[DO NOT MERGE] try changing UAVCAN default timer to 6

commander: fix incorrect return in set_link_loss_nav_state()
If both local position and altitude were not valid, then both RC loss and datalink loss would not trigger any failsafe at all, independently from the configured action.
2026-06-06 14:00:05 +08:00 · 2022-05-06 10:29:14 -04:00 · 2022-05-06 10:14:13 -04:00 · 2022-05-06 10:13:30 -04:00 · 2022-05-06 10:10:59 -04:00 · 2022-05-06 10:09:14 -04:00
405 changed files with 4437 additions and 9174 deletions
@@ -92,6 +92,7 @@ pipeline {
                     "px4_fmu-v2_fixedwing",
                     "px4_fmu-v2_multicopter",
                     "px4_fmu-v2_rover",
+                     "px4_fmu-v2_lto",
                     "px4_fmu-v3_default",
                     "px4_fmu-v4_default",
                     "px4_fmu-v4pro_default",
@@ -101,8 +102,8 @@ pipeline {
                     "px4_fmu-v5_stackcheck",
                     "px4_fmu-v5_uavcanv0periph",
                     "px4_fmu-v5_uavcanv1",
+                     "px4_fmu-v5_lto",
                     "px4_fmu-v5x_default",
-                     "px4_fmu-v6c_default",
                     "px4_fmu-v6u_default",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
@@ -21,7 +21,6 @@ jobs:
          ark_can-gps,
          ark_can-rtk-gps,
          ark_cannode,
-          ark_fmu-v6x,
          atl_mantis-edu,
          av_x-v1,
          bitcraze_crazyflie,
@@ -61,7 +60,6 @@ jobs:
          px4_fmu-v4pro,
          px4_fmu-v5,
          px4_fmu-v5x,
-          px4_fmu-v6c,
          px4_fmu-v6u,
          px4_fmu-v6x,
          sky-drones_smartap-airlink,
@@ -9,5 +9,3 @@ launch.json
 ipch/

 browse.vc.db*
-
-*.log
@@ -131,16 +131,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_cannode_canbootloader
-    ark_fmu-v6x_bootloader:
-      short: ark_fmu-v6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fmu-v6x_bootloader
-    ark_fmu-v6x_default:
-      short: ark_fmu-v6x_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fmu-v6x_default
    atl_mantis-edu_default:
      short: atl_mantis-edu
      buildType: MinSizeRel
@@ -99,7 +99,7 @@
 #
 #=============================================================================

-cmake_minimum_required(VERSION 3.2 FATAL_ERROR)
+cmake_minimum_required(VERSION 3.9 FATAL_ERROR)

 set(PX4_SOURCE_DIR "${CMAKE_CURRENT_SOURCE_DIR}" CACHE FILEPATH "PX4 source directory" FORCE)
 set(PX4_BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}" CACHE FILEPATH "PX4 binary directory" FORCE)
@@ -234,6 +234,14 @@ message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
 #
 project(px4 CXX C ASM)

+# Check if LTO option and check if toolchain supports it
+if(LTO)
+    include(CheckIPOSupported)
+    check_ipo_supported()
+    message(AUTHOR_WARNING "LTO enabled: LTO is highly experimental and should not be used in production")
+    set(CMAKE_INTERPROCEDURAL_OPTIMIZATION TRUE)
+endif()
+
 set(package-contact "px4users@googlegroups.com")

 set(CMAKE_CXX_STANDARD 14)
@@ -37,8 +37,8 @@ menu "Toolchain"
        help
            forces nolockstep behaviour, despite REPLAY env variable

-    config BOARD_LINUX_TARGET
-        bool "Linux OS Target"
+    config BOARD_LINUX
+        bool "Linux OS"
        depends on PLATFORM_POSIX
        help
            Board Platform is running the Linux operating system
@@ -51,6 +51,13 @@ menu "Toolchain"
        string "Architecture"
        default ""

+    config BOARD_LTO
+        bool "(EXPERIMENTAL) Link Time Optimization (LTO)"
+        default n
+        help
+            Enables LTO flag in linker
+            Note: Highly EXPERIMENTAL, furthermore make sure you're using a modern compiler GCC 9 or later
+
    config BOARD_FULL_OPTIMIZATION
        bool "Full optmization (O3)"
        default n
@@ -325,13 +325,12 @@ px4io_update: px4_io-v2_default cubepilot_io-v2_default
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v5x/extras/px4_io-v2_default.bin
 	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6x/extras/px4_io-v2_default.bin
-	cp build/px4_io-v2_default/px4_io-v2_default.bin boards/px4/fmu-v6c/extras/px4_io-v2_default.bin
 	# cubepilot_io-v2_default
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeorange/extras/cubepilot_io-v2_default.bin
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

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

 .PHONY: coverity_scan
@@ -25,6 +25,8 @@ param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3

+param set-default FW_SPOILERS_LND 0.4
+
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_THR_CRUISE 0.25
@@ -61,8 +61,6 @@ param set-default HIL_ACT_FUNC6 400

 param set SYS_HITL 1

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

 param set SYS_HITL 1

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

 param set SYS_HITL 1

-param set UAVCAN_ENABLE 0
-
 # disable some checks to allow to fly
 # - with usb
 param set-default CBRK_USB_CHK 197848
@@ -69,4 +69,9 @@ param set-default VT_TYPE 1

 set MIXER vtol_convergence

-set PWM_OUT 1234
+if ! ver hwcmp MATEK_H743
+then
+	set PWM_OUT 1234
+else
+	set PWM_OUT 3456
+fi	
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name PX4 Vision Dev Kit v1
+# @name PX4 Vision DevKit Platform
 #
 # @type Quadrotor x
 # @class Copter
@@ -1,134 +0,0 @@
-#!/bin/sh
-#
-# @name PX4 Vision Dev Kit v1.5
-#
-# @type Quadrotor x
-# @class Copter
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.mc_defaults
-
-# System parameters
-# use FMU motor outputs for less delay in the rate control loop
-param set-default SYS_USE_IO 0
-
-# Commander Parameters
-param set-default COM_OBS_AVOID 1
-param set-default COM_DISARM_LAND 0.5
-
-# EKF2 parameters
-param set-default EKF2_AID_MASK 35
-param set-default EKF2_IMU_POS_X 0.02
-param set-default EKF2_GPS_POS_X 0.055
-param set-default EKF2_GPS_POS_Z -0.15
-param set-default EKF2_MIN_RNG 0.03
-param set-default EKF2_OF_POS_X 0.055
-param set-default EKF2_OF_POS_Y 0.02
-param set-default EKF2_OF_POS_Z 0.065
-param set-default EKF2_REQ_HDRIFT 0.3
-param set-default EKF2_REQ_SACC 1
-param set-default EKF2_REQ_VDRIFT 0.3
-param set-default EKF2_RNG_A_HMAX 8
-param set-default EKF2_RNG_A_VMAX 2
-param set-default EKF2_RNG_POS_X 0.055
-param set-default EKF2_RNG_POS_Y -0.01
-param set-default EKF2_RNG_POS_Z 0.065
-param set-default EKF2_PCOEF_XP -0.25
-param set-default EKF2_PCOEF_YN -0.55
-param set-default EKF2_PCOEF_YP -0.55
-
-# MAVLink parameters
-param set-default MAV_0_CONFIG 101
-param set-default MAV_1_CONFIG 102
-param set-default MAV_1_RATE 80000
-param set-default MAV_1_MODE 9
-param set-default SER_TEL1_BAUD 921600
-
-# Vehicle attitude PID tuning
-param set-default MC_ACRO_EXPO 0
-param set-default MC_ACRO_EXPO_Y 0
-param set-default MC_ACRO_P_MAX 200
-param set-default MC_ACRO_R_MAX 200
-param set-default MC_ACRO_SUPEXPO 0
-param set-default MC_ACRO_SUPEXPOY 0
-param set-default MC_ACRO_Y_MAX 150
-param set-default MC_PITCHRATE_D 0.0015
-param set-default MC_ROLLRATE_D 0.0015
-param set-default MC_YAWRATE_P 0.3
-
-# Position Control Tuning
-param set-default CP_DIST 6
-param set-default MPC_ACC_DOWN_MAX 5
-param set-default MPC_ACC_HOR_MAX 10
-param set-default MPC_ACC_UP_MAX 4
-param set-default MPC_MANTHR_MIN 0
-param set-default MPC_MAN_Y_MAX 120
-param set-default MPC_TILTMAX_AIR 45
-param set-default MPC_THR_HOVER 0.3
-param set-default MPC_TKO_SPEED 1
-param set-default MPC_VEL_MANUAL 5
-param set-default MPC_XY_CRUISE 5
-param set-default MPC_XY_VEL_MAX 5
-param set-default MPC_XY_VEL_P_ACC 1.58
-param set-default MPC_XY_TRAJ_P 0.3
-param set-default MPC_Z_TRAJ_P 0.3
-param set-default MPC_Z_VEL_P_ACC 5
-param set-default MPC_Z_VEL_I_ACC 3
-param set-default MPC_LAND_ALT1 3
-param set-default MPC_LAND_ALT2 1
-param set-default MPC_POS_MODE 3
-param set-default CP_GO_NO_DATA 1
-
-# Navigator Parameters
-param set-default NAV_ACC_RAD 2
-
-# use oneshot motor output protocol
-param set-default PWM_MAIN_RATE 0
-
-# RTL Parameters
-param set-default RTL_DESCEND_ALT 5
-param set-default RTL_RETURN_ALT 5
-
-# Logging Parameters
-param set-default SDLOG_PROFILE 131
-
-# Sensors Parameters
-param set-default SENS_CM8JL65_CFG 202
-param set-default SENS_FLOW_MAXHGT 25
-param set-default SENS_FLOW_MINHGT 0.5
-param set-default IMU_GYRO_CUTOFF 100
-param set-default SENS_TFLOW_CFG 103
-
-# Power Parameters
-param set-default BAT1_N_CELLS 4
-param set-default BAT1_A_PER_V 36.364
-param set-default BAT1_V_DIV 18.182
-
-# Circuit breakers
-param set-default CBRK_IO_SAFETY 22027
-
-param set-default THR_MDL_FAC 0.3
-
-param set-default CA_ROTOR_COUNT 4
-param set-default CA_ROTOR0_PX 0.15
-param set-default CA_ROTOR0_PY 0.15
-param set-default CA_ROTOR0_KM 0.05
-param set-default CA_ROTOR1_PX -0.15
-param set-default CA_ROTOR1_PY -0.15
-param set-default CA_ROTOR1_KM 0.05
-param set-default CA_ROTOR2_PX 0.15
-param set-default CA_ROTOR2_PY -0.15
-param set-default CA_ROTOR2_KM -0.05
-param set-default CA_ROTOR3_PX -0.15
-param set-default CA_ROTOR3_PY 0.15
-param set-default CA_ROTOR3_KM -0.05
-
-# Outputs
-param set-default PWM_AUX_FUNC1 101
-param set-default PWM_AUX_FUNC2 102
-param set-default PWM_AUX_FUNC3 103
-param set-default PWM_AUX_FUNC4 104
-
@@ -73,7 +73,6 @@ px4_add_romfs_files(
 	4016_holybro_px4vision
 	4017_nxp_hovergames
 	4019_x500_v2
-	4020_holybro_px4vision_v1_5
 	4030_3dr_solo
 	4031_3dr_quad
 	4040_reaper
@@ -17,21 +17,17 @@ set OUTPUT_DEV none
 set OUTPUT_AUX_DEV /dev/pwm_output1
 set OUTPUT_EXTRA_DEV /dev/pwm_output0

