih in sih_sim mode, otherwise simulator module
+if [ "$SIM_MODE" = "sihsim" ]; then
+	sih start
 # only start the simulator if not in replay mode, as both control the lockstep time
-if ! replay tryapplyparams
+elif ! replay tryapplyparams
 then
  . px4-rc.simulator
 fi
@@ -61,6 +61,8 @@ param set-default HIL_ACT_FUNC6 400

 param set SYS_HITL 1

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

 param set SYS_HITL 1

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

 param set SYS_HITL 1

+param set UAVCAN_ENABLE 0
+
 # disable some checks to allow to fly
 # - with usb
 param set-default CBRK_USB_CHK 197848
@@ -131,7 +131,6 @@ param set-default VT_F_TRANS_DUR 1
 param set-default VT_IDLE_PWM_MC 1025
 param set-default VT_B_REV_OUT 0.5
 param set-default VT_B_TRANS_THR 0.7
-param set-default VT_FW_PERM_STAB 1
 param set-default VT_TRANS_TIMEOUT 22
 param set-default VT_F_TRANS_RAMP 4

@@ -62,7 +62,7 @@ param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
-param set-default MPC_SPOOLUP_TIME 1.5
+param set-default COM_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TKO_RAMP_T 1.8
@@ -104,7 +104,6 @@ param set-default SDLOG_PROFILE 131
 param set-default SENS_CM8JL65_CFG 104
 param set-default SENS_FLOW_MAXHGT 25
 param set-default SENS_FLOW_MINHGT 0.5
-param set-default SENS_FLOW_ROT 0
 param set-default IMU_GYRO_CUTOFF 100
 param set-default SENS_EN_PMW3901 1

@@ -47,6 +47,7 @@ param set-default COM_RC_LOSS_T 3

 # ekf2
 param set-default EKF2_AID_MASK 33
+param set-default EKF2_TERR_MASK 1
 param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0

@@ -173,7 +174,7 @@ param set-default RC1_TRIM          1000
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
 param set-default SENS_FLOW_MAXHGT 5.0
-param set-default SENS_FLOW_ROT    0
+param set-default SENS_FLOW_ROT 0

 # ignore the SD card errors and use normal startup sound
 set STARTUP_TUNE "1"
@@ -21,7 +21,6 @@ set +e
 # it wastes flash
 #
 set R /
-set AUTOCNF no
 set FCONFIG /fs/microsd/etc/config.txt
 set FEXTRAS /fs/microsd/etc/extras.txt
 set FRC /fs/microsd/etc/rc.txt
@@ -177,13 +176,12 @@ else
 	fi

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

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

-	#
-	# If autoconfig parameter was set, reset it and save parameters.
-	#
-	if [ $AUTOCNF = yes ]
-	then
-		param set SYS_AUTOCONFIG 0
-	fi
-
 	#
 	# Check if UAVCAN is enabled, default to it for ESCs.
 	#
@@ -565,7 +555,6 @@ fi
 # Unset all script parameters to free RAM.
 #
 unset R
-unset AUTOCNF
 unset FCONFIG
 unset FEXTRAS
 unset FRC
@@ -95,7 +95,7 @@ def do_nsh_cmd(port_url, baudrate, cmd):


    timeout_start = time.monotonic()
-    timeout = 240 # 4 minutes
+    timeout = 600 # 10 minutes

    return_code = 0

@@ -11,7 +11,7 @@ from pyulog import ULog
 from analysis.detectors import InAirDetector, PreconditionError
 from analysis.metrics import calculate_ecl_ekf_metrics
 from analysis.checks import perform_ecl_ekf_checks
-from analysis.post_processing import get_estimator_check_flags
+from analysis.post_processing import get_gps_check_fail_flags

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

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

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

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

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

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


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

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

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

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

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

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

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

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

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

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

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

    imu_metrics = calculate_imu_metrics(ulog, multi_instance, in_air_no_ground_effects)

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


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

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

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

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

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

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

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

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

 import numpy as np

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

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

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

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

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

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

    with PdfPages(output_plot_filename) as pdf_pages:

