EKF2: EV vel/pos only use EV q if enabled and valid

2026-06-20 07:50:35 +08:00 · 2024-08-09 12:02:32 -04:00
259 changed files with 3883 additions and 10068 deletions
@@ -35,7 +35,6 @@ pipeline {

          def nuttx_builds_archive = [
            target: [
-                     "3dr_ctrl-zero-h7-oem-revg_default",
                     "airmind_mindpx-v2_default",
                     "ark_can-flow_canbootloader",
                     "ark_can-flow_default",
@@ -9,6 +9,6 @@ tab_width = 8
 # Not in the official standard, but supported by many editors
 max_line_length = 120

-[*.yaml, *.yml]
+[*.yaml]
 indent_style = space
 indent_size = 2
@@ -20,14 +20,14 @@ body:
          3. Took off '....'
          4. See error
    validations:
-      required: false
+      required: true

  - type: textarea
    attributes:
      label: Expected behavior
      description: A clear and concise description of what you expected to happen.
    validations:
-      required: false
+      required: true

  - type: textarea
    attributes:
@@ -45,7 +45,7 @@ body:
      placeholder: |
          # PASTE HERE THE LINK TO THE LOG
    validations:
-      required: false
+      required: true

  - type: markdown
    attributes:
@@ -60,14 +60,14 @@ body:
      placeholder: |
          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
    validations:
-      required: false
+      required: true

  - type: input
    attributes:
      label: Flight controller
      description: Specify your flight controller model (what type is it, where was it bought from, ...).
    validations:
-      required: false
+      required: true

  - type: dropdown
    attributes:
@@ -1,90 +0,0 @@
-# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
-# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
-#   and comment the "runs-on: [runs-on,runner=..." lines.
-# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
-
-name: Build all targets
-
-on:
-  push:
-    branches:
-    - 'main'
-    - 'stable'
-    - 'beta'
-    - 'release/*'
-  pull_request:
-    branches:
-    - '*'
-
-jobs:
-  group_targets:
-    name: Scan for Board Targets
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
-    outputs:
-      matrix: ${{ steps.set-matrix.outputs.matrix }}
-      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
-    steps:
-      - uses: actions/checkout@v4
-
-      - name: Install Python Dependencies
-        uses: py-actions/py-dependency-install@v4
-        with:
-          path: "./Tools/setup/requirements.txt"
-
-      - id: set-matrix
-        run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py --group)"
-
-      - id: set-timestamp
-        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
-
-  setup:
-    name: ${{ matrix.group }}
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
-    needs: group_targets
-    strategy:
-      matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
-    container:
-      image: ${{ matrix.container }}
-    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
-
-      - name: ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: ccache setup keys
-        uses: actions/cache@v4
-        with:
-          path: ~/.ccache
-          key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
-          restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
-
-      - name: setup ccache
-        run: |
-            mkdir -p ~/.ccache
-            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-            echo "compression = true" >> ~/.ccache/ccache.conf
-            echo "compression_level = 6" >> ~/.ccache/ccache.conf
-            echo "max_size = 120M" >> ~/.ccache/ccache.conf
-            echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            ccache -s
-            ccache -z
-
-      - name: build target group
-        run: |
-            ./Tools/ci_build_all_runner.sh ${{matrix.targets}}
-
-      - name: Upload px4 package
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_${{matrix.group}}_build_artifacts
-          path: |
-            build/**/*.px4
-            build/**/*.bin
-          compression-level: 0
-
-      - name: ccache post-run
-        run: ccache -s
@@ -0,0 +1,58 @@
+name: Compile Linux Targets
+
+on:
+  push:
+    branches:
+    - 'main'
+    - 'stable'
+    - 'beta'
+    - 'release/*'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-armhf:2023-06-26
+    strategy:
+      matrix:
+        config: [
+          beaglebone_blue_default,
+          emlid_navio2_default,
+          px4_raspberrypi_default,
+          scumaker_pilotpi_default,
+          ]
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+    - name: ownership workaround
+      run: git config --system --add safe.directory '*'
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-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 = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s
@@ -0,0 +1,54 @@
+name: Compile Linux ARM64 Targets
+
+on:
+  push:
+    branches:
+    - 'main'
+    - 'stable'
+    - 'beta'
+    - 'release/*'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-aarch64:2022-08-12
+    strategy:
+      matrix:
+        config: [
+          scumaker_pilotpi_arm64,
+          ]
+    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: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-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 = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.config}}
+      run: make ${{matrix.config}}
+    - name: ccache post-run
+      run: ccache -s
@@ -0,0 +1,136 @@
+name: Compile Nuttx Targets
+
+on:
+  push:
+    branches:
+    - 'main'
+    - 'stable'
+    - 'beta'
+    - 'release/*'
+  pull_request:
+    branches:
+    - '*'
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2022-08-12
+    strategy:
+      fail-fast: false
+      matrix:
+        config: [
+          airmind_mindpx-v2,
+          ark_can-flow,
+          ark_can-gps,
+          ark_can-rtk-gps,
+          ark_cannode,
+          ark_fmu-v6x,
+          ark_pi6x,
+          ark_septentrio-gps,
+          atl_mantis-edu,
+          av_x-v1,
+          bitcraze_crazyflie,
+          bitcraze_crazyflie21,
+          cuav_can-gps-v1,
+          cuav_nora,
+          cuav_x7pro,
+          cubepilot_cubeorange,
+          cubepilot_cubeorangeplus,
+          cubepilot_cubeyellow,
+          diatone_mamba-f405-mk2,
+          freefly_can-rtk-gps,
+          holybro_can-gps-v1,
+          holybro_durandal-v1,
+          holybro_kakutef7,
+          holybro_kakuteh7,
+          holybro_pix32v5,
+          matek_gnss-m9n-f4,
+          matek_h743,
+          matek_h743-mini,
+          matek_h743-slim,
+          modalai_fc-v1,
+          modalai_fc-v2,
+          mro_ctrl-zero-classic,
+          mro_ctrl-zero-f7,
+          mro_ctrl-zero-f7-oem,
+          mro_ctrl-zero-h7,
+          mro_ctrl-zero-h7-oem,
+          mro_pixracerpro,
+          mro_x21,
+          mro_x21-777,
+          nxp_fmuk66-e,
+          nxp_fmuk66-v3,
+          nxp_mr-canhubk3,
+          nxp_ucans32k146,
+          omnibus_f4sd,
+          px4_fmu-v2,
+          px4_fmu-v3,
+          px4_fmu-v4,
+          px4_fmu-v4pro,
+          px4_fmu-v5,
+          px4_fmu-v5x,
+          px4_fmu-v6c,
+          px4_fmu-v6u,
+          px4_fmu-v6x,
+          px4_fmu-v6xrt,
+          raspberrypi_pico,
+          sky-drones_smartap-airlink,
+          spracing_h7extreme,
+          uvify_core,
+          siyi_n7
+          ]
+    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: ${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.config}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 120M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make all_variants_${{matrix.config}}
+      run: make all_variants_${{matrix.config}}
+      timeout-minutes: 45
+    - name: make ${{matrix.config}} bloaty_compileunits
+      run: make ${{matrix.config}} bloaty_compileunits || true
+    - name: make ${{matrix.config}} bloaty_inlines
+      run: make ${{matrix.config}} bloaty_inlines || true
+    - name: make ${{matrix.config}} bloaty_segments
+      run: make ${{matrix.config}} bloaty_segments || true
+    - name: make ${{matrix.config}} bloaty_symbols
+      run: make ${{matrix.config}} bloaty_symbols || true
+    - name: make ${{matrix.config}} bloaty_templates
+      run: make ${{matrix.config}} bloaty_templates || true
+    - name: make ${{matrix.config}} bloaty_ram
+      run: make ${{matrix.config}} bloaty_ram || true
+    - name: make ${{matrix.config}} bloaty_compare_master
+      run: make ${{matrix.config}} bloaty_compare_master || true
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: Upload px4 package
+      uses: actions/upload-artifact@v2
+      with:
+        name: px4_package_${{matrix.config}}
+        path: |
+          build/**/*.px4
+          build/**/*.bin
@@ -1,8 +1,3 @@
-# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
-# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
-#   and comment the "runs-on: [runs-on,runner=..." lines.
-# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
-
 name: SITL Tests

 on:
@@ -15,139 +10,126 @@ on:

 jobs:
  build:
-    name: Testing PX4 ${{ matrix.config.model }}
-    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
-    container:
-      image: px4io/px4-dev-simulation-focal:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        config:
          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
+          # - {model: "standard_vtol", latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer" } # Australia
          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich

+    container:
+      image: px4io/px4-dev-simulation-focal:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}

-      - name: Git Ownership Workaround
-        run: git config --system --add safe.directory '*'
+    - name: Download MAVSDK
+      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+    - name: Install MAVSDK
+      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"

-      - id: set-timestamp
-        name: Set timestamp for cache
-        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-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 = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z

-      - name: Cache Key Config
-        uses: actions/cache@v4
-        with:
-          path: ~/.ccache
-          key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
-          restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
+    - name: check environment
+      env:
+        PX4_HOME_LAT: ${{matrix.config.latitude}}
+        PX4_HOME_LON: ${{matrix.config.longitude}}
+        PX4_HOME_ALT: ${{matrix.config.altitude}}
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+          export
+          ulimit -a
+    - name: Build PX4
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: make px4_sitl_default
+    - name: ccache post-run px4/firmware
+      run: ccache -s
+    - name: Build SITL Gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: make px4_sitl_default sitl_gazebo-classic
+    - name: ccache post-run sitl_gazebo-classic
+      run: ccache -s
+    - name: Build MAVSDK tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        DONT_RUN: 1
+      run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
+    - name: ccache post-run mavsdk_tests
+      run: ccache -s

-      - name: Cache Conf Config
-        run: |
-            mkdir -p ~/.ccache
-            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-            echo "compression = true" >> ~/.ccache/ccache.conf
-            echo "compression_level = 6" >> ~/.ccache/ccache.conf
-            echo "max_size = 120M" >> ~/.ccache/ccache.conf
-            echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            ccache -s
-            ccache -z
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern

-      - name: Build PX4
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: make px4_sitl_default
+    - name: Run SITL tests
+      env:
+        PX4_HOME_LAT: ${{matrix.config.latitude}}
+        PX4_HOME_LON: ${{matrix.config.longitude}}
+        PX4_HOME_ALT: ${{matrix.config.altitude}}
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
+      timeout-minutes: 45

-      - name: Cache Post-Run [px4_sitl_default]
-        run: ccache -s
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core

-      - name: Build SITL Gazebo
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: make px4_sitl_default sitl_gazebo-classic
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4

-      - name: Cache Post-Run [sitl_gazebo-classic]
-        run: ccache -s
-
-      - name: Download MAVSDK
-        run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-
-      - name: Install MAVSDK
-        run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-
-      - name: Check PX4 Environment Variables
-        env:
-          PX4_HOME_LAT: ${{matrix.config.latitude}}
-          PX4_HOME_LON: ${{matrix.config.longitude}}
-          PX4_HOME_ALT: ${{matrix.config.altitude}}
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: |
-            export
-            ulimit -a
-
-      - name: Build PX4 / MAVSDK tests
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-          DONT_RUN: 1
-        run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
-
-      - name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests]
-        run: ccache -s
-
-      - name: Core Dump Settings
-        run: |
-            ulimit -c unlimited
-            echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-      - name: Run SITL / MAVSDK Tests
-        env:
-          PX4_HOME_LAT: ${{matrix.config.latitude}}
-          PX4_HOME_LON: ${{matrix.config.longitude}}
-          PX4_HOME_ALT: ${{matrix.config.altitude}}
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
-        timeout-minutes: 45
-
-      - name: Upload failed logs
-        if: failure()
-        uses: actions/upload-artifact@v4
-        with:
-          name: failed-${{matrix.config.model}}-logs.zip
-          path: |
-            logs/**/**/**/*.log
-            logs/**/**/**/*.ulg
-            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg
-
-      - name: Look at Core files
-        if: failure() && ${{ hashFiles('px4.core') != '' }}
-        run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-
-      - name: Upload PX4 coredump
-        if: failure() && ${{ hashFiles('px4.core') != '' }}
-        uses: actions/upload-artifact@v4
-        with:
-          name: coredump
-          path: px4.core
-
-      - name: Setup & Generate Coverage Report
-        if: contains(matrix.config.build_type, 'Coverage')
-        run: |
-            git config --global credential.helper "" # disable the keychain credential helper
-            git config --global --add credential.helper store # enable the local store credential helper
-            echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-            git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-            mkdir -p coverage
-            lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-
-      - name: Upload Coverage Information to Codecov
-        if: contains(matrix.config.build_type, 'Coverage')
-        uses: codecov/codecov-action@v4
-        with:
-          token: ${{ secrets.CODECOV_TOKEN }}
-          flags: mavsdk
-          file: coverage/lcov.info
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavsdk
+        file: coverage/lcov.info
@@ -111,11 +111,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v6xrt_bootloader
-    3dr_ctrl-zero-h7-oem-revg_default:
-      short: 3dr_ctrl-zero-h7-oem-revg
-      buildType: MinSizeRel
-      settings:
-        CONFIG: 3dr_ctrl-zero-h7-oem-revg_default
    airmind_mindpx-v2_default:
      short: airmind_mindpx-v2
      buildType: MinSizeRel
@@ -113,20 +113,12 @@ include(px4_parse_function_args)
 include(px4_git)

 execute_process(
-	COMMAND git describe --exclude ext/* --tags --match "v[0-9]*"
+	COMMAND git describe --exclude ext/* --always --tags
 	OUTPUT_VARIABLE PX4_GIT_TAG
 	OUTPUT_STRIP_TRAILING_WHITESPACE
-	RESULTS_VARIABLE GIT_DESCRIBE_RESULT
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)

-# if proper git tag unavilable default to v0.0.0
-if(NOT ${GIT_DESCRIBE_RESULT} MATCHES "0")
-	set(PX4_GIT_TAG "v0.0.0")
-endif()
-
-message(STATUS "PX4_GIT_TAG: ${PX4_GIT_TAG}")
-
 # git describe to X.Y.Z version
 string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})

@@ -324,7 +324,6 @@ px4io_update:
 	git status

 bootloaders_update: \
-	3dr_ctrl-zero-h7-oem-revg_bootloader \
 	ark_fmu-v6x_bootloader \
 	ark_pi6x_bootloader \
 	cuav_nora_bootloader \
@@ -550,14 +549,14 @@ distclean:
 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
 %:
 	$(if $(filter $(FIRST_ARG),$@), \
-		$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) list_config_targets' to get a list of all possible [configuration] targets."),@#)
+		$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)

 # Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
 help:
 	@echo "Usage: $(MAKE) <target>"
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
-		awk -v RS= -F: '/(^|\n)# Files(\n|$$)/,/(^|\n)# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
+		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
 		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
@@ -47,5 +47,5 @@ param set-default MPC_ALT_MODE 2

 param set-default SENS_FLOW_ROT 6
 param set-default SENS_FLOW_MINHGT 0.7
-param set-default SENS_FLOW_MAXHGT 15
+param set-default SENS_FLOW_MAXHGT 3
 param set-default SENS_FLOW_MAXR 2.5
@@ -33,7 +33,7 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 0

-param set-default FD_FAIL_R 70
+parm set-default FD_FAIL_R 70

 param set-default FW_P_TC 0.6

@@ -14,17 +14,15 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 # Rover parameters
 param set-default RD_WHEEL_TRACK 0.3
 param set-default RD_MAN_YAW_SCALE 0.1
+param set-default RD_YAW_RATE_I 0.1
+param set-default RD_YAW_RATE_P 5
 param set-default RD_MAX_ACCEL 6
 param set-default RD_MAX_JERK 30
 param set-default RD_MAX_SPEED 7
-param set-default RD_YAW_RATE_P 5
-param set-default RD_YAW_RATE_I 0
-param set-default RD_YAW_P 5
-param set-default RD_YAW_I 0
-param set-default RD_SPEED_P 1
-param set-default RD_SPEED_I 0
+param set-default RD_HEADING_P 5
+param set-default RD_HEADING_I 0.1
 param set-default RD_MAX_YAW_RATE 180
-param set-default RD_MISS_SPD_DEF 5
+param set-default RD_MISS_SPD_DEF 7
 param set-default RD_TRANS_DRV_TRN 0.349066
 param set-default RD_TRANS_TRN_DRV 0.174533

@@ -15,29 +15,14 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
+param set-default SENS_EN_ARSPDSIM 1
 # We can arm and drive in manual mode when it slides and GPS check fails:
 param set-default COM_ARM_WO_GPS 1

-# Rover parameters
-param set-default RD_WHEEL_TRACK 0.9
-param set-default RD_MAN_YAW_SCALE 0.1
-param set-default RD_YAW_RATE_I 0.1
-param set-default RD_YAW_RATE_P 5
-param set-default RD_MAX_ACCEL 1
-param set-default RD_MAX_JERK 3
-param set-default RD_MAX_SPEED 8
-param set-default RD_YAW_P 5
-param set-default RD_YAW_I 0.1
-param set-default RD_MAX_YAW_RATE 30
-param set-default RD_MISS_SPD_DEF 8
-param set-default RD_TRANS_DRV_TRN 0.349066
-param set-default RD_TRANS_TRN_DRV 0.174533
-
-# Pure pursuit parameters
-param set-default PP_LOOKAHD_MAX 30
-param set-default PP_LOOKAHD_MIN 2
-param set-default PP_LOOKAHD_GAIN 1
+# Set Differential Drive Kinematics Library parameters:
+param set RD_WHEEL_BASE 0.9
+param set RD_WHEEL_RADIUS 0.22
+param set RD_WHEEL_SPEED 10.0	# Maximum wheel speed rad/s, approx 8 km/h

 # Actuator mapping - set SITL motors/servos output parameters:

@@ -51,7 +36,7 @@ param set-default SIM_GZ_WH_FUNC1 101 # right wheel
 param set-default SIM_GZ_WH_FUNC2 102 # left wheel
 #param set-default SIM_GZ_WH_MIN2 0
 #param set-default SIM_GZ_WH_MAX2 200
-#param set-default SIM_GZ_WH_DIS2 100
+#aram set-default SIM_GZ_WH_DIS2 100
 #param set-default SIM_GZ_WH_FAIL2 100

 param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels
@@ -1,10 +0,0 @@
-#!/bin/sh
-#
-# @name Gazebo x500 mono cam
-#
-# @type Quadrotor
-#
-
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_mono_cam_down}
-
-. ${R}etc/init.d-posix/airframes/4001_gz_x500
@@ -85,7 +85,6 @@ px4_add_romfs_files(
 	4011_gz_lawnmower
 	4012_gz_rover_ackermann
 	4013_gz_x500_lidar
-	4014_gz_x500_mono_cam_down

