VTOL: use the same logic for front transition complete in all vtol types

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
HealthCheck: added health check for logger to report if it's running (#22781 )
2026-06-11 21:00:04 +08:00 · 2024-05-29 15:57:25 +02:00 · 2024-05-29 11:56:50 +02:00 · 2024-05-29 11:37:27 +02:00 · 2024-05-29 11:24:53 +02:00 · 2024-05-28 14:54:33 +02:00
140 changed files with 2471 additions and 212 deletions
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 2024 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -132,7 +132,9 @@ list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
 string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
 list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)

-message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH})")
+# # Capture only the hash part after 'g'
+string(REGEX MATCH "g([a-f0-9]+)$" GIT_HASH "${PX4_GIT_TAG}")
+set(PX4_GIT_HASH ${CMAKE_MATCH_1})

 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                 BRIEF_DOCS "PX4 module libs"
@@ -138,6 +138,12 @@ then
 	adis16507 -S start
 fi

+# SCH16T spi external IMU
+if param compare -s SENS_EN_SCH16T 1
+then
+	sch16t -S start
+fi
+
 # Eagle Tree airspeed sensor external I2C
 if param compare -s SENS_EN_ETSASPD 1
 then
@@ -439,6 +439,14 @@ else
 	# Must be started after the serial config is read
 	rc_input start $RC_INPUT_ARGS

+	# Manages USB interface
+	if ! cdcacm_autostart start
+	then
+		sercon
+		echo "Starting MAVLink on /dev/ttyACM0"
+		mavlink start -d /dev/ttyACM0
+	fi
+
 	#
 	# Play the startup tune (if not disabled or there is an error)
 	#
@@ -15,7 +15,7 @@ class ModuleDocumentation(object):
    # TOC in https://github.com/PX4/PX4-user_guide/blob/main/en/SUMMARY.md
    valid_categories = ['driver', 'estimator', 'controller', 'system',
                        'communication', 'command', 'template', 'simulation', 'autotune']
-    valid_subcategories = ['', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
+    valid_subcategories = ['', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']

    max_line_length = 80 # wrap lines that are longer than this
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 ############################################################################
 #
-#   Copyright (c) 2012-2017 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012-2024 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -50,9 +50,6 @@
 #       Currently only used for informational purposes.
 #

-# for python2.7 compatibility
-from __future__ import print_function
-
 import sys
 import argparse
 import binascii
@@ -70,35 +67,32 @@ from sys import platform as _platform
 try:
    import serial
 except ImportError as e:
-    print("Failed to import serial: " + str(e))
+    print(f"Failed to import serial: {e}")
    print("")
    print("You may need to install it using:")
-    print("    pip3 install --user pyserial")
+    print("    python -m pip install pyserial")
    print("")
    sys.exit(1)


-# Define time to use time.time() by default
-def _time():
-    return time.time()
-
 # Detect python version
 if sys.version_info[0] < 3:
-    runningPython3 = False
-else:
-    runningPython3 = True
-    if sys.version_info[1] >=3:
-        # redefine to use monotonic time when available
-        def _time():
-            try:
-                return time.monotonic()
-            except Exception:
-                return time.time()
+    raise RuntimeError("Python 2 is not supported. Please try again using Python 3.")
+    sys.exit(1)
+
+
+# Use monotonic time where available
+def _time():
+    try:
+        return time.monotonic()
+    except Exception:
+        return time.time()

 class FirmwareNotSuitableException(Exception):
    def __init__(self, message):
        super(FirmwareNotSuitableException, self).__init__(message)

+
 class firmware(object):
    '''Loads a firmware file'''

@@ -163,13 +157,13 @@ class firmware(object):

    def crc(self, padlen):
        state = self.__crc32(self.image, int(0))
-        for i in range(len(self.image), (padlen - 1), 4):
+        for _ in range(len(self.image), (padlen - 1), 4):
            state = self.__crc32(self.crcpad, state)
        return state


-class uploader(object):
-    '''Uploads a firmware file to the PX FMU bootloader'''
+class uploader:
+    '''Uploads a firmware file to the PX4 bootloader'''

    # protocol bytes
    INSYNC          = b'\x12'
@@ -195,6 +189,8 @@ class uploader(object):
    GET_CHIP        = b'\x2c'     # rev5+  , get chip version
    SET_BOOT_DELAY  = b'\x2d'     # rev5+  , set boot delay
    GET_CHIP_DES    = b'\x2e'     # rev5+  , get chip description in ASCII
+    GET_VERSION     = b'\x2f'     # rev5+  , get chip description in ASCII
+    CHIP_FULL_ERASE = b'\x40'     # full erase of flash, rev6+
    MAX_DES_LENGTH  = 20

    REBOOT          = b'\x30'
@@ -205,6 +201,7 @@ class uploader(object):
    INFO_BOARD_ID   = b'\x02'        # board type
    INFO_BOARD_REV  = b'\x03'        # board revision
    INFO_FLASH_SIZE = b'\x04'        # max firmware size in bytes
+    BL_VERSION      = b'\x07'        # get bootloader version, e.g. major.minor.patch.githash (up to 20 chars)

    PROG_MULTI_MAX  = 252            # protocol max is 255, must be multiple of 4
    READ_MULTI_MAX  = 252            # protocol max is 255
@@ -235,6 +232,7 @@ class uploader(object):
        self.baudrate_bootloader = baudrate_bootloader
        self.baudrate_flightstack = baudrate_flightstack
        self.baudrate_flightstack_idx = -1
+        self.force_erase = False

    def close(self):
        if self.port is not None:
@@ -357,19 +355,22 @@ class uploader(object):
            self.port.baudrate = self.baudrate_bootloader * 2.33
        except NotImplementedError as e:
            # This error can occur because pySerial on Windows does not support odd baudrates
-            print(str(e) + " -> could not check for FTDI device, assuming USB connection")
+            print(f"{e} -> could not check for FTDI device, assuming USB connection")
            return

        self.__send(uploader.GET_SYNC +
                    uploader.EOC)
        try:
            self.__getSync(False)
-        except:
+        except RuntimeError:
            # if it fails we are on a real serial port - only leave this enabled on Windows
            if sys.platform.startswith('win'):
                self.ackWindowedMode = True
        finally:
-            self.port.baudrate = self.baudrate_bootloader
+            try:
+                self.port.baudrate = self.baudrate_bootloader
+            except Exception:
+                pass

    # send the GET_DEVICE command and wait for an info parameter
    def __getInfo(self, param):
@@ -410,6 +411,17 @@ class uploader(object):
        pieces = value.split(b",")
        return pieces

+    def __getVersion(self):
+        self.__send(uploader.GET_VERSION + uploader.EOC)
+        try:
+            length = self.__recv_int()
+            value = self.__recv(length)
+            self.__getSync()
+        except RuntimeError:
+            # Bootloader doesn't support version call
+            return "unknown"
+        return value.decode()
+
    def __drawProgressBar(self, label, progress, maxVal):
        if maxVal < progress:
            progress = maxVal
@@ -421,10 +433,16 @@ class uploader(object):

    # send the CHIP_ERASE command and wait for the bootloader to become ready
    def __erase(self, label):
-        print("Windowed mode: %s" % self.ackWindowedMode)
+        print(f"Windowed mode: {self.ackWindowedMode}")
        print("\n", end='')
-        self.__send(uploader.CHIP_ERASE +
-                    uploader.EOC)
+
+        if self.force_erase:
+            print("Trying force erase of full chip...\n")
+            self.__send(uploader.CHIP_FULL_ERASE +
+                        uploader.EOC)
+        else:
+            self.__send(uploader.CHIP_ERASE +
+                        uploader.EOC)

        # erase is very slow, give it 30s
        deadline = _time() + 30.0
@@ -441,9 +459,14 @@ class uploader(object):

            if self.__trySync():
                self.__drawProgressBar(label, 10.0, 10.0)
+                if self.force_erase:
+                    print("\nForce erase done.\n")
                return

-        raise RuntimeError("timed out waiting for erase")
+        if self.force_erase:
+            raise RuntimeError("timed out waiting for erase, force erase is likely not supported by bootloader!")
+        else:
+            raise RuntimeError("timed out waiting for erase")

    # send a PROG_MULTI command to write a collection of bytes
    def __program_multi(self, data, windowMode):
@@ -581,8 +604,11 @@ class uploader(object):
        self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
        self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)

+        self.version = self.__getVersion()
+
    # upload the firmware
-    def upload(self, fw_list, force=False, boot_delay=None, boot_check=False):
+    def upload(self, fw_list, force=False, boot_delay=None, boot_check=False, force_erase=False):
+        self.force_erase = force_erase
        # select correct binary
        found_suitable_firmware = False
        for file in fw_list:
@@ -611,6 +637,8 @@ class uploader(object):
        print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%) " % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
        print()