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

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

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

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


-def detect_airtime(control_mode, status_time):
+def detect_airtime(estimator_status_flags, status_flags_time):
    # define flags for starting and finishing in air
    b_starts_in_air = False
    b_finishes_in_air = False
    # calculate in-air transition time
-    if (np.amin(control_mode['airborne']) < 0.5) and (np.amax(control_mode['airborne']) > 0.5):
-        in_air_transtion_time_arg = np.argmax(np.diff(control_mode['airborne']))
-        in_air_transition_time = status_time[in_air_transtion_time_arg]
-    elif (np.amax(control_mode['airborne']) > 0.5):
-        in_air_transition_time = np.amin(status_time)
+    if (np.amin(estimator_status_flags['cs_in_air']) < 0.5) and (np.amax(estimator_status_flags['cs_in_air']) > 0.5):
+        in_air_transtion_time_arg = np.argmax(np.diff(estimator_status_flags['cs_in_air']))
+        in_air_transition_time = status_flags_time[in_air_transtion_time_arg]
+    elif (np.amax(estimator_status_flags['cs_in_air']) > 0.5):
+        in_air_transition_time = np.amin(status_flags_time)
        print('log starts while in-air at ' + str(round(in_air_transition_time, 1)) + ' sec')
        b_starts_in_air = True
    else:
        in_air_transition_time = float('NaN')
        print('always on ground')
    # calculate on-ground transition time
-    if (np.amin(np.diff(control_mode['airborne'])) < 0.0):
-        on_ground_transition_time_arg = np.argmin(np.diff(control_mode['airborne']))
-        on_ground_transition_time = status_time[on_ground_transition_time_arg]
-    elif (np.amax(control_mode['airborne']) > 0.5):
-        on_ground_transition_time = np.amax(status_time)
+    if (np.amin(np.diff(estimator_status_flags['cs_in_air'])) < 0.0):
+        on_ground_transition_time_arg = np.argmin(np.diff(estimator_status_flags['cs_in_air']))
+        on_ground_transition_time = status_flags_time[on_ground_transition_time_arg]
+    elif (np.amax(estimator_status_flags['cs_in_air']) > 0.5):
+        on_ground_transition_time = np.amax(status_flags_time)
        print('log finishes while in-air at ' + str(round(on_ground_transition_time, 1)) + ' sec')
        b_finishes_in_air = True
    else:
        on_ground_transition_time = float('NaN')
        print('always on ground')
-    if (np.amax(np.diff(control_mode['airborne'])) > 0.5) and (np.amin(np.diff(control_mode['airborne'])) < -0.5):
+    if (np.amax(np.diff(estimator_status_flags['cs_in_air'])) > 0.5) and (np.amin(np.diff(estimator_status_flags['cs_in_air'])) < -0.5):
        if ((on_ground_transition_time - in_air_transition_time) > 0.0):
            in_air_duration = on_ground_transition_time - in_air_transition_time
        else:
@@ -5,12 +5,13 @@ set -e
 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
 cd "$SCRIPT_DIR/jMAVSim"

-tcp_port=4560
+port=4560
 extra_args=
 baudrate=921600
 device=
 ip="127.0.0.1"
-while getopts ":b:d:p:qsr:f:i:loat" opt; do
+protocol="tcp"
+while getopts ":b:d:u:p:qsr:f:i:loat" opt; do
 	case $opt in
 		b)
 			baudrate=$OPTARG
@@ -18,11 +19,14 @@ while getopts ":b:d:p:qsr:f:i:loat" opt; do
 		d)
 			device="$OPTARG"
 			;;
+		u)
+			protocol="udp"
+			;;
 		i)
 			ip="$OPTARG"
 			;;
 		p)
-			tcp_port=$OPTARG
+			port=$OPTARG
 			;;
 		q)
 			extra_args="$extra_args -qgc"
@@ -53,7 +57,11 @@ while getopts ":b:d:p:qsr:f:i:loat" opt; do
 done