 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
@@ -20,25 +20,3 @@ param set-default RBCLW_ADDRESS 128
 param set-default RBCLW_FUNC1 101
 param set-default RBCLW_FUNC2 102
 param set-default RBCLW_REV 1 # reverse right wheels
-
-# Rover parameters
-param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAN_YAW_SCALE 1
-param set-default RD_MAX_ACCEL 5
-param set-default RD_MAX_JERK 50
-param set-default RD_MAX_SPEED 2
-param set-default RD_YAW_RATE_P 0.1
-param set-default RD_YAW_RATE_I 0
-param set-default RD_YAW_P 5
-param set-default RD_YAW_I 0
-param set-default RD_SPEED_P 0.5
-param set-default RD_SPEED_I 0.1
-param set-default RD_MAX_YAW_RATE 300
-param set-default RD_MISS_SPD_DEF 1.8
-param set-default RD_TRANS_DRV_TRN 0.349066
-param set-default RD_TRANS_TRN_DRV 0.174533
-
-# Pure pursuit parameters
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
-param set-default PP_LOOKAHD_GAIN 1
@@ -30,7 +30,7 @@ set LOGGER_BUF 8
 set PARAM_FILE ""
 set PARAM_BACKUP_FILE ""
 set RC_INPUT_ARGS ""
-set STORAGE_AVAILABLE no
+set SDCARD_AVAILABLE no
 set SDCARD_EXT_PATH /fs/microsd/ext_autostart
 set SDCARD_FORMAT no
 set STARTUP_TUNE 1
@@ -62,11 +62,11 @@ then
 			umount /fs/microsd

 		else
-			set STORAGE_AVAILABLE yes
+			set SDCARD_AVAILABLE yes
 		fi
 	fi

-	if [ $STORAGE_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
+	if [ $SDCARD_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
 	then
 		echo "INFO [init] formatting /dev/mmcsd0"
 		set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
@@ -77,7 +77,7 @@ then

 			if mount -t vfat /dev/mmcsd0 /fs/microsd
 			then
-				set STORAGE_AVAILABLE yes
+				set SDCARD_AVAILABLE yes
 				set STARTUP_TUNE 14 # tune 14 = SD_INIT
 			else
 				echo "ERROR [init] card mount failed"
@@ -86,22 +86,16 @@ then
 			echo "ERROR [init] format failed"
 		fi
 	fi
-else
-	# Is there a device mounted for storage
-	if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
-	then
-		set STORAGE_AVAILABLE yes
-	fi
-fi

-if [ $STORAGE_AVAILABLE = yes ]
-then
-	if hardfault_log check
+	if [ $SDCARD_AVAILABLE = yes ]
 	then
-		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
-		if hardfault_log commit
+		if hardfault_log check
 		then
-			hardfault_log reset
+			set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+			if hardfault_log commit
+			then
+				hardfault_log reset
+			fi
 		fi
 	fi

@@ -178,7 +172,7 @@ else
 		fi
 	fi

-	if [ $STORAGE_AVAILABLE = yes ]
+	if [ $SDCARD_AVAILABLE = yes ]
 	then
 		param select-backup $PARAM_BACKUP_FILE
 	fi
@@ -226,8 +220,8 @@ else

 		if [ ${VEHICLE_TYPE} == none ]
 		then
-			# Use external startup file
-			if [ $STORAGE_AVAILABLE = yes ]
+			# Look for airframe on SD card
+			if [ $SDCARD_AVAILABLE = yes ]
 			then
 				. ${R}etc/init.d/rc.autostart_ext
 			else
@@ -621,7 +615,7 @@ unset PARAM_FILE
 unset PARAM_BACKUP_FILE
 unset PARAM_DEFAULTS_VER
 unset RC_INPUT_ARGS
-unset STORAGE_AVAILABLE
+unset SDCARD_AVAILABLE
 unset SDCARD_EXT_PATH
 unset SDCARD_FORMAT
 unset STARTUP_TUNE
@@ -1,19 +0,0 @@
-#!/bin/bash
-# This script is meant to be used by the build_all.yml workflow in a github runner
-# Please only modify if you know what you are doing
-set -e
-
-echo "### :clock1: Build Times" >> $GITHUB_STEP_SUMMARY
-targets=$1
-for target in ${targets//,/ }
-do
-    echo "::group::Building: [${target}]"
-    start=$(date +%s)
-    make $target
-    stop=$(date +%s)
-    diff=$(($stop-$start))
-    build_time="$(($diff /60/60))h $(($diff /60))m $(($diff % 60))s elapsed"
-    echo -e "\033[0;32mBuild Time: [$build_time]"
-    echo "* **$target** - $build_time" >> $GITHUB_STEP_SUMMARY
-    echo "::endgroup::"
-done
@@ -23,14 +23,11 @@ parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
                    help='Verbose Output')
 parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
                    help='Pretty output instead of a single line')
-parser.add_argument('-g', '--groups', dest='group', action='store_true',
-                    help='Groups targets')

 args = parser.parse_args()
 verbose = args.verbose

 build_configs = []
-grouped_targets = {}
 excluded_boards = ['modalai_voxl2', 'px4_ros2']  # TODO: fix and enable
 excluded_manufacturers = ['atlflight']
 excluded_platforms = ['qurt']
@@ -40,27 +37,10 @@ excluded_labels = [
    'uavcanv1', # TODO: fix and enable
    ]

-github_action_config = { 'include': build_configs }
-extra_args = {}
-if args.pretty:
-    extra_args['indent'] = 2
-
-def chunks(arr, size):
-    # splits array into parts
-    for i in range(0, len(arr), size):
-        yield arr[i:i + size]
-
-def comma_targets(targets):
-    # turns array of targets into a comma split string
-    return ",".join(targets)
-
 def process_target(px4board_file, target_name):
-    # reads through the board file and grabs
-    # useful information for building
    ret = None
    platform = None
    toolchain = None
-    group = None

    if px4board_file.endswith("default.px4board") or \
        px4board_file.endswith("recovery.px4board") or \
@@ -83,34 +63,22 @@ def process_target(px4board_file, target_name):
        # get the container based on the platform and toolchain
        if platform == 'posix':
            container = 'px4io/px4-dev-base-focal:2021-09-08'
-            group = 'base'
            if toolchain:
                if toolchain.startswith('aarch64'):
                    container = 'px4io/px4-dev-aarch64:2022-08-12'
-                    group = 'aarch64'
                elif toolchain == 'arm-linux-gnueabihf':
                    container = 'px4io/px4-dev-armhf:2023-06-26'
-                    group = 'armhf'
                else:
                    if verbose: print(f'unmatched toolchain: {toolchain}')
        elif platform == 'nuttx':
            container = 'px4io/px4-dev-nuttx-focal:2022-08-12'
-            group = 'nuttx'
        else:
            if verbose: print(f'unmatched platform: {platform}')

        ret = {'target': target_name, 'container': container}
-        if(args.group):
-            ret['arch'] = group

    return ret

-# Look for board targets in the ./boards directory
-if(verbose):
-    print("=======================")
-    print("= scanning for boards =")
-    print("=======================")
-
 for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
    if not manufacturer.is_dir():
        continue
@@ -137,140 +105,12 @@ for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
                    if verbose: print(f'excluding label {label} ({target_name})')
                    continue
                target = process_target(files.path, target_name)
-                if (args.group and target is not None):
-                    if (target['arch'] not in grouped_targets):
-                        grouped_targets[target['arch']] = {}
-                        grouped_targets[target['arch']]['container'] = target['container']
-                        grouped_targets[target['arch']]['manufacturers'] = {}
-                    if(manufacturer.name not in grouped_targets[target['arch']]['manufacturers']):
-                        grouped_targets[target['arch']]['manufacturers'][manufacturer.name] = {}
-                        grouped_targets[target['arch']]['manufacturers'][manufacturer.name] = []
-                    grouped_targets[target['arch']]['manufacturers'][manufacturer.name].append(target_name)
                if target is not None:
                    build_configs.append(target)

-if(verbose):
-    import pprint
-    print("============================")
-    print("= Boards found in ./boards =")
-    print("============================")
-    pprint.pp(grouped_targets)

-if (args.group):
-    # if we are using this script for grouping builds
-    # we loop trough the manufacturers list and split their targets
-    # if a manufacturer has more than a LIMIT of boards then we split that
-    # into sub groups such as "arch-manufacturer name-index"
-    # example:
-    #   nuttx-px4-0
-    #   nuttx-px4-1
-    #   nuttx-px4-2
-    #   nuttx-ark-0
-    #   nuttx-ark-1
-    # if the manufacturer doesn't have more targets than LIMIT then we add
-    # them to a generic group with the following structure "arch-index"
-    # example:
-    #   nuttx-0
-    #   nuttx-1
-    final_groups = []
-    temp_group = []
-    group_number = {}
-    last_man = ''
-    last_arch = ''
-    SPLIT_LIMIT = 10
-    LOWER_LIMIT = 5
-    for arch in grouped_targets:
-        if(last_arch == ''):
-            last_arch = arch
-        if(arch not in group_number):
-                group_number[arch] = 0
-
-        if(last_arch != arch and len(temp_group) > 0):
-            group_name = last_arch + "-" + str(group_number[last_arch])
-            group_number[last_arch] += 1
-            targets = comma_targets(temp_group)
-            final_groups.append({
-                "container": grouped_targets[last_arch]['container'],
-                "targets": targets,
-                "arch": last_arch,
-                "group": group_name,
-                "len": len(temp_group)
-            })
-            last_arch = arch
-            temp_group = []
-        for man in grouped_targets[arch]['manufacturers']:
-            for tar in grouped_targets[arch]['manufacturers'][man]:
-                if(last_man != man):
-                    man_len = len(grouped_targets[arch]['manufacturers'][man])
-                    if(man_len > LOWER_LIMIT and man_len < (SPLIT_LIMIT + 1)):
-                        # Manufacturers can have their own group
-                        group_name = arch + "-" + man
-                        targets = comma_targets(grouped_targets[arch]['manufacturers'][man])
-                        last_man = man
-                        final_groups.append({
-                            "container": grouped_targets[arch]['container'],
-                            "targets": targets,
-                            "arch": arch,
-                            "group": group_name,
-                            "len": len(grouped_targets[arch]['manufacturers'][man])
-                        })
-                    elif(man_len >= (SPLIT_LIMIT + 1)):
-                        # Split big man groups into subgroups
-                        # example: Pixhawk
-                        chunk_limit = SPLIT_LIMIT
-                        chunk_counter = 0
-                        for chunk in chunks(grouped_targets[arch]['manufacturers'][man], chunk_limit):
-                            group_name = arch + "-" + man + "-" + str(chunk_counter)
-                            targets = comma_targets(chunk)
-                            last_man = man
-                            final_groups.append({
-                                "container": grouped_targets[arch]['container'],
-                                "targets": targets,
-                                "arch": arch,
-                                "group": group_name,
-                                "len": len(chunk),
-                            })
-                            chunk_counter += 1
-                    else:
-                        temp_group.append(tar)
-
-            if(last_arch != arch and len(temp_group) > 0):
-                group_name = last_arch + "-" + str(group_number[last_arch])
-                group_number[last_arch] += 1
-                targets = comma_targets(temp_group)
-                final_groups.append({
-                    "container": grouped_targets[last_arch]['container'],
-                    "targets": targets,
-                    "arch": last_arch,
-                    "group": group_name,
-                    "len": len(temp_group)
-                })
-                last_arch = arch
-                temp_group = []
-            if(len(temp_group) > (LOWER_LIMIT - 1)):
-                group_name = arch + "-" + str(group_number[arch])
-                last_arch = arch
-                group_number[arch] += 1
-                targets = comma_targets(temp_group)
-                final_groups.append({
-                    "container": grouped_targets[arch]['container'],
-                    "targets": targets,
-                    "arch": arch,
-                    "group": group_name,
-                    "len": len(temp_group)
-                })
-                temp_group = []
-    if(verbose):
-        import pprint
-        print("================")
-        print("= final_groups =")
-        print("================")
-        pprint.pp(final_groups)
-
-        print("===============")
-        print("= JSON output =")
-        print("===============")
-
-    print(json.dumps({ "include": final_groups }, **extra_args))
-else:
-    print(json.dumps(github_action_config, **extra_args))
+github_action_config = { 'include': build_configs }
+extra_args = {}
+if args.pretty:
+    extra_args['indent'] = 2
+print(json.dumps(github_action_config, **extra_args))
@@ -225,7 +225,7 @@ if [[ $INSTALL_SIM == "true" ]]; then

 	# Gazebo / Gazebo classic installation
 	if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		echo "Gazebo (Harmonic) will be installed"
+		echo "Gazebo (Garden) will be installed"
 		echo "Earlier versions will be removed"
 		# Add Gazebo binary repository
 		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
@@ -233,7 +233,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		sudo apt-get update -y --quiet

 		# Install Gazebo
-		gazebo_packages="gz-harmonic"
+		gazebo_packages="gz-garden"
 	elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
 		echo "Gazebo (Garden) will be installed"
 		echo "Earlier versions will be removed"
@@ -15,7 +15,7 @@ SERIAL_PORTS="/dev/tty.usbmodemPX*,/dev/tty.usbmodem*"
 fi

 if [ $SYSTYPE = "Linux" ]; then
-SERIAL_PORTS="/dev/serial/by-id/*_PX4_*,/dev/serial/by-id/usb-3D_Robotics*,/dev/serial/by-id/usb-The_Autopilot*,/dev/serial/by-id/usb-Bitcraze*,/dev/serial/by-id/pci-Bitcraze*,/dev/serial/by-id/usb-Gumstix*,/dev/serial/by-id/usb-UVify*,/dev/serial/by-id/usb-ArduPilot*,/dev/serial/by-id/usb-ARK*,"
+SERIAL_PORTS="/dev/serial/by-id/*_PX4_*,/dev/serial/by-id/usb-3D_Robotics*,/dev/serial/by-id/usb-The_Autopilot*,/dev/serial/by-id/usb-Bitcraze*,/dev/serial/by-id/pci-Bitcraze*,/dev/serial/by-id/usb-Gumstix*,/dev/serial/by-id/usb-UVify*,/dev/serial/by-id/usb-ArduPilot*,/dev/serial/by-id/ARK*,"
 fi

