[DO NOT MERGE] test param save from HPWORK

2026-05-27 16:50:05 +08:00 · 2021-03-25 15:33:01 -04:00
289 changed files with 3192 additions and 7063 deletions
@@ -18,7 +18,7 @@ jobs:
          "check_format",
          "tests",
          "tests_coverage",
-          # "px4_fmu-v2_default stack_check",
+          "px4_fmu-v2_default stack_check",
          "validate_module_configs",
          "shellcheck_all",
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
@@ -15,75 +15,69 @@ jobs:
    strategy:
      matrix:
        config: [
-          # airmind_mindpx-v2_default,
-          # ark_can-flow_canbootloader,
-          # ark_can-flow_debug,
-          # ark_can-flow_default,
-          # av_x-v1_default,
-          # bitcraze_crazyflie21_default,
-          # bitcraze_crazyflie_default,
-          # cuav_can-gps-v1_canbootloader,
-          # cuav_can-gps-v1_debug,
-          # cuav_can-gps-v1_default,
-          # cuav_nora_default,
-          # cuav_x7pro_default,
-          # cubepilot_cubeorange_console,
-          # cubepilot_cubeorange_default,
-          # cubepilot_cubeyellow_console,
-          # cubepilot_cubeyellow_default,
-          # cubepilot_io-v2_default,
+          airmind_mindpx-v2_default,
+          ark_can-flow_canbootloader,
+          ark_can-flow_default,
+          av_x-v1_default,
+          bitcraze_crazyflie21_default,
+          bitcraze_crazyflie_default,
+          cuav_can-gps-v1_canbootloader,
+          cuav_can-gps-v1_default,
+          cuav_nora_default,
+          cuav_x7pro_default,
+          cubepilot_cubeorange_console,
+          cubepilot_cubeorange_default,
+          cubepilot_cubeyellow_console,
+          cubepilot_cubeyellow_default,
          holybro_can-gps-v1_canbootloader,
-          holybro_can-gps-v1_debug,
          holybro_can-gps-v1_default,
          holybro_durandal-v1_default,
          holybro_kakutef7_default,
          holybro_pix32v5_default,
          modalai_fc-v1_default,
-          # mro_ctrl-zero-f7-oem_default,
-          # mro_ctrl-zero-f7_default,
-          # mro_ctrl-zero-h7-oem_default,
-          # mro_ctrl-zero-h7_default,
-          # mro_pixracerpro_default,
-          # mro_x21-777_default,
-          # mro_x21_default,
-          # nxp_fmuk66-e_default,
-          # nxp_fmuk66-e_rtps,
-          # nxp_fmuk66-e_socketcan,
-          # nxp_fmuk66-v3_default,
-          # nxp_fmuk66-v3_rtps,
-          # nxp_fmuk66-v3_socketcan,
-          # nxp_fmurt1062-v1_default,
-          # nxp_ucans32k146_canbootloader,
-          # nxp_ucans32k146_default,
+          mro_ctrl-zero-f7_default,
+          mro_ctrl-zero-f7-oem_default,
+          mro_ctrl-zero-h7_default,
+          mro_ctrl-zero-h7-oem_default,
+          mro_pixracerpro_default,
+          mro_x21-777_default,
+          mro_x21_default,
+          nxp_fmuk66-e_default,
+          nxp_fmuk66-e_rtps,
+          nxp_fmuk66-e_socketcan,
+          nxp_fmuk66-v3_default,
+          nxp_fmuk66-v3_rtps,
+          nxp_fmuk66-v3_socketcan,
+          nxp_fmurt1062-v1_default,
+          nxp_ucans32k146_default,
+          nxp_ucans32k146_canbootloader,
          omnibus_f4sd_default,
-          # px4_fmu-v2_default,
-          # px4_fmu-v2_fixedwing,
-          # px4_fmu-v2_multicopter,
-          # px4_fmu-v2_rover,
-          # px4_fmu-v2_test,
+          px4_fmu-v2_default,
+          px4_fmu-v2_fixedwing,
+          px4_fmu-v2_multicopter,
+          px4_fmu-v2_rover,
+          px4_fmu-v2_test,
          px4_fmu-v3_default,
          px4_fmu-v4_cannode,
          px4_fmu-v4_default,
          px4_fmu-v4pro_default,
          px4_fmu-v5_ctrlalloc,
-          px4_fmu-v5_debug,
          px4_fmu-v5_default,
          px4_fmu-v5_fixedwing,
          px4_fmu-v5_multicopter,
          px4_fmu-v5_optimized,
          px4_fmu-v5_rover,
          px4_fmu-v5_rtps,
-          px4_fmu-v5_stackcheck,
          px4_fmu-v5_uavcanv0periph,
          px4_fmu-v5_uavcanv1,
-          # px4_fmu-v5x_base_phy_DP83848C,
-          # px4_fmu-v5x_default,
+          px4_fmu-v5x_base_phy_DP83848C,
+          px4_fmu-v5x_default,
          px4_fmu-v6u_default,
          px4_fmu-v6u_test,
          px4_fmu-v6x_default,
          px4_io-v2_default,
          spracing_h7extreme_default,
-          # uvify_core_default
+          uvify_core_default
          ]
    steps:
    - uses: actions/checkout@v1
@@ -18,7 +18,7 @@ jobs:
    - name: Install Python3
      run: sudo apt-get install python3 python3-setuptools python3-pip -y
    - name: Install tools
-      run: pip3 install --user mypy types-requests flake8
+      run: pip3 install --user mypy flake8
    - name: Check MAVSDK test scripts with mypy
      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
    - name: Check MAVSDK test scripts with flake8
@@ -1,55 +0,0 @@
-name: RotorS PX4 Build Test
-
-on:
-  push:
-    branches:
-    - 'master'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  build:
-    runs-on: ubuntu-latest
-    strategy:
-      fail-fast: false
-      matrix:
-        container:
-        - 'px4io/px4-dev-simulation-bionic:2020-11-18' # Gazebo 9
-    container:
-      image: ${{ matrix.container }}
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
-    steps:
-    - uses: actions/checkout@v1
-      with:
-        token: ${{ secrets.ACCESS_TOKEN }}
-    - name: Prepare ccache timestamp
-      id: ccache_cache_timestamp
-      shell: cmake -P {0}
-      run: |
-        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
-        message("::set-output name=timestamp::${current_date}")
-    - name: ccache cache files
-      uses: actions/cache@v2
-      with:
-        path: ~/.ccache
-        key: rotors_tests-RelWithDebInfo-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
-        restore-keys: rotors_tests-RelWithDebInfo-ccache-
-    - name: setup ccache
-      run: |
-          mkdir -p ~/.ccache
-          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-          echo "compression = true" >> ~/.ccache/ccache.conf
-          echo "compression_level = 5" >> ~/.ccache/ccache.conf
-          echo "max_size = 100M" >> ~/.ccache/ccache.conf
-          ccache -s
-          ccache -z
-    - name: Install glog
-      run: apt update && apt install -y libgoogle-glog-dev libyaml-cpp-dev
-    - name: Build PX4 RotorS
-      env:
-        PX4_CMAKE_BUILD_TYPE: RelWithDebInfo
-        DONT_RUN: 1
-      run: make px4_sitl rotors
-    - name: ccache post-run px4/firmware
-      run: ccache -s
@@ -1,22 +0,0 @@
-# This pipeline keeps the master branch up to date with upstream master
-name: Upstream Synchronization
-
-on:
-  schedule:
-  - cron:  "*/15 * * * *"
-  workflow_dispatch:
-
-jobs:
-  repo-sync:
-    runs-on: ubuntu-latest
-    steps:
-    - uses: actions/checkout@v2
-      with:
-        persist-credentials: false
-    - name: repo-sync
-      uses: repo-sync/github-sync@v2
-      with:
-        source_repo: "https://github.com/PX4/PX4-Autopilot.git"
-        source_branch: "master"
-        destination_branch: "master"
-        github_token: ${{ secrets.PAT }}
@@ -1,6 +1,6 @@
 [submodule "mavlink/include/mavlink/v2.0"]
 	path = mavlink/include/mavlink/v2.0
-	url = https://github.com/ethz-asl/fw_mavlink_c_library_v2.git
+	url = https://github.com/mavlink/c_library_v2.git
 	branch = master
 [submodule "src/drivers/uavcan/libuavcan"]
 	path = src/drivers/uavcan/libuavcan
@@ -63,6 +63,3 @@
 [submodule "src/drivers/uavcannode_gps_demo/libcanard"]
 	path = src/drivers/uavcannode_gps_demo/libcanard
 	url = https://github.com/UAVCAN/libcanard
-[submodule "Tools/rotors_simulator"]
-	path = Tools/rotors_simulator
-	url = https://github.com/ethz-asl/rotors_simulator.git
@@ -111,16 +111,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: emlid_navio2_default
-    holybro_can-gps-v1_canbootloader:
-      short: holybro_can-gps-v1_canbootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_can-gps-v1_canbootloader
-    holybro_can-gps-v1_default:
-      short: holybro_can-gps-v1_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: holybro_can-gps-v1_default
    holybro_durandal-v1_default:
      short: holybro_durandal-v1
      buildType: MinSizeRel
@@ -110,8 +110,8 @@ pipeline {
            sh 'make distclean'
            sh 'make parameters_metadata'
            dir('build/px4_sitl_default/docs') {
-              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, parameters.json.xz')
-              stash includes: 'parameters.md, parameters.xml, parameters.json.xz', name: 'metadata_parameters'
+              archiveArtifacts(artifacts: 'parameters.md, parameters.xml, params.json.xz')
+              stash includes: 'parameters.md, parameters.xml, params.json.xz', name: 'metadata_parameters'
            }
          }
          post {
@@ -342,7 +342,7 @@ pipeline {
            withAWS(credentials: 'px4_aws_s3_key', region: 'us-east-1') {
              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'airframes.xml', path: 'Firmware/master/')
              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.xml', path: 'Firmware/master/')
-              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'parameters.json.xz', path: 'Firmware/master/')
+              s3Upload(acl: 'PublicRead', bucket: 'px4-travis', file: 'params.json.xz', path: 'Firmware/master/')
            }
          }
          when {
@@ -85,24 +85,23 @@ See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and
 This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.