 if [ "$device" == "" ]; then
-	device="-tcp $ip:$tcp_port"
+	if [ "$protocol" == "tcp" ]; then
+		device="-tcp $ip:$port"
+	else
+		device="-udp $port"
+	fi
 else
 	device="-serial $device $baudrate"
 fi
@@ -1,72 +0,0 @@
-#!/bin/python3
-
-import parse_cmake.parsing as cmp
-import glob
-import pprint
-import re
-import os
-
-__location__ = os.path.realpath(
-    os.path.join(os.getcwd(), os.path.dirname(__file__)))
-
-serial_regex = r"(\D\D\D\d):(/dev/ttyS\d+)"
-io_regex = r"IO (.*)"
-romfs_regex = r"ROMFSROOT (.*)"
-arch_regex = r"ARCHITECTURE (.*)"
-toolchain_regex = r"TOOLCHAIN (.*)"
-
-
-
-def stripComments(code):
-    code = str(code)
-    return re.sub(r'(?m) *#.*\n?', '', code)
-
-lut = {}
-with open(os.path.join(__location__, "cmake_kconfig_lut.txt"),'r') as lookup:
-    for line in lookup:
-        if ',' in line:
-            key, value = line.strip().split(',')
-            lut[key] = value
-
-#for name in glob.glob('boards/*/*/*.cmake'):
-px4_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), '../../'))
-
-for name in glob.glob(px4_dir + '/boards/*/*/*.cmake'):
-    print(name)
-    with open(name, 'r') as f:
-        romfs_set = False
-        w = open(name.replace(".cmake",".px4board"), "w")
-        for line in f:
-            clean_line = stripComments(line.strip())
-            value = lut.get(clean_line)
-            if value is not None:
-                print(value, file=w)
-                print(value)
-            else:
-                matches = re.finditer(serial_regex, clean_line, re.MULTILINE)
-                for matchNum, match in enumerate(matches, start=1):
-                    print("CONFIG_BOARD_SERIAL_" + match.groups()[0] + "=\"" + match.groups()[1] + "\"")
-                    print("CONFIG_BOARD_SERIAL_" + match.groups()[0] + "=\"" + match.groups()[1] + "\"", file=w)
-                matches = re.finditer(io_regex, clean_line, re.MULTILINE)
-                for matchNum, match in enumerate(matches, start=1):
-                    print("CONFIG_BOARD_IO=\"" + match.groups()[0] + "\"")
-                    print("CONFIG_BOARD_IO=\"" + match.groups()[0] + "\"", file=w)
-                matches = re.finditer(romfs_regex, clean_line, re.MULTILINE)
-                for matchNum, match in enumerate(matches, start=1):
-                    print("CONFIG_BOARD_ROMFSROOT=\"" + match.groups()[0] + "\"")
-                    print("CONFIG_BOARD_ROMFSROOT=\"" + match.groups()[0] + "\"", file=w)
-                    romfs_set = True
-                matches = re.finditer(arch_regex, clean_line, re.MULTILINE)
-                for matchNum, match in enumerate(matches, start=1):
-                    print("CONFIG_BOARD_ARCHITECTURE=\"" + match.groups()[0] + "\"")
-                    print("CONFIG_BOARD_ARCHITECTURE=\"" + match.groups()[0] + "\"", file=w)
-                matches = re.finditer(toolchain_regex, clean_line, re.MULTILINE)
-                for matchNum, match in enumerate(matches, start=1):
-                    print("CONFIG_BOARD_TOOLCHAIN=\"" + match.groups()[0] + "\"")
-                    print("CONFIG_BOARD_TOOLCHAIN=\"" + match.groups()[0] + "\"", file=w)
-
-    if(romfs_set == False):
-        print("CONFIG_BOARD_ROMFSROOT=\"\"", file=w)
-
-
-    w.close()
@@ -1,204 +0,0 @@
-PLATFORM nuttx,CONFIG_PLATFORM_NUTTX=y
-PLATFORM posix,CONFIG_PLATFORM_POSIX=y
-CONSTRAINED_MEMORY,CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONSTRAINED_FLASH,CONFIG_BOARD_CONSTRAINED_FLASH=y
-NO_HELP,CONFIG_BOARD_NO_HELP=y
-EXTERNAL_METADATA,CONFIG_BOARD_EXTERNAL_METADATA=y
-BUILD_BOOTLOADER,CONFIG_BOARD_BUILD_BOOTLOADER=y
-UAVCAN_INTERFACES 2,CONFIG_BOARD_UAVCAN_INTERFACES=2
-UAVCAN_INTERFACES 1,CONFIG_BOARD_UAVCAN_INTERFACES=1
-UAVCAN_TIMER_OVERRIDE 2,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
-UAVCAN_TIMER_OVERRIDE 1,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=1
-UAVCAN_TIMER_OVERRIDE 1,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=0
-TESTING,CONFIG_BOARD_TESTING=y
-ETHERNET,CONFIG_BOARD_ETHERNET=y
-adc/ads1115,CONFIG_DRIVERS_ADC_ADS1115=y
-adc/board_adc,CONFIG_DRIVERS_ADC_BOARD_ADC=y
-barometer,CONFIG_COMMON_BAROMETERS=y
-barometer/bmp280,CONFIG_DRIVERS_BAROMETER_BMP280=y
-barometer/bmp388,CONFIG_DRIVERS_BAROMETER_BMP388=y
-barometer/dps310,CONFIG_DRIVERS_BAROMETER_DPS310=y
-barometer/lps22hb,CONFIG_DRIVERS_BAROMETER_LPS22HB=y
-barometer/lps25h,CONFIG_DRIVERS_BAROMETER_LPS25H=y
-barometer/lps33hw,CONFIG_DRIVERS_BAROMETER_LPS33HW=y
-barometer/mpl3115a2,CONFIG_DRIVERS_BAROMETER_MPL3115A2=y
-barometer/ms5611,CONFIG_DRIVERS_BAROMETER_MS5611=y
-barometer/tcbp001ta,CONFIG_DRIVERS_BAROMETER_TCBP001TA=y
-batt_smbus,CONFIG_DRIVERS_BATT_SMBUS=y
-bootloaders,CONFIG_DRIVERS_BOOTLOADERS=y
-camera_capture,CONFIG_DRIVERS_CAMERA_CAPTURE=y
-camera_trigger,CONFIG_DRIVERS_CAMERA_TRIGGER=y