-# set ESC mask before starting the modules
-# setting the numeric parameter to "none" would make the startup script fail
+# set these before starting the modules
 if [ $PWM_AUX_OUT != none ]
 then
+
 	param set PWM_AUX_OUT ${PWM_AUX_OUT}
-else
-	param set PWM_AUX_OUT 0
 fi


 if [ $PWM_OUT != none ]
 then
 	param set PWM_MAIN_OUT ${PWM_OUT}
-else
-	param set PWM_AUX_OUT 0
 fi

 #
@@ -171,7 +171,7 @@ else
 		param select-backup /fs/microsd/parameters_backup.bson
 	fi

-	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X
+	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
 	then
 		netman update -i eth0
 	fi
@@ -282,6 +282,28 @@ else
 		param set SYS_AUTOCONFIG 0
 	fi

+	#
+	# Check if UAVCAN is enabled, default to it for ESCs.
+	#
+	if param greater -s UAVCAN_ENABLE 0
+	then
+		# Start core UAVCAN module.
+		if uavcan start
+		then
+			if param greater UAVCAN_ENABLE 2
+			then
+				set OUTPUT_MODE uavcan_esc
+			fi
+		else
+			tune_control play error
+		fi
+	else
+		if param greater -s UAVCAN_V1_ENABLE 0
+		then
+			uavcan_v1 start
+		fi
+	fi
+
 	#
 	# Check if PX4IO present and update firmware if needed.
 	# Assumption IOFW set to firmware file and IO_PRESENT = no
@@ -534,28 +556,6 @@ else
 	fi
 	unset BOARD_BOOTLOADER_UPGRADE

-	#
-	# Check if UAVCAN is enabled, default to it for ESCs.
-	#
-	if param greater -s UAVCAN_ENABLE 0
-	then
-		# Start core UAVCAN module.
-		if uavcan start
-		then
-			if param greater UAVCAN_ENABLE 2
-			then
-				set OUTPUT_MODE uavcan_esc
-			fi
-		else
-			tune_control play error
-		fi
-	else
-		if param greater -s UAVCAN_V1_ENABLE 0
-		then
-			uavcan_v1 start
-		fi
-	fi
-
 #
 # End of autostart.
 #
@@ -21,14 +21,16 @@ O:      10000  10000      0 -10000  10000
 S: 0 3      0  20000 -10000 -10000  10000

 # mixer for the left aileron
-M: 1
+M: 2
 O:      10000  10000   0 -10000  10000
 S: 0 0  -10000  -10000    0 -10000  10000
+S: 0 5   10000   10000    0 -10000  10000

 # mixer for the right aileron
-M: 1
+M: 2
 O:      10000  10000   0 -10000  10000
 S: 0 0  10000  10000    0 -10000  10000
+S: 0 5  10000  10000    0 -10000  10000

 # mixer for the elevator
 M: 1
@@ -8,22 +8,22 @@ R: 4x
 # tilt servo motor 1
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000

 # tilt servo motor 2
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000

 # tilt servo motor 3
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000

 # tilt servo motor 4
 M: 1
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000

 # mixer for the left aileron
 M: 1
@@ -10,7 +10,7 @@ to output 4 and the wheel to output 5.
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).

-Aileron mixer (roll + flaperon)
+Aileron mixer (roll + spoiler)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -20,11 +20,11 @@ endpoints to suit.

 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000

 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6 -10000 -10000      0 -10000  10000
+S: 0 5 -10000 -10000      0 -10000  10000

 Elevator mixer
 ------------
@@ -11,7 +11,7 @@ to output 4, the wheel to output 5 and the flaps to output 6 and 7.
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).

-Aileron mixer (roll + flaperon)
+Aileron mixer (roll + spoiler)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -21,11 +21,11 @@ endpoints to suit.

 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000

 M: 2
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6 -10000 -10000      0 -10000  10000
+S: 0 5 -10000 -10000      0 -10000  10000

 V-tail mixers
 -------------
@@ -9,20 +9,20 @@ output 0 and 1, the tail servos to output 2 and 3, the throttle
 to output 4, the wheel to output 5 and the flaps to output 6 and 7.

 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
+(roll), 1 (pitch), 2 (yaw), 3 (thrust) 4 (flaps), 5 (spoiler).

-Aileron mixer (roll + flaperon)
+Aileron mixer (roll + spoiler)
 ---------------------------------

 This mixer assumes that the aileron servos are set up mechanically reversed.

 M: 2
 S: 0 0 -10000 -10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000

 M: 2
 S: 0 0 -10000 -10000      0 -10000  10000
-S: 0 6 -10000 -10000      0 -10000  10000
+S: 0 5 -10000 -10000      0 -10000  10000

 V-tail mixers
 -------------
@@ -10,7 +10,7 @@ Tilt mechanism servo mixer
 M: 1


-S: 1 4  10000  10000      0 -10000  10000
+S: 1 8  10000  10000      0 -10000  10000



@@ -6,7 +6,7 @@
 Tilt mechanism servo mixer
 ---------------------------
 M: 1
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000

 Elevon mixers
 -------------
@@ -5,14 +5,14 @@ Aileron/v-tail/throttle VTOL mixer for PX4FMU

 This file defines mixers suitable for controlling a fixed wing aircraft with
 aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
-The configuration assumes the aileron servos are connected to PX4FMU 
+The configuration assumes the aileron servos are connected to PX4FMU
 AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
 to output 4.

 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).

-Aileron mixer (roll + flaperon)
+Aileron mixer (roll + spoiler)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -22,11 +22,11 @@ endpoints to suit.

 M: 2
 S: 1 0 -10000 -10000      0 -10000  10000
-S: 1 6  10000  10000      0 -10000  10000
+S: 1 5  10000  10000      0 -10000  10000

 M: 2
 S: 1 0 -10000 -10000      0 -10000  10000
-S: 1 6 -10000 -10000      0 -10000  10000
+S: 1 5 -10000 -10000      0 -10000  10000


 V-tail mixers
@@ -6,19 +6,19 @@
 ---------------------------
 # front left up:2000 down:1000
 M: 1
-S: 1 4      0 -20000  10000 -10000  10000
+S: 1 8      0 -20000  10000 -10000  10000

 # front right up:1000 down:2000
 M: 1
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000

 # rear left up:2000 down:1000
 M: 1
-S: 1 4      0 -20000  10000 -10000  10000
+S: 1 8      0 -20000  10000 -10000  10000

 # rear right up:1000 down:2000
 M: 1
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000


 # Aileron mixer
@@ -10,12 +10,12 @@ Tilt mechanism servo mixer
 ---------------------------
 #RIGHT up:2000 down:1000
 M: 2
-S: 1 4      0 -20000  10000 -10000  10000
+S: 1 8      0 -20000  10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000

 #LEFT up:1000 down:2000
 M: 2
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000

 Elevon mixers
@@ -10,7 +10,7 @@ to output 4 and the wheel to output 5.
 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
 (roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps).