+        print(f"Bootloader version: {self.version}")
+
        # Make sure we are doing the right thing
        start = _time()
        if self.board_type != fw.property('board_id'):
@@ -640,14 +668,14 @@ class uploader(object):
            self.otp_coa = self.otp[32:160]
            # show user:
            try:
-                print("sn: ", end='')
+                print("Sn: ", end='')
                for byte in range(0, 12, 4):
                    x = self.__getSN(byte)
                    x = x[::-1]  # reverse the bytes
                    self.sn = self.sn + x
                    print(binascii.hexlify(x).decode('Latin-1'), end='')  # show user
                print('')
-                print("chip: %08x" % self.__getCHIP())
+                print("Chip: %08x" % self.__getCHIP())

                otp_id = self.otp_id.decode('Latin-1')
                if ("PX4" in otp_id):
@@ -657,17 +685,19 @@ class uploader(object):
                    print("OTP pid: " + binascii.hexlify(self.otp_pid).decode('Latin-1'))
                    print("OTP coa: " + binascii.b2a_base64(self.otp_coa).decode('Latin-1'))

-            except Exception:
+            except Exception as e:
                # ignore bad character encodings
+                print(f"Exception ignored: {e}")
                pass

        # Silicon errata check was added in v5
        if (self.bl_rev >= 5):
            des = self.__getCHIPDes()
            if (len(des) == 2):
-                print("family: %s" % des[0])
-                print("revision: %s" % des[1])
-                print("flash: %d bytes" % self.fw_maxsize)
+                family, revision = des
+                print(f"Family: {family.decode()}")
+                print(f"Revision: {revision.decode()}")
+                print(f"Flash: {self.fw_maxsize} bytes")

                # Prevent uploads where the maximum image size of the board config is smaller than the flash
                # of the board. This is a hint the user chose the wrong config and will lack features
@@ -678,8 +708,7 @@ class uploader(object):
                # https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144

                if self.fw_maxsize > fw.property('image_maxsize') and not force:
-                    raise RuntimeError("Board can accept larger flash images (%u bytes) than board config (%u bytes). Please use the correct board configuration to avoid lacking critical functionality."
-                                       % (self.fw_maxsize, fw.property('image_maxsize')))
+                    raise RuntimeError(f"Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes). Please use the correct board configuration to avoid lacking critical functionality.")
        else:
            # If we're still on bootloader v4 on a Pixhawk, we don't know if we
            # have the silicon errata and therefore need to flash px4_fmu-v2
@@ -780,16 +809,13 @@ class uploader(object):


 def main():
-    # Python2 is EOL
-    if not runningPython3:
-        raise RuntimeError("Python 2 is not supported. Please try again using Python 3.")
-
    # Parse commandline arguments
    parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
    parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
    parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.")
    parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
    parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
+    parser.add_argument('--force-erase', action="store_true", help="Do not perform the blank check, always erase every sector of the application space")
    parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
    parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
    parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
@@ -867,9 +893,10 @@ def main():
                        # Windows, don't open POSIX ports
                        if "/" not in port:
                            up = uploader(port, args.baud_bootloader, baud_flightstack)
-                except Exception:
+                except Exception as e:
                    # open failed, rate-limit our attempts
                    time.sleep(0.05)
+                    print(f"Exception ignored: {e}")

                    # and loop to the next port
                    continue
@@ -884,10 +911,10 @@ def main():
                        up.identify()
                        found_bootloader = True
                        print()
-                        print("Found board id: %s,%s bootloader version: %s on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
+                        print(f"Found board id: {up.board_type},{up.board_rev} bootloader protocol revision {up.bl_rev} on {port}")
                        break

-                    except Exception:
+                    except (RuntimeError, serial.SerialException):

                        if not up.send_reboot(args.use_protocol_splitter_format):
                            break
@@ -907,14 +934,14 @@ def main():

                try:
                    # ok, we have a bootloader, try flashing it
-                    up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay)
+                    up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay, force_erase=args.force_erase)

                    # if we made this far without raising exceptions, the upload was successful
                    successful = True

-                except RuntimeError as ex:
+                except RuntimeError as e:
                    # print the error
-                    print("\nERROR: %s" % ex.args)
+                    print(f"\n\nError: {e}")

                except FirmwareNotSuitableException:
                    unsuitable_board = True
@@ -12,6 +12,7 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
@@ -8,6 +8,7 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
@@ -18,6 +19,7 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
+CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
@@ -57,6 +59,7 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
+CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -8,6 +8,7 @@ CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
@@ -39,6 +40,7 @@ CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
+CONFIG_MAVLINK_DIALECT="development"
 CONFIG_MODULES_MC_ATT_CONTROL=y
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
@@ -2,6 +2,7 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_MAIERTEK_MPC2520=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
@@ -3,6 +3,7 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_BAROMETER_LPS25H=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_GPS=y
@@ -4,6 +4,7 @@ CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
 CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088_I2C=y
@@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
@@ -11,6 +11,7 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -11,6 +11,7 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -12,6 +12,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -8,6 +8,7 @@ CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
@@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
@@ -12,6 +12,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -9,6 +9,7 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
@@ -9,6 +9,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -9,6 +9,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -9,6 +9,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
@@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
@@ -8,6 +8,7 @@ CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
@@ -12,6 +12,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -12,6 +12,7 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
@@ -12,6 +12,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -9,6 +9,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -9,6 +9,7 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -9,6 +9,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -10,6 +10,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -11,6 +11,7 @@ CONFIG_DRIVERS_BAROMETER_MPL3115A2=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y
@@ -11,6 +11,7 @@ CONFIG_DRIVERS_BAROMETER_MPL3115A2=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y
@@ -7,6 +7,7 @@ CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
@@ -9,6 +9,7 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_ST_L3GD20=y
@@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -12,6 +12,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -10,6 +10,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -6,6 +6,7 @@ CONFIG_COMMON_OPTICAL_FLOW=n
 CONFIG_COMMON_TELEMETRY=n
 CONFIG_DRIVERS_CAMERA_CAPTURE=n
 CONFIG_DRIVERS_CAMERA_TRIGGER=n
+CONFIG_DRIVERS_CDCACM_AUTOSTART=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_PWM_INPUT=n
@@ -14,6 +14,7 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -14,6 +14,7 @@ CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -13,6 +13,7 @@ CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
 CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
@@ -10,6 +10,7 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
@@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -4,6 +4,7 @@ CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
@@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -11,6 +11,7 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -10,6 +10,7 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
@@ -9,6 +9,8 @@ uint8 BACKEND_MAVLINK = 2
 uint8 BACKEND_ALL     = 3
 uint8 backend

+bool is_logging
+
 float32 total_written_kb       # total written to log in kiloBytes
 float32 write_rate_kb_s        # write rate in kiloBytes/s

@@ -8,8 +8,8 @@ bool has_vtol_approach 		      # flag if approaches are defined for current RTL_
 uint8 rtl_type	      		      # Type of RTL chosen
 uint8 safe_point_index 		      # index of the chosen safe point, if in RTL_STATUS_TYPE_DIRECT_SAFE_POINT mode

-uint8 RTL_STATUS_TYPE_NONE=0       # RTL type is pending if evaluation can't pe performed currently e.g. when it is still loading the safe points
-uint8 RTL_STATUS_TYPE_DIRECT_SAFE_POINT=1 # RTL type is chosen to directly go to a safe point or home position
-uint8 RTL_STATUS_TYPE_DIRECT_MISSION_LAND=2 # RTL type is going straight to the beginning of the mission landing
-uint8 RTL_STATUS_TYPE_FOLLOW_MISSION=3 	# RTL type is following the mission from closest point to mission landing
-uint8 RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE=4 # RTL type is following the mission in reverse to the start position
+uint8 RTL_STATUS_TYPE_NONE=0       		# pending if evaluation can't pe performed currently e.g. when it is still loading the safe points
+uint8 RTL_STATUS_TYPE_DIRECT_SAFE_POINT=1 	# chosen to directly go to a safe point or home position
+uint8 RTL_STATUS_TYPE_DIRECT_MISSION_LAND=2 	# going straight to the beginning of the mission landing
+uint8 RTL_STATUS_TYPE_FOLLOW_MISSION=3 		# Following the mission from start index to mission landing. Start index is current WP if in Mission mode, and closest WP otherwise.
+uint8 RTL_STATUS_TYPE_FOLLOW_MISSION_REVERSE=4 	# Following the mission in reverse from start index to the beginning of the mission. Start index is previous WP if in Mission mode, and closest WP otherwise.
@@ -1,6 +1,6 @@
 uint64 timestamp	# time since system start (microseconds)