 if [[ $SYSTYPE = *"CYGWIN"* ]]; then
@@ -1,3 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROMFSROOT=""
@@ -1,96 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS4"
-CONFIG_DRIVERS_ADC_ADS1115=y
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BAROMETER_DPS310=y
-CONFIG_DRIVERS_BATT_SMBUS=y
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-CONFIG_DRIVERS_IRLOCK=y
-CONFIG_COMMON_LIGHT=y
-CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=y
-CONFIG_DRIVERS_POWER_MONITOR_INA226=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
-CONFIG_COMMON_TELEMETRY=y
-CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_DRIVERS_UAVCAN=y
-CONFIG_MODULES_AIRSPEED_SELECTOR=y
-CONFIG_MODULES_BATTERY_STATUS=y
-CONFIG_MODULES_CAMERA_FEEDBACK=y
-CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
-CONFIG_MODULES_ESC_BATTERY=y
-CONFIG_MODULES_EVENTS=y
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_FW_POS_CONTROL=y
-CONFIG_MODULES_FW_RATE_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
-CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_MAVLINK=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_NAVIGATOR=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_UUV_ATT_CONTROL=y
-CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_UXRCE_DDS_CLIENT=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MTD=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_REFLECT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_USB_CONNECTED=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -1,13 +0,0 @@
-{
-    "board_id": 1124,
-    "magic": "3dr-ctrl-zero-h7-oem-revg",
-    "description": "Firmware for the 3dr-ctrl-zero-h7-oem-revg board",
-    "image": "",
-    "build_time": 0,
-    "summary": "3dr-ctrl-zero-h7-oem-revg",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 1966080,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,9 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default BAT1_V_DIV 10.1
-param set-default BAT1_A_PER_V 17
-
-safety_button start
@@ -1,19 +0,0 @@
-#!/bin/sh
-#
-# board specific sensors init
-#------------------------------------------------------------------------------
-
-board_adc start
-
-# Internal ICM-20602
-icm20602 -s -b 1 -R 8 start
-
-# Internal SPI bus BMI088 accel & gyro
-bmi088 -A -s -b 5 -R 8 start
-bmi088 -G -s -b 5 -R 8 start
-
-# Internal ICM-20948 (with magnetometer)
-icm20948 -s -b 1 -R 8 -M start
-
-# Interal DPS310 (barometer)
-dps310 -s -b 2 start
@@ -1,91 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DEV_CONSOLE is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_SPI_EXCHANGE is not set
-# CONFIG_STM32H7_SYSCFG is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743II=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=768
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
-CONFIG_BOARD_INITTHREAD_PRIORITY=254
-CONFIG_BOARD_LATE_INITIALIZE=y
-CONFIG_BOARD_LOOPSPERMSEC=95150
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x1124
-CONFIG_CDCACM_PRODUCTSTR="PX4 BL 3DR ControlZeroH7 OEM"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_VENDORSTR="3DR"
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_EXPERIMENTAL=y
-CONFIG_FDCLONE_DISABLE=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3194
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SPI=y
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_PWR_EXTERNAL_SOURCE_SUPPLY=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_USART3=y
-CONFIG_SYSTEMTICK_HOOK=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGINT_CHAR=0x03
-CONFIG_TTY_SIGTSTP=y
-CONFIG_USART3_RXBUFSIZE=600
-CONFIG_USART3_TXBUFSIZE=300
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
@@ -1,288 +0,0 @@
-/************************************************************************************
- * nuttx-config/include/board.h
- *
- *   Copyright (C) 2020 Gregory Nutt. All rights reserved.
- *   Authors: David Sidrane <david.sidrane@nscdg.com>
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************************************/
-#pragma once
-
-#include "board_dma_map.h"
-
-#include <nuttx/config.h>
-
-#ifndef __ASSEMBLY__
-# include <stdint.h>
-#endif
-
-#include "stm32_rcc.h"
-#include "stm32_sdmmc.h"
-
-/* Clocking *************************************************************************/
-/* The board provides the following clock sources:
- *
- *   X1: 24 MHz crystal for HSE
- *
- * So we have these clock source available within the STM32
- *
- *   HSI: 16 MHz RC factory-trimmed internal oscillator
- *   HSE: 24 MHz crystal for HSE
- */
-#define STM32_BOARD_XTAL        24000000ul
-
-#define STM32_HSI_FREQUENCY     16000000ul
-#define STM32_LSI_FREQUENCY     32000
-#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-#define STM32_LSE_FREQUENCY     0
-
-#define STM32_HSEBYP_ENABLE	1
-
-/* Main PLL Configuration.
- *
- * PLL source is HSE = 24,000,000
- *
- * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
- * Subject to:
- *
- *     1 <= PLLM <= 63
- *     4 <= PLLN <= 512
- *   150 MHz <= PLL_VCOL <= 420MHz
- *   192 MHz <= PLL_VCOH <= 836MHz
- *
- * SYSCLK  = PLL_VCO / PLLP
- * CPUCLK  = SYSCLK / D1CPRE
- * Subject to
- *
- *   PLLP1   = {2, 4, 6, 8, ..., 128}
- *   PLLP2,3 = {2, 3, 4, ..., 128}
- *   CPUCLK <= 480 MHz
- */
-#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
-
-/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
- *
- *   PLL1_VCO = (24,000,000 / 2) * 80 = 960 MHz
- *
- *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
- *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
- *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
- */
-#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE|RCC_PLLCFGR_PLL1RGE_4_8_MHZ|RCC_PLLCFGR_DIVP1EN|RCC_PLLCFGR_DIVQ1EN|RCC_PLLCFGR_DIVR1EN)
-#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(2)
-#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(80)
-#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
-#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(4)
-#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
-
-#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 2) * 80)
-#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
-#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
-#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
-
-/* PLL2 */
-#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE|RCC_PLLCFGR_PLL2RGE_4_8_MHZ|RCC_PLLCFGR_DIVP2EN|RCC_PLLCFGR_DIVQ2EN|RCC_PLLCFGR_DIVR2EN)
-#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(4)
-#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(32)
-#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
-#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
-#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
-
-#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 4) * 32)
-#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-
-/* PLL3 */
-#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE|RCC_PLLCFGR_PLL3RGE_4_8_MHZ|RCC_PLLCFGR_DIVQ3EN)
-#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(4)
-#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(32)
-#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
-#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
-#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
-
-#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 4) * 32)
-#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
-#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
-#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
-
-/* SYSCLK = PLL1P = 480MHz
- * CPUCLK = SYSCLK / 1 = 480 MHz
- */
-#define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
-#define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
-#define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
-
-/* Configure Clock Assignments */
-
-/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
- * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
- */
-#define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
-#define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
-#define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
-#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */
-
-/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
-#define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
-#define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
-#define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
-#define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
-#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
-#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB4 clock (PCLK4) is HCLK/4 (120 MHz) */
-#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
-#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* Timer clock frequencies */
-
-/* Timers driven from APB1 will be twice PCLK1 */
-#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-
-/* Timers driven from APB2 will be twice PCLK2 */
-#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-
-/* Kernel Clock Configuration
- *  Note: look at Table 54 in ST Manual
- */
-#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI  /* I2C123 clock source */
-#define STM32_RCC_D3CCIPR_I2C4SRC	   RCC_D3CCIPR_I2C4SEL_HSI	 /* I2C4 clock source */
-#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */
-#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2  /* SPI45 clock source */
-#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2    /* SPI6 clock source */
-#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3    /* USB 1 and 2 clock source */
-#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */
-#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
-
-#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
-
-/* UART clock selection */
-/* reset to default to overwrite any changes done by any bootloader */
-
-#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
-#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
-
-/* FLASH wait states */
-#define BOARD_FLASH_WAITSTATES 2
-
-/* SDMMC definitions ********************************************************/
-/* Init 400kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
-#define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-
-/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
- * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
- */
-#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#else
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#endif
-#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#else
-#  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
-#endif
-
-#define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
-
-
-/* UART/USART */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5  */
-#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6  */
-#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3  */
-#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4  */
-
-#define GPIO_USART3_TX   GPIO_USART3_TX_3      /* PD8  */
-#define GPIO_USART3_RX   GPIO_USART3_RX_3      /* PD9  */
-#define GPIO_USART3_CTS  GPIO_USART3_CTS_NSS_2 /* PD11 */
-#define GPIO_USART3_RTS  GPIO_USART3_RTS_2     /* PD12 */
-
-#define GPIO_UART4_TX    GPIO_UART4_TX_2       /* PA0  */
-#define GPIO_UART4_RX    GPIO_UART4_RX_2       /* PA1  */
-
-#define GPIO_USART6_TX   0                     /* USART6 is RX-only */
-#define GPIO_USART6_RX   GPIO_USART6_RX_1      /* PC7  */
-
-#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
-#define GPIO_UART7_RX    GPIO_UART7_RX_3       /* PE7  */
-
-#define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1  */
-#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0  */
-
-
-/* CAN */
-#define GPIO_CAN1_RX     GPIO_CAN1_RX_3        /* PD0  */
-#define GPIO_CAN1_TX     GPIO_CAN1_TX_3        /* PD1  */
-
-#define GPIO_CAN2_RX     GPIO_CAN2_RX_1        /* PB12 */
-#define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */
-
-
-/* SPI */
-#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
-
-#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5  */
-#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1               /* PA7  */
-
-#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_3) /* PB10 */
-#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1               /* PB14 */
-#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_1               /* PB15 */
-
-#define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
-#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
-#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
-
-
-/* I2C */
-#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
-#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */
-
-#define GPIO_I2C3_SCL GPIO_I2C3_SCL_2       /* PH7 */
-#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2       /* PH8 */
-
-#define GPIO_I2C4_SCL GPIO_I2C4_SCL_4       /* PB6 */
-#define GPIO_I2C4_SDA GPIO_I2C4_SDA_4       /* PB7 */
@@ -1,44 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-// DMAMUX1
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
-
-#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_1 /* DMA1:71 */
-#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_1 /* DMA1:72 */
-
-#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_0 /* DMA1:83 */
-#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_0 /* DMA1:84 */
@@ -1,260 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/3dr/ctrl-zero-h7-oem-revg/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743II=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=768
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DTCM=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=95150
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x1124
-CONFIG_CDCACM_PRODUCTSTR="3DRControlZeroH7OEM_revG"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_VENDORSTR="3DR"
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_MEMFAULT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_EXPERIMENTAL=y
-CONFIG_STM32H7_PWR_EXTERNAL_SOURCE_SUPPLY=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3194
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_MAX_EXITFUNS=1
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=4
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_OTG_ID_GPIO_DISABLE=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
-CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_READLINE_CMD_HISTORY=y
-CONFIG_READLINE_TABCOMPLETION=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=256
-CONFIG_STM32H7_ADC1=y
-CONFIG_STM32H7_ADC3=y
-CONFIG_STM32H7_BBSRAM=y
-CONFIG_STM32H7_BBSRAM_FILES=5
-CONFIG_STM32H7_BDMA=y
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
-CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32H7_I2C1=y
-CONFIG_STM32H7_I2C3=y
-CONFIG_STM32H7_I2C4=y
-CONFIG_STM32H7_I2C_DYNTIMEO=y
-CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_RTC=y
-CONFIG_STM32H7_RTC_HSECLOCK=y
-CONFIG_STM32H7_RTC_MAGIC_REG=1
-CONFIG_STM32H7_SAVE_CRASHDUMP=y
-CONFIG_STM32H7_SDMMC1=y
-CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_SPI1=y
-CONFIG_STM32H7_SPI1_DMA=y
-CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI2=y
-CONFIG_STM32H7_SPI5=y
-CONFIG_STM32H7_SPI5_DMA=y
-CONFIG_STM32H7_SPI5_DMA_BUFFER=1024
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_TIM2=y
-CONFIG_STM32H7_TIM3=y
-CONFIG_STM32H7_TIM4=y
-CONFIG_STM32H7_TIM8=y
-CONFIG_STM32H7_UART4=y
-CONFIG_STM32H7_UART7=y
-CONFIG_STM32H7_UART8=y
-CONFIG_STM32H7_USART2=y
-CONFIG_STM32H7_USART3=y
-CONFIG_STM32H7_USART6=y
-CONFIG_STM32H7_USART_BREAKS=y
-CONFIG_STM32H7_USART_INVERT=y
-CONFIG_STM32H7_USART_SINGLEWIRE=y
-CONFIG_STM32H7_USART_SWAP=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGTSTP=y
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_TXBUFSIZE=1500
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_SERIAL_CONSOLE=y
-CONFIG_UART8_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_IFLOWCONTROL=y
-CONFIG_USART3_OFLOWCONTROL=y
-CONFIG_USART3_RXBUFSIZE=600
-CONFIG_USART3_TXBUFSIZE=3000
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
@@ -1,221 +0,0 @@
-/****************************************************************************
- * scripts/script.ld
- *
- *   Copyright (C) 2020 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The board uses an STM32H743II has 2048Kb of main FLASH memory.
- * The flash memory is partitioned into a User Flash memory and a System
- * Flash memory. Each of these memories has two banks:
- *
- *   1) User Flash memory:
- *
- *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
- *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
- *
- *   2) System Flash memory:
- *
- *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
- *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
- *
- *   3) User option bytes for user configuration, only in Bank 1.
- *
- * In the STM32H743II, two different boot spaces can be selected through
- * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
- * BOOT_ADD1 option bytes:
- *
- *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
- *      ST programmed value: Flash memory at 0x0800:0000
- *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
- *      ST programmed value: System bootloader at 0x1FF0:0000
- *
- * There's a switch on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
- * drepresed, then the boot will be from 0x1FF0:0000
- *
- * The STM32H743ZI also has 1024Kb of data SRAM.
- * SRAM is split up into several blocks and into three power domains:
- *
- *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
- *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
- *
- *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
- *
- *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
- *           DTCM ports. The DTCM-RAM could be used for critical real-time
- *           data, such as interrupt service routines or stack / heap memory.
- *           Both DTCM-RAMs can be used in parallel (for load/store operations)
- *           thanks to the Cortex-M7 dual issue capability.
- *
- *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
- *
- *           This RAM is connected to ITCM 64-bit interface designed for
- *           execution of critical real-times routines by the CPU.
- *
- *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
- *      through D1 domain AXI bus matrix
- *
- *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
- *
- *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
- *      through D2 domain AHB bus matrix
- *
- *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
- *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
- *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
- *
- *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
- *
- *   4) AHB SRAM (D3 domain) accessible by most of system masters
- *      through D3 domain AHB bus matrix
- *
- *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
- *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- */
-
-MEMORY
-{
-	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08000000, LENGTH =  128K
-	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
-	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
-	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
-	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-ENTRY(_stext)
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.glue_7)
-		*(.glue_7t)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > FLASH
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-	.init_section : {
-		_sinit = ABSOLUTE(.);
-		KEEP(*(.init_array .init_array.*))
-		_einit = ABSOLUTE(.);
-	} > FLASH
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > FLASH
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > FLASH
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > AXI_SRAM AT > FLASH
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > AXI_SRAM
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.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);
-}
@@ -1,228 +0,0 @@
-/****************************************************************************
- * scripts/script.ld
- *
- *   Copyright (C) 2021 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The board uses an STM32H743XIH6 and has 2048Kb of main FLASH memory.
- * The flash memory is partitioned into a User Flash memory and a System
- * Flash memory. Each of these memories has two banks:
- *
- *   1) User Flash memory:
- *
- *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
- *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
- *
- *   2) System Flash memory:
- *
- *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
- *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
- *
- *   3) User option bytes for user configuration, only in Bank 1.
- *
- * In the STM32H743II, two different boot spaces can be selected through
- * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
- * BOOT_ADD1 option bytes:
- *
- *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
- *      ST programmed value: Flash memory at 0x0800:0000
- *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
- *      ST programmed value: System bootloader at 0x1FF0:0000
- *
- * There's a switch on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
- * drepresed, then the boot will be from 0x1FF0:0000
- *
- * The STM32H743ZI also has 1024Kb of data SRAM.
- * SRAM is split up into several blocks and into three power domains:
- *
- *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
- *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
- *
- *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
- *
- *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
- *           DTCM ports. The DTCM-RAM could be used for critical real-time
- *           data, such as interrupt service routines or stack / heap memory.
- *           Both DTCM-RAMs can be used in parallel (for load/store operations)
- *           thanks to the Cortex-M7 dual issue capability.
- *
- *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
- *
- *           This RAM is connected to ITCM 64-bit interface designed for
- *           execution of critical real-times routines by the CPU.
- *
- *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
- *      through D1 domain AXI bus matrix
- *
- *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
- *
- *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
- *      through D2 domain AHB bus matrix
- *
- *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
- *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
- *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
- *
- *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
- *
- *   4) AHB SRAM (D3 domain) accessible by most of system masters
- *      through D3 domain AHB bus matrix
- *
- *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
- *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- */
-
-MEMORY
-{
-	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
-
-	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
-	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
-	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
-	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-ENTRY(_stext)
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.glue_7)
-		*(.glue_7t)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > FLASH
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-	.init_section : {
-		_sinit = ABSOLUTE(.);
-		KEEP(*(.init_array .init_array.*))
-		_einit = ABSOLUTE(.);
-	} > FLASH
-
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > FLASH
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > FLASH
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_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) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-}
@@ -1,65 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2021 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("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
-	add_library(drivers_board
-		bootloader_main.c
-		usb.c
-	)
-	target_link_libraries(drivers_board
-		PRIVATE
-			nuttx_arch
-			nuttx_drivers
-			bootloader
-	)
-	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
-
-else()
-	add_library(drivers_board
-		i2c.cpp
-		init.c
-		led.c
-		spi.cpp
-		timer_config.cpp
-		usb.c
-	)
-
-	target_link_libraries(drivers_board
-		PRIVATE
-			arch_io_pins
-			arch_spi
-			drivers__led
-			nuttx_arch
-			nuttx_drivers
-			px4_layer
-	)
-endif()
@@ -1,187 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 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.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * Board internal definitions
- */
-
-#pragma once
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-#include <stm32_gpio.h>
-
-/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
-#define GPIO_nLED_RED   /* PB11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
-#define GPIO_nLED_GREEN /* PB1  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
-#define GPIO_nLED_BLUE  /* PB3  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
-
-#define BOARD_HAS_CONTROL_STATUS_LEDS      1
-#define BOARD_OVERLOAD_LED     LED_RED
-#define BOARD_ARMED_STATE_LED  LED_BLUE
-
-/* ADC channels */
-#define PX4_ADC_GPIO  \
-	/* PA2 */  GPIO_ADC12_INP14,  \
-	/* PA3 */  GPIO_ADC12_INP15,  \
-	/* PA4 */  GPIO_ADC12_INP18,  \
-	/* PC1 */  GPIO_ADC123_INP11
-
-/* Define Channel numbers must match above GPIO pins */
-#define ADC_BATTERY_VOLTAGE_CHANNEL       14 /* PA2 BATT_VOLT_SENS */
-#define ADC_BATTERY_CURRENT_CHANNEL       15 /* PA3 BATT_CURRENT_SENS */
-#define ADC_SCALED_V5_CHANNEL             18 /* PA4 VDD_5V_SENS */
-#define ADC_RC_RSSI_CHANNEL               11 /* PC1 */
-
-#define ADC_CHANNELS \
-	((1 << ADC_BATTERY_VOLTAGE_CHANNEL)       | \
-	 (1 << ADC_BATTERY_CURRENT_CHANNEL)       | \
-	 (1 << ADC_SCALED_V5_CHANNEL)             | \
-	 (1 << ADC_RC_RSSI_CHANNEL))
-
-/* HW has to large of R termination on ADC todo:change when HW value is chosen */
-#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
-
-/* CAN Silence: Silent mode control */
-#define GPIO_CAN1_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
-
-/* PWM */
-#define DIRECT_PWM_OUTPUT_CHANNELS  8
-
-/* Power supply control and monitoring GPIOs */
-#define GPIO_nPOWER_IN_A                /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
-
-#define GPIO_VDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
-#define BOARD_NUMBER_BRICKS             1
-
-#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PE4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
-#define GPIO_VDD_1V2_CORE_POWER_EN  	/* PH5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)
-
-/* Define True logic Power Control in arch agnostic form */
-#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (!on_true))
-#define READ_VDD_3V3_SPEKTRUM_POWER_EN()   (px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN) == 0)
-
-/* Tone alarm output */
-#define TONE_ALARM_TIMER        2  /* timer 2 */
-#define TONE_ALARM_CHANNEL      1  /* PA15 TIM2_CH1 */
-
-#define GPIO_BUZZER_1           /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
-
-#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
-#define GPIO_TONE_ALARM         GPIO_TIM2_CH1OUT_2
-
-/* USB OTG FS */
-#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
-
-/* High-resolution timer */
-#define HRT_TIMER               3  /* use timer3 for the HRT */
-#define HRT_TIMER_CHANNEL       1 /* use capture/compare channel 1 */
-
-#define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
-#define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
-
-/* RC Serial port */
-#define RC_SERIAL_PORT          "/dev/ttyS3"
-
-#define GPIO_RSSI_IN            /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
-
-/* Safety Switch: Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
-#define GPIO_SAFETY_SWITCH_IN              /* PC4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
-/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
-#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
-
-/* Power switch controls ******************************************************/
-#define SPEKTRUM_POWER(_on_true)           VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
-
-/*
- * Board has a separate RC_IN
- *
- * GPIO PPM_IN on PB0 T3CH3
- * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
- *   Inversion is possible in the UART and can drive GPIO_PPM_IN as an output
- */
-#define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
-#define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
-#define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
-
-/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
- * this board support the ADC system_power interface, and therefore
- * provides the true logic GPIO BOARD_ADC_xxxx macros.
- */
-#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
-#define BOARD_ADC_USB_VALID     BOARD_ADC_USB_CONNECTED
-#define BOARD_ADC_SERVO_VALID   (1) /* never powers off the Servo rail */
-#define BOARD_ADC_BRICK_VALID   (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID))
-
-/* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-/* This board provides the board_on_reset interface */
-#define BOARD_HAS_ON_RESET 1
-
-#define BOARD_HAS_STATIC_MANIFEST 1
-
-
-#define BOARD_NUM_IO_TIMERS 3
-
-
-#define BOARD_ENABLE_CONSOLE_BUFFER
-
-#define PX4_GPIO_INIT_LIST { \
-		PX4_ADC_GPIO,                     \
-		GPIO_CAN1_TX,                     \
-		GPIO_CAN1_RX,                     \
-		GPIO_CAN2_TX,                     \
-		GPIO_CAN2_RX,                     \
-		GPIO_CAN1_SILENT_S0,              \
-		GPIO_nPOWER_IN_A,                 \
-		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
-		GPIO_VDD_1V2_CORE_POWER_EN,	  \
-		GPIO_TONE_ALARM_IDLE,             \
-		GPIO_SAFETY_SWITCH_IN,            \
-		GPIO_OTGFS_VBUS,                  \
-	}
-
-__BEGIN_DECLS
-#ifndef __ASSEMBLY__
-
-extern void stm32_spiinitialize(void);
-extern void board_peripheral_reset(int ms);
-
-#include <px4_platform_common/board_common.h>
-#endif /* __ASSEMBLY__ */
-__END_DECLS
@@ -1,75 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020, 2021 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.
- *
- ****************************************************************************/
-
-/**
- * @file bootloader_main.c
- *
- * FMU-specific early startup code for bootloader
-*/
-
-#include "board_config.h"
-#include "bl.h"
-
-#include <nuttx/config.h>
-#include <nuttx/board.h>
-#include <chip.h>
-#include <stm32_uart.h>
-#include <arch/board/board.h>
-#include "arm_internal.h"
-#include <px4_platform_common/init.h>
-
-extern int sercon_main(int c, char **argv);
-
-__EXPORT void board_on_reset(int status) {}
-
-__EXPORT void stm32_boardinitialize(void)
-{
-	/* configure USB interfaces */
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-}
-
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-	return 0;
-}
-
-void board_late_initialize(void)
-{
-	sercon_main(0, NULL);
-}
-
-extern void sys_tick_handler(void);
-void board_timerhook(void)
-{
-	sys_tick_handler();
-}
@@ -1,135 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#pragma once
-
-/****************************************************************************
- * 10-8--2016:
- *  To simplify the ripple effect on the tools, we will be using
- *  /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
- *  moving forward all Bootloaders must contain the prefix "PX4 BL "
- *  in the USBDEVICESTRING
- *  This Change will be made in an upcoming BL release
- ****************************************************************************/
-/*
- * Define usage to configure a bootloader
- *
- *
- * Constant                example          Usage
- * APP_LOAD_ADDRESS     0x08004000            - The address in Linker Script, where the app fw is org-ed
- * BOOTLOADER_DELAY     5000                  - Ms to wait while under USB pwr or bootloader request
- * BOARD_FMUV2
- * INTERFACE_USB        1                     - (Optional) Scan and use the USB interface for bootloading
- * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
- * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
- * USBPRODUCTID         0x0011                - PID Should match defconfig
- * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
- *                                               delay provided by an APP FW
- * BOARD_TYPE           9                     - Must match .prototype boad_id
- * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
- * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
- * BOARD_FLASH_SECTORS   11                   - Hard coded zero based last sector
- * BOARD_FLASH_SIZE     (_FLASH_KBYTES*1024)-   Total Flash size of device, determined at run time.
- *                         (1024 * 1024)      - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
- *                                              programmatically
- *
- * BOARD_FIRST_FLASH_SECTOR_TO_ERASE  2        - Optional sectors index in the flash_sectors table  (F4 only), to begin erasing.
- *                                               This is to allow sectors to be reserved for app fw usage. That will NOT be erased
- *                                               during a FW upgrade.
- *                                               The default is 0, and selects the first sector to be erased, as the 0th entry in the
- *                                               flash_sectors table. Which is the second physical sector of FLASH in the device.
- *                                               The first physical sector of FLASH is used by the bootloader, and is not defined
- *                                               in the table.
- *
- * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
- *                                                                        BOOTLOADER_RESERVATION_SIZE  will be deducted from
- *                                                                        BOARD_FLASH_SIZE to determine the size of the App FW
- *                                                                        and hence the address space of FLASH to erase and program.
- * USBMFGSTRING            "PX4 AP"            - Optional USB MFG string (default is '3D Robotics' if not defined.)
- * SERIAL_BREAK_DETECT_DISABLED                -  Optional prevent break selection on Serial port from entering or staying in BL
- *
- * * Other defines are somewhat self explanatory.
- */
-
-/* Boot device selection list*/
-#define USB0_DEV       0x01
-#define SERIAL0_DEV    0x02
-#define SERIAL1_DEV    0x04
-
-#define APP_LOAD_ADDRESS               0x08020000
-#define BOOTLOADER_DELAY               5000
-#define INTERFACE_USB                  1
-#define INTERFACE_USB_CONFIG           "/dev/ttyACM0"
-#define BOARD_VBUS                     MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
-
-//#define USE_VBUS_PULL_DOWN
-#define INTERFACE_USART                1
-#define INTERFACE_USART_CONFIG         "/dev/ttyS0,115200"
-#define BOOT_DELAY_ADDRESS             0x000001a0
-#define BOARD_TYPE                     1124
-#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
-#define BOARD_FLASH_SECTORS            (15)
-#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
-
-#define OSC_FREQ                       24
-
-#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_RED
-#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_RED
-#define BOARD_LED_ON                   0
-#define BOARD_LED_OFF                  1
-
-#define SERIAL_BREAK_DETECT_DISABLED   1
-
-#if !defined(ARCH_SN_MAX_LENGTH)
-# define ARCH_SN_MAX_LENGTH 12
-#endif
-
-#if !defined(APP_RESERVATION_SIZE)
-#  define APP_RESERVATION_SIZE 0
-#endif
-
-#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
-#  define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
-#endif
-
-#if !defined(USB_DATA_ALIGN)
-# define USB_DATA_ALIGN
-#endif
-
-#ifndef BOOT_DEVICES_SELECTION
-#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
-#endif
-
-#ifndef BOOT_DEVICES_FILTER_ONUSB
-#  define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
-#endif
@@ -1,40 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/i2c_hw_description.h>
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusExternal(1),
-	initI2CBusExternal(3),
-	initI2CBusExternal(4),
-};
@@ -1,204 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 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.
- *
- ****************************************************************************/
-
-/**
- * @file init.c
- *
- * board-specific early startup code. This file implements the
- * board_app_initialize() function that is called early by nsh during startup.
- *
- * Code here is run before the rcS script is invoked; it should start required
- * subsystems and perform board-specific initialisation.
- */
-
-#include "board_config.h"
-
-#include <syslog.h>
-
-#include <nuttx/config.h>
-#include <nuttx/board.h>
-#include <nuttx/sdio.h>
-#include <nuttx/mmcsd.h>
-#include <arch/board/board.h>
-#include "arm_internal.h"
-
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_board_led.h>
-#include <systemlib/px4_macros.h>
-#include <px4_arch/io_timer.h>
-#include <px4_platform_common/init.h>
-#include <px4_platform/gpio.h>
-#include <px4_platform/board_dma_alloc.h>
-
-#include <mpu.h>
-
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-__END_DECLS
-
-/************************************************************************************
- * Name: board_peripheral_reset
- *
- * Description:
- *
- ************************************************************************************/
-__EXPORT void board_peripheral_reset(int ms)
-{
-	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
-	/* Keep Spektum on to discharge rail*/
-	VDD_3V3_SPEKTRUM_POWER_EN(false);
-
-	/* wait for the peripheral rail to reach GND */
-	usleep(ms * 1000);
-	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
-
-	/* re-enable power */
-
-	/* switch the peripheral rail back on */
-	VDD_3V3_SPEKTRUM_POWER_EN(last);
-}
-
-/************************************************************************************
- * Name: board_on_reset
- *
- * Description:
- * Optionally provided function called on entry to board_system_reset
- * It should perform any house keeping prior to the rest.
- *
- * status - 1 if resetting to boot loader
- *          0 if just resetting
- *
- ************************************************************************************/
-__EXPORT void board_on_reset(int status)
-{
-	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
-	}
-
-	if (status >= 0) {
-		up_mdelay(6);
-	}
-}
-
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- *   All STM32 architectures must provide the following entry point.  This entry point
- *   is called early in the initialization -- after all memory has been configured
- *   and mapped but before any devices have been initialized.
- *
- ************************************************************************************/
-__EXPORT void stm32_boardinitialize(void)
-{
-	/* Reset PWM first thing */
-	board_on_reset(-1);
-
-	/* configure pins */
-	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
-	px4_gpio_init(gpio, arraySize(gpio));
-	board_control_spi_sensors_power_configgpio();
-
-	/* configure LEDs */
-	board_autoled_initialize();
-}
-
-/****************************************************************************
- * Name: board_app_initialize
- *
- * Description:
- *   Perform application specific initialization.  This function is never
- *   called directly from application code, but only indirectly via the
- *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
- *
- * Input Parameters:
- *   arg - The boardctl() argument is passed to the board_app_initialize()
- *         implementation without modification.  The argument has no
- *         meaning to NuttX;
- *
- * Returned Value:
- *   Zero (OK) is returned on success; a negated errno value is returned on
- *   any failure to indicate the nature of the failure.
- *
- ****************************************************************************/
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-	/* Power on Interfaces */
-	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SPEKTRUM_POWER_EN(true);
-
-	px4_platform_init();
-
-	stm32_spiinitialize();
-
-	/* configure the DMA allocator */
-	if (board_dma_alloc_init() < 0) {
-		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
-	}
-
-
-	/* initial LED state */
-	drv_led_start();
-	led_off(LED_RED);
-	led_on(LED_GREEN); // Indicate Power.
-	led_off(LED_BLUE);
-
-	if (board_hardfault_init(2, true) != 0) {
-		led_on(LED_RED);
-	}
-
-#ifdef CONFIG_MMCSD
-	/* Mount the SDIO-based MMC/SD block driver */
-	/* First, get an instance of the SDIO interface */
-	struct sdio_dev_s *sdio_dev = sdio_initialize(0); // SDIO_SLOTNO 0 Only one slot
-
-	if (!sdio_dev) {
-		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
-	}
-
-	if (mmcsd_slotinitialize(0, sdio_dev) != OK) {
-		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n");
-	}
-
-	/* Assume that the SD card is inserted.  What choice do we have? */
-	sdio_mediachange(sdio_dev, true);
-#endif /* CONFIG_MMCSD */
-
-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
-	return OK;
-}
@@ -1,111 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2021 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.
- *
- ****************************************************************************/
-
-/**
- * @file led.c
- *
- * LED backend.
- */
-
-#include <px4_platform_common/px4_config.h>
-
-#include <stdbool.h>
-
-#include "chip.h"
-#include "stm32_gpio.h"
-#include "board_config.h"
-
-#include <nuttx/board.h>
-#include <arch/board/board.h>
-
-/*
- * Ideally we'd be able to get these from arm_internal.h,
- * but since we want to be able to disable the NuttX use
- * of leds for system indication at will and there is no
- * separate switch, we need to build independent of the
- * CONFIG_ARCH_LEDS configuration switch.
- */
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-extern void led_toggle(int led);
-__END_DECLS
-
-static uint32_t g_ledmap[] = {
-	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
-	GPIO_nLED_RED,                      // Indexed by LED_RED
-	GPIO_nLED_GREEN,                    // Indexed by LED_GREEN
-};
-
-__EXPORT void led_init(void)
-{
-	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
-		if (g_ledmap[l] != 0) {
-			stm32_configgpio(g_ledmap[l]);
-		}
-	}
-}
-
-static void phy_set_led(int led, bool state)
-{
-	/* Drive Low to switch on */
-	if (g_ledmap[led] != 0) {
-		stm32_gpiowrite(g_ledmap[led], !state);
-	}
-}
-
-static bool phy_get_led(int led)
-{
-	/* If Low it is on */
-	if (g_ledmap[led] != 0) {
-		return !stm32_gpioread(g_ledmap[led]);
-	}
-
-	return false;
-}
-
-__EXPORT void led_on(int led)
-{
-	phy_set_led(led, true);
-}
-
-__EXPORT void led_off(int led)
-{
-	phy_set_led(led, false);
-}
-
-__EXPORT void led_toggle(int led)
-{
-	phy_set_led(led, !phy_get_led(led));
-}
@@ -1,53 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2021 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.
- *
- ****************************************************************************/
-
-#include <px4_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-#include <nuttx/spi/spi.h>
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}),
-	}, {GPIO::PortE, GPIO::Pin3}),
-	initSPIBus(SPI::Bus::SPI2, {
-		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
-		initSPIDevice(DRV_BARO_DEVTYPE_DPS310, SPI::CS{GPIO::PortD, GPIO::Pin7}),
-	}),
-	initSPIBus(SPI::Bus::SPI5, {
-		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}),
-		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin6}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}),
-	}),
-};
-
-static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -1,54 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2021 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.
- *
- ****************************************************************************/
-
-#include <px4_arch/io_timer_hw_description.h>
-
-constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer8, DMA{DMA::Index1}),
-};
-
-constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
-	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
-	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
-	initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel1}, {GPIO::PortI, GPIO::Pin5}),
-	initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel2}, {GPIO::PortI, GPIO::Pin6}),
-};
-
-constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
-	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -1,82 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2021 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.
- *
- ****************************************************************************/
-
-/**
- * @file usb.c
- *
- * Board-specific USB functions.
- */
-
-#include <px4_platform_common/px4_config.h>
-
-#include <sys/types.h>
-#include <stdint.h>
-#include <stdbool.h>
-#include <debug.h>
-
-#include <nuttx/usb/usbdev.h>
-#include <nuttx/usb/usbdev_trace.h>
-
-#include <arm_internal.h>
-#include <chip.h>
-#include <stm32_gpio.h>
-#include <stm32_otg.h>
-#include "board_config.h"
-
-/************************************************************************************
- * Name:  stm32_usbsuspend
- *
- * Description:
- *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
- *   used.  This function is called whenever the USB enters or leaves suspend mode.
- *   This is an opportunity for the board logic to shutdown clocks, power, etc.
- *   while the USB is suspended.
- *
- ************************************************************************************/
-__EXPORT void stm32_usbinitialize(void)
-{
-	/* The OTG FS has an internal soft pull-up */
-
-	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
-
-#ifdef CONFIG_STM32H7_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-#endif
-}
-
-
-
-__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
-{
-	uinfo("resume: %d\n", resume);
-}
@@ -85,6 +85,8 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -79,6 +79,7 @@ CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -90,6 +91,7 @@ CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
@@ -97,3 +99,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
+CONFIG_EXAMPLES_FAKE_GPS=y
@@ -197,12 +197,6 @@