-Aileron mixer (roll + flaperon)
+Aileron mixer (roll + spoiler)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -21,12 +21,12 @@ endpoints to suit.
 M: 2
 O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000

 M: 2
 O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6 -10000 -10000      0 -10000  10000
+S: 0 5 -10000 -10000      0 -10000  10000

 Elevator mixer
 ------------
@@ -9,9 +9,9 @@ output 0 and 1, the tail servos to output 2 and 3, the throttle
 to output 4, the wheel to output 5 and the flaps to output 6 and 7.

 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 5 (spoiler).

-Aileron mixer (roll + flaperon)
+Aileron mixer (roll + spoiler)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -22,12 +22,12 @@ endpoints to suit.
 M: 2
 O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6  10000  10000      0 -10000  10000
+S: 0 5  10000  10000      0 -10000  10000

 M: 2
 O:      10000  10000      0 -10000  10000
 S: 0 0  10000  10000      0 -10000  10000
-S: 0 6 -10000 -10000      0 -10000  10000
+S: 0 5 -10000 -10000      0 -10000  10000

 V-tail mixers
 -------------
@@ -10,13 +10,13 @@ Tilt mechanism servo mixer
 #RIGHT up:2000 down:1000
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 4      0 -20000   9000 -10000  10000
+S: 1 8      0 -20000   9000 -10000  10000
 S: 0 2   4000   4000      0 -10000  10000

 #LEFT up:1000 down:2000
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000  -10000 -10000  10000
+S: 1 8      0  20000  -10000 -10000  10000
 S: 0 2   4000   4000      0 -10000  10000

 Elevon mixers
@@ -3,14 +3,14 @@ Aileron/v-tail/throttle VTOL mixer for PX4FMU

 This file defines mixers suitable for controlling a fixed wing aircraft with
 aileron, v-tail (rudder, elevator) and throttle using PX4FMU.
-The configuration assumes the aileron servos are connected to PX4FMU 
+The configuration assumes the aileron servos are connected to PX4FMU
 AUX servo output 0 and 1, the tail servos to output 2 and 3, the throttle
 to output 4.

 Inputs to the mixer come from channel group 0 (vehicle attitude), channels 0
-(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 6 (flaperon).
+(roll), 1 (pitch), 2 (yaw) and 3 (thrust) 4 (flaps) 5 (spoiler).

-Aileron mixer (roll + flaperon)
+Aileron mixer (roll + spoiler)
 ---------------------------------

 This mixer assumes that the aileron servos are set up correctly mechanically;
@@ -21,12 +21,12 @@ endpoints to suit.
 M: 2
 O:      10000  10000      0 -10000  10000
 S: 1 0  10000  10000      0 -10000  10000
-S: 1 6  10000  10000      0 -10000  10000
+S: 1 5  10000  10000      0 -10000  10000

 M: 2
 O:      10000  10000      0 -10000  10000
 S: 1 0  10000  10000      0 -10000  10000
-S: 1 6 -10000 -10000      0 -10000  10000
+S: 1 5 -10000 -10000      0 -10000  10000


 V-tail mixers
@@ -10,13 +10,13 @@ Tilt mechanism servo mixer
 #RIGHT up:2000 down:1000
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 4      0 -20000  10000 -10000  10000
+S: 1 8      0 -20000  10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000

 #LEFT up:1000 down:2000
 M: 2
 O:      10000  10000      0 -10000  10000
-S: 1 4      0  20000 -10000 -10000  10000
+S: 1 8      0  20000 -10000 -10000  10000
 S: 0 2   8000   8000      0 -10000  10000

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

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

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

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

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

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

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


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

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

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

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

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

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

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

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

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

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

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

    imu_metrics = calculate_imu_metrics(ulog, multi_instance, in_air_no_ground_effects)

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


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

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

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

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

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

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

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

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

 import numpy as np

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

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

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

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

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

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

    with PdfPages(output_plot_filename) as pdf_pages:

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

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

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

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


-def detect_airtime(estimator_status_flags, status_flags_time):
+def detect_airtime(control_mode, status_time):
    # define flags for starting and finishing in air
    b_starts_in_air = False
    b_finishes_in_air = False
    # calculate in-air transition time
-    if (np.amin(estimator_status_flags['cs_in_air']) < 0.5) and (np.amax(estimator_status_flags['cs_in_air']) > 0.5):
-        in_air_transtion_time_arg = np.argmax(np.diff(estimator_status_flags['cs_in_air']))
-        in_air_transition_time = status_flags_time[in_air_transtion_time_arg]
-    elif (np.amax(estimator_status_flags['cs_in_air']) > 0.5):
-        in_air_transition_time = np.amin(status_flags_time)
+    if (np.amin(control_mode['airborne']) < 0.5) and (np.amax(control_mode['airborne']) > 0.5):
+        in_air_transtion_time_arg = np.argmax(np.diff(control_mode['airborne']))
+        in_air_transition_time = status_time[in_air_transtion_time_arg]
+    elif (np.amax(control_mode['airborne']) > 0.5):
+        in_air_transition_time = np.amin(status_time)
        print('log starts while in-air at ' + str(round(in_air_transition_time, 1)) + ' sec')
        b_starts_in_air = True
    else:
        in_air_transition_time = float('NaN')
        print('always on ground')
    # calculate on-ground transition time
-    if (np.amin(np.diff(estimator_status_flags['cs_in_air'])) < 0.0):
-        on_ground_transition_time_arg = np.argmin(np.diff(estimator_status_flags['cs_in_air']))
-        on_ground_transition_time = status_flags_time[on_ground_transition_time_arg]
-    elif (np.amax(estimator_status_flags['cs_in_air']) > 0.5):
-        on_ground_transition_time = np.amax(status_flags_time)
+    if (np.amin(np.diff(control_mode['airborne'])) < 0.0):
+        on_ground_transition_time_arg = np.argmin(np.diff(control_mode['airborne']))
+        on_ground_transition_time = status_time[on_ground_transition_time_arg]
+    elif (np.amax(control_mode['airborne']) > 0.5):
+        on_ground_transition_time = np.amax(status_time)
        print('log finishes while in-air at ' + str(round(on_ground_transition_time, 1)) + ' sec')
        b_finishes_in_air = True
    else:
        on_ground_transition_time = float('NaN')
        print('always on ground')
-    if (np.amax(np.diff(estimator_status_flags['cs_in_air'])) > 0.5) and (np.amin(np.diff(estimator_status_flags['cs_in_air'])) < -0.5):
+    if (np.amax(np.diff(control_mode['airborne'])) > 0.5) and (np.amin(np.diff(control_mode['airborne'])) < -0.5):
        if ((on_ground_transition_time - in_air_transition_time) > 0.0):
            in_air_duration = on_ground_transition_time - in_air_transition_time
        else:
@@ -7,9 +7,6 @@ EXTERNAL_METADATA,CONFIG_BOARD_EXTERNAL_METADATA=y
 BUILD_BOOTLOADER,CONFIG_BOARD_BUILD_BOOTLOADER=y
 UAVCAN_INTERFACES 2,CONFIG_BOARD_UAVCAN_INTERFACES=2
 UAVCAN_INTERFACES 1,CONFIG_BOARD_UAVCAN_INTERFACES=1
-UAVCAN_TIMER_OVERRIDE 2,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
-UAVCAN_TIMER_OVERRIDE 1,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=1
-UAVCAN_TIMER_OVERRIDE 1,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=0
 TESTING,CONFIG_BOARD_TESTING=y
 ETHERNET,CONFIG_BOARD_ETHERNET=y
 adc/ads1115,CONFIG_DRIVERS_ADC_ADS1115=y
@@ -130,7 +130,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -173,7 +174,7 @@ CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI4=y
 CONFIG_STM32_SPI4_DMA=y
-CONFIG_STM32_SPI4_DMA_BUFFER=512
+CONFIG_STM32_SPI4_DMA_BUFFER=1024
 CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_SPI_DMATHRESHOLD=8
 CONFIG_STM32_TIM10=y
@@ -105,7 +105,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -107,7 +107,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -107,7 +107,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -107,7 +107,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -1,26 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-# Mavlink ethernet (CFG 1000)
-param set-default MAV_2_CONFIG 1000
-param set-default MAV_2_BROADCAST 1
-param set-default MAV_2_MODE 0
-param set-default MAV_2_RADIO_CTL 0
-param set-default MAV_2_RATE 100000
-param set-default MAV_2_REMOTE_PRT 14550
-param set-default MAV_2_UDP_PRT 14550
-
-param set-default SENS_EN_INA238 0
-param set-default SENS_EN_INA228 0
-param set-default SENS_EN_INA226 1
-
-if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007
-then
-	param set-default SYS_USE_IO 0
-else
-	param set-default SYS_USE_IO 1
-fi
-
-safety_button start
@@ -1,47 +0,0 @@
-#!/bin/sh
-#
-# PX4 FMUv6X specific board sensors init
-#------------------------------------------------------------------------------
-board_adc start
-
-if param compare SENS_EN_INA226 1
-then
-	# Start Digital power monitors
-	ina226 -X -b 1 -t 1 -k start
-	ina226 -X -b 2 -t 2 -k start
-fi
-
-if param compare SENS_EN_INA228 1
-then
-	# Start Digital power monitors
-	ina228 -X -b 1 -t 1 -k start
-	ina228 -X -b 2 -t 2 -k start
-fi
-
-if param compare SENS_EN_INA238 1
-then
-	# Start Digital power monitors
-	ina238 -X -b 1 -t 1 -k start
-	ina238 -X -b 2 -t 2 -k start
-fi
-
-# Internal SPI bus IIM42652
-iim42652 -R 3 -s -b 1 start
-
-# Internal SPI bus ICM42688p
-icm42688p -R 9 -s -b 2 start
-
-# Internal SPI bus ICM42688p
-icm42688p -R 6 -s -b 3 start
-
-# Internal magnetometer on I2c
-bmm150 -I start
-
-# External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
-ist8310 -X -b 1 -R 10 start
-
-# Possible internal Baro
-bmp388 -I start
-
-# Baro on I2C3
-ms5611 -X start
@@ -1,87 +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
-
-// DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
-//                                                     V
-
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0     /* 1 DMA1:37 ICM-20649 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0     /* 2 DMA1:38 ICM-20649 */
-
-#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0     /* 3 DMA1:39 ICM-42688-P */
-#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0     /* 4 DMA1:40 ICM-42688-P */
-
-//#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /*  DMA1:41  GPS1 */
-//#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /*  DMA1:42  GPS1 */
-
-//#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_0 /*  DMA1:43 Telem3 */
-//#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_0 /*  DMA1:44 Telem3 */
-
-//#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /*  DMA1:45 DEBUG */
-//#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /*  DMA1:46 DEBUG */
-
-//#define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_0  /*  DMA1:63 EXT2 */
-//#define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_0  /*  DMA1:64 EXT2 */
-
-#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   /* 5 DMA1:71 PX4IO */
-#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   /* 6 DMA1:72 PX4IO */
-
-// Assigned in timer_config.cpp
-
-// Timer 4                                          /* 7 DMA1:32 TIM4UP */
-// Timer 5                                          /* 8 DMA1:50 TIM5UP */
-
-// DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
-//                                                     V
-
-#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1     /* 1 DMA2:61 BMI088 */
-#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1     /* 2 DMA2:62 BMI088 */
-
-#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 3 DMA2:45 DEBUG */
-#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 4 DMA2:46 DEBUG */
-
-#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    /* 5 DMA2:65 TELEM2 */
-#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    /* 6 DMA2:66  TELEM2 */
-
-#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    /* 7 DMA1:79  TELEM1 */
-#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    /* 8 DMA1:80  TELEM1 */
-
-//#define DMAMAP_UART8_RX   DMAMAP_DMA12_UART8RX_1  /*  DMA1:81  GPS2 */
-//#define DMAMAP_UART8_TX   DMAMAP_DMA12_UART8TX_1  /*  DMA1:82  GPS2 */
-
-// DMAMUX2 Using at most 8 Channels on BDMA --------   Assigned
-//                                                     V
-
-#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       /* 1 BDMA:11 SPI J11 */
-#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       /* 2 BDMA:12 SPI J11 */
@@ -1,524 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2016, 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.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * PX4FMU-v6x internal definitions
- */
-
-#pragma once
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-
-#include <stm32_gpio.h>
-
-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-
-#undef TRACE_PINS
-
-/* PX4IO connection configuration */
-
-#define BOARD_USES_PX4IO_VERSION       2
-#define PX4IO_SERIAL_DEVICE            "/dev/ttyS5"
-#define PX4IO_SERIAL_TX_GPIO           GPIO_USART6_TX
-#define PX4IO_SERIAL_RX_GPIO           GPIO_USART6_RX
-#define PX4IO_SERIAL_BASE              STM32_USART6_BASE
-#define PX4IO_SERIAL_VECTOR            STM32_IRQ_USART6
-#define PX4IO_SERIAL_TX_DMAMAP         DMAMAP_USART6_TX
-#define PX4IO_SERIAL_RX_DMAMAP         DMAMAP_USART6_RX
-#define PX4IO_SERIAL_RCC_REG           STM32_RCC_APB2ENR
-#define PX4IO_SERIAL_RCC_EN            RCC_APB2ENR_USART6EN
-#define PX4IO_SERIAL_CLOCK             STM32_PCLK2_FREQUENCY
-#define PX4IO_SERIAL_BITRATE           1500000               /* 1.5Mbps -> max rate for IO */
-
-/* Configuration ************************************************************************************/
-
-#define BOARD_HAS_LTC44XX_VALIDS      2 //  N Bricks
-#define BOARD_HAS_USB_VALID           1 // LTC Has USB valid
-#define BOARD_HAS_NBAT_V              2d // 2 Digital Voltage
-#define BOARD_HAS_NBAT_I              2d // 2 Digital Current
-
-/* PX4FMU GPIOs ***********************************************************************************/
-
-/* Trace Clock and D0-D3 are available on the trace connector
- *
- * TRACECLK PE2  - Dedicated       - Trace Connector Pin 1