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

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

 #
 # board sensors: rc.sensors
@@ -1,54 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default EKF2_ARSP_THR 8
-param set-default EKF2_FUSE_BETA 1
-param set-default EKF2_MAG_ACCLIM 0
-param set-default EKF2_MAG_YAWLIM 0
-
-param set-default FW_LND_AIRSPD_SC 1
-param set-default FW_LND_ANG 8
-param set-default FW_THR_LND_MAX 0
-
-param set-default FW_L1_PERIOD 12
-
-param set-default FW_MAN_P_MAX 30
-
-param set-default FW_PR_I 0.4
-param set-default FW_PR_P 0.9
-param set-default FW_PR_FF 0.2
-param set-default FW_PSP_OFF 2
-param set-default FW_P_LIM_MAX 32
-param set-default FW_P_LIM_MIN -15
-
-param set-default FW_RR_FF 0.1
-param set-default FW_RR_P 0.3
-
-param set-default FW_THR_MAX 0.6
-param set-default FW_THR_MIN 0.05
-param set-default FW_THR_CRUISE 0.25
-
-param set-default FW_T_ALT_TC 2
-param set-default FW_T_CLMB_MAX 8
-param set-default FW_T_HRATE_FF 0.5
-param set-default FW_T_SINK_MAX 2.7
-param set-default FW_T_SINK_MIN 2.2
-param set-default FW_T_TAS_TC 2
-
-param set-default FW_W_EN 1
-
-param set-default MIS_LTRMIN_ALT 30
-param set-default MIS_TAKEOFF_ALT 30
-
-param set-default NAV_ACC_RAD 15
-param set-default NAV_DLL_ACT 2
-param set-default NAV_LOITER_RAD 50
-
-param set-default RWTO_TKOFF 1
-
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
@@ -1,58 +0,0 @@
-#!/bin/sh
-#
-# @name Plane SITL
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF = yes ]
-then
-	param set EKF2_ARSP_THR 8
-	param set EKF2_FUSE_BETA 1
-	param set EKF2_MAG_ACCLIM 0
-	param set EKF2_MAG_YAWLIM 0
-
-	param set FW_LND_AIRSPD_SC 1
-	param set FW_LND_ANG 8
-	param set FW_THR_LND_MAX 0
-
-	param set FW_L1_PERIOD 12
-
-	param set FW_MAN_P_MAX 30
-
-	param set FW_PR_I 0.4
-	param set FW_PR_P 0.9
-	param set FW_PR_FF 0.2
-	param set FW_PSP_OFF 2
-	param set FW_P_LIM_MAX 32
-	param set FW_P_LIM_MIN -15
-
-	param set FW_RR_FF 0.1
-	param set FW_RR_P 0.3
-
-	param set FW_THR_MAX 0.6
-	param set FW_THR_MIN 0.05
-	param set FW_THR_CRUISE 0.25
-
-	param set FW_T_ALT_TC 2
-	param set FW_T_CLMB_MAX 8
-	param set FW_T_HRATE_FF 0.5
-	param set FW_T_SINK_MAX 2.7
-	param set FW_T_SINK_MIN 2.2
-	param set FW_T_TAS_TC 2
-
-	param set FW_W_EN 1
-
-	param set MIS_LTRMIN_ALT 30
-	param set MIS_TAKEOFF_ALT 30
-
-	param set NAV_ACC_RAD 15
-	param set NAV_DLL_ACT 2
-	param set NAV_LOITER_RAD 50
-
-	param set RWTO_TKOFF 1
-
-fi
-
-set MIXER_FILE etc/mixers-sitl/plane_sitl.main.mix
-set MIXER custom
@@ -62,8 +62,6 @@ px4_add_romfs_files(
 	1034_rascal-electric
 	1035_techpod
 	1036_malolo
-	1037_believer
-	1038_plane_dynamicsoaring
 	1040_standard_vtol
 	1041_tailsitter
 	1042_tiltrotor
@@ -98,7 +98,7 @@ then
 	set AUTOCNF yes

 	# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
-	param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
+	param reset_all SYS_AUTOSTART SYS_AUTOCONFIG RC* COM_FLTMODE* LND_FLIGHT_T_* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT_UUID
 fi