 #define STM32_FDCANCLK               STM32_HSE_FREQUENCY

-/* UART clock selection */
-/* reset to default to overwrite any changes done by any bootloader */
-
-#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
-#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
-
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2

@@ -197,12 +197,6 @@

 #define STM32_FDCANCLK               STM32_HSE_FREQUENCY

-/* UART clock selection */
-/* reset to default to overwrite any changes done by any bootloader */
-
-#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
-#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
-
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2

@@ -196,12 +196,6 @@

 #define STM32_FDCANCLK               STM32_HSE_FREQUENCY

-/* UART clock selection */
-/* reset to default to overwrite any changes done by any bootloader */
-
-#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
-#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
-
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2

@@ -196,12 +196,6 @@

 #define STM32_FDCANCLK               STM32_HSE_FREQUENCY

-/* UART clock selection */
-/* reset to default to overwrite any changes done by any bootloader */
-
-#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
-#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
-
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2

@@ -3,8 +3,6 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_BOARD_TESTING=y
@@ -1,6 +1,4 @@
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_BOARD_CRYPTO=y
 CONFIG_DRIVERS_STUB_KEYSTORE=y
 CONFIG_DRIVERS_SW_CRYPTO=y
@@ -29,6 +29,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
+CONFIG_COMMON_INS=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
@@ -30,6 +30,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42670P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM45686=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
+CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
@@ -377,6 +377,7 @@
 *(.text._ZN19StickAccelerationXYC1EP12ModuleParams)
 *(.text.imxrt_epsubmit)
 *(.text._ZN15PositionControl6updateEf)
+*(.text._ZN3Ekf29checkVerticalAccelerationBiasERKN9estimator9imuSampleE)
 *(.text._ZN23MavlinkStreamScaledIMU24sendEv)
 *(.text._ZN5PX4IO10io_reg_getEhhPtj)
 *(.text.imxrt_dma_send)
@@ -146,16 +146,11 @@ set(msg_files
 	MountOrientation.msg
 	ModeCompleted.msg
 	NavigatorMissionItem.msg
-	NavigatorStatus.msg
 	NormalizedUnsignedSetpoint.msg
 	NpfgStatus.msg
 	ObstacleDistance.msg
 	OffboardControlMode.msg
 	OnboardComputerStatus.msg
-	OpenDroneIdArmStatus.msg
-	OpenDroneIdOperatorId.msg
-	OpenDroneIdSelfId.msg
-	OpenDroneIdSystem.msg
 	OrbitStatus.msg
 	OrbTest.msg
 	OrbTestLarge.msg
@@ -186,7 +181,6 @@ set(msg_files
 	RoverAckermannGuidanceStatus.msg
 	RoverAckermannStatus.msg
 	RoverDifferentialGuidanceStatus.msg
-	RoverDifferentialSetpoint.msg
 	RoverDifferentialStatus.msg
 	Rpm.msg
 	RtlStatus.msg
@@ -40,8 +40,3 @@ uint8 ROTATION_UPWARD_FACING   = 24 # MAV_SENSOR_ROTATION_PITCH_90
 uint8 ROTATION_DOWNWARD_FACING = 25 # MAV_SENSOR_ROTATION_PITCH_270

 uint8 ROTATION_CUSTOM          = 100 # MAV_SENSOR_ROTATION_CUSTOM
-
-uint8 mode 			# mode of operation
-uint8 DISTANCE_SENSOR_MODE_UNKNOWN = 0 # Unknown mode
-uint8 DISTANCE_SENSOR_MODE_RUN    = 1 # sensor is running continuosly
-uint8 DISTANCE_SENSOR_MODE_DISABLED = 2 # sensor is disabled per request
@@ -45,8 +45,6 @@ bool cs_mag_heading_consistent  # 37 - true when the heading obtained from mag d
 bool cs_aux_gpos                # 38 - true if auxiliary global position measurement fusion is intended
 bool cs_rng_terrain             # 39 - true if we are fusing range finder data for terrain
 bool cs_opt_flow_terrain        # 40 - true if we are fusing flow data for terrain
-bool cs_valid_fake_pos          # 41 - true if a valid constant position is being fused
-bool cs_constant_pos            # 42 - true if the vehicle is at a constant position

 # fault status
 uint32 fault_status_changes   # number of filter fault status (fs) changes
@@ -59,6 +57,7 @@ bool fs_bad_airspeed          #  5 - true if fusion of the airspeed has encounte
 bool fs_bad_sideslip          #  6 - true if fusion of the synthetic sideslip constraint has encountered a numerical error
 bool fs_bad_optflow_x         #  7 - true if fusion of the optical flow X axis has encountered a numerical error
 bool fs_bad_optflow_y         #  8 - true if fusion of the optical flow Y axis has encountered a numerical error
+bool fs_bad_acc_bias          #  9 - true if bad delta velocity bias estimates have been detected
 bool fs_bad_acc_vertical      # 10 - true if bad vertical accelerometer data has been detected
 bool fs_bad_acc_clipping      # 11 - true if delta velocity data contains clipping (asymmetric railing)

@@ -49,7 +49,6 @@ bool vtol_fixed_wing_system_failure   # vehicle in fixed-wing system failure fai
 bool wind_limit_exceeded              # Wind limit exceeded
 bool flight_time_limit_exceeded       # Maximum flight time exceeded
 bool local_position_accuracy_low      # Local position estimate has dropped below threshold, but is currently still declared valid
-bool navigator_failure        	      # Navigator failed to execute a mode

 # Failure detector
 bool fd_critical_failure              # Critical failure (attitude/altitude limit exceeded, or external ATS)
@@ -1,9 +0,0 @@
-# Current status of a Navigator mode
-# The possible values of nav_state are defined in the VehicleStatus msg.
-uint64 timestamp  # time since system start (microseconds)
-
-uint8 nav_state   # Source mode (values in VehicleStatus)
-uint8 failure     # Navigator failure enum
-
-uint8 FAILURE_NONE = 0
-uint8 FAILURE_HAGL = 1 # Target altitude exceeds maximum height above ground
@@ -1,3 +0,0 @@
-uint64 timestamp
-uint8 status
-char[50] error
@@ -1,4 +0,0 @@
-uint64 timestamp
-uint8[20] id_or_mac
-uint8 operator_id_type
-char[20] operator_id
@@ -1,4 +0,0 @@
-uint64 timestamp
-uint8[20] id_or_mac
-uint8 description_type
-char[23] description
@@ -1,13 +0,0 @@
-uint64 timestamp
-uint8[20] id_or_mac
-uint8 operator_location_type
-uint8 classification_type
-int32 operator_latitude
-int32 operator_longitude
-uint16 area_count
-uint16 area_radius
-float32 area_ceiling
-float32 area_floor
-uint8 category_eu
-uint8 class_eu
-float32 operator_altitude_geo
@@ -1,7 +1,10 @@
 uint64 timestamp # time since system start (microseconds)

+float32 desired_speed 	      # [m/s] Desired forward speed for the rover
 float32 lookahead_distance    # [m] Lookahead distance of pure the pursuit controller
 float32 heading_error_deg 	      # [deg] Heading error of the pure pursuit controller
+float32 pid_heading_integral  # Integral of the PID for the desired yaw rate during missions
+float32 pid_throttle_integral # Integral of the PID for the throttle during missions
 uint8   state_machine         # Driving state of the rover [0: SPOT_TURNING, 1: DRIVING, 2: GOAL_REACHED]

 # TOPICS rover_differential_guidance_status
@@ -1,9 +0,0 @@
-uint64 timestamp # time since system start (microseconds)
-
-float32 forward_speed_setpoint 		  # [m/s] Desired forward speed for the rover
-float32 forward_speed_setpoint_normalized # [-1, 1] Normalized forward speed for the rover
-float32 yaw_rate_setpoint      		  # [rad/s] Desired yaw rate for the rover (Overriden by yaw controller if yaw_setpoint is used)
-float32 yaw_rate_setpoint_normalized      # [-1, 1] Normalized yaw rate for the rover
-float32 yaw_setpoint 	       		  # [rad] Desired yaw (heading) for the rover
-
-# TOPICS rover_differential_setpoint
@@ -1,11 +1,8 @@
 uint64 timestamp # time since system start (microseconds)

 float32 actual_speed	       # [m/s] Actual forward speed of the rover
-float32 actual_yaw_deg         # [deg] Actual yaw of the rover
+float32 desired_yaw_rate_deg_s # [deg/s] Desired yaw rate
 float32 actual_yaw_rate_deg_s  # [deg/s] Actual yaw rate of the rover
-float32 desired_yaw_rate_deg_s # [deg/s] Yaw rate setpoint for the closed loop yaw rate controller
-float32 pid_yaw_integral       # Integral of the PID for the closed loop yaw controller
-float32 pid_yaw_rate_integral  # Integral of the PID for the closed loop yaw rate controller
-float32 pid_throttle_integral  # Integral of the PID for the closed loop speed controller
+float32 pid_yaw_rate_integral  # Integral of the PID for the desired yaw rate controller

 # TOPICS rover_differential_status
@@ -1,5 +1,5 @@
 uint64 timestamp		# time since system start (microseconds)
 uint32 device_id                # unique device ID for the sensor that does not change between power cycles
 float32 speed			# the speed being reported by the wind / airflow sensor
-float32 direction		# the direction being reported by the wind / airflow sensor
+float32 direction		# the direction bein report by the wind / airflow sensor
 uint8 status			# Status code from the sensor
@@ -1,8 +1,6 @@
 # This is similar to the mavlink message ATTITUDE_QUATERNION, but for onboard use
 # The quaternion uses the Hamilton convention, and the order is q(w, x, y, z)

-uint32 MESSAGE_VERSION = 1
-
 uint64 timestamp                # time since system start (microseconds)

 uint64 timestamp_sample         # the timestamp of the raw data (microseconds)
@@ -1,5 +1,9 @@
 uint64 timestamp		# time since system start (microseconds)