-differential_pressure,CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-distance_sensor,CONFIG_COMMON_DISTANCE_SENSOR=y
-distance_sensor/ll40ls,CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
-distance_sensor/lightware_laser_serial,CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
-distance_sensor/broadcom/afbrs50,CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
-distance_sensor/vl53l0x,CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
-distance_sensor/vl53l1x,CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
-distance_sensor/srf05,CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y
-dshot,CONFIG_DRIVERS_DSHOT=y
-gps,CONFIG_DRIVERS_GPS=y
-heater,CONFIG_DRIVERS_HEATER=y
-imu,CONFIG_COMMON_IMU=y
-imu/adis16477,CONFIG_DRIVERS_IMU_ADIS16477=y
-imu/adis16497,CONFIG_DRIVERS_IMU_ADIS16497=y
-imu/analog_devices/adis16448,CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
-imu/analog_devices/adis16470,CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
-imu/bosch/bmi055,CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
-imu/bosch/bmi088,CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
-imu/fxas21002c,CONFIG_DRIVERS_IMU_FXAS21002C=y
-imu/fxos8701cq,CONFIG_DRIVERS_IMU_FXOS8701CQ=y
-imu/invensense/icm20602,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-imu/invensense/icm20608g,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20608G=y
-imu/invensense/icm20649,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
-imu/invensense/icm20689,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
-imu/invensense/icm20948,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-imu/invensense/icm40609d,CONFIG_DRIVERS_IMU_INVENSENSE_ICM40609D=y
-imu/invensense/icm42605,CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
-imu/invensense/icm42688p,CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-imu/invensense/mpu6000,CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
-imu/invensense/mpu6500,CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
-imu/invensense/mpu9250,CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
-imu/l3gd20,CONFIG_DRIVERS_IMU_L3GD20=y
-imu/lsm303d,CONFIG_DRIVERS_IMU_LSM303D=y
-imu/st,CONFIG_DRIVERS_IMU_ST=y
-irlock,CONFIG_DRIVERS_IRLOCK=y
-lights,CONFIG_COMMON_LIGHT=y
-lights/neopixel,CONFIG_DRIVERS_LIGHTS_NEOPIXEL=y
-lights/rgbled,CONFIG_DRIVERS_LIGHTS_RGBLED=y
-lights/rgbled_ncp5623c,CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
-lights/rgbled_pwm,CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
-magnetometer,CONFIG_COMMON_MAGNETOMETER=y
-magnetometer/akm/ak09916,CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916=y
-magnetometer/akm/ak8963,CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
-magnetometer/bosch/bmm150,CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
-magnetometer/hmc5883,CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-magnetometer/isentek/ist8308,CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
-magnetometer/isentek/ist8310,CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-magnetometer/lis2mdl,CONFIG_DRIVERS_MAGNETOMETER_LIS2MDL=y
-magnetometer/lis3mdl,CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
-magnetometer/lsm303agr,CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
-magnetometer/lsm9ds1_mag,CONFIG_DRIVERS_MAGNETOMETER_LSM9DS1_MAG=y
-magnetometer/qmc5883l,CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-magnetometer/rm3100,CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
-magnetometer/vtrantech/vcm1193l,CONFIG_DRIVERS_MAGNETOMETER_VTRANTECH_VCM1193L=y
-optical_flow,CONFIG_COMMON_OPTICAL_FLOW=y
-optical_flow/paw3902,CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
-optical_flow/paw3901,CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901=y
-optical_flow/px4flow,CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
-optical_flow/thoneflow,CONFIG_DRIVERS_OPTICAL_FLOW_THONEFLOW=y
-osd,CONFIG_DRIVERS_OSD=y
-pca9685,CONFIG_DRIVERS_PCA9685=y
-pca9685_pwm_out,CONFIG_DRIVERS_PCA9685_PWM_OUT=y
-power_monitor/ina226,CONFIG_DRIVERS_POWER_MONITOR_INA226=y
-power_monitor/voxlpm,CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
-pps_capture,CONFIG_DRIVERS_PPS_CAPTURE=y
-protocol_splitter,CONFIG_DRIVERS_PROTOCOL_SPLITTER=y
-pwm_input,CONFIG_DRIVERS_PWM_INPUT=y
-pwm_out_sim,CONFIG_DRIVERS_PWM_OUT_SIM=y
-pwm_out,CONFIG_DRIVERS_PWM_OUT=y
-px4io,CONFIG_DRIVERS_PX4IO=y
-rc_input,CONFIG_DRIVERS_RC_INPUT=y
-roboclaw,CONFIG_DRIVERS_ROBOCLAW=y
-rpi_rc_in,CONFIG_DRIVERS_RPI_RC_IN=y
-rpm,CONFIG_DRIVERS_RPM=y
-safety_button,CONFIG_DRIVERS_SAFETY_BUTTON=y
-smart_battery/batmon,CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
-spektrum_rc,CONFIG_DRIVERS_SPEKTRUM_RC=y
-telemetry,CONFIG_DRIVERS_TELEMETRY=y
-test_ppm,CONFIG_DRIVERS_TEST_PPM=y
-tone_alarm,CONFIG_DRIVERS_TONE_ALARM=y