- * TRACED0  PE3  - nLED_RED        - Trace Connector Pin 3
- * TRACED1  PE4  - nLED_GREEN      - Trace Connector Pin 5
- * TRACED2  PE5  - nLED_BLUE       - Trace Connector Pin 7
- * TRACED3  PE6  - nARMED          - Trace Connector Pin 8
-
- */
-
-/* LEDs are driven with push open drain to support Anode to 5V or 3.3V or used as TRACE0-2 */
-
-#if !defined(TRACE_PINS)
-#  define GPIO_nLED_RED        /* PE3 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
-#  define GPIO_nLED_GREEN      /* PE4 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN4)
-#  define GPIO_nLED_BLUE       /* PE5 */  (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN5)
-
-#  define BOARD_HAS_CONTROL_STATUS_LEDS      1
-#  define BOARD_OVERLOAD_LED     LED_RED
-#  define BOARD_ARMED_STATE_LED  LED_BLUE
-
-#else
-
-#  define GPIO_TRACECLK1 (GPIO_TRACECLK |GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN2)
-#  define GPIO_TRACED0   (GPIO_TRACED0_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN3)
-#  define GPIO_TRACED1   (GPIO_TRACED1_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN4)
-#  define GPIO_TRACED2   (GPIO_TRACED2_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN5)
-#  define GPIO_TRACED3   (GPIO_TRACED3_2|GPIO_PULLUP|GPIO_SPEED_100MHz|GPIO_PUSHPULL)  //(GPIO_ALT|GPIO_AF0|GPIO_PORTE|GPIO_PIN6)
-//#define GPIO_TRACESWO                        //(GPIO_ALT|GPIO_AF0|GPIO_PORTB|GPIO_PIN3)
-
-#  undef  BOARD_HAS_CONTROL_STATUS_LEDS
-#  undef  BOARD_OVERLOAD_LED
-#  undef  BOARD_ARMED_STATE_LED
-
-#  define GPIO_nLED_RED    GPIO_TRACED0
-#  define GPIO_nLED_GREEN  GPIO_TRACED1
-#  define GPIO_nLED_BLUE   GPIO_TRACED2
-#  define GPIO_nARMED      GPIO_TRACED3
-#  define GPIO_nARMED_INIT GPIO_TRACED3
-#endif
-
-
-/* SPI */
-
-#define SPI6_nRESET_EXTERNAL1       /* PF10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN10)
-#define GPIO_SYNC                   /* PE9  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_100MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN9)
-
-/* I2C busses */
-
-/* Devices on the onboard buses.
- *
- * Note that these are unshifted addresses.
- */
-#define GPIO_I2C2_DRDY1_BMP388      /* PG5  */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
-
-/*
- * ADC channels
- *
- * These are the channel numbers of the ADCs of the microcontroller that
- * can be used by the Px4 Firmware in the adc driver
- */
-
-/* ADC defines to be used in sensors.cpp to read from a particular channel */
-
-#define ADC1_CH(n)                  (n)
-
-/* N.B. there is no offset mapping needed for ADC3 because */
-#define ADC3_CH(n)                  (n)
-
-/* We are only use ADC3 for REV/VER.
- * ADC3_6V6 and ADC3_3V3 are mapped back to ADC1
- * To do this We are relying on PC2_C, PC3_C being connected to PC2, PC3
- * respectively by the SYSCFG_PMCR default of setting for PC3SO PC2SO PA1SO
- * PA0SO of 0.
- *
- *  0 Analog switch closed (pads are connected through the analog switch)
- *
- * So ADC3_INP0 is GPIO_ADC123_INP12
- *    ADC3_INP1 is GPIO_ADC12_INP13
- */
-
-/* Define GPIO pins used as ADC N.B. Channel numbers must match below  */
-
-#define PX4_ADC_GPIO  \
-	/* PA0  */  GPIO_ADC1_INP16,   \
-	/* PA4  */  GPIO_ADC12_INP18,  \
-	/* PB0  */  GPIO_ADC12_INP9,   \
-	/* PB1  */  GPIO_ADC12_INP5,   \
-	/* PC2  */  GPIO_ADC123_INP12, \
-	/* PC3  */  GPIO_ADC12_INP13,  \
-	/* PF12 */  GPIO_ADC1_INP6,    \
-	/* PH3  */  GPIO_ADC3_INP14,   \
-	/* PH4  */  GPIO_ADC3_INP15
-
-/* Define Channel numbers must match above GPIO pin IN(n)*/
-#define ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL     /* PA0  */  ADC1_CH(16)
-#define ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL     /* PA4  */  ADC1_CH(18)
-#define ADC_SCALED_VDD_3V3_SENSORS3_CHANNEL     /* PB0  */  ADC1_CH(9)
-#define ADC_SCALED_V5_CHANNEL                   /* PB1  */  ADC1_CH(5)
-#define ADC_ADC3_6V6_CHANNEL                    /* PC2  */  ADC3_CH(12)
-#define ADC_ADC3_3V3_CHANNEL                    /* PC3  */  ADC3_CH(13)
-#define ADC_SCALED_VDD_3V3_SENSORS4_CHANNEL     /* PF12 */  ADC1_CH(6)
-#define ADC_HW_VER_SENSE_CHANNEL                /* PH3  */  ADC3_CH(14)
-#define ADC_HW_REV_SENSE_CHANNEL                /* PH4  */  ADC3_CH(15)
-
-#define ADC_CHANNELS \
-	((1 << ADC_SCALED_VDD_3V3_SENSORS1_CHANNEL) | \
-	 (1 << ADC_SCALED_VDD_3V3_SENSORS2_CHANNEL) | \
-	 (1 << ADC_SCALED_VDD_3V3_SENSORS3_CHANNEL) | \
-	 (1 << ADC_SCALED_V5_CHANNEL)               | \
-	 (1 << ADC_ADC3_6V6_CHANNEL)                | \
-	 (1 << ADC_ADC3_3V3_CHANNEL))               | \
-	(1 << ADC_SCALED_VDD_3V3_SENSORS4_CHANNEL)
-
-/* HW has to large of R termination on ADC todo:change when HW value is chosen */
-
-#define HW_REV_VER_ADC_BASE STM32_ADC3_BASE
-
-#define SYSTEM_ADC_BASE STM32_ADC1_BASE
-
-/* HW has to large of R termination on ADC todo:change when HW value is chosen */
-#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
-
-/* HW Version and Revision drive signals Default to 1 to detect */
-#define BOARD_HAS_HW_VERSIONING
-
-#define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
-#define GPIO_HW_REV_SENSE      /* PH4 */  GPIO_ADC3_INP15
-#define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
-#define HW_INFO_INIT           {'V','6','X','x', 'x',0}
-#define HW_INFO_INIT_VER       3 /* Offset in above string of the VER */
-#define HW_INFO_INIT_REV       4 /* Offset in above string of the REV */
-
-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 and Rev 3 Sensor sets
-//                 Base/FMUM
-#define V6X00   HW_VER_REV(0x0,0x0) // FMUV6X,                 Rev 0
-#define V6X01   HW_VER_REV(0x0,0x1) // FMUV6X,     BMI388 I2C2 Rev 1
-#define V6X03   HW_VER_REV(0x0,0x3) // FMUV6X,     Sensor Set  Rev 3
-#define V6X04   HW_VER_REV(0x0,0x4) // FMUV6X,     Sensor Set  Rev 4
-#define V6X10   HW_VER_REV(0x1,0x0) // NO PX4IO,               Rev 0
-#define V6X13   HW_VER_REV(0x1,0x3) // NO PX4IO,   Sensor Set  Rev 3
-#define V6X14   HW_VER_REV(0x1,0x4) // NO PX4IO,   Sensor Set  Rev 4
-#define V6X40   HW_VER_REV(0x4,0x0) // FMUV6X,                    HB CM4 base Rev 0
-#define V6X41   HW_VER_REV(0x4,0x1) // FMUV6X,     BMI388 I2C2    HB CM4 base Rev 1
-#define V6X43   HW_VER_REV(0x4,0x3) // FMUV6X,     Sensor Set     HB CM4 base Rev 3
-#define V6X44   HW_VER_REV(0x4,0x4) // FMUV6X,     Sensor Set     HB CM4 base Rev 4
-#define V6X50   HW_VER_REV(0x5,0x0) // FMUV6X,                    HB Mini Rev 0
-#define V6X51   HW_VER_REV(0x5,0x1) // FMUV6X,     BMI388 I2C2    HB Mini Rev 1
-#define V6X53   HW_VER_REV(0x5,0x3) // FMUV6X,     Sensor Set     HB Mini Rev 3
-#define V6X54   HW_VER_REV(0x5,0x4) // FMUV6X,     Sensor Set     HB Mini Rev 4
-
-
-/* HEATER
- * PWM in future
- */
-#define GPIO_HEATER_OUTPUT   /* PB10  T2CH3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN10)
-#define HEATER_OUTPUT_EN(on_true)	       px4_arch_gpiowrite(GPIO_HEATER_OUTPUT, (on_true))
-
-/* PE6 is nARMED
- *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
- *  While armed it shall be configured at a GPIO OUT set LOW
- */
-#if !defined(TRACE_PINS)
-#define GPIO_nARMED_INIT     /* PE6 */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN6)
-#define GPIO_nARMED          /* PE6 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN6)
-#define BOARD_INDICATE_EXTERNAL_LOCKOUT_STATE(enabled)  px4_arch_configgpio((enabled) ? GPIO_nARMED : GPIO_nARMED_INIT)
-#define BOARD_GET_EXTERNAL_LOCKOUT_STATE() px4_arch_gpioread(GPIO_nARMED)
-#endif
-
-
-/* PWM
- */
-#define DIRECT_PWM_OUTPUT_CHANNELS   9
-
-
-/* Power supply control and monitoring GPIOs */
-
-#define GPIO_nPOWER_IN_A                /* PG1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN1)
-#define GPIO_nPOWER_IN_B                /* PG2  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
-#define GPIO_nPOWER_IN_C                /* PG3  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN3)
-
-#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
-#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_B /* Brick 2 Is Chosen  */
-#define BOARD_NUMBER_BRICKS             2
-#define BOARD_NUMBER_DIGITAL_BRICKS     2
-#define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C /* USB     Is Chosen */
-
-#define GPIO_VDD_5V_PERIPH_nEN          /* PG4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN4)
-#define GPIO_VDD_5V_PERIPH_nOC          /* PE15 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN15)
-#define GPIO_VDD_5V_HIPOWER_nEN         /* PG10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN10)
-#define GPIO_VDD_5V_HIPOWER_nOC         /* PF13 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTF|GPIO_PIN13)
-#define GPIO_VDD_3V3_SENSORS4_EN        /* PG8  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN8)
-#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PH2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN2)
-#define GPIO_VDD_3V3_SD_CARD_EN         /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
-
-/* Spare GPIO */
-
-#define GPIO_PG6                        /* PG6  */  (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN6)
-#define GPIO_PD15                       /* PD15 */  (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN15)
-
-/* ETHERNET GPIO */
-
-#define GPIO_ETH_POWER_EN              /* PG15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTG|GPIO_PIN15)
-
-/* NFC GPIO */
-
-#define GPIO_NFC_GPIO                   /* PC0 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTC|GPIO_PIN0)
-
-
-/* Define True logic Power Control in arch agnostic form */
-
-#define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
-#define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
-#define VDD_3V3_SENSORS4_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))
-#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)
-#define VDD_3V3_SD_CARD_EN(on_true)        px4_arch_gpiowrite(GPIO_VDD_3V3_SD_CARD_EN, (on_true))
-#define VDD_3V3_ETH_POWER_EN(on_true)      px4_arch_gpiowrite(GPIO_ETH_POWER_EN, (on_true))
-
-
-/* Tone alarm output */
-
-#define TONE_ALARM_TIMER        14  /* Timer 14 */
-#define TONE_ALARM_CHANNEL      1  /* PF9 GPIO_TIM14_CH1OUT_2 */
-