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

 # Autostart ID
@@ -220,21 +216,7 @@ dataman start
 # only start the simulator if not in replay mode, as both control the lockstep time
 if ! replay tryapplyparams
 then
-  # Check if PX4_SIM_HOSTNAME environment variable is empty
-  # If empty check if PX4_SIM_HOST_ADDR environment variable is empty
-  # If both are empty use localhost for simulator
-  if [ -z "${PX4_SIM_HOSTNAME}" ]; then
-    if [ -z "${PX4_SIM_HOST_ADDR}" ]; then
-      echo "PX4 SIM HOST: localhost"
-      simulator start -c $simulator_tcp_port
-    else
-      echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
-      simulator start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port 
-    fi
-  else
-    echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
-    simulator start -h $PX4_SIM_HOSTNAME $simulator_tcp_port 
-  fi
+	simulator start -c $simulator_tcp_port
 fi
 load_mon start
 battery_simulator start
@@ -275,7 +257,7 @@ fi
 if [ -e etc/init.d-posix/rc.mavlink_override ]
 then
 	echo "Running non-default mavlink config rc.mavlink_override"
-	. ${R}etc/init.d-posix/rc.mavlink_override
+	sh etc/init.d-posix/rc.mavlink_override
 else
 	# GCS link
 	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
@@ -1,54 +0,0 @@
-#!/bin/sh
-#
-# @name ASL_EasyGlider
-#
-# @type Standard Plane
-# @class Plane
-#
-# @output MAIN1 aileron
-# @output MAIN2 aileron
-# @output MAIN3 elevator
-# @output MAIN4 rudder
-# @output MAIN5 throttle
-# @output MAIN6 wheel
-# @output MAIN7 flaps
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Philipp Oettershagen <philipp.oettershagen@mavt.ethz.ch>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF == yes ]
-then
-    param set FW_AIRSPD_MIN 10
-    param set FW_AIRSPD_TRIM 15
-    param set FW_AIRSPD_MAX 20
-
-    param set FW_MAN_P_MAX 45
-    param set FW_MAN_R_MAX 45
-    param set FW_R_LIM 45
-
-    param set FW_WR_FF 0.2
-    param set FW_WR_I 0.2
-    param set FW_WR_IMAX 0.8
-    param set FW_WR_P 1
-    param set FW_W_RMAX 0
-
-    # set disarmed value for the ESC
-    param set PWM_DISARMED 1000
-
-    param set-default SENS_EN_ADIS164X 1
-    param set SENS_EN_ADIS164X 4
-fi
-
-set MIXER asl_easyglider
-
-# use PWM parameters for throttle channel
-set PWM_OUT 5
@@ -1,52 +0,0 @@
-#!/bin/sh
-#
-# @name ASL_Techpod
-#
-# @type Plane A-Tail
-# @class Plane
-#
-# @output MAIN1 aileron right
-# @output MAIN2 aileron left
-# @output MAIN3 v-tail right
-# @output MAIN4 v-tail left
-# @output MAIN5 throttle
-# @output MAIN6 wheel
-# @output MAIN7 flaps right
-# @output MAIN8 flaps left
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Philipp Oettershagen <philipp.oettershagen@mavt.ethz.ch>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF == yes ]
-then
-    param set FW_AIRSPD_MIN 10
-    param set FW_AIRSPD_TRIM 15
-    param set FW_AIRSPD_MAX 20
-
-    param set FW_MAN_P_MAX 55
-    param set FW_MAN_R_MAX 55
-    param set FW_R_LIM 55
-
-    param set FW_WR_FF 0.2
-    param set FW_WR_I 0.2
-    param set FW_WR_IMAX 0.8
-    param set FW_WR_P 1
-    param set FW_W_RMAX 0
-
-    # set disarmed value for the ESC
-    param set PWM_DISARMED 1000
-fi
-
-set MIXER asl_techpod
-
-# use PWM parameters for throttle channel
-set PWM_OUT 5
@@ -1,52 +0,0 @@
-#!/bin/sh
-#
-# @name ASL_SenseSoar2
-#
-# @type Plane A-Tail
-# @class Plane
-#
-# @output MAIN1 aileron right
-# @output MAIN2 aileron left
-# @output MAIN3 v-tail right
-# @output MAIN4 v-tail left
-# @output MAIN5 throttle
-# @output MAIN6 wheel
-# @output MAIN7 flaps right
-# @output MAIN8 flaps left
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Philipp Oettershagen <philipp.oettershagen@mavt.ethz.ch>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-if [ $AUTOCNF == yes ]
-then
-    param set FW_AIRSPD_MIN 12
-    param set FW_AIRSPD_TRIM 15
-    param set FW_AIRSPD_MAX 20
-
-    param set FW_MAN_P_MAX 45
-    param set FW_MAN_R_MAX 45
-    param set FW_R_LIM 55
-
-    param set FW_WR_FF 0.2
-    param set FW_WR_I 0.2
-    param set FW_WR_IMAX 0.8
-    param set FW_WR_P 1
-    param set FW_W_RMAX 0
-
-    # set disarmed value for the ESC
-    param set PWM_DISARMED 1000
-fi
-
-set MIXER asl_sensoar2
-
-# use PWM parameters for throttle channel
-set PWM_OUT 5
@@ -1,54 +0,0 @@
-#!/bin/sh
-#
-# @name Autonomous Systems Lab, ETH Zurich Believer
-#
-# @type Plane V-Tail
-# @class Plane
-#
-# @output MAIN1 aileron right
-# @output MAIN2 aileron left
-# @output MAIN3 v-tail right
-# @output MAIN4 v-tail left
-# @output MAIN5 throttle
-# @output MAIN6 wheel
-# @output MAIN7 flaps right
-# @output MAIN8 flaps left
-#
-# @output AUX1 feed-through of RC AUX1 channel
-# @output AUX2 feed-through of RC AUX2 channel
-# @output AUX3 feed-through of RC AUX3 channel
-#
-# @maintainer Jaeyoung Lim <jalim@ethz.ch>
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.fw_defaults
-
-param set-default FW_AIRSPD_MIN 10
-param set-default FW_AIRSPD_TRIM 15
-param set-default FW_AIRSPD_MAX 20
-
-param set-default FW_MAN_P_MAX 55
-param set-default FW_MAN_R_MAX 55
-param set-default FW_R_LIM 55
-
-param set-default FW_WR_FF 0.2
-param set-default FW_WR_I 0.2
-param set-default FW_WR_IMAX 0.8
-param set-default FW_WR_P 1
-param set-default FW_W_RMAX 0
-
-# set disarmed value for the ESC
-param set-default PWM_MAIN_DISARM 1500
-param set-default PWM_MAIN_DIS5 900
-param set-default PWM_MAIN_DIS6 900
-
-# The Mini Talon does not have a wheel and
-# no flaps. I leave them here because the mixer
-# computes also wheel and flap controls.
-set MIXER AAVVTTFF_vtail
-
-# use PWM parameters for throttle channel
-set PWM_OUT 56
@@ -16,6 +16,8 @@
 set MIXER quad_x
 set PWM_OUT 1234

+set PARAM_DEFAULTS_VER 2
+

 param set-default BAT_N_CELLS 4

@@ -7,6 +7,8 @@
 # @type Rover
 # @class Rover
 #
+# @board px4_fmu-v2 exclude
+#
 # @output MAIN0 Speed of left wheels
 # @output MAIN1 Speed of right wheels
 #
@@ -157,11 +157,6 @@ px4_add_romfs_files(
 	18001_TF-B1

 	# [22000, 22999] Reserve for custom models
-	# ETHZ ASL Vehicles
-	22000_asl_easyglider
-	22001_asl_techpod
-	22002_asl_sensesoar2
-	22003_asl_believer

 	24001_dodeca_cox

@@ -21,23 +21,6 @@ fi
 #                           Begin Optional drivers                            #
 ###############################################################################

-# ADIS16448 spi external IMU
-if param compare -s SENS_EN_ADIS164X 1
-then
-	if param compare -s SENS_OR_ADIS164X 0
-	then
-		adis16448 -S start
-	fi
-	if param compare -s SENS_OR_ADIS164X 4
-	then
-		adis16448 -S start -R 4
-	fi
-
-	# add a sleep to make sure the mag is the priority one
-	usleep 1000000
-fi
-
-
 if param compare -s SENS_EN_BATT 1
 then
 	batt_smbus start -X
@@ -125,57 +108,6 @@ then
 	vl53l1x start -X
 fi

-# Hall effect sensors si7210
-# Potentially remove the -k option if possible and improve the startup if possible
-if param greater CAL_AV_AOA_ID -1
-then
-	set AOA_I2C_ID 0
-	if param compare CAL_AV_AOA_ID 48
-	then
-		set AOA_I2C_ID 48
-	fi
-	if param compare CAL_AV_AOA_ID 49
-	then
-		set AOA_I2C_ID 49
-	fi
-	if param compare CAL_AV_AOA_ID 50
-	then
-		set AOA_I2C_ID 50
-	fi
-	if param compare CAL_AV_AOA_ID 51
-	then
-		set AOA_I2C_ID 51
-	fi
-
-	si7210 start -X -k -a ${AOA_I2C_ID}
-	unset AOA_I2C_ID
-fi
-
-if param greater CAL_AV_SLIP_ID -1
-then
-	set SLIP_I2C_ID 0
-	if param compare CAL_AV_SLIP_ID 48
-	then
-		set SLIP_I2C_ID 48
-	fi
-	if param compare CAL_AV_SLIP_ID 49
-	then
-		set SLIP_I2C_ID 49
-	fi
-	if param compare CAL_AV_SLIP_ID 50
-	then
-		set SLIP_I2C_ID 50
-	fi
-	if param compare CAL_AV_SLIP_ID 51
-	then
-		set SLIP_I2C_ID 51
-	fi
-
-	si7210 start -X -k -a ${SLIP_I2C_ID}
-	unset SLIP_I2C_ID
-fi
-
-
 # probe for optional external I2C devices
 if param compare SENS_EXT_I2C_PRB 1
 then
@@ -217,3 +149,5 @@ fi
 ###############################################################################
 #                            End Optional drivers                             #
 ###############################################################################
+
+sensors start
@@ -51,6 +51,12 @@ set STARTUP_TUNE 1
 set USE_IO no
 set VEHICLE_TYPE none

+# Airframe parameter versioning: airframe maintainers can set this in the
+# airframe startup script, and then increase it by one whenever an airframe
+# parameter is updated - it will ensure that these parameters will be updated
+# when the firmware is flashed.
+set PARAM_DEFAULTS_VER 1
+
 #
 # Mount the procfs.
 #
@@ -165,8 +171,12 @@ else
 	#
 	if param greater SYS_AUTOCONFIG 0
 	then
-		# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
-		param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
+		if param compare SYS_AUTOCONFIG 1
+		then
+			# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
+			param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT* SYS_PARAM_VER
+		fi
+
 		set AUTOCNF yes
 	fi