-uavcan,CONFIG_DRIVERS_UAVCAN=y
-uavcannode,CONFIG_DRIVERS_UAVCANNODE=y
-uavcannode_gps_demo,CONFIG_DRIVERS_UAVCANNODE_GPS_DEMO=y
-airship_att_control,CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
-airspeed_selector,CONFIG_MODULES_AIRSPEED_SELECTOR=y
-velocity_controller,CONFIG_MODULES_ANGULAR_VELOCITY_CONTROLLER=y
-attitude_estimator_q,CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
-battery_status,CONFIG_MODULES_BATTERY_STATUS=y
-camera_feedback,CONFIG_MODULES_CAMERA_FEEDBACK=y
-commander,CONFIG_MODULES_COMMANDER=y
-control_allocator,CONFIG_MODULES_CONTROL_ALLOCATOR=y
-dataman,CONFIG_MODULES_DATAMAN=y
-ekf2,CONFIG_MODULES_EKF2=y
-esc_battery,CONFIG_MODULES_ESC_BATTERY=y
-events,CONFIG_MODULES_EVENTS=y
-flight_mode_manager,CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-fw_att_control,CONFIG_MODULES_FW_ATT_CONTROL=y
-fw_pos_control_l1,CONFIG_MODULES_FW_POS_CONTROL_L1=y
-gyro_calibration,CONFIG_MODULES_GYRO_CALIBRATION=y
-gyro_fft,CONFIG_MODULES_GYRO_FFT=y
-land_detector,CONFIG_MODULES_LAND_DETECTOR=y
-landing_target_estimator,CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
-load_mon,CONFIG_MODULES_LOAD_MON=y
-local_position_estimator,CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
-logger,CONFIG_MODULES_LOGGER=y
-mavlink,CONFIG_MODULES_MAVLINK=y
-mc_att_control,CONFIG_MODULES_MC_ATT_CONTROL=y
-mc_hover_thrust_estimator,CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-mc_pos_control,CONFIG_MODULES_MC_POS_CONTROL=y
-mc_rate_control,CONFIG_MODULES_MC_RATE_CONTROL=y
-micrortps_bridge,CONFIG_MODULES_MICRORTPS_BRIDGE=y
-microdds_client,CONFIG_MODULES_MICRODDS_CLIENT=y
-navigator,CONFIG_MODULES_NAVIGATOR=y
-px4iofirmware,CONFIG_MODULES_PX4IOFIRMWARE=y
-rc_update,CONFIG_MODULES_RC_UPDATE=y
-replay,CONFIG_MODULES_REPLAY=y
-rover_pos_control,CONFIG_MODULES_ROVER_POS_CONTROL=y
-sensors,CONFIG_MODULES_SENSORS=y
-sih,CONFIG_MODULES_SIH=y
-simulator,CONFIG_MODULES_SIMULATOR=y
-temperature_compensation,CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-uuv_att_control,CONFIG_MODULES_UUV_ATT_CONTROL=y
-uuv_pos_control,CONFIG_MODULES_UUV_POS_CONTROL=y
-gimbal,CONFIG_MODULES_GIMBAL=y
-vtol_att_control,CONFIG_MODULES_VTOL_ATT_CONTROL=y
-bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y
-dmesg,CONFIG_SYSTEMCMDS_DMESG=y
-dumpfile,CONFIG_SYSTEMCMDS_DUMPFILE=y
-dyn,CONFIG_SYSTEMCMDS_DYN=y
-failure,CONFIG_SYSTEMCMDS_FAILURE=y
-gpio,CONFIG_SYSTEMCMDS_GPIO=y
-hardfault_log,CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-i2cdetect,CONFIG_SYSTEMCMDS_I2CDETECT=y
-led_control,CONFIG_SYSTEMCMDS_LED_CONTROL=y
-mft,CONFIG_SYSTEMCMDS_MFT=y
-microbench,CONFIG_SYSTEMCMDS_MICROBENCH=y
-mixer,CONFIG_SYSTEMCMDS_MIXER=y
-motor_test,CONFIG_SYSTEMCMDS_MOTOR_TEST=y
-mtd,CONFIG_SYSTEMCMDS_MTD=y
-netman,CONFIG_SYSTEMCMDS_NETMAN=y
-nshterm,CONFIG_SYSTEMCMDS_NSHTERM=y
-param,CONFIG_SYSTEMCMDS_PARAM=y
-perf,CONFIG_SYSTEMCMDS_PERF=y
-pwm,CONFIG_SYSTEMCMDS_PWM=y
-reboot,CONFIG_SYSTEMCMDS_REBOOT=y
-reflect,CONFIG_SYSTEMCMDS_REFLECT=y
-sd_bench,CONFIG_SYSTEMCMDS_SD_BENCH=y
-serial_tet,CONFIG_SYSTEMCMDS_SERIAL_TEST=y
-shutdown,CONFIG_SYSTEMCMDS_SHUTDOWN=y
-system_time,CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-tests,CONFIG_SYSTEMCMDS_TESTS=y
-top,CONFIG_SYSTEMCMDS_TOP=y
-topic_listener,CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-tune_control,CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-uorb,CONFIG_SYSTEMCMDS_UORB=y
-usb_connected,CONFIG_SYSTEMCMDS_USB_CONNECTED=y
-ver,CONFIG_SYSTEMCMDS_VER=y
-work_queue,CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-dyn_hello,CONFIG_EXAMPLES_DYN_HELLO=y
-fake_gps,CONFIG_EXAMPLES_FAKE_GPS=y
-fake_gyro,CONFIG_EXAMPLES_FAKE_GYRO=y
-fake_imu,CONFIG_EXAMPLES_FAKE_IMU=y
-fake_magnetometer,CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
-fixedwing_control,CONFIG_EXAMPLES_FIXEDWING_CONTROL=y
-hello,CONFIG_EXAMPLES_HELLO=y
-hwtest,CONFIG_EXAMPLES_HWTEST=y
-matlab_csv_serial,CONFIG_EXAMPLES_MATLAB_CSV_SERIAL=y
-px4_mavlink_debug,CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
-px4_simple_app,CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
-rover_steering_control,CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
-uuv_example_app,CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
-work_item,CONFIG_EXAMPLES_WORK_ITEM=y
-add_compile_options(-Wno-narrowing),CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
-D__PX4_LINUX,CONFIG_BOARD_LINUX=y
@@ -16,7 +16,7 @@ class ModuleDocumentation(object):
    valid_categories = ['driver', 'estimator', 'controller', 'system',
                        'communication', 'command', 'template', 'simulation', 'autotune']
    valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
-                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor']
+                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']