-# body angular rates in NED frame
+# body angular rates in FRD frame
 float32 roll		# [rad/s] roll rate setpoint
 float32 pitch		# [rad/s] pitch rate setpoint
 float32 yaw		# [rad/s] yaw rate setpoint
@@ -37,6 +37,10 @@ add_library(bootloader
 	crypto.c
 )

+target_compile_definitions(bootloader
+	PRIVATE BOOTLOADER_VERSION="PX4BLv${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH}g${PX4_GIT_HASH}"
+)
+
 target_link_libraries(bootloader
 	PRIVATE
 		arch_bootloader
@@ -80,7 +80,7 @@
 // RESET    finalise flash programming, reset chip and starts application
 //

-#define BL_PROTOCOL_VERSION         5   // The revision of the bootloader protocol
+#define BL_PROTOCOL_REVISION        5   // The revision of the bootloader protocol
 //* Next revision needs to update

 // protocol bytes
@@ -106,14 +106,20 @@
 #define PROTO_GET_CHIP              0x2c    // read chip version (MCU IDCODE)
 #define PROTO_SET_DELAY             0x2d    // set minimum boot delay
 #define PROTO_GET_CHIP_DES          0x2e    // read chip version In ASCII
+#define PROTO_GET_VERSION           0x2f    // read version
 #define PROTO_BOOT                  0x30    // boot the application
 #define PROTO_DEBUG                 0x31    // emit debug information - format not defined
 #define PROTO_SET_BAUD              0x33    // set baud rate on uart

-#define PROTO_RESERVED_0X36         0x36  // Reserved
-#define PROTO_RESERVED_0X37         0x37  // Reserved
+// Reserved for external flash programming
+// #define PROTO_EXTF_ERASE         0x34  // Erase sectors from external flash
+// #define PROTO_EXTF_PROG_MULTI    0x35  // write bytes at external flash program address and increment
+// #define PROTO_EXTF_READ_MULTI    0x36  // read bytes at address and increment
+// #define PROTO_EXTF_GET_CRC       0x37  // compute & return a CRC of data in external flash
+
 #define PROTO_RESERVED_0X38         0x38  // Reserved
 #define PROTO_RESERVED_0X39         0x39  // Reserved
+#define PROTO_CHIP_FULL_ERASE       0x40  // Full erase, without any flash wear optimization

 #define PROTO_PROG_MULTI_MAX        64  // maximum PROG_MULTI size
 #define PROTO_READ_MULTI_MAX        255 // size of the size field
@@ -125,13 +131,6 @@
 #define PROTO_DEVICE_FW_SIZE        4 // size of flashable area
 #define PROTO_DEVICE_VEC_AREA       5 // contents of reserved vectors 7-10

-#define STATE_PROTO_OK              0x10    // INSYNC/OK      - 'ok' response
-#define STATE_PROTO_FAILED          0x11    // INSYNC/FAILED  - 'fail' response
-#define STATE_PROTO_INVALID         0x13  // INSYNC/INVALID - 'invalid' response for bad commands
-#define STATE_PROTO_BAD_SILICON_REV 0x14  // On the F4 series there is an issue with < Rev 3 silicon
-#define STATE_PROTO_RESERVED_0X15   0x15  // Reserved
-
-
 // State
 #define STATE_PROTO_GET_SYNC        0x1     // Have Seen NOP for re-establishing sync
 #define STATE_PROTO_GET_DEVICE      0x2     // Have Seen get device ID bytes
@@ -142,7 +141,8 @@
 #define STATE_PROTO_GET_SN          0x40    // Have Seen read a word from UDID area ( Serial)  at the given address
 #define STATE_PROTO_GET_CHIP        0x80    // Have Seen read chip version (MCU IDCODE)
 #define STATE_PROTO_GET_CHIP_DES    0x100   // Have Seen read chip version In ASCII
-#define STATE_PROTO_BOOT            0x200   // Have Seen boot the application
+#define STATE_PROTO_GET_VERSION     0x200   // Have Seen get version
+#define STATE_PROTO_BOOT            0x400   // Have Seen boot the application

 #if defined(TARGET_HW_PX4_PIO_V1)
 #define STATE_ALLOWS_ERASE        (STATE_PROTO_GET_SYNC)
@@ -157,6 +157,18 @@
 static uint8_t bl_type;
 static uint8_t last_input;

+int get_version(int n, uint8_t *version_str)
+{
+	int len = strlen(BOOTLOADER_VERSION);
+
+	if (len > n) {
+		len = n;
+	}
+
+	strncpy((char *)version_str, BOOTLOADER_VERSION, n);
+	return len;
+}
+
 inline void cinit(void *config, uint8_t interface)
 {
 #if INTERFACE_USB
@@ -257,7 +269,7 @@ inline void cout(uint8_t *buf, unsigned len)

 #endif

-static const uint32_t bl_proto_rev = BL_PROTOCOL_VERSION; // value returned by PROTO_DEVICE_BL_REV
+static const uint32_t bl_proto_rev = BL_PROTOCOL_REVISION; // value returned by PROTO_DEVICE_BL_REV

 static unsigned head, tail;
 static uint8_t rx_buf[256] USB_DATA_ALIGN;
@@ -649,6 +661,8 @@ bootloader(unsigned timeout)

 		led_on(LED_ACTIVITY);

+		bool full_erase = false;
+
 		// handle the command byte
 		switch (c) {

@@ -728,6 +742,10 @@ bootloader(unsigned timeout)
 		// success reply: INSYNC/OK
 		// erase failure: INSYNC/FAILURE
 		//
+		case PROTO_CHIP_FULL_ERASE:
+			full_erase = true;
+
+		// Fallthrough
 		case PROTO_CHIP_ERASE:

 			/* expect EOC */
@@ -755,17 +773,18 @@ bootloader(unsigned timeout)
 			arch_flash_unlock();

 			for (int i = 0; flash_func_sector_size(i) != 0; i++) {
-				flash_func_erase_sector(i);
+				flash_func_erase_sector(i, full_erase);
 			}

 			// disable the LED while verifying the erase
 			led_set(LED_OFF);

 			// verify the erase
-			for (address = 0; address < board_info.fw_size; address += 4)
+			for (address = 0; address < board_info.fw_size; address += 4) {
 				if (flash_func_read_word(address) != 0xffffffff) {
 					goto cmd_fail;
 				}
+			}

 			address = 0;
 			SET_BL_STATE(STATE_PROTO_CHIP_ERASE);
@@ -965,7 +984,7 @@ bootloader(unsigned timeout)
 		// read the chip  description
 		//
 		// command:     GET_CHIP_DES/EOC
-		// reply:     <value:4>/INSYNC/OK
+		// reply:     <length:4><buffer...>/INSYNC/OK
 		case PROTO_GET_CHIP_DES: {
 				uint8_t buffer[MAX_DES_LENGTH];
 				unsigned len = MAX_DES_LENGTH;
@@ -982,6 +1001,25 @@ bootloader(unsigned timeout)
 			}
 			break;

+		// read the bootloader version (not to be confused with protocol revision)
+		//
+		// command:     GET_VERSION/EOC
+		// reply:     <length:4><buffer...>/INSYNC/OK
+		case PROTO_GET_VERSION: {
+				uint8_t buffer[MAX_VERSION_LENGTH];
+
+				// expect EOC
+				if (!wait_for_eoc(2)) {
+					goto cmd_bad;
+				}
+
+				int len = get_version(sizeof(buffer), buffer);
+				cout_word(len);
+				cout(buffer, len);
+				SET_BL_STATE(STATE_PROTO_GET_VERSION);
+			}
+			break;
+
 #ifdef BOOT_DELAY_ADDRESS

 		case PROTO_SET_DELAY: {
@@ -1099,4 +1137,4 @@ bad_silicon:
 		continue;
 #endif
 	}
-}
+}
@@ -39,6 +39,8 @@

 #pragma once

+#include <stdbool.h>
+
 /*****************************************************************************
 * Generic bootloader functions.
 */
@@ -94,6 +96,7 @@ extern int buf_get(void);
 #endif

 #define MAX_DES_LENGTH 20
+#define MAX_VERSION_LENGTH 32

 #define arraySize(a) (sizeof((a))/sizeof(((a)[0])))
 extern void led_on(unsigned led);
@@ -105,7 +108,7 @@ extern void board_deinit(void);
 extern uint32_t board_get_devices(void);
 extern void clock_deinit(void);
 extern uint32_t flash_func_sector_size(unsigned sector);
-extern void flash_func_erase_sector(unsigned sector);
+extern void flash_func_erase_sector(unsigned sector, bool force);
 extern void flash_func_write_word(uintptr_t address, uint32_t word);
 extern uint32_t flash_func_read_word(uintptr_t address);
 extern uint32_t flash_func_read_otp(uintptr_t address);
@@ -121,6 +124,8 @@ extern uint32_t get_mcu_id(void);
 int get_mcu_desc(int max, uint8_t *revstr);
 extern int check_silicon(void);