-#define GPIO_BUZZER_1           /* PF9 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN9)
-
-#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
-#define GPIO_TONE_ALARM         GPIO_TIM14_CH1OUT_2
-
-/* USB OTG FS
- *
- * PA9  OTG_FS_VBUS VBUS sensing
- */
-#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
-
-/* High-resolution timer */
-#define HRT_TIMER               8  /* use timer8 for the HRT */
-#define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
-
-#define HRT_PPM_CHANNEL         /* T8C1 */  1  /* use capture/compare channel 1 */
-#define GPIO_PPM_IN             /* PI5 T8C1 */ GPIO_TIM8_CH1IN_2
-
-/* RC Serial port */
-
-#define RC_SERIAL_PORT                     "/dev/ttyS5"
-
-/* Input Capture Channels. */
-#define INPUT_CAP1_TIMER                  1
-#define INPUT_CAP1_CHANNEL     /* T1C2 */ 2
-#define GPIO_INPUT_CAP1        /*  PE11 */ GPIO_TIM1_CH2IN
-
-/* PWM input driver. Use FMU AUX5 pins attached to timer4 channel 2 */
-#define PWMIN_TIMER                       4
-#define PWMIN_TIMER_CHANNEL    /* T4C2 */ 2
-#define GPIO_PWM_IN            /* PD13 */ GPIO_TIM4_CH2IN_2
-
-/* Safety Switch is HW version dependent on having an PX4IO
- * So we init to a benign state with the _INIT definition
- * and provide the the non _INIT one for the driver to make a run time
- * decision to use it.
- */
-#define GPIO_nSAFETY_SWITCH_LED_OUT_INIT   /* PD10 */ (GPIO_INPUT|GPIO_FLOAT|GPIO_PORTD|GPIO_PIN10)
-#define GPIO_nSAFETY_SWITCH_LED_OUT        /* PD10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN10)
-
-/* Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
-#define GPIO_LED_SAFETY GPIO_nSAFETY_SWITCH_LED_OUT
-
-#define GPIO_SAFETY_SWITCH_IN              /* PF5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTF|GPIO_PIN5)
-/* 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)
-
-/*
- * FMUv6X has a separate RC_IN
- *
- * GPIO PPM_IN on PI5 T8CH1
- * 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_PORTI|GPIO_PIN5)
-#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))
-
-#define SDIO_SLOTNO                    0  /* Only one slot */
-#define SDIO_MINOR                     0
-
-/* SD card bringup does not work if performed on the IDLE thread because it
- * will cause waiting.  Use either:
- *
- *  CONFIG_LIB_BOARDCTL=y, OR
- *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
- */
-
-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
-   !defined(CONFIG_BOARD_INITTHREAD)
-#  warning SDIO initialization cannot be perfomed on the IDLE thread
-#endif
-
-/* 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     (!px4_arch_gpioread(GPIO_nVDD_USB_VALID))
-
-/* FMUv6X never powers off the Servo rail */
-
-#define BOARD_ADC_SERVO_VALID     (1)
-
-#if !defined(BOARD_HAS_LTC44XX_VALIDS) || BOARD_HAS_LTC44XX_VALIDS == 0
-#  define BOARD_ADC_BRICK1_VALID  (1)
-#  define BOARD_ADC_BRICK2_VALID  (0)
-#elif BOARD_HAS_LTC44XX_VALIDS == 1
-#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
-#  define BOARD_ADC_BRICK2_VALID  (0)
-#elif BOARD_HAS_LTC44XX_VALIDS == 2
-#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
-#  define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
-#elif BOARD_HAS_LTC44XX_VALIDS == 3
-#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
-#  define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
-#  define BOARD_ADC_BRICK3_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
-#elif BOARD_HAS_LTC44XX_VALIDS == 4
-#  define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
-#  define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))
-#  define BOARD_ADC_BRICK3_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK3_VALID))
-#  define BOARD_ADC_BRICK4_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK4_VALID))
-#else
-#  error Unsupported BOARD_HAS_LTC44XX_VALIDS value
-#endif
-
-#define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC))
-#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))
-
-
-/* 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
-
-#if defined(TRACE_PINS)
-#define GPIO_TRACE                          \
-	GPIO_TRACECLK1,                           \
-	GPIO_TRACED0,                             \
-	GPIO_TRACED1,                             \
-	GPIO_TRACED2,                             \
-	GPIO_TRACED3
-#else
-#define GPIO_TRACE (GPIO_OUTPUT|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
-#endif
-
-#define PX4_GPIO_INIT_LIST { \
-		GPIO_TRACE,                       \
-		PX4_ADC_GPIO,                     \
-		GPIO_HW_VER_REV_DRIVE,            \
-		GPIO_CAN1_TX,                     \
-		GPIO_CAN1_RX,                     \
-		GPIO_CAN2_TX,                     \
-		GPIO_CAN2_RX,                     \
-		GPIO_HEATER_OUTPUT,               \
-		GPIO_nPOWER_IN_A,                 \
-		GPIO_nPOWER_IN_B,                 \
-		GPIO_nPOWER_IN_C,                 \
-		GPIO_VDD_5V_PERIPH_nEN,           \
-		GPIO_VDD_5V_PERIPH_nOC,           \
-		GPIO_VDD_5V_HIPOWER_nEN,          \
-		GPIO_VDD_5V_HIPOWER_nOC,          \
-		GPIO_VDD_3V3_SENSORS4_EN,         \
-		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
-		GPIO_VDD_3V3_SD_CARD_EN,          \
-		GPIO_PD15,                        \
-		GPIO_SYNC,                        \
-		SPI6_nRESET_EXTERNAL1,            \
-		GPIO_ETH_POWER_EN,                \
-		GPIO_NFC_GPIO,                    \
-		GPIO_TONE_ALARM_IDLE,             \
-		GPIO_nSAFETY_SWITCH_LED_OUT_INIT, \
-		GPIO_SAFETY_SWITCH_IN,            \
-		GPIO_PG6,                         \
-		GPIO_nARMED_INIT                  \
-	}
-
-#define BOARD_ENABLE_CONSOLE_BUFFER
-
-#define PX4_I2C_BUS_MTD      4,5
-
-
-#define BOARD_NUM_IO_TIMERS 5
-
-__BEGIN_DECLS
-
-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
-/****************************************************************************
- * Name: stm32_sdio_initialize
- *
- * Description:
- *   Initialize SDIO-based MMC/SD card support
- *
- ****************************************************************************/
-
-int stm32_sdio_initialize(void);
-
-/****************************************************************************************************
- * Name: stm32_spiinitialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the PX4FMU board.
- *
- ****************************************************************************************************/
-
-extern void stm32_spiinitialize(void);
-
-extern void stm32_usbinitialize(void);
-
-extern void board_peripheral_reset(int ms);
-
-#include <px4_platform_common/board_common.h>
-
-#endif /* __ASSEMBLY__ */
-
-__END_DECLS
@@ -1,128 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2012 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 px4fmu_can.c
- *
- * Board-specific CAN functions.
- */
-
-#ifdef CONFIG_CAN
-
-#include <errno.h>
-#include <debug.h>
-
-#include <nuttx/can/can.h>
-#include <arch/board/board.h>
-
-#include "chip.h"
-#include "arm_arch.h"
-
-#include "chip.h"
-#include "stm32_can.h"
-#include "board_config.h"
-
-#ifdef CONFIG_CAN
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-/* Configuration ********************************************************************/
-
-#if defined(CONFIG_STM32_CAN1) && defined(CONFIG_STM32_CAN2)
-#  warning "Both CAN1 and CAN2 are enabled.  Assuming only CAN1."
-#  undef CONFIG_STM32_CAN2
-#endif
-
-#ifdef CONFIG_STM32_CAN1
-#  define CAN_PORT 1
-#else
-#  define CAN_PORT 2
-#endif
-
-/************************************************************************************
- * Private Functions
- ************************************************************************************/
-
-/************************************************************************************
- * Public Functions
- ************************************************************************************/
-int can_devinit(void);
-
-/************************************************************************************
- * Name: can_devinit
- *
- * Description:
- *   All STM32 architectures must provide the following interface to work with
- *   examples/can.
- *
- ************************************************************************************/
-
-int can_devinit(void)
-{
-	static bool initialized = false;
-	struct can_dev_s *can;
-	int ret;
-
-	/* Check if we have already initialized */
-
-	if (!initialized) {
-		/* Call stm32_caninitialize() to get an instance of the CAN interface */
-
-		can = stm32_caninitialize(CAN_PORT);
-
-		if (can == NULL) {
-			canerr("ERROR:  Failed to get CAN interface\n");
-			return -ENODEV;
-		}
-
-		/* Register the CAN driver at "/dev/can0" */
-
-		ret = can_register("/dev/can0", can);
-
-		if (ret < 0) {
-			canerr("ERROR: can_register failed: %d\n", ret);
-			return ret;
-		}
-
-		/* Now we are initialized */
-
-		initialized = true;
-	}
-
-	return OK;
-}
-
-#endif
-
-#endif /* CONFIG_CAN */
@@ -1,235 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013 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 px4fmu2_led.c
- *
- * PX4FMU 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
-
-#ifdef CONFIG_ARCH_LEDS
-static bool nuttx_owns_leds = true;
-//                                B  R  S  G
-//                                0  1  2  3
-static const uint8_t xlatpx4[] = {1, 2, 4, 0};
-#  define xlat(p) xlatpx4[(p)]
-static uint32_t g_ledmap[] = {
-	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
-	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
-	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
-	GPIO_nSAFETY_SWITCH_LED_OUT,  // Indexed by LED_SAFETY by xlatpx4
-};
-
-#else
-
-#  define xlat(p) (p)
-static uint32_t g_ledmap[] = {
-	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
-	GPIO_nLED_RED,                      // Indexed by LED_RED, LED_AMBER
-	0,                                  // Indexed by LED_SAFETY (defaulted to an input)
-	GPIO_nLED_GREEN,                    // Indexed by LED_GREEN
-};
-
-#endif
-
-__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(xlat(led), true);
-}
-
-__EXPORT void led_off(int led)
-{
-	phy_set_led(xlat(led), false);
-}
-
-__EXPORT void led_toggle(int led)
-{
-	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
-}
-
-#ifdef CONFIG_ARCH_LEDS