    max_line_length = 80 # wrap lines that are longer than this

@@ -200,13 +200,12 @@ if [[ $INSTALL_SIM == "true" ]]; then

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

 	# Gazebo
+	if [[ "${UBUNTU_RELEASE}" == "18.04" ]]; then
+		gazebo_version=9
+		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
+	elif [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
+		gazebo_packages="gazebo libgazebo-dev"
+	else
+		# default and Ubuntu 20.04
+		gazebo_version=11
+		gazebo_packages="gazebo$gazebo_version libgazebo$gazebo_version-dev"
+	fi
+
 	sudo sh -c 'echo "deb http://packages.osrfoundation.org/gazebo/ubuntu-stable `lsb_release -cs` main" > /etc/apt/sources.list.d/gazebo-stable.list'
 	wget http://packages.osrfoundation.org/gazebo.key -O - | sudo apt-key add -
 	# Update list, since new gazebo-stable.list has been added
 	sudo apt-get update -y --quiet
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		dmidecode \
-		gazebo$gazebo_version \
+		$gazebo_packages \
 		gstreamer1.0-plugins-bad \
 		gstreamer1.0-plugins-base \
 		gstreamer1.0-plugins-good \
 		gstreamer1.0-plugins-ugly \
 		gstreamer1.0-libav \
 		libeigen3-dev \
-		libgazebo$gazebo_version-dev \
 		libgstreamer-plugins-base1.0-dev \
 		libimage-exiftool-perl \
 		libopencv-dev \
@@ -74,6 +74,9 @@ if [ "$model" == "" ] || [ "$model" == "none" ]; then
 	if [ "$program" == "jsbsim" ]; then
 		echo "empty model, setting rascal as default for jsbsim"
 		model="rascal"
+	elif [ "$program" == "sihsim" ]; then
+		echo "empty model, setting quadx as default for sihsim"
+		model="quadx"
 	else
 		echo "empty model, setting iris as default"
 		model="iris"
@@ -214,6 +217,12 @@ elif [ "$program" == "jsbsim" ] && [ -z "$no_sim" ]; then
 	fi
 	"${build_path}/build_jsbsim_bridge/jsbsim_bridge" ${model} -s "${src_path}/Tools/jsbsim_bridge/scene/${world}.xml" 2> /dev/null &
 	JSBSIM_PID=$!
+elif [ "$program" == "sihsim" ] && [ ! -n "$no_sim" ]; then
+	export SIM_MODE="sihsim"
+	if [ "$model" != "airplane" ] && [ "$model" != "quadx" ] && [ "$model" != "xvert" ]; then
+		echo "Model ${model} not compatible with with sih. sih supports [quadx,airplane,xvert]."
+		exit 1
+	fi
 fi

 pushd "$rootfs" >/dev/null
@@ -130,8 +130,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -174,7 +173,7 @@ CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI4=y
 CONFIG_STM32_SPI4_DMA=y
-CONFIG_STM32_SPI4_DMA_BUFFER=1024
+CONFIG_STM32_SPI4_DMA_BUFFER=512
 CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_SPI_DMATHRESHOLD=8
 CONFIG_STM32_TIM10=y
@@ -2,6 +2,7 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
@@ -10,7 +11,16 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
+# CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -3,6 +3,8 @@
 # board sensors init
 #------------------------------------------------------------------------------

+param set-default IMU_GYRO_RATEMAX 1000
+
 # Internal SPI
 paw3902 -s start -Y 180

@@ -105,8 +105,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -4,7 +4,6 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
@@ -14,5 +13,18 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -4,6 +4,7 @@
 #------------------------------------------------------------------------------

 param set-default CBRK_IO_SAFETY 0
+param set-default MBE_ENABLE 1

 safety_button start
 tone_alarm start
@@ -107,8 +107,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -4,7 +4,6 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
@@ -14,5 +13,18 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -5,6 +5,7 @@

 param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_GPS_RTCM 1
+param set-default MBE_ENABLE 1

 safety_button start
 tone_alarm start
@@ -107,8 +107,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -107,8 +107,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -140,8 +140,7 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -162,8 +162,7 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -30,6 +30,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MFT=y
@@ -126,8 +126,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -141,6 +141,7 @@
 #define PX4_PWM_ALTERNATE_RANGES
 #define PWM_LOWEST_MIN 0
 #define PWM_MOTOR_OFF	0
+#define PWM_SERVO_STOP	0
 #define PWM_DEFAULT_MIN 20
 #define PWM_HIGHEST_MIN 0
 #define PWM_HIGHEST_MAX 255
@@ -30,6 +30,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y
@@ -125,8 +125,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -142,6 +142,7 @@
 #define PX4_PWM_ALTERNATE_RANGES
 #define PWM_LOWEST_MIN 0
 #define PWM_MOTOR_OFF	0
+#define PWM_SERVO_STOP	0
 #define PWM_DEFAULT_MIN 20
 #define PWM_HIGHEST_MIN 0
 #define PWM_HIGHEST_MAX 255
@@ -1,6 +1,8 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_COMPILE_DEFINITIONS="-DUSE_S_RGB_LED_DMA"
 CONFIG_DRIVERS_BAROMETER_MS5611=y
@@ -12,5 +14,16 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -108,8 +108,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -139,8 +139,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -111,6 +111,7 @@ MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
 	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
+
 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
 	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
@@ -186,7 +187,12 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-	} > AXI_SRAM AT > FLASH
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -118,8 +118,8 @@
 #define GPIO_nPOWER_IN_CAN              /* PG2  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
 #define GPIO_nPOWER_IN_C                /* PG0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN0)

-#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_CAN /* Brick 1 is Chosen */
-#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_ADC /* Brick 2 is Chosen  */
+#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_ADC /* Brick 1 is Chosen */
+#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_CAN /* Brick 2 is Chosen  */
 #define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C   /* USB     is Chosen */