+int get_version(int max, uint8_t *version_str);
+
 /*****************************************************************************
 * Interface in/output.
 */
@@ -133,4 +138,4 @@ extern void cout(uint8_t *buf, unsigned len);
 #if !defined(APP_VECTOR_OFFSET)
 #  define APP_VECTOR_OFFSET 0
 #endif
-#define APP_VECTOR_OFFSET_WORDS (APP_VECTOR_OFFSET/sizeof(uint32_t))
+#define APP_VECTOR_OFFSET_WORDS (APP_VECTOR_OFFSET/sizeof(uint32_t))
@@ -395,6 +395,24 @@ flash_func_sector_size(unsigned sector)
 	return 0;
 }

+/* imxRT uses Flash lib, not up_progmem so let's stub it here */
+up_progmem_ispageerased(unsigned sector)
+{
+	const uint32_t bytes_per_sector =  flash_func_sector_size(sector);
+	uint32_t *address = (uint32_t *)(IMXRT_FLEXSPI1_CIPHER_BASE + (sector * bytes_per_sector));
+	const uint32_t uint32_per_sector =  bytes_per_sector / sizeof(*address);
+
+	int blank = 0; /* Assume it is Bank */
+
+	for (uint32_t i = 0; i < uint32_per_sector; i++) {
+		if (address[i] != 0xffffffff) {
+			blank = -1;  /* It is not blank */
+			break;
+		}
+	}
+
+	return blank;
+}

 /*!
 * @name Configuration Option
@@ -407,31 +425,15 @@ flash_func_sector_size(unsigned sector)
 * */
 locate_code(".ramfunc")
 void
-flash_func_erase_sector(unsigned sector)
+flash_func_erase_sector(unsigned sector, bool force)
 {
-
 	if (sector > BOARD_FLASH_SECTORS || (int)sector < BOARD_FIRST_FLASH_SECTOR_TO_ERASE) {
 		return;
 	}

-	/* blank-check the sector */
-	const uint32_t bytes_per_sector =  flash_func_sector_size(sector);
-	uint32_t *address = (uint32_t *)(IMXRT_FLEXSPI1_CIPHER_BASE + (sector * bytes_per_sector));
-	const uint32_t uint32_per_sector =  bytes_per_sector / sizeof(*address);
-	bool blank = true;
+	if (force || flash_func_is_sector_blank(sector) != 0) {
+		struct flexspi_nor_config_s *pConfig = &g_bootConfig;

-	for (uint32_t i = 0; i < uint32_per_sector; i++) {
-		if (address[i] != 0xffffffff) {
-			blank = false;
-			break;
-		}
-	}
-
-
-	struct flexspi_nor_config_s *pConfig = &g_bootConfig;
-
-	/* erase the sector if it failed the blank check */
-	if (!blank) {
 		uintptr_t offset = ((uintptr_t) address) - IMXRT_FLEXSPI1_CIPHER_BASE;
 		irqstate_t flags;
 		flags = enter_critical_section();
@@ -439,8 +441,6 @@ flash_func_erase_sector(unsigned sector)
 		leave_critical_section(flags);
 		UNUSED(status);
 	}
-
-
 }

 void
@@ -466,18 +466,13 @@ flash_func_sector_size(unsigned sector)
 }

 void
-flash_func_erase_sector(unsigned sector)
+flash_func_erase_sector(unsigned sector, bool force)
 {
 	if (sector > BOARD_FLASH_SECTORS || (int)sector < BOARD_FIRST_FLASH_SECTOR_TO_ERASE) {
 		return;
 	}

-	/* blank-check the sector */
-
-	bool blank = up_progmem_ispageerased(sector) == 0;
-
-	/* erase the sector if it failed the blank check */
-	if (!blank) {
+	if (force || (up_progmem_ispageerased(sector) != 0)) {
 		up_progmem_eraseblock(sector);
 	}
 }
@@ -38,7 +38,6 @@ if(NOT PX4_BOARD MATCHES "io-v2")
 		board_crashdump.c
 		board_dma_alloc.c
 		board_fat_dma_alloc.c
-		cdc_acm_check.cpp
 		console_buffer.cpp
 		cpuload.cpp
 		gpio.c
@@ -84,4 +83,4 @@ add_subdirectory(srgbled)
 if (DEFINED PX4_CRYPTO)
 	add_library(px4_random nuttx_random.c)
 	target_link_libraries(px4_random PRIVATE nuttx_crypto)
-endif()
+endif()
@@ -62,8 +62,6 @@
 #include <px4_platform/board_ctrl.h>
 #endif

-extern void cdcacm_init(void);
-
 #if !defined(CONFIG_BUILD_FLAT)
 typedef CODE void (*initializer_t)(void);
 extern initializer_t _sinit;
@@ -196,10 +194,6 @@ int px4_platform_init()

 	px4_log_initialize();

-#if defined(CONFIG_SYSTEM_CDCACM) && defined(CONFIG_BUILD_FLAT)
-	cdcacm_init();
-#endif
-
 	return PX4_OK;
 }

@@ -2,7 +2,6 @@

 add_library(px4_layer
 		${KERNEL_SRCS}
-		cdc_acm_check.cpp
 		${PX4_SOURCE_DIR}/platforms/common/Serial.cpp
 		SerialImpl.cpp
 	)
@@ -6,7 +6,6 @@ add_library(px4_layer
 	board_fat_dma_alloc.c
 	tasks.cpp
 	console_buffer_usr.cpp
-	cdc_acm_check.cpp
 	${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/print_load.cpp
 	${PX4_SOURCE_DIR}/platforms/posix/src/px4/common/cpuload.cpp
 	px4_userspace_init.cpp
@@ -44,8 +44,6 @@
 #include <uORB/uORB.h>
 #include <sys/boardctl.h>

-extern void cdcacm_init(void);
-
 extern "C" void px4_userspace_init(void)
 {
 	hrt_init();
@@ -55,8 +53,4 @@ extern "C" void px4_userspace_init(void)
 	px4::WorkQueueManagerStart();

 	uorb_start();
-
-#if defined(CONFIG_SYSTEM_CDCACM)
-	cdcacm_init();
-#endif
 }
@@ -53,6 +53,7 @@
 #include <mathlib/mathlib.h>
 #include <matrix/math.hpp>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/module.h>
 #include <systemlib/err.h>
 #include <parameters/param.h>

@@ -924,7 +925,45 @@ CameraTrigger::status()

 static int usage()
 {
-	PX4_INFO("usage: camera_trigger {start|stop|status|test|test_power}\n");
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+
+Camera trigger driver.
+
+This module triggers cameras that are connected to the flight-controller outputs,
+or simple MAVLink cameras that implement the MAVLink trigger protocol.
+
+The driver responds to the following MAVLink trigger commands being found in missions or recieved over MAVLink:
+
+- `MAV_CMD_DO_TRIGGER_CONTROL`
+- `MAV_CMD_DO_DIGICAM_CONTROL`
+- `MAV_CMD_DO_SET_CAM_TRIGG_DIST`
+- `MAV_CMD_OBLIQUE_SURVEY`
+
+The commands cause the driver to trigger camera image capture based on time or distance.
+Each time an image capture is triggered, the `CAMERA_TRIGGER` MAVLink message is emitted.
+
+A "simple MAVLink camera" is one that supports the above command set.
+When configured for this kind of camera, all the driver does is emit the `CAMERA_TRIGGER` MAVLink message as expected.
+The incoming commands must be forwarded to the MAVLink camera, and are automatically emitted to MAVLink channels
+when found in missions.
+
+The driver is configured using [Camera Trigger parameters](../advanced_config/parameter_reference.md#camera-trigger).
+In particular:
+
+- `TRIG_INTERFACE` - How the camera is connected to flight controller (PWM, GPIO, Seagull, MAVLink)
+- `TRIG_MODE` - Distance or time based triggering, with values set by `TRIG_DISTANCE` and `TRIG_INTERVAL`.
+
+[Setup/usage information](../camera/index.md).
+)DESCR_STR");
+	PRINT_MODULE_USAGE_NAME("camera_trigger", "driver");
+	PRINT_MODULE_USAGE_SUBCATEGORY("camera");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("stop","Stop driver");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("status","Print driver status information");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("test","Trigger one image (not logged or forwarded to GCS)");
+	PRINT_MODULE_USAGE_COMMAND_DESCR("test_power","Toggle power");
 	return 1;
 }