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

+	if param greater -s LIGHT_EN_BLINKM 0
+	then
+		if blinkm start -X
+		then
+			blinkm systemstate
+		fi
+	fi
+
 	#
 	# Set parameters and env variables for selected AUTOSTART.
 	#
@@ -332,8 +350,6 @@ else
 		#
 		# board sensors: rc.sensors
 		#
-		. ${R}etc/init.d/rc.sensors
-
 		set BOARD_RC_SENSORS ${R}etc/init.d/rc.board_sensors
 		if [ -f $BOARD_RC_SENSORS ]
 		then
@@ -342,7 +358,7 @@ else
 		fi
 		unset BOARD_RC_SENSORS

-		sensors start
+		. ${R}etc/init.d/rc.sensors

 		if param compare -s BAT1_SOURCE 2
 		then
@@ -554,6 +570,15 @@ else
 		fi
 	fi

+	if ! param compare SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
+	then
+		echo "Switched to different parameter version. Resetting parameters."
+		param set SYS_PARAM_VER ${PARAM_DEFAULTS_VER}
+		param set SYS_AUTOCONFIG 2
+		param save
+		reboot
+	fi
+
 #
 # End of autostart.
 #
@@ -578,6 +603,7 @@ unset MIXER
 unset MIXER_AUX
 unset MIXER_FILE
 unset OUTPUT_MODE
+unset PARAM_DEFAULTS_VER
 unset PARAM_FILE
 unset PWM_AUX_OUT
 unset PWM_AUX_RATE
@@ -1,61 +0,0 @@
-Aileron/v-tail/throttle/wheel/flaps mixer for PX4FMU
-=======================================================
-
-This file defines mixers suitable for controlling a fixed wing aircraft with
-aileron, v-tail (rudder, elevator), throttle, steerable wheel and flaps
-using PX4FMU.
-The configuration assumes the aileron servos are connected to PX4FMU servo
-output 0 and 1, the tail servos to output 2 and 3, the throttle
-to output 4, the wheel to output 5 and the flaps to output 6 and 7.
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
-
-Aileron mixer (roll + flaperon)
---------------------------------
-
-This mixer assumes that the aileron servos are set up mechanically reversed.
-
-M: 2
-S: 0 0 -10000 -10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
-
-M: 2
-S: 0 0 -10000 -10000      0 -10000  10000
-S: 0 6 -10000 -10000      0 -10000  10000
-
-V-tail mixers
-------------
-Three scalers total (output, roll, pitch).
-
-M: 2
-S: 0 2   7000   7000      0 -10000  10000
-S: 0 1  -8000  -8000      0 -10000  10000
-
-M: 2
-S: 0 2   7000   7000      0 -10000  10000
-S: 0 1   8000   8000      0 -10000  10000
-
-Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
-
-M: 1
-S: 0 3      0  20000 -10000 -10000  10000
-
-Flaps mixer
------------
-Flap servos are physically reversed.
-
-M: 1
-S: 0 4      0   5000 -10000 -10000  10000
-
-M: 1
-S: 0 4      0  -5000  10000 -10000  10000
-
@@ -35,7 +35,6 @@ px4_add_romfs_files(
 	AAERTWF.main.mix
 	AAVVTWFF.main.mix
 	AAVVTWFF_vtail.main.mix
-	AAVVTTFF_vtail.main.mix
 	AERT.main.mix
 	AETRFG.main.mix
 	babyshark.main.mix
@@ -96,8 +95,4 @@ px4_add_romfs_files(
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
 	wingwing.main.mix
-	#ETHZ ASL Custom Mixers
-	asl_easyglider.main.mix
-	asl_sensesoar2.main.mix
-	asl_techpod.main.mix
 )
@@ -1,70 +0,0 @@
-ASL EasyGlider mixer
-=============================
-
-Documentation: https://dev.px4.io/en/concept/mixing.html
-
-Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).
-
-Motor speed mixer
-----------------
-Two scalers total (output, thrust).
-
-This mixer generates a full-range output (-1 to 1) from an input in the (0 - 1)
-range.  Inputs below zero are treated as zero.
-
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-Right Aileron mixer
---------------------------------
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 0   6000  10000      0 -10000  10000
-S: 0 4      0 -10000      0 -10000  10000
-
-Elevator mixer
------------
-Two scalers total (output, roll).
-
-This mixer assumes that the elevator servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:       10000   10000      0 -10000  10000
-S: 0 1  -10000  -10000      0 -10000  10000
-
-Rudder mixer
------------
-Two scalers total (output, yaw).
-
-This mixer assumes that the rudder servo is set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 1
-O:     -10000 -10000      0 -10000  10000
-S: 0 2  10000  10000      0 -10000  10000
-
-Left Aileron mixer
---------------------------------
-
-This mixer assumes that the aileron servos are set up correctly mechanically;
-depending on the actual configuration it may be necessary to reverse the scaling
-factors (to reverse the servo movement) and adjust the offset, scaling and
-endpoints to suit.
-
-M: 2
-O:      10000  10000      0 -10000  10000
-S: 0 0 -10000  -6000      0 -10000  10000
-S: 0 4      0 -10000      0 -10000  10000
@@ -1,61 +0,0 @@
-ASL SenseSoar2 mixer for PX4IO
-=============================
-
-Documentation: https://dev.px4.io/en/concept/mixing.html
-
-Note1: CH2 AilR is down for pos PWM signal change, CH5 Ail L the other way around.
-Note2: The mixer defines a certain aileron differential, but the phyiscal differential
-       is stronger because of the servo mechanics (70% mixer diff -> ca. 60% physical).
-Note3: In the extras.txt on the sd-card, set pwm min/max such that the ailerons have
-       2.5cm upwards and 2.0cm downwards travel at FULL (u=+/- 1.0) mixer output. The
-       downwards travel with the mixer differential is then obviously less.
-
-=============================
-
-### Motor
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-
-### Right aileron (with differential)
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 0  -7000 -10000      0 -10000  10000
-
-
-### Right ruddervator
-M: 2
-O:       6000   6000      0 -10000  10000
-S: 0 1  -6500  -6500      0 -10000  10000
-S: 0 2   7500   7500      0 -10000  10000
-
-
-### Left ruddervator
-M: 2
-O:       6000   6000      0 -10000  10000
-S: 0 1   6500   6500      0 -10000  10000
-S: 0 2   7500   7500      0 -10000  10000
-
-
-### Left aileron (with differential)
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 0 -10000  -7000      0 -10000  10000
-
-
-### Right flap
-#M: 1
-#O:      10000  10000      0 -10000   4000
-#S: 3 4  10000  10000      0 -10000  10000
-
-### Right flap
-M: 1
-O:      10000  10000      0 -10000   4000
-S: 0 4      0  20000 -10000 -10000  10000
-
-
-### Left flap
-M: 1
-O:      10000  10000      0  -4000  10000
-S: 0 4      0 -20000  10000 -10000  10000
@@ -1,47 +0,0 @@
-ASL Techpod mixer for PX4IO
-=============================
-
-Documentation: https://dev.px4.io/en/concept/mixing.html
-
-=============================
-
-### Motor
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 3      0  20000 -10000 -10000  10000
-
-
-### Right aileron (with differential)
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 0 -7500  -10000      0 -10000  10000
-
-
-### Elevator
-M: 1
-O:       6000   6000      0 -10000  10000
-S: 0 1   6000   6000      0  -6000   6000
-
-
-### Rudder
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 2  -6000  -6000      0  -6000   6000
-
-
-### Left aileron (with differential)
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 0 -10000  -7500      0 -10000  10000
-
-
-### Right flap
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0  -4000   4000
-
-
-### Left flap
-M: 1
-O:      10000  10000      0 -10000  10000
-S: 0 4  10000  10000      0  -4000   4000
@@ -44,7 +44,7 @@ parser.add_argument('-m', '--modules', action='store',
                    default='')


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

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

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

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

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

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

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

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

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

-        return None
+        return matches

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

            scope.reduce_ambiguities()

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

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

        entries = os.listdir(path)