+float32 roll_body		# body angle in NED frame (can be NaN for FW)
+float32 pitch_body		# body angle in NED frame (can be NaN for FW)
+float32 yaw_body		# body angle in NED frame (can be NaN for FW)
+
 float32 yaw_sp_move_rate	# rad/s (commanded by user)

 # For quaternion-based attitude control
@@ -4,7 +4,6 @@
 # estimator, which will take more sources of information into account than just GPS,
 # e.g. control inputs of the vehicle in a Kalman-filter implementation.
 #
-uint32 MESSAGE_VERSION = 1

 uint64 timestamp		# time since system start (microseconds)
 uint64 timestamp_sample         # the timestamp of the raw data (microseconds)
@@ -1,6 +1,5 @@
 # Fused local position in NED.
 # The coordinate system origin is the vehicle position at the time when the EKF2-module was started.
-uint32 MESSAGE_VERSION = 1

 uint64 timestamp			# time since system start (microseconds)
 uint64 timestamp_sample                 # the timestamp of the raw data (microseconds)
@@ -4,9 +4,6 @@ uint64 timestamp_sample                # the timestamp of the raw data (microsec
 float32[2] vel_body                    # velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)
 float32[2] vel_ne                      # same as vel_body but in local frame (m/s)

-float32[2] vel_body_filtered           # filtered velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)
-float32[2] vel_ne_filtered             # filtered same as vel_body_filtered but in local frame (m/s)
-
 float32[2] flow_rate_uncompensated     # integrated optical flow measurement (rad/s)
 float32[2] flow_rate_compensated       # integrated optical flow measurement compensated for angular motion (rad/s)

@@ -89,7 +89,7 @@ static constexpr wq_config_t ttyS9{"wq:ttyS9", 1728, -30};
 static constexpr wq_config_t ttyACM0{"wq:ttyACM0", 1728, -31};
 static constexpr wq_config_t ttyUnknown{"wq:ttyUnknown", 1728, -32};

-static constexpr wq_config_t lp_default{"wq:lp_default", 2350, -50};
+static constexpr wq_config_t lp_default{"wq:lp_default", 2000, -50};

 static constexpr wq_config_t test1{"wq:test1", 2000, 0};
 static constexpr wq_config_t test2{"wq:test2", 2000, 0};
@@ -357,7 +357,6 @@ static const px4_hw_mft_item_t base_configuration_17[] = {
 };

 // BASE ID 0x100 Holybro Pixhawk Jetson Baseboard Alaised to ID 0
-// BASE ID 0x150 ZeroOne Pixhawk Baseboard Alaised to ID 0

 static px4_hw_mft_list_entry_t mft_lists[] = {
 //  ver_rev
@@ -373,7 +372,6 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
 	{HW_BASE_ID(16),     base_configuration_0, arraySize(base_configuration_0)},   // Auterion Skynode ver 16
 	{HW_BASE_ID(17),     base_configuration_17, arraySize(base_configuration_17)}, // Auterion Skynode ver 17
 	{HW_BASE_ID(0x100),  base_configuration_0, arraySize(base_configuration_0)},   // Holybro Pixhawk Jetson Baseboard ver 0x100 Alaised to ID 0
-	{HW_BASE_ID(0x150),  base_configuration_0, arraySize(base_configuration_0)},   // ZeroOne Pixhawk Baseboard ver 0x150
 };

 /************************************************************************************
@@ -13,4 +13,4 @@ param set-default -s MC_AT_EN 1

 param set-default -s UAVCAN_ENABLE 2

-set LOGGER_BUF 40
+set LOGGER_BUF 64
@@ -75,11 +75,11 @@ static int ramtron_attach(mtd_instance_s &instance)
 	return ENXIO;
 #else

-	/* start the RAMTRON driver at 30MHz */
+	/* start the RAMTRON driver, attempt 10 times */

-	unsigned long spi_speed_hz = 30'000'000;
+	int spi_speed_mhz = 10;

-	for (int i = 0; spi_speed_hz > 0; i++) {
+	for (int i = 0; i < 10; i++) {
 		/* initialize the right spi */
 		struct spi_dev_s *spi = px4_spibus_initialize(px4_find_spi_bus(instance.devid));

@@ -90,7 +90,7 @@ static int ramtron_attach(mtd_instance_s &instance)

 		/* this resets the spi bus, set correct bus speed again */
 		SPI_LOCK(spi, true);
-		SPI_SETFREQUENCY(spi, spi_speed_hz);
+		SPI_SETFREQUENCY(spi, spi_speed_mhz * 1000 * 1000);
 		SPI_SETBITS(spi, 8);
 		SPI_SETMODE(spi, SPIDEV_MODE3);
 		SPI_SELECT(spi, instance.devid, false);
@@ -108,7 +108,7 @@ static int ramtron_attach(mtd_instance_s &instance)
 		}

 		// try reducing speed for next attempt
-		spi_speed_hz -= 1'000'000;
+		spi_speed_mhz--;
 		px4_usleep(10000);
 	}

@@ -118,7 +118,7 @@ static int ramtron_attach(mtd_instance_s &instance)
 		return -EIO;
 	}

-	int ret = instance.mtd_dev->ioctl(instance.mtd_dev, MTDIOC_SETSPEED, spi_speed_hz);
+	int ret = instance.mtd_dev->ioctl(instance.mtd_dev, MTDIOC_SETSPEED, (unsigned long)spi_speed_mhz * 1000 * 1000);

 	if (ret != OK) {
 		// FIXME: From the previous warning call, it looked like this should have been fatal error instead. Tried
@@ -73,7 +73,7 @@ static char hw_base_info[HW_INFO_SIZE] = {0};
 /****************************************************************************
 * Protected Functions
 ****************************************************************************/
-#if !defined(BOARD_HAS_ONLY_EEPROM_VERSIONING)
+
 static int dn_to_ordinal(uint16_t dn)
 {
 	/* Table is scaled for 12, so if ADC is in 16 bit mode
@@ -111,7 +111,6 @@ static int dn_to_ordinal(uint16_t dn)

 	return -1;
 }
-#endif /* BOARD_HAS_ONLY_EEPROM_VERSIONING */

 /************************************************************************************
 * Name: read_id_dn
@@ -144,7 +143,7 @@ static int dn_to_ordinal(uint16_t dn)
 *   -EIO  - FAiled to init or read the ADC
 *
 ************************************************************************************/
-#if !defined(BOARD_HAS_ONLY_EEPROM_VERSIONING)
+
 static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc_channel)
 {
 	int rv = -EIO;
@@ -329,15 +328,9 @@ static int read_id_dn(int *id, uint32_t gpio_drive, uint32_t gpio_sense, int adc
 	stm32_configgpio(gpio_drive);
 	return rv;
 }
-#endif /* BOARD_HAS_ONLY_EEPROM_VERSIONING */

 static int determine_hw_info(int *revision, int *version)
 {
-#if defined(BOARD_HAS_ONLY_EEPROM_VERSIONING)
-	*revision = HW_ID_EEPROM;
-	*version  = HW_ID_EEPROM;
-	return OK;
-#else
 	int dn;
 	int rv = read_id_dn(&dn, GPIO_HW_REV_DRIVE, GPIO_HW_REV_SENSE, ADC_HW_REV_SENSE_CHANNEL);

@@ -351,7 +344,6 @@ static int determine_hw_info(int *revision, int *version)
 	}

 	return rv;
-#endif
 }

 /****************************************************************************
@@ -145,7 +145,6 @@ private:
 	typeof(px4::msg::VehicleStatus::vehicle_type) _vehicle_type{px4::msg::VehicleStatus::VEHICLE_TYPE_UNKNOWN};
 	bool _restriction{false};
 	bool _auto_restriction{false};
-	bool _prev_restriction{false};
 };

 LightwareLaser::LightwareLaser(const I2CSPIDriverConfig &config) :
@@ -439,7 +438,7 @@ int LightwareLaser::updateRestriction()
 		updateParams();
 	}

-	_prev_restriction = _restriction;
+	bool _prev_restriction{_restriction};

 	switch (_param_sf1xx_mode.get()) {
 	case 0: // Sensor disabled
@@ -499,8 +498,6 @@ void LightwareLaser::RunImpl()

 	case State::Running:
 		if (!_restriction) {
-			_px4_rangefinder.set_mode(distance_sensor_s::DISTANCE_SENSOR_MODE_RUN);
-
 			if (PX4_OK != collect()) {
 				PX4_DEBUG("collection error");

@@ -509,14 +506,6 @@ void LightwareLaser::RunImpl()
 					_consecutive_errors = 0;
 				}
 			}
-
-		} else {
-			_px4_rangefinder.set_mode(distance_sensor_s::DISTANCE_SENSOR_MODE_DISABLED);
-
-			if (!_prev_restriction) { // Publish disabled status once
-				_px4_rangefinder.update(hrt_absolute_time(), -1.f, 0);
-			}
-
 		}

 		ScheduleDelayed(_conversion_interval);
@@ -242,8 +242,6 @@
 #define DRV_INS_DEVTYPE_VN300 0xE3
 #define DRV_DIFF_PRESS_DEVTYPE_ASP5033  0xE4

-#define DRV_MAG_DEVTYPE_BMM350      	0xE5
-
 #define DRV_DEVTYPE_UNUSED		0xff

 #endif /* _DRV_SENSOR_H */
@@ -1214,13 +1214,11 @@ GPS::publish()
 void
 GPS::publishSatelliteInfo()
 {
-	if (_instance == Instance::Main || _is_gps_main_advertised.load()) {
+	if (_instance == Instance::Main) {
 		if (_p_report_sat_info != nullptr) {
 			_report_sat_info_pub.publish(*_p_report_sat_info);
 		}

-		_is_gps_main_advertised.store(true);
-
 	} else {
 		//we don't publish satellite info for the secondary gps
 	}
@@ -203,45 +203,57 @@ void ICM40609D::RunImpl()

 	case STATE::FIFO_READ: {
 			hrt_abstime timestamp_sample = now;
-			uint8_t samples = FIFOReadCount();
+			uint8_t samples = 0;

-			if (samples == 0) {
-				perf_count(_fifo_empty_perf);
+			if (_data_ready_interrupt_enabled) {
+				// scheduled from interrupt if _drdy_timestamp_sample was set as expected
+				const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);

-			} else {
-				// tolerate minor jitter, leave sample to next iteration if behind by only 1
-				if (samples == _fifo_gyro_samples + 1) {
-					timestamp_sample -= static_cast<int>(FIFO_SAMPLE_DT);
-					samples--;
+				if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
+					timestamp_sample = drdy_timestamp_sample;
+					samples = _fifo_gyro_samples;
+
+				} else {
+					perf_count(_drdy_missed_perf);
 				}

-				if (samples > FIFO_MAX_SAMPLES) {
-					// not technically an overflow, but more samples than we expected or can publish
+				// push backup schedule back
+				ScheduleDelayed(_fifo_empty_interval_us * 2);
+			}
+
+			if (samples == 0) {
+				// check current FIFO count
+				const uint16_t fifo_count = FIFOReadCount();
+
+				if (fifo_count >= FIFO::SIZE) {
 					FIFOReset();
 					perf_count(_fifo_overflow_perf);
-					samples = 0;
+
+				} else if (fifo_count == 0) {
+					perf_count(_fifo_empty_perf);
+
+				} else {
+					// FIFO count (size in bytes)
+					samples = (fifo_count / sizeof(FIFO::DATA));
+
+					// tolerate minor jitter, leave sample to next iteration if behind by only 1
+					if (samples == _fifo_gyro_samples + 1) {
+						timestamp_sample -= static_cast<int>(FIFO_SAMPLE_DT);
+						samples--;
+					}
+
+					if (samples > FIFO_MAX_SAMPLES) {
+						// not technically an overflow, but more samples than we expected or can publish
+						FIFOReset();
+						perf_count(_fifo_overflow_perf);
+						samples = 0;
+					}
 				}
 			}

 			bool success = false;

-			if (samples > 0) {
-				if (_data_ready_interrupt_enabled) {
-					// scheduled from interrupt if _drdy_timestamp_sample was set as expected
-					const hrt_abstime drdy_timestamp_sample = _drdy_timestamp_sample.fetch_and(0);
-
-					if ((now - drdy_timestamp_sample) < _fifo_empty_interval_us) {
-						timestamp_sample = drdy_timestamp_sample;
-						samples = _fifo_gyro_samples;
-
-					} else {
-						perf_count(_drdy_missed_perf);
-					}
-
-					// push backup schedule back
-					ScheduleDelayed(_fifo_empty_interval_us * 2);
-				}
-
+			if (samples >= 1) {
 				if (FIFORead(timestamp_sample, samples)) {
 					success = true;

@@ -362,11 +374,17 @@ void ICM40609D::ConfigureSampleRate(int sample_rate)

 void ICM40609D::ConfigureFIFOWatermark(uint8_t samples)
 {
+	// FIFO watermark threshold in number of bytes
+	const uint16_t fifo_watermark_threshold = samples * sizeof(FIFO::DATA);
+
 	for (auto &r : _register_bank0_cfg) {
 		if (r.reg == Register::BANK_0::FIFO_CONFIG2) {
 			// FIFO_WM[7:0]  FIFO_CONFIG2
-			r.set_bits = samples & 0xFF;
+			r.set_bits = fifo_watermark_threshold & 0xFF;

+		} else if (r.reg == Register::BANK_0::FIFO_CONFIG3) {
+			// FIFO_WM[11:8] FIFO_CONFIG3
+			r.set_bits = (fifo_watermark_threshold >> 8) & 0x0F;
 		}
 	}
 }
@@ -519,10 +537,25 @@ bool ICM40609D::FIFORead(const hrt_abstime &timestamp_sample, uint8_t samples)
 		return false;
 	}

+	const uint16_t fifo_count_bytes = combine(buffer.FIFO_COUNTH, buffer.FIFO_COUNTL);
+
+	if (fifo_count_bytes >= FIFO::SIZE) {
+		perf_count(_fifo_overflow_perf);
+		FIFOReset();
+		return false;
+	}
+
+	const uint8_t fifo_count_samples = fifo_count_bytes / sizeof(FIFO::DATA);
+
+	if (fifo_count_samples == 0) {
+		perf_count(_fifo_empty_perf);
+		return false;
+	}
+
 	// check FIFO header in every sample
 	uint8_t valid_samples = 0;

-	for (int i = 0; i < samples; i++) {
+	for (int i = 0; i < math::min(samples, fifo_count_samples); i++) {
 		bool valid = true;

 		// With FIFO_ACCEL_EN and FIFO_GYRO_EN header should be 8’b_0110_10xx
@@ -566,9 +599,6 @@ void ICM40609D::FIFOReset()
 	// SIGNAL_PATH_RESET: FIFO flush
 	RegisterSetBits(Register::BANK_0::SIGNAL_PATH_RESET, SIGNAL_PATH_RESET_BIT::FIFO_FLUSH);

-	// Read INT_STATUS to clear
-	RegisterRead(Register::BANK_0::INT_STATUS);
-
 	// reset while FIFO is disabled
 	_drdy_timestamp_sample.store(0);
 }
@@ -160,11 +160,10 @@ private:
 	int32_t _fifo_gyro_samples{static_cast<int32_t>(_fifo_empty_interval_us / (1000000 / GYRO_RATE))};

 	uint8_t _checked_register_bank0{0};
-	static constexpr uint8_t size_register_bank0_cfg{11};
+	static constexpr uint8_t size_register_bank0_cfg{10};
 	register_bank0_config_t _register_bank0_cfg[size_register_bank0_cfg] {
 		// Register                        | Set bits, Clear bits
 		{ Register::BANK_0::INT_CONFIG,    INT_CONFIG_BIT::INT1_MODE | INT_CONFIG_BIT::INT1_DRIVE_CIRCUIT, INT_CONFIG_BIT::INT1_POLARITY },
-		{ Register::BANK_0::INTF_CONFIG0,  INTF_CONFIG0_BIT::FIFO_COUNT_REC | INTF_CONFIG0_BIT::UI_SIFS_CFG_DISABLE_I2C, 0},
 		{ Register::BANK_0::FIFO_CONFIG,   FIFO_CONFIG_BIT::FIFO_MODE_STOP_ON_FULL, 0 },
 		{ Register::BANK_0::PWR_MGMT0,     PWR_MGMT0_BIT::GYRO_MODE_LOW_NOISE | PWR_MGMT0_BIT::ACCEL_MODE_LOW_NOISE, 0 },
 		{ Register::BANK_0::GYRO_CONFIG0,  GYRO_CONFIG0_BIT::GYRO_ODR_8kHz, Bit7 | Bit6 | Bit5 | Bit3 | Bit2 },
@@ -82,8 +82,6 @@ enum class BANK_0 : uint8_t {

 	SIGNAL_PATH_RESET = 0x4B,

-	INTF_CONFIG0      = 0x4C,
-
 	PWR_MGMT0         = 0x4E,
 	GYRO_CONFIG0      = 0x4F,
 	ACCEL_CONFIG0     = 0x50,
@@ -134,16 +132,6 @@ enum SIGNAL_PATH_RESET_BIT : uint8_t {
 	FIFO_FLUSH      = Bit1,
 };