@@ -39,8 +39,7 @@

 #include <parameters/param.h>
 #include <px4_platform_common/log.h>
-
-#define arraySize(a) (sizeof((a))/sizeof(((a)[0])))
+#include <systemlib/px4_macros.h>

 class CameraInterface
 {
@@ -0,0 +1,40 @@
+############################################################################
+#
+#   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+#
+# Redistribution and use in source and binary forms, with or without
+# modification, are permitted provided that the following conditions
+# are met:
+#
+# 1. Redistributions of source code must retain the above copyright
+#    notice, this list of conditions and the following disclaimer.
+# 2. Redistributions in binary form must reproduce the above copyright
+#    notice, this list of conditions and the following disclaimer in
+#    the documentation and/or other materials provided with the
+#    distribution.
+# 3. Neither the name PX4 nor the names of its contributors may be
+#    used to endorse or promote products derived from this software
+#    without specific prior written permission.
+#
+# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+# POSSIBILITY OF SUCH DAMAGE.
+#
+############################################################################
+px4_add_module(
+	MODULE drivers__cdcacm_autostart
+	MAIN cdcacm_autostart
+	COMPILE_FLAGS
+		# -DDEBUG_BUILD
+	SRCS
+		cdcacm_autostart.cpp
+	)
@@ -0,0 +1,6 @@
+menuconfig DRIVERS_CDCACM_AUTOSTART
+	bool "cdcacm_autostart"
+	default n
+	depends on MODULES_MAVLINK
+	---help---
+		Enable support for cdcacm_autostart
@@ -0,0 +1,664 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#if defined(CONFIG_SYSTEM_CDCACM)
+
+#include "cdcacm_autostart.h"
+
+__BEGIN_DECLS
+#include <arch/board/board.h>
+#include <builtin/builtin.h>
+
+extern int sercon_main(int c, char **argv);
+extern int serdis_main(int c, char **argv);
+__END_DECLS
+
+#include <px4_platform_common/shutdown.h>
+
+#define USB_DEVICE_PATH "/dev/ttyACM0"
+
+#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX)
+#  undef SERIAL_PASSTHRU_UBLOX_DEV
+#  if defined(CONFIG_SERIAL_PASSTHRU_GPS1) && defined(CONFIG_BOARD_SERIAL_GPS1)
+#    define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS1
+#  elif defined(CONFIG_SERIAL_PASSTHRU_GPS2)&& defined(CONFIG_BOARD_SERIAL_GPS2)
+#    define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS2
+#  elif defined(CONFIG_SERIAL_PASSTHRU_GPS3)&& defined(CONFIG_BOARD_SERIAL_GPS3)
+#    define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS3
+#  elif defined(CONFIG_SERIAL_PASSTHRU_GPS4)&& defined(CONFIG_BOARD_SERIAL_GPS4)
+#    define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS4
+#  elif defined(CONFIG_SERIAL_PASSTHRU_GPS5) && defined(CONFIG_BOARD_SERIAL_GPS5)
+#    define SERIAL_PASSTHRU_UBLOX_DEV CONFIG_BOARD_SERIAL_GPS5
+#  endif
+#  if !defined(SERIAL_PASSTHRU_UBLOX_DEV)
+#    error "CONFIG_SERIAL_PASSTHRU_GPSn and CONFIG_BOARD_SERIAL_GPSn must be defined"
+#  endif
+#endif
+
+CdcAcmAutostart::CdcAcmAutostart() :
+	ModuleParams(nullptr),
+	ScheduledWorkItem(MODULE_NAME, px4::wq_configurations::lp_default)
+{}
+
+CdcAcmAutostart::~CdcAcmAutostart()
+{
+	PX4_INFO("Stopping CDC/ACM autostart");
+
+	if (_ttyacm_fd >= 0) {
+		px4_close(_ttyacm_fd);
+	}
+
+	ScheduleClear();
+}
+
+int CdcAcmAutostart::Start()
+{
+	PX4_INFO("Starting CDC/ACM autostart");
+	UpdateParams(true);
+
+	ScheduleNow();
+
+	return PX4_OK;
+}
+
+void CdcAcmAutostart::Run()
+{
+	if (should_exit()) {
+		exit_and_cleanup();
+		return;
+	}
+
+	UpdateParams();
+
+	run_state_machine();
+}
+
+void CdcAcmAutostart::run_state_machine()
+{
+	_reschedule_time = 500_ms;
+	_vbus_present = (board_read_VBUS_state() == PX4_OK);
+
+	// If the hardware supports RESET lockout that has nArmed ANDed with VBUS
+	// vbus_sense may drop during a param save which uses
+	// BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE to prevent external resets
+	// while writing the params.  If we are not armed and nARMRED is low
+	// we are in such a lock out so ignore changes on VBUS_SENSE during this
+	// time.
+#if defined(BOARD_GET_EXTERNAL_LOCKOUT_STATE)
+
+	if (BOARD_GET_EXTERNAL_LOCKOUT_STATE() == 0) {
+		_vbus_present = _vbus_present_prev;
+		ScheduleDelayed(500_ms);
+		return;
+	}
+
+#endif
+
+	// Do not reconfigure USB while flying
+	actuator_armed_s report;
+	_actuator_armed_sub.copy(&report);
+
+	if (report.armed) {
+		_vbus_present_prev = _vbus_present;
+
+	} else {
+
+		switch (_state) {
+		case UsbAutoStartState::disconnected:
+			state_disconnected();
+			break;
+
+		case UsbAutoStartState::connecting:
+			state_connecting();
+			break;
+
+		case UsbAutoStartState::connected:
+			state_connected();
+			break;
+
+		case UsbAutoStartState::disconnecting:
+			state_disconnecting();
+			break;
+		}
+	}
+
+	_vbus_present_prev = _vbus_present;
+	ScheduleDelayed(_reschedule_time);
+}
+
+void CdcAcmAutostart::state_connected()
+{
+	if (!_vbus_present && !_vbus_present_prev && (_active_protocol == UsbProtocol::mavlink)) {
+		PX4_DEBUG("lost vbus!");
+		sched_lock();
+		static const char app[] {"mavlink"};
+		static const char *stop_argv[] {"mavlink", "stop", "-d", USB_DEVICE_PATH, NULL};
+		exec_builtin(app, (char **)stop_argv, NULL, 0);
+		sched_unlock();
+		_state = UsbAutoStartState::disconnecting;
+	}
+}
+
+void CdcAcmAutostart::state_disconnected()
+{
+	if (_vbus_present && _vbus_present_prev) {
+		PX4_DEBUG("starting sercon");
+
+		if (sercon_main(0, nullptr) == EXIT_SUCCESS) {
+			_state = UsbAutoStartState::connecting;
+			PX4_DEBUG("state connecting");
+			_reschedule_time = 1_s;
+		}
+
+	} else if (_vbus_present && !_vbus_present_prev) {
+		// USB just connected, try again soon
+		_reschedule_time = 100_ms;
+	}
+}
+
+void CdcAcmAutostart::state_connecting()
+{
+	int bytes_available = 0;
+#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX)
+	struct termios uart_config;
+	speed_t baudrate;
+#endif
+
+	if (!_vbus_present) {
+		PX4_DEBUG("No VBUS");
+		goto fail;
+	}
+
+	if (_ttyacm_fd < 0) {
+		PX4_DEBUG("opening port");
+		_ttyacm_fd = px4_open(USB_DEVICE_PATH, O_RDONLY | O_NONBLOCK);
+	}
+
+	if (_ttyacm_fd < 0) {
+		PX4_DEBUG("can't open port");
+		// fail silently and keep trying to open the port
+		return;
+	}
+
+	if (_sys_usb_auto.get() == 2) {
+		PX4_INFO("Starting mavlink on %s (SYS_USB_AUTO=2)", USB_DEVICE_PATH);
+
+		if (start_mavlink()) {
+			_state = UsbAutoStartState::connected;
+			_active_protocol = UsbProtocol::mavlink;
+
+		} else {
+			_state = UsbAutoStartState::disconnecting;
+			_reschedule_time = 100_ms;
+		}
+
+		return;
+
+	} else if (_sys_usb_auto.get() == 0) {
+		// Do nothing
+		_state = UsbAutoStartState::connected;
+		_active_protocol = UsbProtocol::none;
+		return;
+	}
+
+	// Otherwise autodetect
+
+	if ((px4_ioctl(_ttyacm_fd, FIONREAD, &bytes_available) != PX4_OK) ||
+	    (bytes_available < 3)) {
+		PX4_DEBUG("bytes_available: %d", bytes_available);