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

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


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

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


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

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


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

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

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

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

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

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

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

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

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

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

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

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

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

    if args.output == 'json':
        output_json = OutputJSON(graph)
@@ -15,7 +15,6 @@ px4_add_board(
 		TEL1:/dev/ttyS1
 		TEL2:/dev/ttyS2
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -32,12 +31,13 @@ px4_add_board(
 		imu/invensense/mpu6000
 		imu/invensense/mpu6500
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		#lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -45,7 +45,6 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
-		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -58,7 +57,6 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -75,15 +73,12 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
-		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -91,7 +86,6 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -107,7 +101,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -119,8 +112,6 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
-		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test
@@ -101,7 +101,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -117,7 +116,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
@@ -128,9 +126,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y
@@ -81,7 +81,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -97,7 +96,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
@@ -108,9 +106,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0
@@ -17,7 +17,6 @@ px4_add_board(
 		TEL3:/dev/ttyS2
 		TEL4:/dev/ttyS3
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -27,16 +26,18 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		#dshot
 		gps
+		#heater
 		#imu # all available imu drivers
 		imu/adis16477
 		imu/adis16497
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		#lights/rgbled
+		#lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		#pwm_input
@@ -44,7 +45,6 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
-		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		#tone_alarm
@@ -57,7 +57,6 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -74,23 +73,19 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
-		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
-		bl_update
+		#bl_update
 		dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -98,14 +93,12 @@ px4_add_board(
 		motor_ramp
 		motor_test
 		nshterm
-		netman
 		param
 		perf
 		pwm
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -116,8 +109,6 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
-		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test
@@ -14,10 +14,12 @@
 # CONFIG_MMCSD_SPI is not set
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
+# CONFIG_NSH_DISABLE_ADDROUTE is not set
 # CONFIG_NSH_DISABLE_ARP is not set
 # CONFIG_NSH_DISABLE_BASENAME is not set
 # CONFIG_NSH_DISABLE_CMP is not set
 # CONFIG_NSH_DISABLE_DD is not set
+# CONFIG_NSH_DISABLE_DELROUTE is not set
 # CONFIG_NSH_DISABLE_DF is not set
 # CONFIG_NSH_DISABLE_DIRNAME is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
@@ -30,6 +32,7 @@
 # CONFIG_NSH_DISABLE_MKRD is not set
 # CONFIG_NSH_DISABLE_PRINTF is not set
 # CONFIG_NSH_DISABLE_PUT is not set
+# CONFIG_NSH_DISABLE_ROUTE is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_NSH_DISABLE_UNAME is not set
@@ -71,13 +74,15 @@ CONFIG_FAT_LCNAMES=y
 CONFIG_FAT_LFN=y
 CONFIG_FAT_LFN_ALIAS_HASH=y
 CONFIG_FDCLONE_STDIO=y
-CONFIG_FSUTILS_IPCFG=y
 CONFIG_FS_BINFS=y
 CONFIG_FS_CROMFS=y
 CONFIG_FS_FAT=y
 CONFIG_FS_FATTIME=y
 CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_EXCLUDE_BLOCKS=y
+CONFIG_FS_PROCFS_EXCLUDE_MOUNT=y
+CONFIG_FS_PROCFS_EXCLUDE_MOUNTS=y
+CONFIG_FS_PROCFS_EXCLUDE_USAGE=y
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
 CONFIG_GRAN=y
@@ -103,18 +108,12 @@ CONFIG_NETDB_DNSCLIENT=y
 CONFIG_NETDB_DNSCLIENT_ENTRIES=8
 CONFIG_NETDB_DNSSERVER_NOADDR=y
 CONFIG_NETDEV_PHY_IOCTL=y
-CONFIG_NETINIT_DHCPC=y
-CONFIG_NETINIT_DNS=y
-CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
-CONFIG_NETINIT_DRIPADDR=0XC0A800FE
-CONFIG_NETINIT_THREAD=y
-CONFIG_NETINIT_THREAD_PRIORITY=49
 CONFIG_NETUTILS_TELNETD=y
 CONFIG_NET_ARP_IPIN=y
 CONFIG_NET_ARP_SEND=y
 CONFIG_NET_BROADCAST=y
 CONFIG_NET_ICMP=y
-CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_ROUTE=y
 CONFIG_NET_SOCKOPTS=y
 CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
@@ -122,7 +121,6 @@ CONFIG_NET_TCPBACKLOG=y
 CONFIG_NET_TCP_WRITE_BUFFERS=y
 CONFIG_NET_UDP=y
 CONFIG_NET_UDP_CHECKSUMS=y
-CONFIG_NET_UDP_WRITE_BUFFERS=y
 CONFIG_NFILE_DESCRIPTORS=12
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARCHROMFS=y
@@ -130,10 +128,9 @@ CONFIG_NSH_ARGCAT=y
 CONFIG_NSH_BUILTIN_APPS=y
 CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_MB=y
-CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_LINELEN=128
+CONFIG_NSH_LOGIN_PASSWORD="px4"
+CONFIG_NSH_LOGIN_USERNAME="px4"
 CONFIG_NSH_MAXARGUMENTS=15
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
@@ -158,9 +155,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
@@ -198,7 +192,6 @@ CONFIG_STM32F7_PHYSR_10FD=0x14
 CONFIG_STM32F7_PHYSR_10HD=0x4
 CONFIG_STM32F7_PHYSR_ALTCONFIG=y
 CONFIG_STM32F7_PHYSR_ALTMODE=0x1C
-CONFIG_STM32F7_PROGMEM=y
 CONFIG_STM32F7_PWR=y
 CONFIG_STM32F7_RTC=y
 CONFIG_STM32F7_RTC_HSECLOCK=y
@@ -233,7 +226,6 @@ CONFIG_STM32F7_USART_INVERT=y
 CONFIG_STM32F7_USART_SINGLEWIRE=y
 CONFIG_STM32F7_USART_SWAP=y
 CONFIG_STM32F7_WWDG=y
-CONFIG_SYSTEM_DHCPC_RENEW=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_SYSTEM_PING=y
 CONFIG_TASK_NAME_SIZE=24
@@ -14,7 +14,6 @@ px4_add_board(
 	TOOLCHAIN arm-linux-gnueabihf
 	TESTING
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/bmp280
@@ -25,7 +24,6 @@ px4_add_board(
 		distance_sensor # all available distance sensor drivers
 		gps
 		#imu # all available imu drivers
-		imu/analog_devices/adis16448
 		imu/invensense/mpu9250
 		linux_pwm_out
 		#magnetometer # all available magnetometer drivers
@@ -41,7 +39,6 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -66,8 +63,6 @@ px4_add_board(
 		sih
 		#simulator
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -81,9 +76,8 @@ px4_add_board(
 		perf
 		pwm
 		sd_bench
-		#serial_test
-		system_time
 		shutdown
+		system_time
 		tests # tests and test runner
 		#top
 		topic_listener
@@ -92,10 +86,8 @@ px4_add_board(
 		ver
 		work_queue
 	EXAMPLES
-		dyn_hello # dynamically loading modules example
 		fake_gps
-		fake_gyro
-		fake_magnetometer
+		dyn_hello # dynamically loading modules example
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		#hwtest # Hardware test
@@ -97,7 +97,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_FATDEVNO=0
 CONFIG_NSH_LINELEN=128
@@ -124,9 +123,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SEM_NNESTPRIO=8
@@ -96,7 +96,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_FATDEVNO=0
 CONFIG_NSH_LINELEN=128
@@ -123,9 +122,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SEM_NNESTPRIO=8
@@ -81,7 +81,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -97,7 +96,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
@@ -108,9 +106,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0
@@ -19,7 +19,6 @@ px4_add_board(
 		# CONSOLE: /dev/ttyS4
 		# RC: /dev/ttyS5
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -31,25 +30,24 @@ px4_add_board(
 		gps
 		heater
 		#imu # all available imu drivers
-		imu/analog_devices/adis16448
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
 		pwm_out
 		rc_input
 		roboclaw
-		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -63,7 +61,6 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -80,15 +77,12 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
-		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
-		#uuv_att_control
-		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -96,7 +90,6 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -112,7 +105,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -124,8 +116,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
+		fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# board specific MAVLink startup script.
+# board specific board MAVLink startup script.
 #------------------------------------------------------------------------------