 #define GPIO_VDD_5V_HIPOWER_EN          /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
@@ -106,3 +106,4 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
+#CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
@@ -60,6 +60,7 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
@@ -138,8 +139,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -111,6 +111,7 @@ MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
 	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
+
 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
 	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
@@ -186,7 +187,12 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-	} > AXI_SRAM AT > FLASH
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -0,0 +1,245 @@
+#
+# This file is autogenerated: PLEASE DO NOT EDIT IT.
+#
+# You can use "make menuconfig" to make any modifications to the installed .config file.
+# You can then do "make savedefconfig" to generate a new defconfig file that includes your
+# modifications.
+#
+# CONFIG_DISABLE_ENVIRON is not set
+# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_MMCSD_HAVE_CARDDETECT is not set
+# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
+# CONFIG_MMCSD_MMCSUPPORT is not set
+# CONFIG_MMCSD_SPI is not set
+# CONFIG_NSH_DISABLEBG is not set
+# CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_EXEC is not set
+# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_SEMICOLON is not set
+# CONFIG_NSH_DISABLE_TIME is not set
+CONFIG_ARCH="arm"
+CONFIG_ARCH_BOARD_CUSTOM=y
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/x7pro/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743XI=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=512
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_C99_BOOL8=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x004c
+CONFIG_CDCACM_PRODUCTSTR="PX4 CUAV X7Pro"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3163
+CONFIG_CDCACM_VENDORSTR="CUAV"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
+CONFIG_EXAMPLES_CALIB_UDELAY=y
+CONFIG_EXPERIMENTAL=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=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_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+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
+CONFIG_MTD_PROGMEM=y
+CONFIG_MTD_RAMTRON=y
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_DISABLE_IFCONFIG=y
+CONFIG_NSH_DISABLE_IFUPDOWN=y
+CONFIG_NSH_DISABLE_TELNETD=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_ATEXIT=y
+CONFIG_SCHED_HPWORK=y
+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_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
+CONFIG_STM32H7_BBSRAM=y
+CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32H7_I2C1=y
+CONFIG_STM32H7_I2C2=y
+CONFIG_STM32H7_I2C3=y
+CONFIG_STM32H7_I2C4=y
+CONFIG_STM32H7_I2C_DYNTIMEO=y
+CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_RTC=y
+CONFIG_STM32H7_RTC_HSECLOCK=y
+CONFIG_STM32H7_RTC_MAGIC_REG=1
+CONFIG_STM32H7_SAVE_CRASHDUMP=y
+CONFIG_STM32H7_SDMMC1=y
+CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_SPI1=y
+CONFIG_STM32H7_SPI1_DMA=y
+CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI2=y
+CONFIG_STM32H7_SPI4=y
+CONFIG_STM32H7_SPI4_DMA=y
+CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI5=y
+CONFIG_STM32H7_SPI6=y
+CONFIG_STM32H7_SPI6_DMA=y
+CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI_DMA=y
+CONFIG_STM32H7_TIM12=y
+CONFIG_STM32H7_TIM15=y
+CONFIG_STM32H7_TIM1=y
+CONFIG_STM32H7_TIM3=y
+CONFIG_STM32H7_TIM4=y
+CONFIG_STM32H7_TIM5=y
+CONFIG_STM32H7_TIM8=y
+CONFIG_STM32H7_UART4=y
+CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_UART8=y
+CONFIG_STM32H7_USART1=y
+CONFIG_STM32H7_USART2=y
+CONFIG_STM32H7_USART6=y
+CONFIG_STM32H7_USART_BREAKS=y
+CONFIG_STM32H7_USART_INVERT=y
+CONFIG_STM32H7_USART_SINGLEWIRE=y
+CONFIG_STM32H7_USART_SWAP=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TESTING_OSTEST=y
+CONFIG_TESTING_OSTEST_FPUTESTDISABLE=y
+CONFIG_TESTING_OSTEST_STACKSIZE=10240
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGTSTP=y
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_SERIAL_CONSOLE=y
+CONFIG_UART7_TXBUFSIZE=1500
+CONFIG_UART8_BAUD=57600
+CONFIG_UART8_RXBUFSIZE=600
+CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_IFLOWCONTROL=y
+CONFIG_USART2_OFLOWCONTROL=y
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_IFLOWCONTROL=y
+CONFIG_USART6_OFLOWCONTROL=y
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_USERMAIN_STACKSIZE=2944
+CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_WATCHDOG=y
@@ -7,7 +7,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_COMMON_BAROMETERS=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
@@ -24,14 +24,13 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD=y
-CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT_SIM=y
 CONFIG_DRIVERS_PX4IO=y
-CONFIG_DRIVERS_ROBOCLAW=y
+#CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -42,6 +41,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -50,6 +50,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -65,17 +66,15 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -93,7 +92,6 @@ CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -102,4 +100,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
@@ -140,8 +140,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -187,7 +187,12 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-	} > AXI_SRAM AT > FLASH
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -60,6 +60,7 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
@@ -138,8 +139,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -197,6 +197,9 @@ CONFIG_STM32H7_USART_SWAP=y
 CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
+CONFIG_TESTING_OSTEST=y
+CONFIG_TESTING_OSTEST_FPUTESTDISABLE=y
+CONFIG_TESTING_OSTEST_STACKSIZE=10240
 CONFIG_TTY_SIGINT=y
 CONFIG_TTY_SIGTSTP=y
 CONFIG_UART4_BAUD=57600
@@ -5,7 +5,6 @@ CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_UAVCAN=n
-CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
@@ -13,3 +12,4 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
@@ -141,8 +141,7 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -120,8 +120,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -158,7 +157,7 @@ CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=1024
+CONFIG_STM32_SPI1_DMA_BUFFER=512
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI2_DMA=y
 CONFIG_STM32_SPI3=y
@@ -176,8 +175,8 @@ CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=300
-CONFIG_UART4_TXBUFSIZE=900
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_TXBUFSIZE=600
 CONFIG_USART1_RXBUFSIZE=300
 CONFIG_USART1_RXDMA=y
 CONFIG_USART1_TXBUFSIZE=300
@@ -1,16 +1,22 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_NO_HELP=y
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_ST=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MTD=y
@@ -19,5 +25,7 @@ CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -122,8 +122,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -2,6 +2,7 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
@@ -12,6 +13,18 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -108,8 +108,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -140,8 +140,7 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -109,16 +109,17 @@