+		// Return back to connecting state to check again soon
+		return;
+	}
+
+	// Non-blocking read
+	_bytes_read = px4_read(_ttyacm_fd, _buffer, sizeof(_buffer));
+
+#if defined(DEBUG_BUILD)
+
+	if (_bytes_read > 0) {
+		fprintf(stderr, "%d bytes\n", _bytes_read);
+
+		for (int i = 0; i < _bytes_read; i++) {
+			fprintf(stderr, "|%X", _buffer[i]);
+		}
+
+		fprintf(stderr, "\n");
+	}
+
+#endif // DEBUG_BUILD
+
+	if (_bytes_read <= 0) {
+		PX4_DEBUG("no _bytes_read");
+		// Return back to connecting state to check again soon
+		return;
+	}
+
+#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX)
+	// Get the baudrate for serial passthru before closing the port.
+	tcgetattr(_ttyacm_fd, &uart_config);
+	baudrate = cfgetspeed(&uart_config);
+#endif
+	PX4_DEBUG("_bytes_read %d", _bytes_read);
+	px4_close(_ttyacm_fd);
+	_ttyacm_fd = -1;
+
+	// Parse for mavlink reboot command
+	if (scan_buffer_for_mavlink_reboot()) {
+		// Reboot incoming. Return without rescheduling.
+		return;
+	}
+
+	// Parse for mavlink heartbeats (v1 and v2).
+	if (scan_buffer_for_mavlink_heartbeat()) {
+		if (start_mavlink()) {
+			_state = UsbAutoStartState::connected;
+			_active_protocol = UsbProtocol::mavlink;
+
+		} else {
+			_state = UsbAutoStartState::disconnecting;
+			_reschedule_time = 100_ms;
+		}
+
+		return;
+	}
+
+	// Parse for carriage returns indicating someone is trying to use the nsh.
+	if (scan_buffer_for_carriage_returns()) {
+		if (start_nsh()) {
+			_state = UsbAutoStartState::connected;
+			_active_protocol = UsbProtocol::nsh;
+
+		} else {
+			_state = UsbAutoStartState::disconnecting;
+			_reschedule_time = 100_ms;
+		}
+
+		return;
+	}
+
+#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX)
+
+	// Parse for ublox start of packet byte sequence.
+	if (scan_buffer_for_ublox_bytes()) {
+		if (start_ublox_serial_passthru(baudrate)) {
+			_state = UsbAutoStartState::connected;
+			_active_protocol = UsbProtocol::ublox;
+
+		} else {
+			_state = UsbAutoStartState::disconnecting;
+			_reschedule_time = 100_ms;
+		}
+
+		return;
+	}
+
+#endif
+
+	return;
+
+fail:
+	PX4_DEBUG("fail...");
+
+	// VBUS not present, open failed
+	if (_ttyacm_fd >= 0) {
+		px4_close(_ttyacm_fd);
+		_ttyacm_fd = -1;
+	}
+
+	_state = UsbAutoStartState::disconnecting;
+}
+
+void CdcAcmAutostart::state_disconnecting()
+{
+	PX4_DEBUG("state_disconnecting");
+
+	if (_ttyacm_fd > 0) {
+		px4_close(_ttyacm_fd);
+	}
+
+	// Disconnect serial
+	serdis_main(0, NULL);
+	_state = UsbAutoStartState::disconnected;
+	_active_protocol = UsbProtocol::none;
+}
+
+bool CdcAcmAutostart::scan_buffer_for_mavlink_reboot()
+{
+	bool rebooting = false;
+
+	// Mavlink reboot/shutdown command
+	// COMMAND_LONG (#76) with command MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246)
+	static constexpr int MAVLINK_COMMAND_LONG_MIN_LENGTH = 41;
+
+	if (_bytes_read < MAVLINK_COMMAND_LONG_MIN_LENGTH) {
+		return rebooting;
+	}
+
+	// scan buffer for mavlink COMMAND_LONG
+	for (int i = 0; i < _bytes_read - MAVLINK_COMMAND_LONG_MIN_LENGTH; i++) {
+		if ((_buffer[i] == 0xFE)        // Mavlink v1 start byte
+		    && (_buffer[i + 5] == 76)   //  76=0x4C COMMAND_LONG
+		    && (_buffer[i + 34] == 246) // 246=0xF6 MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN
+		   ) {
+			// mavlink v1 COMMAND_LONG
+			//  buffer[0]: start byte (0xFE for mavlink v1)
+			//  buffer[3]: SYSID
+			//  buffer[4]: COMPID
+			//  buffer[5]: message id (COMMAND_LONG 76=0x4C)
+			//  buffer[6-10]: COMMAND_LONG param 1 (little endian float)
+			//  buffer[34]: COMMAND_LONG command MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN (246/0xF6)
+			float param1_raw = 0;
+			memcpy(&param1_raw, &_buffer[i + 6], 4);
+			int param1 = roundf(param1_raw);
+
+			PX4_INFO("%s: Mavlink MAV_CMD_PREFLIGHT_REBOOT_SHUTDOWN param 1: %d (SYSID:%d COMPID:%d)",
+				 USB_DEVICE_PATH, param1, _buffer[i + 3], _buffer[i + 4]);
+
+			if (param1 == 1) {
+				// 1: Reboot autopilot
+				rebooting = true;
+				px4_reboot_request(REBOOT_REQUEST, 0);
+
+			} else if (param1 == 2) {
+				// 2: Shutdown autopilot
+#if defined(BOARD_HAS_POWER_CONTROL)
+				rebooting = true;
+				px4_shutdown_request(0);
+#endif // BOARD_HAS_POWER_CONTROL
+
+			} else if (param1 == 3) {
+				// 3: Reboot autopilot and keep it in the bootloader until upgraded.
+				rebooting = true;
+				px4_reboot_request(REBOOT_TO_BOOTLOADER, 0);
+			}
+		}
+	}
+
+	return rebooting;
+}
+
+bool CdcAcmAutostart::scan_buffer_for_mavlink_heartbeat()
+{
+	static constexpr int MAVLINK_HEARTBEAT_MIN_LENGTH = 9;
+	bool start_mavlink = false;
+
+	if (_bytes_read < MAVLINK_HEARTBEAT_MIN_LENGTH) {
+		return start_mavlink;
+	}
+
+	// scan buffer for mavlink HEARTBEAT (v1 & v2)
+	for (int i = 0; i < _bytes_read - MAVLINK_HEARTBEAT_MIN_LENGTH; i++) {
+		if ((_buffer[i] == 0xFE) && (_buffer[i + 1] == 9) && (_buffer[i + 5] == 0)) {
+			// mavlink v1 HEARTBEAT
+			//  buffer[0]: start byte (0xFE for mavlink v1)
+			//  buffer[1]: length (9 for HEARTBEAT)
+			//  buffer[3]: SYSID
+			//  buffer[4]: COMPID
+			//  buffer[5]: mavlink message id (0 for HEARTBEAT)
+			PX4_INFO("%s: launching mavlink (HEARTBEAT v1 from SYSID:%d COMPID:%d)",
+				 USB_DEVICE_PATH, _buffer[i + 3], _buffer[i + 4]);
+			start_mavlink = true;
+
+		} else if ((_buffer[i] == 0xFD) && (_buffer[i + 1] == 9)
+			   && (_buffer[i + 7] == 0) && (_buffer[i + 8] == 0) && (_buffer[i + 9] == 0)) {
+			// mavlink v2 HEARTBEAT
+			//  buffer[0]: start byte (0xFD for mavlink v2)
+			//  buffer[1]: length (9 for HEARTBEAT)
+			//  buffer[5]: SYSID
+			//  buffer[6]: COMPID
+			//  buffer[7:9]: mavlink message id (0 for HEARTBEAT)
+			PX4_INFO("%s: launching mavlink (HEARTBEAT v2 from SYSID:%d COMPID:%d)",
+				 USB_DEVICE_PATH, _buffer[i + 5], _buffer[i + 6]);
+			start_mavlink = true;
+		}
+	}
+
+	return start_mavlink;
+}
+
+bool CdcAcmAutostart::scan_buffer_for_carriage_returns()
+{
+	bool start_nsh = false;
+
+	if (_bytes_read < 3) {
+		return start_nsh;
+	}
+
+	// nshterm (3 carriage returns)
+	// scan buffer looking for 3 consecutive carriage returns (0xD)
+	for (int i = 1; i < _bytes_read - 1; i++) {
+		if (_buffer[i - 1] == 0xD && _buffer[i] == 0xD && _buffer[i + 1] == 0xD) {
+			PX4_INFO("%s: launching nshterm", USB_DEVICE_PATH);
+			start_nsh = true;
+			break;
+		}
+	}
+
+	return start_nsh;
+}
+
+bool CdcAcmAutostart::scan_buffer_for_ublox_bytes()
+{
+	bool success = false;
+
+	if (_bytes_read < 4) {
+		return success;
+	}
+
+	// scan buffer looking for 0xb5 0x62 which indicates the start of a packet
+	for (int i = 0; i < _bytes_read; i++) {
+		bool ub = _buffer[i] == 0xb5 && _buffer[i + 1] == 0x62;
+
+		if (ub && ((_buffer[i + 2 ] == 0x6 && (_buffer[i + 3 ] == 0xb8 || _buffer[i + 3 ] == 0x13)) ||
+			   (_buffer[i + 2 ] == 0xa && _buffer[i + 3 ] == 0x4))) {
+			PX4_INFO("%s: launching ublox serial passthru", USB_DEVICE_PATH);
+			success = true;
+			break;