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

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

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

+
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }
@@ -19,7 +19,6 @@ px4_add_board(
 		# CONSOLE: /dev/ttyS4
 		# RC: /dev/ttyS5
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -30,26 +29,24 @@ px4_add_board(
 		dshot
 		gps
 		heater
-		#imu # all available imu drivers
+		#imu # all relevant IMU drivers
 		imu/analog_devices/adis16470
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		irlock
-		lights # all available light drivers
-		lights/rgbled_pwm
+		lights/rgbled
+		#lights/rgbled_ncp5623c
+		#lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
 		pwm_out
 		rc_input
-		roboclaw
-		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -63,7 +60,6 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -80,15 +76,12 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
-		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
-		#uuv_att_control
-		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -96,7 +89,6 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -112,7 +104,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -124,8 +115,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
+		fake_gyro
+		fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# board specific MAVLink startup script.
+# board specific board MAVLink startup script.
 #------------------------------------------------------------------------------

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

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

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

+
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }
@@ -19,7 +19,6 @@ px4_add_board(
 		# CONSOLE:/dev/ttyS4
 		GPS2:/dev/ttyS5
 	DRIVERS
-		#adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -31,16 +30,20 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
+		#imu/analog_devices/adis16448
+		#imu/adis16477
+		#imu/adis16497
 		imu/invensense/icm20602
 		imu/invensense/icm20649
 		imu/invensense/icm20948
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		#pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -84,8 +87,6 @@ px4_add_board(
 		sensors
 		#sih
 		#temperature_compensation
-		#uuv_att_control
-		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -109,8 +110,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		#serial_test
-		system_time
 		tests # tests and test runner
 		top
 		topic_listener
@@ -121,8 +120,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
+		fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test
@@ -19,7 +19,6 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		GPS2:/dev/ttyS5
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -36,12 +35,13 @@ px4_add_board(
 		imu/invensense/icm20649
 		imu/invensense/icm20948
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -85,8 +85,6 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
-		#uuv_att_control
-		#uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -110,8 +108,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		#serial_test
-		system_time
 		#tests # tests and test runner
 		top
 		topic_listener
@@ -122,8 +118,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
+		fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test
@@ -54,6 +54,7 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
@@ -58,6 +58,7 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -88,7 +89,7 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=4
+CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -106,7 +107,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -122,7 +122,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -135,12 +134,9 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDMMC1_SDIO_PULLUP=y
+CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -162,6 +158,8 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_DTCMEXCLUDE=y
+CONFIG_STM32H7_DTCM_PROCFS=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y
@@ -202,6 +200,7 @@ CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGINT_CHAR=0x03
 CONFIG_TTY_SIGSTP=y
 CONFIG_UART4_BAUD=57600
 CONFIG_UART4_RXBUFSIZE=600
@@ -232,4 +231,3 @@ CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
 CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"
-CONFIG_WATCHDOG=y
@@ -59,6 +59,7 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
+CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -89,7 +90,7 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=4
+CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -107,7 +108,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -123,7 +123,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -136,9 +135,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
@@ -163,6 +159,8 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_DTCMEXCLUDE=y
+CONFIG_STM32H7_DTCM_PROCFS=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y
@@ -233,4 +231,3 @@ CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
 CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"
-CONFIG_WATCHDOG=y
@@ -198,15 +198,6 @@ SECTIONS
 		_ebss = ABSOLUTE(.);
 	} > AXI_SRAM

-	/* Emit the the D3 power domain section for locating BDMA data */
-
-	.sram4_reserve (NOLOAD) :
-	{
-		*(.sram4)
-		. = ALIGN(4);
-		_sram4_heap_start = ABSOLUTE(.);
-	} > SRAM4
-
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }
@@ -18,7 +18,6 @@ px4_add_board(
 		# CONSOLE:/dev/ttyS4
 		GPS2:/dev/ttyS5
 	DRIVERS
-		#adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -30,16 +29,18 @@ px4_add_board(
 		gps
 		#heater
 		#imu # all available imu drivers
+		imu/analog_devices/adis16448
 		imu/invensense/icm20602
 		imu/invensense/icm20649
 		imu/invensense/icm20948
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		#pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -53,7 +54,7 @@ px4_add_board(
 		uavcan
 	MODULES
 		airspeed_selector
-		#attitude_estimator_q
+		attitude_estimator_q
 		battery_status
 		camera_feedback
 		commander
@@ -69,7 +70,7 @@ px4_add_board(
 		land_detector
 		landing_target_estimator
 		load_mon
-		#local_position_estimator
+		local_position_estimator
 		logger
 		mavlink
 		mc_att_control
@@ -79,12 +80,10 @@ px4_add_board(
 		#micrortps_bridge
 		navigator
 		rc_update
-		#rover_pos_control
+		rover_pos_control
 		sensors
-		#sih
-		#temperature_compensation
-		#uuv_att_control
-		#uuv_pos_control
+		sih
+		temperature_compensation
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -108,8 +107,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		#serial_test
-		system_time
 		tests # tests and test runner
 		top
 		topic_listener
@@ -120,8 +117,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
+		fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test
@@ -18,7 +18,6 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		GPS2:/dev/ttyS5
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -35,12 +34,13 @@ px4_add_board(
 		imu/invensense/icm20649
 		imu/invensense/icm20948
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_out_sim
@@ -49,7 +49,7 @@ px4_add_board(
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
-		#test_ppm
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -84,8 +84,6 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -109,9 +107,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		#serial_test
-		system_time
-		#tests # tests and test runner
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -121,8 +117,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
+		fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test
@@ -106,7 +106,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -122,7 +121,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -133,9 +131,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
@@ -107,7 +107,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -123,7 +122,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -134,9 +132,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
@@ -12,7 +12,6 @@ px4_add_board(
 	TOOLCHAIN arm-linux-gnueabihf
 	TESTING
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/ms5611
@@ -41,7 +40,6 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -66,8 +64,6 @@ px4_add_board(
 		sih
 		#simulator
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -81,7 +77,6 @@ px4_add_board(
 		perf
 		pwm
 		sd_bench
-		#serial_test
 		system_time
 		shutdown
 		tests # tests and test runner
@@ -94,8 +89,6 @@ px4_add_board(
 	EXAMPLES
 		dyn_hello # dynamically loading modules example
 		fake_gps
-		fake_gyro
-		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		#hwtest # Hardware test
@@ -1,37 +0,0 @@
-include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
-
-px4_add_board(
-	PLATFORM nuttx
-	VENDOR holybro
-	MODEL can-gps-v1
-	LABEL debug
-	TOOLCHAIN arm-none-eabi
-	ARCHITECTURE cortex-m4
-	CONSTRAINED_MEMORY
-	CONSTRAINED_FLASH
-	ROMFSROOT cannode
-	UAVCAN_INTERFACES 2
-	DRIVERS
-		adc/board_adc
-		barometer/bmp388
-		bootloaders
-		gps
-		imu/bosch/bmi088
-		lights/rgbled_ncp5623c
-		magnetometer/bosch/bmm150
-		uavcannode
-	MODULES
-		#ekf2
-		load_mon
-		sensors
-	SYSTEMCMDS
-		i2cdetect
-		param
-		perf
-		reboot
-		top
-		#topic_listener
-		uorb
-		ver
-		work_queue
-)
@@ -8,7 +8,6 @@ px4_add_board(
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
 	CONSTRAINED_MEMORY
-	CONSTRAINED_FLASH
 	ROMFSROOT cannode
 	UAVCAN_INTERFACES 2
 	DRIVERS
@@ -21,15 +20,14 @@ px4_add_board(
 		magnetometer/bosch/bmm150
 		uavcannode
 	MODULES
-		#ekf2
-		sensors
+		load_mon
 	SYSTEMCMDS
-		#i2cdetect
+		i2cdetect
 		param
-		#perf
-		#top
-		#topic_listener
-		#uorb
-		#ver
-		#work_queue
+		perf
+		reboot
+		top
+		topic_listener
+		ver
+		work_queue
 )
@@ -86,7 +86,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -102,7 +101,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
@@ -113,9 +111,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0
@@ -10,7 +10,7 @@ px4_add_board(
 	BUILD_BOOTLOADER
 	IO px4_io-v2_default
 	TESTING
-	UAVCAN_INTERFACES 2
+#	UAVCAN_INTERFACES 2  - No H7 or FD can support in UAVCAN
 	SERIAL_PORTS
 		GPS1:/dev/ttyS0
 		TEL1:/dev/ttyS1
@@ -18,7 +18,6 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		TEL4:/dev/ttyS3
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -34,23 +33,25 @@ px4_add_board(
 		imu/bosch/bmi088
 		imu/invensense/icm20689
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
 		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
+#		pwm_input  - Need to create arch/stm32 arch/stm32h7 arch/kinetis and reloacate
+#					   all arch dependant code there
 		pwm_out_sim
 		pwm_out
 		px4io
 		roboclaw
-		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
-		uavcan
+#		uavcan - No H7 or FD can support in UAVCAN yet
 	MODULES
 		airspeed_selector
 		attitude_estimator_q
@@ -59,7 +60,6 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -76,15 +76,12 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
-		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -92,7 +89,6 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -108,9 +104,8 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
-#		tests # tests and test runner
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -120,8 +115,6 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
-		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test
@@ -54,6 +54,7 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
@@ -250,12 +250,6 @@