-// INTF_CONFIG0
-enum INTF_CONFIG0_BIT : uint8_t {
-	FIFO_HOLD_LAST_DATA_EN = Bit7,
-	FIFO_COUNT_REC = Bit6,
-	FIFO_COUNT_ENDIAN = Bit5,
-	SENSOR_DATA_ENDIAN = Bit4,
-	UI_SIFS_CFG_DISABLE_SPI = Bit1,
-	UI_SIFS_CFG_DISABLE_I2C = Bit1 | Bit0
-};
-
 // PWR_MGMT0
 enum PWR_MGMT0_BIT : uint8_t {
 	GYRO_MODE_LOW_NOISE  = Bit3 | Bit2, // 11: Places gyroscope in Low Noise (LN) Mode
@@ -32,4 +32,3 @@
 ############################################################################

 add_subdirectory(bmm150)
-add_subdirectory(bmm350)
@@ -1,773 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020-2022 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.
- *
- ****************************************************************************/
-
-#include "BMM350.hpp"
-using namespace time_literals;
-
-BMM350::BMM350(const I2CSPIDriverConfig &config) :
-	I2C(config),
-	I2CSPIDriver(config),
-	ModuleParams(nullptr),
-	_px4_mag(get_device_id(), config.rotation)
-
-{
-}
-
-BMM350::~BMM350()
-{
-	perf_free(_reset_perf);
-	perf_free(_bad_read_perf);
-	perf_free(_self_test_failed_perf);
-}
-
-int BMM350::init()
-{
-	ModuleParams::updateParams();
-	ParametersUpdate(true);
-	int ret = I2C::init();
-
-	if (ret != PX4_OK) {
-		DEVICE_DEBUG("I2C::init failed (%i)", ret);
-		return ret;
-	}
-
-	return Reset() ? 0 : -1;
-}
-
-bool BMM350::Reset()
-{
-	RegisterWrite(Register::CMD, SOFT_RESET);
-	_state = STATE::RESET;
-	ScheduleClear();
-	ScheduleDelayed(1_ms);
-	return true;
-}
-
-void BMM350::print_status()
-{
-	I2CSPIDriverBase::print_status();
-
-	perf_print_counter(_reset_perf);
-	perf_print_counter(_bad_read_perf);
-	perf_print_counter(_self_test_failed_perf);
-}
-
-void BMM350::ParametersUpdate(bool force)
-{
-	if (_parameter_update_sub.updated() || force) {
-		parameter_update_s param_update;
-		_parameter_update_sub.copy(&param_update);
-		updateParams();
-		UpdateMagParams();
-	}
-}
-
-void BMM350::UpdateMagParams()
-{
-	uint8_t odr = GetODR(_param_bmm350_odr.get());
-	uint8_t avg = GetAVG(_param_bmm350_avg.get());
-
-	_mag_odr_mode = odr;
-	_mag_avg_mode = avg;
-	_mag_pad_drive = static_cast<uint8_t>(_param_bmm350_drive.get());
-	PX4_DEBUG("Set params odr = %d, avg = %d, drive = %d", _mag_odr_mode, _mag_avg_mode, _mag_pad_drive);
-}
-
-uint8_t BMM350::GetODR(int value)
-{
-	switch (value) {
-	case 0: return ODR_400HZ;
-
-	case 1: return ODR_200HZ;
-
-	case 2: return ODR_100HZ;
-
-	case 3: return ODR_50HZ;
-
-	case 4: return ODR_25HZ;
-
-	case 5: return ODR_12_5HZ;
-
-	case 6: return ODR_6_25HZ;
-
-	case 7: return ODR_3_125HZ;
-
-	case 8: return ODR_1_5625HZ;
-
-	default: return ODR_200HZ;
-	}
-}
-
-hrt_abstime BMM350::OdrToUs(uint8_t odr)
-{
-	switch (odr) {
-	case ODR_400HZ:
-		return 2500_us;
-
-	case ODR_200HZ:
-		return 5000_us;
-
-	case ODR_100HZ:
-		return 10000_us;
-
-	case ODR_50HZ:
-		return 20000_us;
-
-	case ODR_25HZ:
-		return 40000_us;
-
-	case ODR_12_5HZ:
-		return 80000_us;
-
-	case ODR_6_25HZ:
-		return 160000_us;
-
-	case ODR_3_125HZ:
-		return 320000_us;
-
-	case ODR_1_5625HZ:
-		return 640000_us;
-
-	default:
-		return 5000_us;
-	}
-}
-
-uint8_t BMM350::GetAVG(int value)
-{
-	switch (value) {
-	case 0: return AVG_NO_AVG;
-
-	case 1: return AVG_2;
-
-	case 2: return AVG_4;
-
-	case 3: return AVG_8;
-
-	default: return AVG_2;
-	}
-}
-
-
-int BMM350::probe()
-{
-	for (int i = 0; i < 3; i++) {
-		uint8_t chip_id;
-
-		if (PX4_OK == RegisterRead(Register::CHIP_ID, &chip_id)) {
-			PX4_DEBUG("CHIP_ID: 0x%02hhX", chip_id);
-
-			if (chip_id == chip_identification_number) {
-				return PX4_OK;
-			}
-		}
-	}
-
-	return PX4_ERROR;
-}
-
-void BMM350::RunImpl()
-{
-	const hrt_abstime now = hrt_absolute_time();
-	int ret = PX4_OK;
-	ParametersUpdate();
-
-	switch (_state) {
-	case STATE::RESET: {
-			if (RegisterWrite(Register::CMD, SOFT_RESET) == PX4_OK) {
-				_reset_timestamp = now;
-				_state = STATE::WAIT_FOR_RESET;
-				perf_count(_reset_perf);
-			}
-
-			ScheduleDelayed(10_ms);
-		}
-		break;
-
-	case STATE::WAIT_FOR_RESET: {
-			ret = probe();
-
-			if (ret == PX4_OK) {
-				_state = STATE::RESET;
-				uint8_t status_0;
-				ret = RegisterRead(Register::PMU_STATUS_0, &status_0);
-
-				if (ret == PX4_OK && (status_0 & PWR_NORMAL) != 0) {
-					ret = PX4_ERROR;
-				}
-
-				if (ret == PX4_OK) {
-					ret = UpdateMagOffsets();
-				}
-
-				if (ret == PX4_OK) {
-					PX4_DEBUG("Going to FGR");
-					_state = STATE::FGR;
-
-				}
-
-				ScheduleDelayed(10_ms);
-
-			} else {
-				if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
-					PX4_DEBUG("Reset failed, retrying");
-					_state = STATE::RESET;
-					ScheduleDelayed(100_ms);
-
-				} else {
-					PX4_DEBUG("Reset not complete, check again in 10 ms");
-					ScheduleDelayed(10_ms);
-				}
-			}
-		}
-		break;
-
-	case STATE::FGR: {
-			_state = STATE::RESET;
-			uint8_t odr_reg_data = (ODR_100HZ & 0xf);
-			odr_reg_data = ((odr_reg_data & ~(0x30)) | ((AVG_2 << 0x4) & 0x30));
-			ret = RegisterWrite(Register::PMU_CMD_AGGR_SET, odr_reg_data);
-
-			if (ret == PX4_OK) {
-				ret = RegisterWrite(Register::PMU_CMD_AXIS_EN, EN_XYZ);
-			}
-
-			if (ret == PX4_OK) {
-				ret = RegisterWrite(Register::PMU_CMD, PMU_CMD_FGR);
-			}
-
-			if (ret == PX4_OK) {
-				PX4_DEBUG("Going to BR");
-				_state = STATE::BR;
-			}
-
-			ScheduleDelayed(30_ms);
-		}
-		break;
-
-	case STATE::BR: {
-			uint8_t status_0;
-			_state = STATE::RESET;
-			ret = RegisterRead(Register::PMU_STATUS_0, &status_0);
-
-			if (ret == PX4_OK && PMU_CMD_STATUS_0_RES(status_0) == PMU_STATUS_FGR) {
-				ret = RegisterWrite(Register::PMU_CMD, PMU_CMD_BR_FAST);
-
-				if (ret == PX4_OK) {
-					PX4_DEBUG("Going to after reset");
-					_state = STATE::AFTER_RESET;
-				}
-			}
-
-			ScheduleDelayed(4_ms);
-		}
-		break;
-
-	case STATE::AFTER_RESET: {
-			uint8_t status_0;
-			_state = STATE::RESET;
-			ret = RegisterRead(Register::PMU_STATUS_0, &status_0);
-
-			if (ret == PX4_OK && PMU_CMD_STATUS_0_RES(status_0) == PMU_STATUS_BR_FAST) {
-				_state = STATE::MEASURE_FORCED;
-				_self_test_state = SELF_TEST_STATE::INIT;
-				PX4_DEBUG("Going to fast FM");
-			}
-
-			ScheduleNow();
-		}
-		break;
-
-	case STATE::MEASURE_FORCED: {
-			ret = RegisterWrite(Register::PMU_CMD, PMU_CMD_FAST_FM);
-
-			if (ret == PX4_OK) {
-				_state = STATE::SELF_TEST_CHECK;
-
-			} else {
-				_state = STATE::RESET;
-			}
-
-			ScheduleDelayed(OdrToUs(_mag_odr_mode));
-			break;
-		}
-
-	case STATE::SELF_TEST_CHECK: {
-
-			float xyzt[4];
-			_state = STATE::RESET;
-
-			if (ReadOutRawData(xyzt) != PX4_OK) {
-				perf_count(_self_test_failed_perf);
-				ScheduleNow();
-				break;
-			}
-
-			switch (_self_test_state) {
-			case SELF_TEST_STATE::INIT:
-				memcpy(_initial_self_test_values, xyzt, sizeof(_initial_self_test_values));
-
-				if (RegisterWrite(Register::TMR_SELF_TEST_USER, SELF_TEST_POS_X) == PX4_OK) {
-					_self_test_state = SELF_TEST_STATE::POS_X;
-					_state = STATE::MEASURE_FORCED;
-				}
-
-				break;
-
-			case SELF_TEST_STATE::POS_X:
-				if (xyzt[0] - _initial_self_test_values[0] >= 130.0f &&
-				    RegisterWrite(Register::TMR_SELF_TEST_USER, SELF_TEST_NEG_X) == PX4_OK) {
-					_self_test_state = SELF_TEST_STATE::NEG_X;
-					_state = STATE::MEASURE_FORCED;
-				}
-
-				break;
-
-			case SELF_TEST_STATE::NEG_X:
-				if (xyzt[0] - _initial_self_test_values[0] <= -130.0f &&
-				    RegisterWrite(Register::TMR_SELF_TEST_USER, SELF_TEST_POS_Y) == PX4_OK) {
-					_self_test_state = SELF_TEST_STATE::POS_Y;
-					_state = STATE::MEASURE_FORCED;
-				}
-
-				break;
-
-			case SELF_TEST_STATE::POS_Y:
-				if (xyzt[1] - _initial_self_test_values[1] >= 130.0f &&
-				    RegisterWrite(Register::TMR_SELF_TEST_USER, SELF_TEST_NEG_Y) == PX4_OK) {
-					_self_test_state = SELF_TEST_STATE::NEG_Y;
-					_state = STATE::MEASURE_FORCED;
-				}
-
-				break;
-
-			case SELF_TEST_STATE::NEG_Y:
-				if (xyzt[1] - _initial_self_test_values[1] <= -130.0f &&
-				    RegisterWrite(Register::TMR_SELF_TEST_USER, SELF_TEST_DISABLE) == PX4_OK) {
-					PX4_DEBUG("Self test good, going to configure");
-					_state = STATE::CONFIGURE;
-				}
-
-				break;
-
-			}
-
-			if (_state == STATE::RESET) {
-				PX4_DEBUG("Self test failed");
-				perf_count(_self_test_failed_perf);
-			}
-
-			ScheduleDelayed(1_ms);
-		}
-		break;
-
-
-	case STATE::CONFIGURE:
-		if (Configure() == PX4_OK) {
-			_state = STATE::READ;
-			PX4_DEBUG("Configure went fine");
-			ScheduleOnInterval(OdrToUs(_mag_odr_mode), 50_ms);
-
-		} else {
-			// CONFIGURE not complete
-			if (hrt_elapsed_time(&_reset_timestamp) > 1000_ms) {
-				PX4_DEBUG("Configure failed, resetting");
-				_state = STATE::RESET;
-
-			} else {
-				PX4_DEBUG("Configure failed, retrying");
-			}
-
-			ScheduleDelayed(100_ms);
-		}
-
-		break;
-
-	case STATE::READ: {
-			// -- start get_compensated_mag_xyz_temp_data
-			float out_data[4] = {0.0f};
-			float dut_offset_coeff[3], dut_sensit_coeff[3], dut_tcos[3], dut_tcss[3];
-			float cr_ax_comp_x, cr_ax_comp_y, cr_ax_comp_z;
-
-			ret = ReadOutRawData(out_data);
-
-			if (ret == PX4_OK) {
-				// Apply compensation to temperature reading
-				out_data[3] = (1 + _mag_comp_vals.dut_sensit_coef.t_sens) * out_data[3] +
-					      _mag_comp_vals.dut_offset_coef.t_offs;
-
-				// Store magnetic compensation structure to an array
-				dut_offset_coeff[0] = _mag_comp_vals.dut_offset_coef.offset_x;
-				dut_offset_coeff[1] = _mag_comp_vals.dut_offset_coef.offset_y;
-				dut_offset_coeff[2] = _mag_comp_vals.dut_offset_coef.offset_z;
-
-				dut_sensit_coeff[0] = _mag_comp_vals.dut_sensit_coef.sens_x;
-				dut_sensit_coeff[1] = _mag_comp_vals.dut_sensit_coef.sens_y;
-				dut_sensit_coeff[2] = _mag_comp_vals.dut_sensit_coef.sens_z;
-
-				dut_tcos[0] = _mag_comp_vals.dut_tco.tco_x;
-				dut_tcos[1] = _mag_comp_vals.dut_tco.tco_y;
-				dut_tcos[2] = _mag_comp_vals.dut_tco.tco_z;
-
-				dut_tcss[0] = _mag_comp_vals.dut_tcs.tcs_x;
-				dut_tcss[1] = _mag_comp_vals.dut_tcs.tcs_y;
-				dut_tcss[2] = _mag_comp_vals.dut_tcs.tcs_z;
-
-				for (int idx = 0; idx < 3; idx++) {
-					out_data[idx] *= 1 + dut_sensit_coeff[idx];
-					out_data[idx] += dut_offset_coeff[idx];
-					out_data[idx] += dut_tcos[idx] * (out_data[3] - _mag_comp_vals.dut_t0);
-					out_data[idx] /= 1 + dut_tcss[idx] * (out_data[3] - _mag_comp_vals.dut_t0);
-				}
-
-				cr_ax_comp_x = (out_data[0] - _mag_comp_vals.cross_axis.cross_x_y * out_data[1]) /
-					       (1 - _mag_comp_vals.cross_axis.cross_y_x * _mag_comp_vals.cross_axis.cross_x_y);
-				cr_ax_comp_y = (out_data[1] - _mag_comp_vals.cross_axis.cross_y_x * out_data[0]) /
-					       (1 - _mag_comp_vals.cross_axis.cross_y_x * _mag_comp_vals.cross_axis.cross_x_y);
-				cr_ax_comp_z =
-					(out_data[2] +
-					 (out_data[0] *
-					  (_mag_comp_vals.cross_axis.cross_y_x * _mag_comp_vals.cross_axis.cross_z_y -
-					   _mag_comp_vals.cross_axis.cross_z_x) -
-					  out_data[1] *
-					  (_mag_comp_vals.cross_axis.cross_z_y - _mag_comp_vals.cross_axis.cross_x_y *
-					   _mag_comp_vals.cross_axis.cross_z_x)) /
-					 (1 - _mag_comp_vals.cross_axis.cross_y_x * _mag_comp_vals.cross_axis.cross_x_y));
-
-				out_data[0] = cr_ax_comp_x;
-				out_data[1] = cr_ax_comp_y;
-				out_data[2] = cr_ax_comp_z;
-				_px4_mag.set_error_count(perf_event_count(_bad_read_perf) + perf_event_count(_self_test_failed_perf));
-				_px4_mag.set_temperature(out_data[3]);
-				_px4_mag.update(now, out_data[0], out_data[1], out_data[2]);
-
-			} else {
-				perf_count(_bad_read_perf);
-			}
-		}
-
-		break;
-	}
-}
-
-int BMM350::Configure()
-{
-	PX4_DEBUG("Configuring");
-	uint8_t readData = 0;
-	int ret;
-
-	// Set pad drive
-	ret = RegisterWrite(Register::PAD_CTRL, (_mag_pad_drive & 0x7));
-
-	if (ret != PX4_OK) {
-		PX4_DEBUG("Couldn't set pad drive, defaults to 7");
-		return ret;
-	}
-
-	// Set PMU data aggregation
-	uint8_t odr = _mag_odr_mode;
-	uint8_t avg = _mag_avg_mode;
-
-	if (odr == ODR_400HZ && avg >= AVG_2) {
-		avg = AVG_NO_AVG;
-
-	} else if (odr == ODR_200HZ && avg >= AVG_4) {
-		avg = AVG_2;
-
-	} else if (odr == ODR_100HZ && avg >= AVG_8) {
-		avg = AVG_4;
-	}
-
-	uint8_t odr_reg_data = (odr & 0xf);
-	odr_reg_data = ((odr_reg_data & ~(0x30)) | ((avg << 0x4) & 0x30));
-
-	ret = RegisterWrite(Register::PMU_CMD_AGGR_SET, odr_reg_data);
-
-	if (ret != PX4_OK) {
-		PX4_DEBUG("Cannot set PMU AGG REG");
-		return ret;
-	}
-
-	ret = RegisterRead(Register::PMU_CMD_AGGR_SET, &readData);
-
-	if (ret != PX4_OK || readData != odr_reg_data) {
-		PX4_DEBUG("Couldn't check PMU AGGR REG");
-		return ret;
-	}
-
-	odr_reg_data = PMU_CMD_UPDATE_OAE;
-	ret = RegisterWrite(Register::PMU_CMD, odr_reg_data);
-
-	if (ret != PX4_OK) {
-		PX4_DEBUG("Couldn't write PMU CMD REG");
-		return ret;
-	}
-
-	ret = RegisterRead(Register::PMU_CMD, &readData);
-
-	if (ret != PX4_OK || readData != odr_reg_data) {
-		PX4_DEBUG("Couldn't check PMU CMD REG");
-		return ret;
-	}
-
-	// Enable AXIS
-	uint8_t axis_data = EN_X | EN_Y | EN_Z;
-	// PMU_CMD_AXIS_EN
-	ret = RegisterWrite(Register::PMU_CMD_AXIS_EN, axis_data);
-
-	if (ret != PX4_OK) {
-		PX4_DEBUG("Couldn't write AXIS data");
-		return ret;
-	}
-
-	ret = RegisterRead(Register::PMU_CMD_AXIS_EN, &readData);
-
-	if (ret != PX4_OK || readData != axis_data) {
-		PX4_DEBUG("Couldn't cross check the set AXIS");
-		return ret;
-	}
-
-	ret = RegisterWrite(Register::PMU_CMD, PMU_CMD_NM);
-
-	if (ret != PX4_OK) {
-		PX4_DEBUG("Failed to start mag in normal mode");
-		return ret;
-	}
-
-	// microTesla -> Gauss
-	_px4_mag.set_scale(0.01f);
-
-	return ret;
-}
-
-int32_t BMM350::FixSign(uint32_t inval, int8_t num_bits)
-{
-	int32_t power = 1 << (num_bits - 1); // Calculate 2^(num_bits - 1)
-	int32_t retval = static_cast<int32_t>(inval);
-
-	if (retval >= power) {
-		retval -= (power << 1); // Equivalent to retval = retval - (power * 2)
-	}
-
-	return retval;
-}
-
-int BMM350::ReadOutRawData(float *out_data)
-{
-	if (out_data == NULL) {
-		return -1;
-	}
-
-	float temp = 0.0;
-	struct BMM350::raw_mag_data raw_data = {0};
-
-	// --- Start read_uncomp_mag_temp_data
-	uint8_t mag_data[14] = {0};
-
-	uint32_t raw_mag_x, raw_mag_y, raw_mag_z, raw_temp;
-	uint8_t cmd = static_cast<uint8_t>(Register::DATAX_XLSB);
-
-	uint8_t res = transfer(&cmd, 1, (uint8_t *)&mag_data, sizeof(mag_data));
-
-	if (res != PX4_OK) {
-		return -1;
-	}
-
-	raw_mag_x = mag_data[2] + ((uint32_t)mag_data[3] << 8) + ((uint32_t)mag_data[4] << 16);
-	raw_mag_y = mag_data[5] + ((uint32_t)mag_data[6] << 8) + ((uint32_t)mag_data[7] << 16);
-	raw_mag_z = mag_data[8] + ((uint32_t)mag_data[9] << 8) + ((uint32_t)mag_data[10] << 16);
-	raw_temp = mag_data[11] + ((uint32_t)mag_data[12] << 8) + ((uint32_t)mag_data[13] << 16);
-
-	raw_data.raw_x = FixSign(raw_mag_x, 24);
-	raw_data.raw_y = FixSign(raw_mag_y, 24);
-	raw_data.raw_z = FixSign(raw_mag_z, 24);
-	raw_data.raw_t = FixSign(raw_temp, 24);
-	// --- End read_uncomp_mag_temp_data
-
-	// --- Start read_out_raw_data
-	out_data[0] = (float)raw_data.raw_x * lsb_to_utc_degc[0];
-	out_data[1] = (float)raw_data.raw_y * lsb_to_utc_degc[1];
-	out_data[2] = (float)raw_data.raw_z * lsb_to_utc_degc[2];
-	out_data[3] = (float)raw_data.raw_t * lsb_to_utc_degc[3];
-