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-/****************************************************************************
- * Name: board_autoled_initialize
- ****************************************************************************/
-
-void board_autoled_initialize(void)
-{
-	led_init();
-}
-
-/****************************************************************************
- * Name: board_autoled_on
- ****************************************************************************/
-
-void board_autoled_on(int led)
-{
-	if (!nuttx_owns_leds) {
-		return;
-	}
-
-	switch (led) {
-	default:
-		break;
-
-	case LED_HEAPALLOCATE:
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_IRQSENABLED:
-		phy_set_led(BOARD_LED_BLUE, false);
-		phy_set_led(BOARD_LED_GREEN, true);
-		break;
-
-	case LED_STACKCREATED:
-		phy_set_led(BOARD_LED_GREEN, true);
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_INIRQ:
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_SIGNAL:
-		phy_set_led(BOARD_LED_GREEN, true);
-		break;
-
-	case LED_ASSERTION:
-		phy_set_led(BOARD_LED_RED, true);
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_PANIC:
-		phy_set_led(BOARD_LED_RED, true);
-		break;
-
-	case LED_IDLE : /* IDLE */
-		phy_set_led(BOARD_LED_RED, true);
-		break;
-	}
-}
-
-/****************************************************************************
- * Name: board_autoled_off
- ****************************************************************************/
-
-void board_autoled_off(int led)
-{
-	if (!nuttx_owns_leds) {
-		return;
-	}
-
-	switch (led) {
-	default:
-		break;
-
-	case LED_SIGNAL:
-		phy_set_led(BOARD_LED_GREEN, false);
-		break;
-
-	case LED_INIRQ:
-		phy_set_led(BOARD_LED_BLUE, false);
-		break;
-
-	case LED_ASSERTION:
-		phy_set_led(BOARD_LED_RED, false);
-		phy_set_led(BOARD_LED_BLUE, false);
-		break;
-
-	case LED_PANIC:
-		phy_set_led(BOARD_LED_RED, false);
-		break;
-
-	case LED_IDLE : /* IDLE */
-		phy_set_led(BOARD_LED_RED, false);
-		break;
-	}
-}
-
-#endif /* CONFIG_ARCH_LEDS */
@@ -1,202 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 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 manifest.c
- *
- * This module supplies the interface to the manifest of hardware that is
- * optional and dependent on the HW REV and HW VER IDs
- *
- * The manifest allows the system to know whether a hardware option
- * say for example the PX4IO is an no-pop option vs it is broken.
- *
- */
-
-/****************************************************************************
- * Included Files
- ****************************************************************************/
-
-#include <nuttx/config.h>
-#include <board_config.h>
-
-#include <inttypes.h>
-#include <stdbool.h>
-#include <syslog.h>
-
-#include "systemlib/px4_macros.h"
-
-/****************************************************************************
- * Pre-Processor Definitions
- ****************************************************************************/
-
-typedef struct {
-	uint32_t                hw_ver_rev; /* the version and revision */
-	const px4_hw_mft_item_t *mft;       /* The first entry */
-	uint32_t                entries;    /* the lenght of the list */
-} px4_hw_mft_list_entry_t;
-
-typedef px4_hw_mft_list_entry_t *px4_hw_mft_list_entry;
-#define px4_hw_mft_list_uninitialized (px4_hw_mft_list_entry) -1
-
-static const px4_hw_mft_item_t device_unsupported = {0, 0, 0};
-
-// List of components on a specific board configuration
-// The index of those components is given by the enum (px4_hw_mft_item_id_t)
-// declared in board_common.h
-static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0610[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-};
-
-static const px4_hw_mft_item_t hw_mft_list_v0650[] = {
-	{
-		//  PX4_MFT_PX4IO
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_unknown,
-	},
-	{
-		// PX4_MFT_USB
-		.present     = 1,
-		.mandatory   = 1,
-		.connection  = px4_hw_con_onboard,
-	},
-	{
-		// PX4_MFT_CAN2
-		.present     = 0,
-		.mandatory   = 0,
-		.connection  = px4_hw_con_unknown,
-	},
-};
-
-
-static px4_hw_mft_list_entry_t mft_lists[] = {
-//  ver_rev
-	{V6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
-	{V6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2
-	{V6X03, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3
-	{V6X40, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, //                       HB CM4 base
-	{V6X41, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2  HB CM4 base
-	{V6X43, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 3
-	{V6X44, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 4
-	{V6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, //                       HB Mini
-	{V6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2  HB Mini
-	{V6X53, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 3
-	{V6X54, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 4
-	{V6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO
-	{V6X13, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 3
-	{V6X04, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 4
-	{V6X14, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 4
-};
-
-/************************************************************************************
- * Name: board_query_manifest
- *
- * Description:
- *   Optional returns manifest item.
- *
- * Input Parameters:
- *   manifest_id - the ID for the manifest item to retrieve
- *
- * Returned Value:
- *   0 - item is not in manifest => assume legacy operations
- *   pointer to a manifest item
- *
- ************************************************************************************/
-
-__EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
-{
-	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;
-
-	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
-		ver_rev |= board_get_hw_revision();
-
-		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
-			if (mft_lists[i].hw_ver_rev == ver_rev) {
-				boards_manifest = &mft_lists[i];
-				break;
-			}
-		}
-
-		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4" PRIx32 " is not supported!\n", ver_rev);
-		}
-	}
-
-	px4_hw_mft_item rv = &device_unsupported;
-
-	if (boards_manifest != px4_hw_mft_list_uninitialized &&
-	    id < boards_manifest->entries) {
-		rv = &boards_manifest->mft[id];
-	}
-
-	return rv;
-}
@@ -1,103 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 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 <nuttx/spi/spi.h>
-#include <px4_platform_common/px4_manifest.h>
-//                                                              KiB BS    nB
-static const px4_mft_device_t spi5 = {             // FM25V02A on FMUM 32K 512 X 64
-	.bus_type = px4_mft_device_t::SPI,
-	.devid    = SPIDEV_FLASH(0)
-};
-static const px4_mft_device_t i2c3 = {             // 24LC64T on Base  8K 32 X 256
-	.bus_type = px4_mft_device_t::I2C,
-	.devid    = PX4_MK_I2C_DEVID(3, 0x51)
-};
-
-static const px4_mtd_entry_t fmum_fram = {
-	.device = &spi5,
-	.npart = 2,
-	.partd = {
-		{
-			.type = MTD_PARAMETERS,
-			.path = "/fs/mtd_params",
-			.nblocks = 32
-		},
-		{
-			.type = MTD_WAYPOINTS,
-			.path = "/fs/mtd_waypoints",
-			.nblocks = 32
-
-		}
-	},
-};
-
-static const px4_mtd_entry_t base_eeprom = {
-	.device = &i2c3,
-	.npart = 2,
-	.partd = {
-		{
-			.type = MTD_MFT,
-			.path = "/fs/mtd_mft",
-			.nblocks = 248
-		},
-		{
-			.type = MTD_NET,
-			.path = "/fs/mtd_net",
-			.nblocks = 8 // 256 = 32 * 8
-
-		}
-	},
-};
-
-static const px4_mtd_manifest_t board_mtd_config = {
-	.nconfigs   = 2,
-	.entries = {
-		&fmum_fram,
-		&base_eeprom,
-	}
-};
-
-static const px4_mft_entry_s mtd_mft = {
-	.type = MTD,
-	.pmft = (void *) &board_mtd_config,
-};
-
-static const px4_mft_s mft = {
-	.nmft = 1,
-	.mfts = &mtd_mft
-};
-
-const px4_mft_s *board_get_manifest(void)
-{
-	return &mft;
-}
@@ -1,86 +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 <px4_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-#include <nuttx/spi/spi.h>
-
-constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
-	initSPIHWVersion(HW_VER_REV(0, 0), {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		}, {GPIO::PortF, GPIO::Pin4}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-
-	initSPIHWVersion(HW_VER_REV(0, 3), {
-		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42652, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
-		}, {GPIO::PortI, GPIO::Pin11}),
-		initSPIBus(SPI::Bus::SPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		}, {GPIO::PortF, GPIO::Pin4}),
-		initSPIBus(SPI::Bus::SPI3, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
-		}, {GPIO::PortE, GPIO::Pin7}),
-		//  initSPIBus(SPI::Bus::SPI4, {
-		//    // no devices
-		// TODO: if enabled, remove GPIO_VDD_3V3_SENSORS4_EN from board_config.h
-		//  }, {GPIO::PortG, GPIO::Pin8}),
-		initSPIBus(SPI::Bus::SPI5, {
-			initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortG, GPIO::Pin7})
-		}),
-		initSPIBusExternal(SPI::Bus::SPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::PortI, GPIO::Pin10}, SPI::DRDY{GPIO::PortD, GPIO::Pin11}),
-			initSPIConfigExternal(SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortD, GPIO::Pin12}),
-		}),
-	}),
-};
-
-static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);
@@ -140,7 +140,8 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -162,7 +162,8 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -1,5 +1,5 @@
 CONFIG_PLATFORM_POSIX=y
-CONFIG_BOARD_LINUX_TARGET=y
+CONFIG_BOARD_LINUX=y
 CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
 CONFIG_BOARD_ARCHITECTURE="cortex-a8"
 CONFIG_BOARD_TESTING=y
@@ -126,7 +126,8 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -125,7 +125,8 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -108,7 +108,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -40,7 +40,6 @@ CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
-CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
@@ -139,7 +139,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -111,7 +111,6 @@ 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 */
@@ -187,12 +186,7 @@ SECTIONS
 		*(.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
+	} > AXI_SRAM AT > FLASH