 #define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2

-/* FDCAN 1 2 clock source */
-
-#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
-
-#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
-
 /* FLASH wait states
 *
 *  ------------ ---------- -----------
@@ -89,7 +89,6 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=4
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -107,7 +106,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -123,7 +121,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -134,9 +131,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
@@ -162,6 +156,8 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_DTCMEXCLUDE=y
+CONFIG_STM32H7_DTCM_PROCFS=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C2=y
@@ -199,11 +199,8 @@ SECTIONS

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

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

 	/* Stabs debugging sections. */
@@ -107,7 +107,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_PSSTACKUSAGE=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
@@ -125,7 +124,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -136,9 +134,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SEM_NNESTPRIO=8
@@ -17,7 +17,6 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		TEL4:/dev/ttyS3
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -34,13 +33,14 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20689
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -87,8 +87,6 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -112,7 +110,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -124,7 +121,6 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
 		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
@@ -106,7 +106,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -122,7 +121,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -133,9 +131,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
@@ -15,7 +15,6 @@ px4_add_board(
 		TEL2:/dev/ttyS4 # UART5  / J1
 		TEL3:/dev/ttyS1 # USART2 / J4
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -29,12 +28,13 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm42688p
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
+		#optical_flow # all available optical flow drivers
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		power_monitor/voxlpm
 		#protocol_splitter
@@ -43,7 +43,6 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
-		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -73,15 +72,12 @@ px4_add_board(
 		mc_hover_thrust_estimator
 		mc_pos_control
 		mc_rate_control
-		#micrortps_bridge
 		navigator
 		rc_update
 		rover_pos_control
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -89,7 +85,6 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -105,7 +100,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -117,8 +111,6 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
-		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test
@@ -105,7 +105,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -121,7 +120,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -132,9 +130,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC2_SDIO_PULLUP=y
@@ -17,7 +17,6 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		#FRSKY:/dev/ttyS5
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/dps310
@@ -26,7 +25,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
-		dshot
+		#dshot
 		gps
 		#heater
 		#imu # all available imu drivers
@@ -34,12 +33,13 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20948
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
+		#optical_flow # all available optical flow drivers
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		#pwm_input
@@ -47,7 +47,6 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
-		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -61,7 +60,6 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -85,8 +83,6 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -94,7 +90,6 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -110,7 +105,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -122,8 +116,6 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
-		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test
@@ -105,7 +105,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -121,7 +120,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -132,9 +130,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
@@ -17,7 +17,6 @@ px4_add_board(
 		#CONSOLE:/dev/ttyS4
 		#FRSKY:/dev/ttyS5
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/dps310
@@ -26,7 +25,7 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
-		dshot
+		#dshot
 		gps
 		#heater
 		#imu # all available imu drivers
@@ -34,12 +33,13 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20948
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
+		#optical_flow # all available optical flow drivers
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		#pwm_input
@@ -47,7 +47,6 @@ px4_add_board(
 		pwm_out
 		rc_input
 		roboclaw
-		rpm
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -61,7 +60,6 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -85,8 +83,6 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -94,7 +90,6 @@ px4_add_board(
 		dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -110,7 +105,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -122,8 +116,6 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
-		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test
@@ -105,7 +105,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -121,7 +120,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -132,9 +130,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
+	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		TEL1:/dev/ttyS0
@@ -17,7 +18,6 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		#FRSKY:/dev/ttyS5
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/dps310
@@ -33,20 +33,24 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20948
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
+		#pwm_input
 		pwm_out_sim
 		pwm_out
 		rc_input
 		roboclaw
 		rpm
+		#safety_button TODO
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -81,8 +85,6 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -106,27 +108,23 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
-		#tests # tests and test runner
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
-		uorb
 		usb_connected
 		ver
 		work_queue
 	EXAMPLES
-		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# board specific MAVLink startup script.
+# Board specific MAVLink startup script.
 #------------------------------------------------------------------------------

 # Start MAVLink on the USB port
@@ -54,6 +54,7 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
@@ -90,7 +90,7 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=4
+CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -108,7 +108,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -124,7 +123,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -137,9 +135,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
@@ -165,6 +160,8 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_DTCMEXCLUDE=y
+CONFIG_STM32H7_DTCM_PROCFS=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C3=y
@@ -217,8 +214,8 @@ CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_TXBUFSIZE=1500
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_SERIAL_CONSOLE=y
 CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_UART8_SERIAL_CONSOLE=y
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_IFLOWCONTROL=y
 CONFIG_USART2_OFLOWCONTROL=y
@@ -199,12 +199,8 @@ SECTIONS
 	} > AXI_SRAM

 	/* Emit the the D3 power domain section for locating BDMA data */
-
-	.sram4_reserve (NOLOAD) :
+	.sram4 (NOLOAD) :
 	{
-		*(.sram4)
-		. = ALIGN(4);
-		_sram4_heap_start = ABSOLUTE(.);
 	} > SRAM4


@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
+	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
 		TEL1:/dev/ttyS0
@@ -17,7 +18,6 @@ px4_add_board(
 		TEL3:/dev/ttyS4
 		#FRSKY:/dev/ttyS5
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/dps310
@@ -33,20 +33,24 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20948
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
+		#pwm_input
 		pwm_out_sim
 		pwm_out
 		rc_input
 		roboclaw
 		rpm
+		#safety_button TODO
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -81,8 +85,6 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -106,27 +108,23 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
-		#tests # tests and test runner
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
-		uorb
 		usb_connected
 		ver
 		work_queue
 	EXAMPLES
-		fake_gps
-		#fake_gyro
-		#fake_magnetometer
-		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		#hello
-		#hwtest # Hardware test
+		fake_magnetometer
+		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		hello
+		hwtest # Hardware test
 		#matlab_csv_serial
-		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		#rover_steering_control # Rover example app
-		#uuv_example_app
-		#work_item
+		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		rover_steering_control # Rover example app
+		uuv_example_app
+		work_item
 	)
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# board specific MAVLink startup script.
+# Board specific MAVLink startup script.
 #------------------------------------------------------------------------------

 # Start MAVLink on the USB port
@@ -54,6 +54,7 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
@@ -90,7 +90,7 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=4
+CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -108,7 +108,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -124,7 +123,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -137,9 +135,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
@@ -164,6 +159,8 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_DTCMEXCLUDE=y
+CONFIG_STM32H7_DTCM_PROCFS=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C_DYNTIMEO=y
@@ -214,8 +211,8 @@ CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_TXBUFSIZE=1500
 CONFIG_UART8_BAUD=57600
 CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_SERIAL_CONSOLE=y
 CONFIG_UART8_TXBUFSIZE=1500
+CONFIG_UART8_SERIAL_CONSOLE=y
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_IFLOWCONTROL=y
 CONFIG_USART2_OFLOWCONTROL=y
@@ -199,11 +199,8 @@ SECTIONS
 	} > AXI_SRAM

 	/* Emit the the D3 power domain section for locating BDMA data */
-	.sram4_reserve (NOLOAD) :
+	.sram4 (NOLOAD) :
 	{
-		*(.sram4)
-		. = ALIGN(4);
-		_sram4_heap_start = ABSOLUTE(.);
 	} > SRAM4