+		}
+	}
+
+	return success;
+}
+
+bool CdcAcmAutostart::start_mavlink()
+{
+	bool success = false;
+	char mavlink_mode_string[3];
+	snprintf(mavlink_mode_string, sizeof(mavlink_mode_string), "%ld", _usb_mav_mode.get());
+	static const char *argv[] {"mavlink", "start", "-d", USB_DEVICE_PATH, "-m", mavlink_mode_string, nullptr};
+
+	if (execute_process((char **)argv) > 0) {
+		success = true;
+	}
+
+	return success;
+}
+
+bool CdcAcmAutostart::start_nsh()
+{
+	bool success = false;
+	static const char *argv[] {"nshterm", USB_DEVICE_PATH, nullptr};
+
+	if (execute_process((char **)argv) > 0) {
+		success = true;
+	}
+
+	return success;
+}
+
+#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX)
+bool CdcAcmAutostart::start_ublox_serial_passthru(speed_t baudrate)
+{
+	bool success = false;
+	char baudstring[16];
+	snprintf(baudstring, sizeof(baudstring), "%ld", baudrate);
+
+	// Stop the GPS driver first
+	static const char *gps_argv[] {"gps", "stop", nullptr};
+	static const char *passthru_argv[] {"serial_passthru", "start", "-t", "-b", baudstring, "-e", USB_DEVICE_PATH, "-d", SERIAL_PASSTHRU_UBLOX_DEV, nullptr};
+
+	if (execute_process((char **)gps_argv) > 0) {
+		if (execute_process((char **)passthru_argv) > 0) {
+			success = true;
+		}
+	}
+
+	return success;
+}
+#endif
+
+int CdcAcmAutostart::execute_process(char **argv)
+{
+	int pid = -1;
+	sched_lock();
+
+	pid = exec_builtin(argv[0], argv, nullptr, 0);
+
+	sched_unlock();
+	return pid;
+}
+
+int CdcAcmAutostart::task_spawn(int argc, char *argv[])
+{
+	CdcAcmAutostart *instance = new CdcAcmAutostart();
+
+	if (!instance) {
+		PX4_ERR("alloc failed");
+		return -1;
+	}
+
+	int ret = instance->Start();
+
+	if (ret != PX4_OK) {
+		delete instance;
+		return ret;
+	}
+
+	_object.store(instance);
+	_task_id = task_id_is_work_queue;
+
+	return ret;
+}
+
+void CdcAcmAutostart::UpdateParams(const bool force)
+{
+	if (_parameter_update_sub.updated() || force) {
+		parameter_update_s param_update;
+		_parameter_update_sub.copy(&param_update);
+		ModuleParams::updateParams();
+	}
+}
+
+int CdcAcmAutostart::custom_command(int argc, char *argv[])
+{
+	return print_usage("unknown command");
+}
+
+int CdcAcmAutostart::print_status()
+{
+	const char *state = "";
+	const char *protocol = "";
+
+	switch (_state) {
+	case UsbAutoStartState::disconnected:
+		state = "disconnected";
+		break;
+
+	case UsbAutoStartState::connecting:
+		state = "connecting";
+		break;
+
+	case UsbAutoStartState::connected:
+		state = "connected";
+		break;
+
+	case UsbAutoStartState::disconnecting:
+		state = "disconnecting";
+		break;
+	}
+
+	switch (_active_protocol) {
+	case UsbProtocol::none:
+		protocol = "none";
+		break;
+
+	case UsbProtocol::mavlink:
+		protocol = "mavlink";
+		break;
+
+	case UsbProtocol::nsh:
+		protocol = "nsh";
+		break;
+
+	case UsbProtocol::ublox:
+		protocol = "ublox";
+		break;
+	}
+
+	PX4_INFO("Running");
+	PX4_INFO("State: %s", state);
+	PX4_INFO("Protocol: %s", protocol);
+	return PX4_OK;
+}
+
+int CdcAcmAutostart::print_usage(const char *reason)
+{
+	if (reason) {
+		printf("%s\n\n", reason);
+	}
+
+	PRINT_MODULE_DESCRIPTION(
+		R"DESCR_STR(
+### Description
+This module listens on USB and auto-configures the protocol depending on the bytes received.
+The supported protocols are: MAVLink, nsh, and ublox serial passthrough. If the parameter SYS_USB_AUTO=2
+the module will only try to start mavlink as long as the USB VBUS is detected. Otherwise it will spin
+and continue to check for VBUS and start mavlink once it is detected.
+)DESCR_STR");
+
+	PRINT_MODULE_USAGE_NAME("cdcacm_autostart", "system");
+	PRINT_MODULE_USAGE_COMMAND("start");
+	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
+
+	return 0;
+}
+
+#endif
+
+extern "C" __EXPORT int cdcacm_autostart_main(int argc, char *argv[])
+{
+#if defined(CONFIG_SYSTEM_CDCACM)
+	return CdcAcmAutostart::main(argc, argv);
+#endif
+	return 1;
+}
@@ -0,0 +1,124 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include <px4_platform_common/module.h>
+#include <px4_platform_common/module_params.h>
+#include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <uORB/SubscriptionInterval.hpp>
+#include <uORB/topics/parameter_update.h>
+#include <uORB/topics/actuator_armed.h>
+
+#include <termios.h>
+
+using namespace time_literals;
+
+class CdcAcmAutostart : public ModuleBase<CdcAcmAutostart>, public ModuleParams, public px4::ScheduledWorkItem
+{
+public:
+	CdcAcmAutostart();
+	~CdcAcmAutostart() override;
+
+	/** @see ModuleBase */
+	static int task_spawn(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int custom_command(int argc, char *argv[]);
+
+	/** @see ModuleBase */
+	static int print_usage(const char *reason = nullptr);
+
+	/** @see ModuleBase */
+	int print_status() override;
+
+	int Start();
+
+private:
+
+	enum class UsbAutoStartState {
+		disconnected,
+		connecting,
+		connected,
+		disconnecting,
+	};
+
+	enum class UsbProtocol {
+		none,
+		mavlink,
+		nsh,
+		ublox,
+	};
+
+	void Run() override;
+
+	void UpdateParams(const bool force = false);
+
+	void run_state_machine();
+
+	void state_disconnected();
+	void state_connecting();
+	void state_connected();
+	void state_disconnecting();
+
+	bool scan_buffer_for_mavlink_reboot();
+	bool scan_buffer_for_mavlink_heartbeat();
+	bool scan_buffer_for_carriage_returns();
+	bool scan_buffer_for_ublox_bytes();
+
+	bool start_mavlink();
+	bool start_nsh();
+#if defined(CONFIG_SERIAL_PASSTHRU_UBLOX)
+	bool start_ublox_serial_passthru(speed_t baudrate);
+#endif
+	int execute_process(char **argv);
+
+	uORB::Subscription	_actuator_armed_sub{ORB_ID(actuator_armed)};
+	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 500_ms};
+
+	UsbAutoStartState _state{UsbAutoStartState::disconnected};
+	UsbProtocol _active_protocol{UsbProtocol::none};
+	bool _vbus_present = false;
+	bool _vbus_present_prev = false;
+	int _ttyacm_fd = -1;
+
+	char _buffer[80] = {};
+	int _bytes_read = 0;
+
+	uint32_t _reschedule_time = 0;
+
+	DEFINE_PARAMETERS(
+		(ParamInt<px4::params::SYS_USB_AUTO>) _sys_usb_auto,
+		(ParamInt<px4::params::USB_MAV_MODE>) _usb_mav_mode
+	)
+};
@@ -0,0 +1,68 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * Enable USB autostart
+ *
+ * @value 0 Disabled
+ * @value 1 Auto-detect
+ * @value 2 MAVLink
+ *
+ * @reboot_required true
+ *
+ * @group CDCACM
+ */
+PARAM_DEFINE_INT32(SYS_USB_AUTO, 2);
+
+/**
+ * Specify USB MAVLink mode
+ *
+ * @value 0 normal
+ * @value 1 custom
+ * @value 2 onboard
+ * @value 3 osd
+ * @value 4 magic
+ * @value 5 config
+ * @value 6 iridium
+ * @value 7 minimal
+ * @value 8 extvision
+ * @value 9 extvisionmin
+ * @value 10 gimbal
+ * @value 11 onboard_low_bandwidth
+ * @value 12 uavionix
+ *
+ * @reboot_required true
+ *
+ * @group CDCACM
+ */
+PARAM_DEFINE_INT32(USB_MAV_MODE, 2);
@@ -133,6 +133,8 @@
 #define DRV_IMU_DEVTYPE_ADIS16477	0x59
 #define DRV_IMU_DEVTYPE_ADIS16507	0x5A