-	// Adjust temperature
-	if (out_data[3] > 0.0f) {
-		temp = (float)(out_data[3] - (1 * 25.49f));
-
-	} else if (out_data[3] < 0.0f) {
-		temp = (float)(out_data[3] - (-1 * 25.49f));
-
-	} else {
-		temp = (float)(out_data[3]);
-	}
-
-	out_data[3] = temp;
-
-	return res;
-}
-
-int BMM350::ReadOTPWord(uint8_t addr, uint16_t *lsb_msb)
-{
-	uint8_t otp_cmd = OTP_DIR_READ | (addr & OTP_WORD_MSK);
-	int ret = RegisterWrite(Register::OTP_CMD, otp_cmd);
-	uint8_t otp_status = 0;
-
-	if (ret == PX4_OK) {
-		do {
-			ret = RegisterRead(Register::OTP_STATUS, &otp_status);
-
-			if (ret != PX4_OK) {
-				return PX4_ERROR;
-			}
-		} while (!(otp_status & 0x01));
-
-		uint8_t msb = 0, lsb = 0;
-		ret = RegisterRead(Register::OTP_DATA_MSB, &msb);
-
-		if (ret == PX4_OK) {
-			ret  = RegisterRead(Register::OTP_DATA_LSB, &lsb);
-
-			if (ret == PX4_OK) {
-				*lsb_msb = ((msb << 8) | lsb) & 0xffff;
-			}
-		}
-	}
-
-	return ret;
-}
-
-int BMM350::UpdateMagOffsets()
-{
-	PX4_DEBUG("DUMPING OTP");
-	uint16_t otp_data[32] = {0};
-
-	for (int idx = 0; idx < 32; idx++) {
-		if (ReadOTPWord(idx, &otp_data[idx]) != PX4_OK) {
-			return PX4_ERROR;
-		}
-
-		PX4_DEBUG("i: %i, val = %i", idx, otp_data[idx]);
-	}
-
-	if (RegisterWrite(Register::OTP_CMD, PWR_OFF_OTP) != PX4_OK) {
-		return PX4_ERROR;
-	}
-
-	PX4_DEBUG("var_id: %i", (otp_data[30] & 0x7f00) >> 9);
-
-	PX4_DEBUG("UPDATING OFFSETS");
-	uint16_t off_x_lsb_msb, off_y_lsb_msb, off_z_lsb_msb, t_off;
-	uint8_t sens_x, sens_y, sens_z, t_sens;
-	uint8_t tco_x, tco_y, tco_z;
-	uint8_t tcs_x, tcs_y, tcs_z;
-	uint8_t cross_x_y, cross_y_x, cross_z_x, cross_z_y;
-
-	off_x_lsb_msb = otp_data[0x0E] & 0x0FFF;
-	off_y_lsb_msb = ((otp_data[0x0E] & 0xF000) >> 4) +
-			(otp_data[0x0F] & 0x00FF);
-	off_z_lsb_msb = (otp_data[0x0F] & 0x0F00) +
-			(otp_data[0x10] & 0x00FF);
-	t_off = otp_data[0x0D] & 0x00FF;
-
-	_mag_comp_vals.dut_offset_coef.offset_x = FixSign(off_x_lsb_msb, 12);
-	_mag_comp_vals.dut_offset_coef.offset_y = FixSign(off_y_lsb_msb, 12);
-	_mag_comp_vals.dut_offset_coef.offset_z = FixSign(off_z_lsb_msb, 12);
-	_mag_comp_vals.dut_offset_coef.t_offs = FixSign(t_off, 8) / 5.0f;
-
-	sens_x = (otp_data[0x10] & 0xFF00) >> 8;
-	sens_y = (otp_data[0x11] & 0x00FF);
-	sens_z = (otp_data[0x11] & 0xFF00) >> 8;
-	t_sens = (otp_data[0x0D] & 0xFF00) >> 8;
-
-	_mag_comp_vals.dut_sensit_coef.sens_x = FixSign(sens_x, 8) / 256.0f;
-	_mag_comp_vals.dut_sensit_coef.sens_y = (FixSign(sens_y, 8) / 256.0f) + 0.01f;
-	_mag_comp_vals.dut_sensit_coef.sens_z = FixSign(sens_z, 8) / 256.0f;
-	_mag_comp_vals.dut_sensit_coef.t_sens = FixSign(t_sens, 8) / 512.0f;
-
-	tco_x = (otp_data[0x12] & 0x00FF);
-	tco_y = (otp_data[0x13] & 0x00FF);
-	tco_z = (otp_data[0x14] & 0x00FF);
-
-	_mag_comp_vals.dut_tco.tco_x = FixSign(tco_x, 8) / 32.0f;
-	_mag_comp_vals.dut_tco.tco_y = FixSign(tco_y, 8) / 32.0f;
-	_mag_comp_vals.dut_tco.tco_z = FixSign(tco_z, 8) / 32.0f;
-
-	tcs_x = (otp_data[0x12] & 0xFF00) >> 8;
-	tcs_y = (otp_data[0x13] & 0xFF00) >> 8;
-	tcs_z = (otp_data[0x14] & 0xFF00) >> 8;
-
-	_mag_comp_vals.dut_tcs.tcs_x = FixSign(tcs_x, 8) / 16384.0f;
-	_mag_comp_vals.dut_tcs.tcs_y = FixSign(tcs_y, 8) / 16384.0f;
-	_mag_comp_vals.dut_tcs.tcs_z = (FixSign(tcs_z, 8) / 16384.0f) - 0.0001f;
-
-	_mag_comp_vals.dut_t0 = (FixSign(otp_data[0x18], 16) / 512.0f) + 23.0f;
-
-	cross_x_y = (otp_data[0x15] & 0x00FF);
-	cross_y_x = (otp_data[0x15] & 0xFF00) >> 8;
-	cross_z_x = (otp_data[0x16] & 0x00FF);
-	cross_z_y = (otp_data[0x16] & 0xFF00) >> 8;
-
-	_mag_comp_vals.cross_axis.cross_x_y = FixSign(cross_x_y, 8) / 800.0f;
-	_mag_comp_vals.cross_axis.cross_y_x = FixSign(cross_y_x, 8) / 800.0f;
-	_mag_comp_vals.cross_axis.cross_z_x = FixSign(cross_z_x, 8) / 800.0f;
-	_mag_comp_vals.cross_axis.cross_z_y = FixSign(cross_z_y, 8) / 800.0f;
-	return PX4_OK;
-}
-
-int BMM350::RegisterRead(Register reg, uint8_t *value)
-{
-	const uint8_t cmd = static_cast<uint8_t>(reg);
-	uint8_t buffer[3] = {0};
-	int ret = transfer(&cmd, 1, buffer, 3);
-
-	if (ret != PX4_OK) {
-		PX4_DEBUG("register read 0x%02hhX failed, ret = %d", cmd, ret);
-
-	} else {
-		*value = buffer[2];
-	}
-
-	return ret;
-}
-
-int BMM350::RegisterWrite(Register reg, uint8_t value)
-{
-	uint8_t buffer[2] {(uint8_t)reg, value};
-	int ret = transfer(buffer, sizeof(buffer), nullptr, 0);
-
-	if (ret != PX4_OK) {
-		PX4_DEBUG("register write 0x%02hhX failed, ret = %d", (uint8_t)reg, ret);
-	}
-
-	return ret;
-}
@@ -1,210 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020-2022 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.
- *
- ****************************************************************************/
-
-/**
- * @file BMM350.hpp
- *
- * Driver for the Bosch BMM350 connected via I2C.
- *
- */
-
-#pragma once
-
-#include "Bosch_BMM350_registers.hpp"
-
-#include <drivers/drv_hrt.h>
-#include <lib/drivers/device/i2c.h>
-#include <lib/drivers/magnetometer/PX4Magnetometer.hpp>
-#include <lib/perf/perf_counter.h>
-#include <px4_platform_common/i2c_spi_buses.h>
-#include <px4_platform_common/module_params.h>
-#include <uORB/topics/parameter_update.h>
-#include <uORB/SubscriptionInterval.hpp>
-
-using namespace Bosch_BMM350;
-using namespace time_literals;
-
-class BMM350 : public device::I2C, public I2CSPIDriver<BMM350>, public ModuleParams
-{
-public:
-	BMM350(const I2CSPIDriverConfig &config);
-	~BMM350() override;
-
-	static void print_usage();
-
-	void RunImpl();
-
-	int init() override;
-	void print_status() override;
-
-private:
-	struct mag_temp_data {
-		float x;
-		float y;
-		float z;
-		float temp;
-	};
-
-	struct raw_mag_data {
-		int32_t raw_x;
-		int32_t raw_y;
-		int32_t raw_z;
-		int32_t raw_t;
-	};
-
-	struct register_config_t {
-		Register reg;
-		uint8_t set_bits{0};
-		uint8_t clear_bits{0};
-	};
-
-	struct dut_offset_coef {
-		float t_offs;
-		float offset_x;
-		float offset_y;
-		float offset_z;
-	};
-	struct dut_sensit_coef {
-		float t_sens;
-		float sens_x;
-		float sens_y;
-		float sens_z;
-	};
-
-	struct dut_tco {
-		float tco_x;
-		float tco_y;
-		float tco_z;
-	};
-
-	struct dut_tcs {
-		float tcs_x;
-		float tcs_y;
-		float tcs_z;
-	};
-
-	struct cross_axis {
-		float cross_x_y;
-		float cross_y_x;
-		float cross_z_x;
-		float cross_z_y;
-	};
-
-	struct mag_compensate_vals {
-		struct dut_offset_coef dut_offset_coef;
-		struct dut_sensit_coef dut_sensit_coef;
-		struct dut_tco dut_tco;
-		struct dut_tcs dut_tcs;
-		float dut_t0;
-		struct cross_axis cross_axis;
-	};
-
-	int probe() override;
-	bool Reset();
-	int Configure();
-
-	int RegisterRead(Register reg, uint8_t *value);
-	int RegisterWrite(Register reg, uint8_t value);
-
-	int8_t CompensateAxisAndTemp();
-	int ReadOutRawData(float *out_data);
-	int ReadOTPWord(uint8_t addr, uint16_t *lsb_msb);
-	int32_t FixSign(uint32_t inval, int8_t num_bits);
-
-	int UpdateMagOffsets();
-	void ParametersUpdate(bool force = false);
-	void UpdateMagParams();
-	uint8_t GetODR(int value);
-	hrt_abstime OdrToUs(uint8_t value);
-	uint8_t GetAVG(int value);
-
-	PX4Magnetometer _px4_mag;
-
-	perf_counter_t _reset_perf{perf_alloc(PC_COUNT, MODULE_NAME ": reset")};
-	perf_counter_t _bad_read_perf{perf_alloc(PC_COUNT, MODULE_NAME ": bad read")};
-	perf_counter_t _self_test_failed_perf{perf_alloc(PC_COUNT, MODULE_NAME ": self test failed")};
-
-	hrt_abstime _reset_timestamp{0};
-	hrt_abstime _last_config_check_timestamp{0};
-
-	mag_compensate_vals _mag_comp_vals{0};
-
-	float _initial_self_test_values[4];
-
-	uint8_t _mag_odr_mode = ODR_200HZ;
-	uint8_t _mag_avg_mode = AVG_2;
-	uint8_t _mag_pad_drive = 7;
-
-
-	static constexpr float BXY_SENS = 14.55f;
-	static constexpr float BZ_SENS = 9.0f;
-	static constexpr float TEMP_SENS = 0.00204f;
-	static constexpr float INA_XY_GAIN_TRT = 19.46f;
-	static constexpr float INA_Z_GAIN_TRT = 31.0f;
-	static constexpr float ADC_GAIN = 1 / 1.5f;
-	static constexpr float LUT_GAIN = 0.714607238769531f;
-	static constexpr float POWER = 1000000.0f / 1048576.0f;
-	float lsb_to_utc_degc[4] = {
-		(POWER / (BXY_SENS *INA_XY_GAIN_TRT *ADC_GAIN * LUT_GAIN)),
-		(POWER / (BXY_SENS *INA_XY_GAIN_TRT *ADC_GAIN * LUT_GAIN)),
-		(POWER / (BZ_SENS *INA_Z_GAIN_TRT *ADC_GAIN * LUT_GAIN)),
-		1 / (TEMP_SENS *ADC_GAIN *LUT_GAIN * 1048576)
-	};
-
-	enum class STATE : uint8_t {
-		RESET,
-		WAIT_FOR_RESET,
-		FGR,
-		BR,
-		AFTER_RESET,
-		MEASURE_FORCED,
-		SELF_TEST_CHECK,
-		CONFIGURE,
-		READ,
-	} _state{STATE::RESET};
-
-	enum class SELF_TEST_STATE : uint8_t {
-		INIT,
-		POS_X,
-		NEG_X,
-		POS_Y,
-		NEG_Y
-	} _self_test_state{SELF_TEST_STATE::INIT};
-
-	DEFINE_PARAMETERS(
-		(ParamInt<px4::params::BMM350_ODR>) _param_bmm350_odr,
-		(ParamInt<px4::params::BMM350_AVG>) _param_bmm350_avg,
-		(ParamInt<px4::params::BMM350_DRIVE>) _param_bmm350_drive
-	)
-	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
-};
@@ -1,159 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020-2024 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.
- *
- ****************************************************************************/
-
-/**
- * @file Bosch_BMM350_registers.hpp
- *
- * Bosch BMM350 registers.
- *
- */
-
-#pragma once
-
-#include <cstdint>
-
-namespace Bosch_BMM350
-{
-#define ENABLE_X_AXIS(axis_data) (axis_data = (axis_data & ~(0x01)) | (1 & 0x01))
-#define ENABLE_Y_AXIS(axis_data) (axis_data = ((axis_data & ~(0x02)) | ((1 << 0x1) & 0x02)))
-#define ENABLE_Z_AXIS(axis_data) (axis_data = ((axis_data & ~(0x04)) | ((1 << 0x2) & 0x04)))
-
-static constexpr uint32_t I2C_SPEED = 400 * 1000;
-static constexpr uint8_t I2C_ADDRESS_DEFAULT = 0x14;
-static constexpr uint8_t chip_identification_number = 0x33;
-
-enum class Register : uint8_t {
-	CHIP_ID = 0x00,
-
-	PAD_CTRL = 0x03,
-	PMU_CMD_AGGR_SET = 0x04,
-	PMU_CMD_AXIS_EN = 0x05,
-	PMU_CMD = 0x06,
-	PMU_STATUS_0 = 0x07,
-	PMU_STATUS_1 = 0x08,
-
-	I2C_WDT_SET = 0x0a,
-
-	DATAX_XLSB = 0x31,
-
-	OTP_CMD = 0x50,
-	OTP_DATA_MSB = 0x52,
-	OTP_DATA_LSB = 0x53,
-	OTP_STATUS = 0x55,
-
-	TMR_SELF_TEST_USER = 0x60,
-	CMD = 0x7e
-};
-
-enum CONTROL_CMD : uint8_t {
-	SOFT_RESET = 0xb6,
-	EN_XYZ = 0x7
-};
-
-enum PMU_CONTROL_CMD : uint8_t {
-	PMU_CMD_SUSPEND = 0x00,
-	PMU_CMD_NM = 0x01,
-	PMU_CMD_UPDATE_OAE = 0x02,
-	PMU_CMD_FM = 0x03,
-	PMU_CMD_FAST_FM = 0x04,
-	PMU_CMD_FGR = 0x05,
-	PMU_CMD_FAST_FGR = 0x06,
-	PMU_CMD_BR = 0x07,
-	PMU_CMD_BR_FAST = 0x08,
-	PMU_CMD_NM_TC = 0x09
-};
-
-static inline uint8_t PMU_CMD_STATUS_0_RES(uint8_t val)
-{
-	return (val >> 5) & 0x7;
-};
-
-enum PMU_STATUS_0_BIT : uint8_t {
-	PMU_BUSY = (1 << 0),
-	ODR_OVWR = (1 << 1),
-	AVG_OVWR = (1 << 2),
-	PWR_NORMAL = (1 << 3),
-	ILLEGAL_CMD = (1 << 4)
-};
-
-enum PMU_STATUS_VALUE {
-	PMU_STATUS_SUS = 0x0,
-	PMU_STATUS_NM = 0x1,
-	PMU_STATUS_UPDATE_OAE = 0x2,
-	PMU_STATUS_FM = 0x3,
-	PMU_STATUS_FM_FAST = 0x4,
-	PMU_STATUS_FGR = 0x5,
-	PMU_STATUS_FGR_FAST = 0x6,
-	PMU_STATUS_BR = 0x7,
-	PMU_STATUS_BR_FAST = 0x7,
-};
-
-enum ODR_CONTROL_CMD : uint8_t {
-	ODR_400HZ = 0x2,
-	ODR_200HZ = 0x3,
-	ODR_100HZ = 0x4,
-	ODR_50HZ = 0x5,
-	ODR_25HZ = 0x6,
-	ODR_12_5HZ = 0x7,
-	ODR_6_25HZ = 0x8,
-	ODR_3_125HZ = 0x9,
-	ODR_1_5625HZ = 0xa
-};
-
-enum AVG_CONTROL_CMD : uint8_t {
-	AVG_NO_AVG = 0x0,
-	AVG_2 = 0x1,
-	AVG_4 = 0x2,
-	AVG_8 = 0x3
-};
-
-enum ENABLE_AXIS_BIT : uint8_t {
-	EN_X = (1 << 0),
-	EN_Y = (1 << 1),
-	EN_Z = (1 << 2)
-};
-
-enum OTP_CONTROL_CMD : uint8_t {
-	PWR_OFF_OTP = 0x80,
-	OTP_DIR_READ = 0x20,
-	OTP_WORD_MSK = 0x1F,
-};
-
-enum SELF_TEST_CMD : uint8_t {
-	SELF_TEST_DISABLE = 0x00,
-	SELF_TEST_POS_X = 0x0d,
-	SELF_TEST_NEG_X = 0x0b,
-	SELF_TEST_POS_Y = 0x15,
-	SELF_TEST_NEG_Y = 0x13,
-};
-} // namespace Bosch_BMM350
@@ -1,48 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2020 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-
-px4_add_module(
-	MODULE drivers__magnetometer__bosch__bmm350
-	MAIN bmm350
-	COMPILE_FLAGS
-	SRCS
-		BMM350.cpp
-		BMM350.hpp
-		bmm350_main.cpp
-		Bosch_BMM350_registers.hpp
-	DEPENDS
-		drivers_magnetometer
-		px4_work_queue
-	MODULE_CONFIG
-		module.yaml
-	)
@@ -1,5 +0,0 @@
-menuconfig DRIVERS_MAGNETOMETER_BOSCH_BMM350
-	bool "bmm350"
-	default n
-	---help---
-		Enable support for bosch bmm350
@@ -1,89 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2020-2022 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.
- *
- ****************************************************************************/
-
-#include "BMM350.hpp"
-
-#include <px4_platform_common/getopt.h>
-#include <px4_platform_common/module.h>
-
-void BMM350::print_usage()
-{
-	PRINT_MODULE_USAGE_NAME("bmm350", "driver");
-	PRINT_MODULE_USAGE_SUBCATEGORY("magnetometer");
-	PRINT_MODULE_USAGE_COMMAND("start");
-	PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, false);
-	PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x14);
-	PRINT_MODULE_USAGE_PARAM_INT('R', 0, 0, 35, "Rotation", true);
-	PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-}
-
-extern "C" int bmm350_main(int argc, char *argv[])
-{
-	int ch;
-	using ThisDriver = BMM350;
-	BusCLIArguments cli{true, false};
-	cli.default_i2c_frequency = I2C_SPEED;
-	cli.i2c_address = I2C_ADDRESS_DEFAULT;
-
-	while ((ch = cli.getOpt(argc, argv, "R:")) != EOF) {
-		switch (ch) {
-		case 'R':
-			cli.rotation = (enum Rotation)atoi(cli.optArg());
-			break;
-		}
-	}
-
-	const char *verb = cli.optArg();
-
-	if (!verb) {
-		ThisDriver::print_usage();
-		return -1;
-	}
-
-	BusInstanceIterator iterator(MODULE_NAME, cli, DRV_MAG_DEVTYPE_BMM350);
-
-	if (!strcmp(verb, "start")) {
-		return ThisDriver::module_start(cli, iterator);
-	}
-
-	if (!strcmp(verb, "stop")) {
-		return ThisDriver::module_stop(iterator);
-	}
-
-	if (!strcmp(verb, "status")) {
-		return ThisDriver::module_status(iterator);
-	}
-
-	ThisDriver::print_usage();
-	return -1;
-}
@@ -1,44 +0,0 @@
-module_name: BMM350
-parameters:
-  - group: Magnetometer
-    definitions:
-      BMM350_ODR:
-        description:
-          short: BMM350 ODR rate
-          long: |
-            Defines which ODR rate to use during data polling.
-        type: enum
-        values:
-          0:  400 Hz
-          1:  200 Hz
-          2:  100 Hz
-          3:  50 Hz
-          4:  25 Hz
-          5:  12.5 Hz
-          6:  6.25 Hz
-          7:  3.125 Hz
-          8:  1.5625 Hz
-        reboot_required: true
-        default: [3]
-      BMM350_AVG:
-        description:
-          short: BMM350 data averaging
-          long: |
-            Defines which averaging mode to use during data polling.
-        type: enum
-        values:
-          0: No averaging
-          1: 2 sample averaging
-          2: 4 sample averaging
-          3: 8 sample averaging
-        reboot_required: true
-        default: [1]
-      BMM350_DRIVE:
-        description:
-          short: BMM350 pad drive strength setting
-          long: |
-            This setting helps avoid signal problems like overshoot or undershoot.
-        type: int32
-        min: 0
-        max: 7
-        default: [7]
@@ -147,8 +147,6 @@ px4_add_module(
 		arming_status.hpp
 		beep.cpp
 		beep.hpp
-		remoteid.cpp
-		remoteid.hpp
 		rgbled.cpp
 		rgbled.hpp
 		safety_state.cpp
@@ -26,10 +26,6 @@ if DRIVERS_UAVCAN
        bool "Include safety state controller"
        default y