@@ -8,6 +8,7 @@ px4_add_board(
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
 	BUILD_BOOTLOADER
+	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
 		#SPARE:/dev/ttyS0
@@ -18,7 +19,6 @@ px4_add_board(
 		#CONSOLE:/dev/ttyS5
 		#FRSKY:/dev/ttyS6
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		#barometer # all available barometer drivers
 		barometer/dps310
@@ -34,20 +34,23 @@ px4_add_board(
 		imu/invensense/icm20602
 		imu/invensense/icm20948
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
-		osd
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
+		#pwm_input
 		pwm_out_sim
 		pwm_out
 		rc_input
 		roboclaw
 		rpm
 		telemetry # all available telemetry drivers
+		test_ppm
 		tone_alarm
 		uavcan
 	MODULES
@@ -82,8 +85,6 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -95,7 +96,6 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
-		mft
 		mixer
 		motor_ramp
 		motor_test
@@ -109,7 +109,7 @@ px4_add_board(
 		sd_bench
 		serial_test
 		system_time
-		#tests # tests and test runner
+		tests # tests and test runner
 		top
 		topic_listener
 		tune_control
@@ -119,8 +119,8 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		#fake_gyro
-		#fake_magnetometer
+		fake_gyro
+		fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
 		#hwtest # Hardware test
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# board specific MAVLink startup script.
+# Board specific MAVLink startup script.
 #------------------------------------------------------------------------------

 # Start MAVLink on the USB port
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# board specific sensors init
+# Board specific sensors init
 #------------------------------------------------------------------------------
 board_adc start

@@ -25,7 +25,7 @@ CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_INITTHREAD_PRIORITY=254
 CONFIG_BOARD_LATE_INITIALIZE=y
-CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
@@ -54,6 +54,7 @@ CONFIG_LIB_BOARDCTL=y
 CONFIG_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MM_REGIONS=3
 CONFIG_NFILE_DESCRIPTORS=5
 CONFIG_PREALLOC_TIMERS=50
 CONFIG_PTHREAD_STACK_MIN=512
@@ -53,11 +53,13 @@ CONFIG_CDCACM_VENDORSTR="mRo"
 CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_MEMFAULT=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_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
 CONFIG_FAT_LCNAMES=y
@@ -88,7 +90,6 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=4
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -106,7 +107,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -122,7 +122,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -135,9 +134,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
@@ -163,6 +159,8 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_DTCMEXCLUDE=y
+CONFIG_STM32H7_DTCM_PROCFS=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C_DYNTIMEO=y
@@ -235,4 +233,3 @@ CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
 CONFIG_USERMAIN_STACKSIZE=2944
 CONFIG_USER_ENTRYPOINT="nsh_main"
-CONFIG_WATCHDOG=y
@@ -196,6 +196,11 @@ SECTIONS
 		_ebss = ABSOLUTE(.);
 	} > AXI_SRAM

+	/* Emit the the D3 power domain section for locating BDMA data */
+	.sram4 (NOLOAD) :
+	{
+	} > SRAM4
+
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }
@@ -209,4 +214,13 @@ SECTIONS
 	.debug_line 0 : { *(.debug_line) }
 	.debug_pubnames 0 : { *(.debug_pubnames) }
 	.debug_aranges 0 : { *(.debug_aranges) }
+
+	.ramfunc : {
+		_sramfuncs = .;
+		*(.ramfunc  .ramfunc.*)
+		. = ALIGN(4);
+		_eramfuncs = .;
+	} > ITCM_RAM AT > FLASH
+
+	_framfuncs = LOADADDR(.ramfunc);
 }
@@ -167,7 +167,6 @@ SECTIONS
 		_einit = ABSOLUTE(.);
 	} > FLASH

-
 	.ARM.extab : {
 		*(.ARM.extab*)
 	} > FLASH
@@ -198,12 +197,8 @@ SECTIONS
 	} > AXI_SRAM

 	/* Emit the the D3 power domain section for locating BDMA data */
-
-	.sram4_reserve (NOLOAD) :
+	.sram4 (NOLOAD) :
 	{
-		*(.sram4)
-		. = ALIGN(4);
-		_sram4_heap_start = ABSOLUTE(.);
 	} > SRAM4

 	/* Stabs debugging sections. */
@@ -219,4 +214,13 @@ SECTIONS
 	.debug_line 0 : { *(.debug_line) }
 	.debug_pubnames 0 : { *(.debug_pubnames) }
 	.debug_aranges 0 : { *(.debug_aranges) }
+
+	.ramfunc : {
+		_sramfuncs = .;
+		*(.ramfunc  .ramfunc.*)
+		. = ALIGN(4);
+		_eramfuncs = .;
+	} > ITCM_RAM AT > FLASH
+
+	_framfuncs = LOADADDR(.ramfunc);
 }
@@ -16,10 +16,9 @@ px4_add_board(
 		TEL2:/dev/ttyS2
 		GPS1:/dev/ttyS3
 		# PX4IO:/dev/ttyS4
-		# CONSOLE:/dev/ttyS5
+		# CONSOLE:/dev/tty5
 		# OSD:/dev/tty6
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -34,12 +33,13 @@ px4_add_board(
 		imu/invensense/icm20608g
 		imu/invensense/mpu9250
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
+		#optical_flow # all available optical flow drivers
+		#osd
 		pca9685
-		pca9685_pwm_out
 		power_monitor/ina226
 		#protocol_splitter
 		pwm_input
@@ -84,8 +84,6 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -109,7 +107,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -121,7 +118,6 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
 		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
@@ -105,7 +105,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -121,7 +120,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -132,9 +130,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
@@ -12,15 +12,10 @@ px4_add_board(
 	TESTING
 	UAVCAN_INTERFACES 1
 	SERIAL_PORTS
-		# IO DEBUG:/dev/ttyS0
+		GPS1:/dev/ttyS3
 		TEL1:/dev/ttyS1
 		TEL2:/dev/ttyS2
-		GPS1:/dev/ttyS3
-		# PX4IO:/dev/ttyS4
-		# CONSOLE:/dev/ttyS5
-		# OSD:/dev/tty6
 	DRIVERS
-		adc/ads1115
 		adc/board_adc
 		barometer # all available barometer drivers
 		batt_smbus
@@ -28,27 +23,29 @@ px4_add_board(
 		camera_trigger
 		differential_pressure # all available differential pressure drivers
 		distance_sensor # all available distance sensor drivers
-		dshot
+		#dshot
 		gps
+		#heater
 		#imu # all available imu drivers
 		imu/invensense/icm20602
 		imu/invensense/icm20608g
 		imu/invensense/mpu9250
 		irlock
-		lights # all available light drivers
+		lights/blinkm
+		lights/rgbled
+		#lights/rgbled_ncp5623c
 		magnetometer # all available magnetometer drivers
-		optical_flow # all available optical flow drivers
-		osd
+		#optical_flow # all available optical flow drivers
+		optical_flow/px4flow
+		#osd
 		pca9685
-		pca9685_pwm_out
-		power_monitor/ina226
+		#power_monitor/ina226
 		#protocol_splitter
 		pwm_input
 		pwm_out_sim
 		pwm_out
 		px4io
 		roboclaw
-		rpm
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -61,7 +58,6 @@ px4_add_board(
 		commander
 		dataman
 		ekf2
-		esc_battery
 		events
 		flight_mode_manager
 		fw_att_control
@@ -85,8 +81,6 @@ px4_add_board(
 		sensors
 		sih
 		temperature_compensation
-		uuv_att_control
-		uuv_pos_control
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -94,7 +88,6 @@ px4_add_board(
 		#dmesg
 		dumpfile
 		esc_calib
-		gpio
 		hardfault_log
 		i2cdetect
 		led_control
@@ -110,7 +103,6 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
-		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -122,8 +114,6 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
-		fake_gyro
-		fake_magnetometer
 		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		hello
 		hwtest # Hardware test
@@ -1,11 +1,18 @@
 #!/bin/sh
 #
-# Board specific sensors init
+# mRo x21 specific board sensors init
 #------------------------------------------------------------------------------
+
 board_adc start

-# SPI1
-ms5611 -s -b 1 start
-icm20608g -s -b 1 -R 8 start
-icm20602 -s -b 1 -R 8 start
-mpu9250 -s -b 1 -R 8 -M start
+# Internal SPI bus ICM-20608-G
+icm20608g -s -R 8 start
+
+# Internal SPI bus ICM-20602
+icm20602 -s -R 8 start
+
+# Internal SPI bus mpu9250
+mpu9250 -s -R 8 start
+
+# Internal SPI
+ms5611 -s start
@@ -101,7 +101,6 @@ CONFIG_NSH_DISABLE_IFCONFIG=y
 CONFIG_NSH_DISABLE_IFUPDOWN=y
 CONFIG_NSH_DISABLE_MB=y
 CONFIG_NSH_DISABLE_MH=y
-CONFIG_NSH_DISABLE_MW=y
 CONFIG_NSH_DISABLE_TELNETD=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
@@ -117,7 +116,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
@@ -128,9 +126,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y
--- a/Show More
+++ b/Show More