+#define DRV_IMU_DEVTYPE_SCH16T		0x5B
+
 #define DRV_BARO_DEVTYPE_MPC2520	0x5F
 #define DRV_BARO_DEVTYPE_LPS22HB	0x60

@@ -8,6 +8,7 @@ menu "IMU"
        select DRIVERS_IMU_ANALOG_DEVICES_ADIS16470
        select DRIVERS_IMU_BOSCH_BMI055
        select DRIVERS_IMU_BOSCH_BMI088
+        select DRIVERS_IMU_MURATA_SCH16T
        select DRIVERS_IMU_NXP_FXAS21002C
        select DRIVERS_IMU_NXP_FXOS8701CQ
        select DRIVERS_IMU_INVENSENSE_ICM20602
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Silvan Fuhrer	6552468df1	VTOL: use the same logic for front transition complete in all vtol types Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-29 15:57:25 +02:00
Jacob Dahl	a4650fd70d	HealthCheck: added health check for logger to report if it's running (#22781 )	2024-05-29 11:56:50 +02:00
Hamish Willee	b5627f487f	camera_trigger: module docs for camera trigger driver (#23104 )	2024-05-29 11:37:27 +02:00
Matthias Grob	d1db0addf9	CameraFeedback: shorten line length such that documentation parser works This broke in `4f64acb352` and was also flagged by CI in the pr and since then.	2024-05-29 11:24:53 +02:00
Silvan Fuhrer	032ae69eee	VTOL: remove _dt passing as it's no longer used (and was wrong) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-28 14:54:33 +02:00
Silvan Fuhrer	f8fe7c7aa3	VTOL Standard: fix transition pusher motor slew rate Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-28 14:54:33 +02:00
Matthias Grob	dfee9ca4c6	MAVLink: remove never used `_mavlink_link_termination_allowed`	2024-05-28 10:41:00 +02:00
Silvan Fuhrer	1206005ed2	RTL_status: improve comment Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-27 12:03:16 +02:00
Silvan Fuhrer	42bca65cbf	RTL_mission_reverse: start from previous WP if RTL is triggered while in Mission Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-27 12:03:16 +02:00
Silvan Fuhrer	b9d3b9f211	RTL_mission_fast: continue mission if RTL is triggered while in Mission Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-27 12:03:16 +02:00
bresch	f9e2ab8d44	msg-rates-setpoint: fix frame name NED -> FRD	2024-05-27 09:35:34 +02:00
Jacob Dahl	da35c4adce	cdcacm_autostart: handle USB power only (#23183 )	2024-05-25 17:16:34 -06:00
bresch	ccbcbbe268	wind_est_replay: report scale instead of inverse_scale The estimator internally estimates the scale inverse, but the interface should be the scale as "airspeed_corrected = scale * airspeed"	2024-05-24 17:25:39 +02:00
Hamish Willee	4f64acb352	Docs for camera_feedback module (#23103 ) * Docs for camera_feedback module * Update src/modules/camera_feedback/CameraFeedback.cpp * Update src/modules/camera_feedback/CameraFeedback.cpp	2024-05-23 08:44:34 +10:00
Beat Küng	e1ffc2cdaa	commander: add check for 5V overcurrent	2024-05-22 09:34:04 +02:00
Julian Oes	a9962dc44d	boards: update all bootloaders	2024-05-22 18:18:55 +12:00
Julian Oes	5bace785e0	px_uploader: catch serial exception correctly Signed-off-by: Julian Oes <julian@oes.ch>	2024-05-22 18:18:55 +12:00
Julian Oes	e4fd80b6ef	bootloader: remove unused/duplicate defines	2024-05-22 18:18:55 +12:00
Julian Oes	6ebb2b33df	bootloader: track ArduPilot protocol Just so we don't conflict on these commands in the future.	2024-05-22 18:18:55 +12:00
Julian Oes	8fe8f2fcb3	px_uploader.py: clean up various tidbits Includes: - Remove some of the outdated Python2 checks and compatibility. - Try not catch all exceptions but only the expected ones. Otherwise, this makes it really hard to debug if anything unexpected actually goes wrong. - Make use of fstrings. - Make output slightly prettier. Signed-off-by: Julian Oes <julian@oes.ch>	2024-05-22 18:18:55 +12:00
Julian Oes	7c4507b6d6	bootloader: add bootloader version This adds a new protocol extension which allows to get the bootloader version. The bootloader version is different from the bootloader protocol revision which has stabilized at 5 and is not easy to update unless a bootloader is actually breaking the protocol. The reason being that both the Python script as well as the uploader used in QGC will not attempt to load firmware if they don't know the bootloader version, so it could basically be considered a "breaking" protocol revision. Signed-off-by: Julian Oes <julian@oes.ch>	2024-05-22 18:18:55 +12:00
Julian Oes	21e550fdba	tools/bootloader: add force-erase option If the STM32H7 fails to program or erase a full chunk of 256 bytes, the ECC check will trigger a busfault when trying to read from it. To speed up erasing and optimize wear, we read before erasing to check if it actually needs erasing. That's when a busfault happens and the erase time outs. The workaround is to add an option to do a full erase without check. Credit goes to: https://github.com/ArduPilot/ardupilot/pull/22090 And the protocol option added to the bootloader is the same as for ArduPilot, so compatible. Signed-off-by: Julian Oes <julian@oes.ch>	2024-05-22 18:18:55 +12:00
Jacob Dahl	4a13e495d7	boards: ark: pi6x: CONFIG_DRIVERS_CDCACM_AUTOSTART=y (#23163 )	2024-05-21 19:49:40 -06:00
Konrad	664a0f2cda	HomePosition: Add minimum position change needed to be recognised as new home position	2024-05-21 09:11:56 +02:00
alexklimaj	1c213fa760	boards: arkv6x ark_pi6x change mavlink dialect to development	2024-05-20 16:07:34 -04:00
Jacob Dahl	e72ecdbefb	drivers/imu: new Murata SCH16T IMU driver (#22914 ) --------- Co-authored-by: alexklimaj <alex@arkelectron.com>	2024-05-20 14:38:19 -04:00
Jacob Dahl	70304fe715	[mavlink] Parameter to always start on USB (#22234 ) * usb: Added parameter to enable always starting mavlink on USB. Refactored cdcacm_init into a module and added a paramter to allow always starting mavlink on USB, also added a paramter to choose the mode. The current default behavior is to wait and listen for data on USB and auto-detect the protocol (mavlink, nsh, ublox). This results in the mavlink stream not starting until something else on the mavlink network sends a packet first. The new default behavior is to always start mavlink. Added parameters MAV_USB_ENABLE -- default 1 (always start mavlink on USB) MAV_USE_MODE -- default 3 (onboard) * added 3 retries for opening serial port in mavlink, removed sleep before sercon * added DRIVERS_CDCACM_AUTOSTART to ark-v6x default.px4board * added CONFIG_DRIVERS_CDCACM_AUTOSTART=y to default.px4board for boards with CONFIG_CDCACM in their nsh/defconfig * format * remove PGA460 from COMMON_DISTANCE_SENSOR to save flash * remove LIS2MDL from COMMON_MAGNETOMETER to save flash * disable CONFIG_DRIVERS_CDCACM_AUTOSTART for fmu-v5 protected.px4board * moved and renamed parameters, removed mode logic in mavlink * changed parameter names, added mode none * remove parameters from mavlink	2024-05-20 12:35:29 -06:00
Peter van der Perk	6b0ac49daf	hardfault_log: Add jump to 0x0 & write 0x0 faults	2024-05-17 14:43:23 -04:00
Peter van der Perk	ebfa53286f	dronecan: SocketCAN driver check size before copying Avoids memory corruption if we get packets to big	2024-05-17 14:39:52 -04:00
Peter van der Perk	470bea9ba8	Update NuttX Fixes imxrt1170 mpu config for extra checks	2024-05-17 14:32:43 -04:00