 MEMORY
 {
-	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	flash (rx)  : ORIGIN = 0x08020000, LENGTH = 1920K
-	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
-	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
-	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
-	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
-	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
-	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
+
+	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
+	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
+	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
+	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
 }

 OUTPUT_ARCH(arm)
@@ -156,7 +157,7 @@ SECTIONS
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);

-	} > flash
+	} > FLASH

 	/*
 	 * Init functions (static constructors and the like)
@@ -165,17 +166,17 @@ SECTIONS
 		_sinit = ABSOLUTE(.);
 		KEEP(*(.init_array .init_array.*))
 		_einit = ABSOLUTE(.);
-	} > flash
+	} > FLASH


 	.ARM.extab : {
 		*(.ARM.extab*)
-	} > flash
+	} > FLASH

 	__exidx_start = ABSOLUTE(.);
 	.ARM.exidx : {
 		*(.ARM.exidx*)
-	} > flash
+	} > FLASH
 	__exidx_end = ABSOLUTE(.);

 	_eronly = ABSOLUTE(.);
@@ -186,7 +187,12 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-	} > sram AT > flash
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -195,7 +201,7 @@ SECTIONS
 		*(COMMON)
 		. = ALIGN(4);
 		_ebss = ABSOLUTE(.);
-	} > sram
+	} > AXI_SRAM

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

@@ -204,7 +210,7 @@ SECTIONS
 		*(.sram4)
 		. = ALIGN(4);
 		_sram4_heap_start = ABSOLUTE(.);
-	} > sram4
+	} > SRAM4

 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
@@ -1,5 +1,6 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
@@ -31,6 +32,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_MIXER=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PWM=y
@@ -140,8 +140,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -15,10 +15,10 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT_SIM=y
@@ -28,8 +28,8 @@ CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
@@ -42,6 +42,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -60,12 +61,12 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -139,8 +139,7 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -109,16 +109,17 @@

 MEMORY
 {
-	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	flash (rx)  : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
-	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
-	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
-	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
-	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
-	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
-	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
+
+	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
+	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
+	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
+	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
+	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
 }

 OUTPUT_ARCH(arm)
@@ -156,7 +157,7 @@ SECTIONS
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);

-	} > flash
+	} > FLASH

 	/*
 	 * Init functions (static constructors and the like)
@@ -165,17 +166,17 @@ SECTIONS
 		_sinit = ABSOLUTE(.);
 		KEEP(*(.init_array .init_array.*))
 		_einit = ABSOLUTE(.);
-	} > flash
+	} > FLASH


 	.ARM.extab : {
 		*(.ARM.extab*)
-	} > flash
+	} > FLASH

 	__exidx_start = ABSOLUTE(.);
 	.ARM.exidx : {
 		*(.ARM.exidx*)
-	} > flash
+	} > FLASH
 	__exidx_end = ABSOLUTE(.);

 	_eronly = ABSOLUTE(.);
@@ -186,7 +187,12 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-	} > sram AT > flash
+
+		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
+		. = ALIGN(16);
+		FILL(0xffff)
+		. += 16;
+	} > AXI_SRAM AT > FLASH  = 0xffff

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -195,7 +201,7 @@ SECTIONS
 		*(COMMON)
 		. = ALIGN(4);
 		_ebss = ABSOLUTE(.);
-	} > sram
+	} > AXI_SRAM

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

@@ -204,7 +210,7 @@ SECTIONS
 		*(.sram4)
 		. = ALIGN(4);
 		_sram4_heap_start = ABSOLUTE(.);
-	} > sram4
+	} > SRAM4

 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
@@ -140,8 +140,7 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -1,6 +1,8 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -10,13 +12,20 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SERIAL_PASSTHRU=y
 CONFIG_SERIAL_PASSTHRU_UBLOX=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
@@ -126,8 +126,7 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_NNESTPRIO=8
-CONFIG_SEM_PREALLOCHOLDERS=0
+CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_PASSTHRU_UBLOX=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -9,14 +9,15 @@ CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=n
 CONFIG_DRIVERS_CAMERA_TRIGGER=n
-CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
+CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
+CONFIG_COMMON_DISTANCE_SENSOR=n
 CONFIG_COMMON_LIGHT=n
-CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_MAGNETOMETER=n
 CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
--- a/Show More
+++ b/Show More