-    config UAVCAN_REMOTEID_CONTROLLER
-        bool "Include remote ID controller"
-        default y
-
    config UAVCAN_RGB_CONTROLLER
        bool "Include rgb controller"
        default y
@@ -1,356 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-#include "remoteid.hpp"
-#include <modules/mavlink/open_drone_id_translations.hpp>
-#include <drivers/drv_hrt.h>
-
-using namespace time_literals;
-
-
-UavcanRemoteIDController::UavcanRemoteIDController(uavcan::INode &node) :
-	ModuleParams(nullptr),
-	_timer(node),
-	_node(node),
-	_uavcan_pub_remoteid_basicid(node),
-	_uavcan_pub_remoteid_location(node),
-	_uavcan_pub_remoteid_self_id(node),
-	_uavcan_pub_remoteid_system(node),
-	_uavcan_pub_remoteid_operator_id(node),
-	_uavcan_sub_arm_status(node)
-{
-}
-
-int UavcanRemoteIDController::init()
-{
-	// Setup timer and call back function for periodic updates
-	_timer.setCallback(TimerCbBinder(this, &UavcanRemoteIDController::periodic_update));
-	_timer.startPeriodic(uavcan::MonotonicDuration::fromMSec(1000 / MAX_RATE_HZ));
-
-	int res = _uavcan_sub_arm_status.start(ArmStatusBinder(this, &UavcanRemoteIDController::arm_status_sub_cb));
-
-	if (res < 0) {
-		PX4_WARN("ArmStatus sub failed %i", res);
-		return res;
-	}
-
-	return 0;
-}
-
-void UavcanRemoteIDController::periodic_update(const uavcan::TimerEvent &)
-{
-	_vehicle_status.update();
-
-	send_basic_id();
-	send_location();
-	send_self_id();
-	send_system();
-	send_operator_id();
-}
-
-void UavcanRemoteIDController::send_basic_id()
-{
-	dronecan::remoteid::BasicID basic_id {};
-	// basic_id.id_or_mac // supposedly only used for drone ID data from other UAs
-	basic_id.id_type = dronecan::remoteid::BasicID::ODID_ID_TYPE_SERIAL_NUMBER;
-	basic_id.ua_type = static_cast<uint8_t>(open_drone_id_translations::odidTypeForMavType(
-			_vehicle_status.get().system_type));
-
-	// uas_id: UAS (Unmanned Aircraft System) ID following the format specified by id_type
-	// TODO: MAV_ODID_ID_TYPE_SERIAL_NUMBER needs to be ANSI/CTA-2063 format
-
-	char uas_id[20] = {};
-	board_get_px4_guid_formated((char *)(uas_id), sizeof(uas_id));
-	basic_id.uas_id = uas_id;
-
-	_uavcan_pub_remoteid_basicid.broadcast(basic_id);
-}
-
-void UavcanRemoteIDController::send_location()
-{
-	dronecan::remoteid::Location msg {};
-
-	// initialize all fields to unknown
-	msg.status = MAV_ODID_STATUS_UNDECLARED;
-	msg.direction = 36100; // If unknown: 36100 centi-degrees
-	msg.speed_horizontal = 25500; // If unknown: 25500 cm/s
-	msg.speed_vertical = 6300; // If unknown: 6300 cm/s
-	msg.latitude = 0; // If unknown: 0
-	msg.longitude = 0; // If unknown: 0
-	msg.altitude_geodetic = -1000; // If unknown: -1000 m
-	msg.altitude_geodetic = -1000; // If unknown: -1000 m
-	msg.height = -1000; // If unknown: -1000 m
-	msg.horizontal_accuracy = MAV_ODID_HOR_ACC_UNKNOWN;
-	msg.vertical_accuracy = MAV_ODID_VER_ACC_UNKNOWN;
-	msg.barometer_accuracy = MAV_ODID_VER_ACC_UNKNOWN;
-	msg.speed_accuracy = MAV_ODID_SPEED_ACC_UNKNOWN;
-	msg.timestamp = 0xFFFF; // If unknown: 0xFFFF
-	msg.timestamp_accuracy = MAV_ODID_TIME_ACC_UNKNOWN;
-
-	bool updated = false;
-
-	if (_vehicle_land_detected_sub.advertised()) {
-		vehicle_land_detected_s vehicle_land_detected{};
-
-		if (_vehicle_land_detected_sub.copy(&vehicle_land_detected)
-		    && (hrt_elapsed_time(&vehicle_land_detected.timestamp) < 10_s)) {
-			if (vehicle_land_detected.landed) {
-				msg.status = MAV_ODID_STATUS_GROUND;
-
-			} else {
-				msg.status = MAV_ODID_STATUS_AIRBORNE;
-			}
-
-			updated = true;
-		}
-	}
-
-	if (hrt_elapsed_time(&_vehicle_status.get().timestamp) < 10_s) {
-		if (_vehicle_status.get().failsafe && (_vehicle_status.get().arming_state == vehicle_status_s::ARMING_STATE_ARMED)) {
-			msg.status = MAV_ODID_STATUS_EMERGENCY;
-			updated = true;
-		}
-	}
-
-	if (_vehicle_gps_position_sub.advertised()) {
-		sensor_gps_s vehicle_gps_position{};
-
-		if (_vehicle_gps_position_sub.copy(&vehicle_gps_position)
-		    && (hrt_elapsed_time(&vehicle_gps_position.timestamp) < 10_s)) {
-
-			if (vehicle_gps_position.vel_ned_valid) {
-				const matrix::Vector3f vel_ned{vehicle_gps_position.vel_n_m_s, vehicle_gps_position.vel_e_m_s, vehicle_gps_position.vel_d_m_s};
-
-				// direction: calculate GPS course over ground angle
-				const float course = atan2f(vel_ned(1), vel_ned(0));
-				const int course_deg = roundf(math::degrees(matrix::wrap_2pi(course)));
-				msg.direction = math::constrain(100 * course_deg, 0, 35999); // 0 - 35999 centi-degrees
-
-				// speed_horizontal: If speed is larger than 25425 cm/s, use 25425 cm/s.
-				const int speed_horizontal_cm_s = matrix::Vector2f(vel_ned).length() * 100.f;
-				msg.speed_horizontal = math::constrain(speed_horizontal_cm_s, 0, 25425);
-
-				// speed_vertical: Up is positive, If speed is larger than 6200 cm/s, use 6200 cm/s. If lower than -6200 cm/s, use -6200 cm/s.
-				const int speed_vertical_cm_s = roundf(-vel_ned(2) * 100.f);
-				msg.speed_vertical = math::constrain(speed_vertical_cm_s, -6200, 6200);
-
-				msg.speed_accuracy = open_drone_id_translations::odidSpeedAccForVariance(vehicle_gps_position.s_variance_m_s);
-
-				updated = true;
-			}
-
-			if (vehicle_gps_position.fix_type >= 2) {
-				msg.latitude = static_cast<int32_t>(round(vehicle_gps_position.latitude_deg * 1e7));
-				msg.longitude = static_cast<int32_t>(round(vehicle_gps_position.longitude_deg * 1e7));
-
-				// altitude_geodetic
-				if (vehicle_gps_position.fix_type >= 3) {
-					msg.altitude_geodetic = static_cast<float>(round(vehicle_gps_position.altitude_msl_m)); // [m]
-				}
-
-				msg.horizontal_accuracy = open_drone_id_translations::odidHorAccForEph(vehicle_gps_position.eph);
-
-				msg.vertical_accuracy = open_drone_id_translations::odidVerAccForEpv(vehicle_gps_position.epv);
-
-				updated = true;
-			}
-
-			if (vehicle_gps_position.time_utc_usec != 0) {
-				// timestamp: UTC then convert for this field using ((float) (time_week_ms % (60*60*1000))) / 1000
-				uint64_t utc_time_msec = vehicle_gps_position.time_utc_usec / 1000;
-				msg.timestamp = ((float)(utc_time_msec % (60 * 60 * 1000))) / 1000;
-
-				msg.timestamp_accuracy = open_drone_id_translations::odidTimeForElapsed(hrt_elapsed_time(
-								 &vehicle_gps_position.timestamp));
-
-				updated = true;
-			}
-		}
-	}
-
-	// altitude_barometric: The altitude calculated from the barometric pressue
-	if (_vehicle_air_data_sub.advertised()) {
-		vehicle_air_data_s vehicle_air_data{};
-
-		if (_vehicle_air_data_sub.copy(&vehicle_air_data) && (hrt_elapsed_time(&vehicle_air_data.timestamp) < 10_s)) {
-			msg.altitude_barometric = vehicle_air_data.baro_alt_meter;
-			msg.barometer_accuracy = MAV_ODID_VER_ACC_UNKNOWN; // We just don't without calibration.
-			updated = true;
-		}
-	}
-
-	// height: The current height of the unmanned aircraft above the take-off location or the ground as indicated by height_reference
-	if (_home_position_sub.advertised() && _vehicle_local_position_sub.updated()) {
-		home_position_s home_position{};
-		vehicle_local_position_s vehicle_local_position{};
-
-		if (_home_position_sub.copy(&home_position)
-		    && _vehicle_local_position_sub.copy(&vehicle_local_position)
-		    && (hrt_elapsed_time(&vehicle_local_position.timestamp) < 1_s)
-		   ) {
-
-			if (home_position.valid_alt && vehicle_local_position.z_valid && vehicle_local_position.z_global) {
-				float altitude = (-vehicle_local_position.z + vehicle_local_position.ref_alt);
-
-				msg.height = altitude - home_position.alt;
-				msg.height_reference = MAV_ODID_HEIGHT_REF_OVER_TAKEOFF;
-				updated = true;
-			}
-		}
-	}
-
-	if (updated) {
-		_uavcan_pub_remoteid_location.broadcast(msg);
-	}
-}
-
-void UavcanRemoteIDController::send_system()
-{
-	open_drone_id_system_s system;
-
-	if (_open_drone_id_system.advertised() && _open_drone_id_system.copy(&system)) {
-
-		// Use what ground station sends us.
-
-		dronecan::remoteid::System msg {};
-		msg.timestamp = system.timestamp;
-
-		for (unsigned i = 0; i < sizeof(system.id_or_mac); ++i) {
-			msg.id_or_mac.push_back(system.id_or_mac[i]);
-		}
-
-		msg.operator_location_type = system.operator_location_type;
-		msg.classification_type = system.classification_type;
-		msg.operator_latitude = system.operator_latitude;
-		msg.operator_longitude = system.operator_longitude;
-		msg.area_count = system.area_count;
-		msg.area_radius = system.area_radius;
-		msg.area_ceiling = system.area_ceiling;
-		msg.area_floor = system.area_floor;
-		msg.category_eu = system.category_eu;
-		msg.class_eu = system.class_eu;
-		msg.operator_altitude_geo = system.operator_altitude_geo;
-
-		_uavcan_pub_remoteid_system.broadcast(msg);
-
-	} else {
-		// And otherwise, send our home/takeoff location.
-
-		sensor_gps_s vehicle_gps_position;
-		home_position_s home_position;
-
-		if (_vehicle_gps_position_sub.copy(&vehicle_gps_position) && _home_position_sub.copy(&home_position)) {
-			if (vehicle_gps_position.fix_type >= 3
-			    && home_position.valid_alt && home_position.valid_hpos) {
-
-				dronecan::remoteid::System msg {};
-
-				// msg.id_or_mac // Only used for drone ID data received from other UAs.
-				msg.operator_location_type = MAV_ODID_OPERATOR_LOCATION_TYPE_TAKEOFF;
-				msg.classification_type = MAV_ODID_CLASSIFICATION_TYPE_UNDECLARED;
-				msg.operator_latitude = home_position.lat * 1e7;
-				msg.operator_longitude = home_position.lon * 1e7;
-				msg.area_count = 1;
-				msg.area_radius = 0;
-				msg.area_ceiling = -1000;
-				msg.area_floor = -1000;
-				msg.category_eu = MAV_ODID_CATEGORY_EU_UNDECLARED;
-				msg.class_eu = MAV_ODID_CLASS_EU_UNDECLARED;
-				float wgs84_amsl_offset = vehicle_gps_position.altitude_ellipsoid_m - vehicle_gps_position.altitude_msl_m;
-				msg.operator_altitude_geo = home_position.alt + wgs84_amsl_offset;
-
-				// timestamp: 32 bit Unix Timestamp in seconds since 00:00:00 01/01/2019.
-				static uint64_t utc_offset_s = 1'546'300'800; // UTC seconds since 00:00:00 01/01/2019
-				msg.timestamp = vehicle_gps_position.time_utc_usec / 1e6 - utc_offset_s;
-
-				_uavcan_pub_remoteid_system.broadcast(msg);
-			}
-		}
-	}
-}
-
-void UavcanRemoteIDController::send_self_id()
-{
-	open_drone_id_self_id_s self_id;
-
-	if (_open_drone_id_self_id.copy(&self_id)) {
-
-		dronecan::remoteid::SelfID msg {};
-
-		for (unsigned i = 0; i < sizeof(self_id.id_or_mac); ++i) {
-			msg.id_or_mac.push_back(self_id.id_or_mac[i]);
-		}
-
-		msg.description_type = self_id.description_type;
-
-		for (unsigned i = 0; i < sizeof(self_id.description); ++i) {
-			msg.description.push_back(self_id.description[i]);
-		}
-
-		_uavcan_pub_remoteid_self_id.broadcast(msg);
-	}
-}
-
-void UavcanRemoteIDController::send_operator_id()
-{
-	open_drone_id_operator_id_s operator_id;
-
-	if (_open_drone_id_operator_id.copy(&operator_id)) {
-
-		dronecan::remoteid::OperatorID msg {};
-
-		for (unsigned i = 0; i < sizeof(operator_id.id_or_mac); ++i) {
-			msg.id_or_mac.push_back(operator_id.id_or_mac[i]);
-		}
-
-		msg.operator_id_type = operator_id.operator_id_type;
-
-		for (unsigned i = 0; i < sizeof(operator_id.operator_id); ++i) {
-			msg.operator_id.push_back(operator_id.operator_id[i]);
-		}
-
-		_uavcan_pub_remoteid_operator_id.broadcast(msg);
-	}
-}
-
-void
-UavcanRemoteIDController::arm_status_sub_cb(const uavcan::ReceivedDataStructure<dronecan::remoteid::ArmStatus> &msg)
-{
-	open_drone_id_arm_status_s arm_status{};
-
-	arm_status.timestamp = hrt_absolute_time();
-	arm_status.status = msg.status;
-	memcpy(arm_status.error, msg.error.c_str(), sizeof(arm_status.error));
-
-	_open_drone_id_arm_status_pub.publish(arm_status);
-}
@@ -1,107 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-#pragma once
-
-#include <uORB/Subscription.hpp>
-#include <uORB/Publication.hpp>
-#include <uORB/topics/sensor_gps.h>
-#include <uORB/topics/vehicle_status.h>
-#include <uORB/topics/vehicle_land_detected.h>
-#include <uORB/topics/vehicle_air_data.h>
-#include <uORB/topics/vehicle_local_position.h>
-#include <uORB/topics/home_position.h>
-#include <uORB/topics/open_drone_id_operator_id.h>
-#include <uORB/topics/open_drone_id_arm_status.h>
-#include <uORB/topics/open_drone_id_self_id.h>
-#include <uORB/topics/open_drone_id_system.h>
-
-#include <uavcan/uavcan.hpp>
-#include <dronecan/remoteid/BasicID.hpp>
-#include <dronecan/remoteid/Location.hpp>
-#include <dronecan/remoteid/SelfID.hpp>
-#include <dronecan/remoteid/System.hpp>
-#include <dronecan/remoteid/ArmStatus.hpp>
-#include <dronecan/remoteid/OperatorID.hpp>
-
-#include <px4_platform_common/module_params.h>
-
-class UavcanRemoteIDController : public ModuleParams
-{
-public:
-	UavcanRemoteIDController(uavcan::INode &node);
-	~UavcanRemoteIDController() = default;
-
-	int init();
-
-private:
-	typedef uavcan::MethodBinder<UavcanRemoteIDController *, void (UavcanRemoteIDController::*)(const uavcan::TimerEvent &)>
-	TimerCbBinder;
-
-	static constexpr unsigned MAX_RATE_HZ = 1;
-	uavcan::TimerEventForwarder<TimerCbBinder> _timer;
-
-	void periodic_update(const uavcan::TimerEvent &);
-
-	void send_basic_id();
-	void send_location();
-	void send_self_id();
-	void send_system();
-	void send_operator_id();
-
-	void arm_status_sub_cb(const uavcan::ReceivedDataStructure<dronecan::remoteid::ArmStatus> &msg);
-
-	uavcan::INode &_node;
-
-	uORB::Subscription _vehicle_gps_position_sub{ORB_ID(vehicle_gps_position)};
-	uORB::SubscriptionData<vehicle_status_s> _vehicle_status{ORB_ID(vehicle_status)};
-	uORB::Subscription _vehicle_land_detected_sub{ORB_ID(vehicle_land_detected)};
-	uORB::Subscription _vehicle_air_data_sub{ORB_ID(vehicle_air_data)};
-	uORB::Subscription _vehicle_local_position_sub{ORB_ID(vehicle_local_position)};
-	uORB::Subscription _home_position_sub{ORB_ID(home_position)};
-	uORB::Subscription _open_drone_id_operator_id{ORB_ID(open_drone_id_operator_id)};
-	uORB::Subscription _open_drone_id_self_id{ORB_ID(open_drone_id_self_id)};
-	uORB::Subscription _open_drone_id_system{ORB_ID(open_drone_id_system)};
-	uORB::Publication<open_drone_id_arm_status_s> _open_drone_id_arm_status_pub{ORB_ID(open_drone_id_arm_status)};
-
-	uavcan::Publisher<dronecan::remoteid::BasicID> _uavcan_pub_remoteid_basicid;
-	uavcan::Publisher<dronecan::remoteid::Location> _uavcan_pub_remoteid_location;
-	uavcan::Publisher<dronecan::remoteid::SelfID> _uavcan_pub_remoteid_self_id;
-	uavcan::Publisher<dronecan::remoteid::System> _uavcan_pub_remoteid_system;
-	uavcan::Publisher<dronecan::remoteid::OperatorID> _uavcan_pub_remoteid_operator_id;
-
-	using ArmStatusBinder = uavcan::MethodBinder < UavcanRemoteIDController *,
-	      void (UavcanRemoteIDController::*)(const uavcan::ReceivedDataStructure<dronecan::remoteid::ArmStatus> &) >;
-
-	uavcan::Subscriber<dronecan::remoteid::ArmStatus, ArmStatusBinder> _uavcan_sub_arm_status;
-};
--- a/Show More
+++ b/Show More