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -41,7 +41,6 @@ CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
-CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
@@ -138,7 +138,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -111,7 +111,6 @@ 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 */
@@ -187,12 +186,7 @@ SECTIONS
 		*(.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
+	} > AXI_SRAM AT > FLASH

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -10,4 +10,3 @@ CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=n
@@ -140,7 +140,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -187,12 +187,7 @@ SECTIONS
 		*(.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
+	} > AXI_SRAM AT > FLASH

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -138,7 +138,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -12,4 +12,3 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=n
@@ -141,7 +141,8 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -4,7 +4,7 @@ CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_EXTERNAL_METADATA=y
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
@@ -23,10 +23,10 @@ CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=n
+CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_LOAD_MON=y
 CONFIG_MODULES_MANUAL_CONTROL=y
 CONFIG_MODULES_MAVLINK=y
 CONFIG_MODULES_MC_ATT_CONTROL=y
@@ -120,7 +120,8 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -157,7 +158,7 @@ CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=512
+CONFIG_STM32_SPI1_DMA_BUFFER=1024
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI2_DMA=y
 CONFIG_STM32_SPI3=y
@@ -1,5 +1,5 @@
 CONFIG_PLATFORM_POSIX=y
-CONFIG_BOARD_LINUX_TARGET=y
+CONFIG_BOARD_LINUX=y
 CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
 CONFIG_BOARD_ARCHITECTURE="cortex-a53"
 CONFIG_BOARD_TESTING=y
@@ -122,7 +122,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -108,7 +108,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -140,7 +140,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -109,17 +109,16 @@

 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
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08020000, LENGTH = 1920K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
 }

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

-	} > FLASH
+	} > flash

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


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

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

 	_eronly = ABSOLUTE(.);
@@ -187,12 +186,7 @@ SECTIONS
 		*(.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
+	} > sram AT > flash

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

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

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

 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
@@ -140,7 +140,8 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -30,7 +30,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x004b
+CONFIG_CDCACM_PRODUCTID=0x0050
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL Holybro KakuteH7"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
@@ -139,7 +139,8 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -109,17 +109,16 @@

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

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

-	} > FLASH
+	} > flash

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


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

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

 	_eronly = ABSOLUTE(.);
@@ -187,12 +186,7 @@ SECTIONS
 		*(.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
+	} > sram AT > flash

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

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

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

 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
@@ -140,7 +140,8 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -126,7 +126,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_PASSTHRU_UBLOX=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -1,54 +1,43 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
-CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS6"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=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_HEATER=y
-CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
+CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_POWER_MONITOR_INA226=y
-CONFIG_DRIVERS_POWER_MONITOR_INA228=y
-CONFIG_DRIVERS_POWER_MONITOR_INA238=y
+CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_PWM_OUT_SIM=y
-CONFIG_DRIVERS_PX4IO=y
+CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_RPM=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
-CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
-CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
-CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
-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_L1=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_LOCAL_POSITION_ESTIMATOR=y
 CONFIG_MODULES_LOGGER=y
 CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_MANUAL_CONTROL=y
@@ -58,16 +47,17 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_MODULES_VMOUNT=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_ESC_CALIB=y
+CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
@@ -81,11 +71,14 @@ CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=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
+CONFIG_EXAMPLES_FAKE_GPS=y
@@ -1,10 +1,10 @@
 {
-    "board_id": 57,
-    "magic": "ARKFWv1",
-    "description": "Firmware for the ARKFMUv6X board",
+    "board_id": 1013,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the MatekH743-slim board",
    "image": "",
    "build_time": 0,
-    "summary": "ARKFMUv6X",
+    "summary": "MatekH743-mini",
    "version": "0.1",
    "image_size": 0,
    "image_maxsize": 1966080,
@@ -0,0 +1,16 @@
+#!/bin/sh
+#
+# board specific extras init
+#------------------------------------------------------------------------------
+
+# if ! param compare OSD_ATXXXX_CFG 0
+# then
+# 	atxxxx start -s
+# fi
+
+atxxxx start -s
+
+
+# DShot telemetry is always on UART7
+# dshot telemetry /dev/ttyS5
+
@@ -0,0 +1,22 @@
+#!/bin/sh
+#
+# board specific sensors init
+#------------------------------------------------------------------------------
+
+board_adc start
+
+# Internal SPI bus ICM-42605
+if ! icm42605 -R 14 -s start
+then
+	# internal SPI bus ICM-20602
+	icm20602 -R 12 -s start
+fi
+
+# Internal SPI bus MPU-6000
+mpu6000 -R 12 -s start
+
+# Internal baro
+dps310 -I start -a 118
+
+# External mag
+qmc5883l -X start -a 13
@@ -11,11 +11,11 @@
 # CONFIG_STM32H7_SYSCFG is not set
 CONFIG_ARCH="arm"
 CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/ark/fmu-v6x/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/matek/h743-slim/nuttx-config"
 CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
 CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
 CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H753II=y
+CONFIG_ARCH_CHIP_STM32H743VI=y
 CONFIG_ARCH_CHIP_STM32H7=y
 CONFIG_ARCH_INTERRUPTSTACK=512
 CONFIG_ARMV7M_BASEPRI_WAR=y
@@ -25,17 +25,16 @@ CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_INITTHREAD_PRIORITY=254
 CONFIG_BOARD_LATE_INITIALIZE=y
-CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x0035
-CONFIG_CDCACM_PRODUCTSTR="ARK BL FMU v6X.x"
+CONFIG_CDCACM_PRODUCTID=0x004b
+CONFIG_CDCACM_PRODUCTSTR="Matek H743-slim"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x3185
-CONFIG_CDCACM_VENDORSTR="ARK"
+CONFIG_CDCACM_VENDORID=0x3162
+CONFIG_CDCACM_VENDORSTR="Matek"
 CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
@@ -52,6 +51,7 @@ CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_LIB_BOARDCTL=y
+CONFIG_FS_PROCFS_MAX_TASKS=8
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_PREALLOC_TIMERS=50
@@ -72,22 +72,19 @@ CONFIG_START_MONTH=11
 CONFIG_STDIO_BUFFER_SIZE=32
 CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_OTGFS=y
 CONFIG_STM32H7_PROGMEM=y
 CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_USART1=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_UART7_RXBUFSIZE=512
-CONFIG_UART7_RXDMA=y
-CONFIG_UART7_TXBUFSIZE=512
-CONFIG_UART7_TXDMA=y
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=300
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
@@ -1,5 +1,5 @@
 /************************************************************************************
- * nuttx-configs/px4_fmu-v6c/include/board.h
+ * nuttx-configs/px4_fmu-v6u/include/board.h
 *
 *   Copyright (C) 2016-2019 Gregory Nutt. All rights reserved.
 *   Authors: David Sidrane <david.sidrane@nscdg.com>
@@ -32,8 +32,8 @@
 * POSSIBILITY OF SUCH DAMAGE.
 *
 ************************************************************************************/
-#ifndef __NUTTX_CONFIG_PX4_FMU_V6C_INCLUDE_BOARD_H
-#define __NUTTX_CONFIG_PX4_FMU_V6C_INCLUDE_BOARD_H
+#ifndef __NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H
+#define __NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H

 /************************************************************************************
 * Included Files
@@ -55,17 +55,17 @@
 ************************************************************************************/

 /* Clocking *************************************************************************/
-/* The px4_fmu-v6C  board provides the following clock sources:
+/* The MatekH743-Slim  board provides the following clock sources:
 *
- *   X1: 16 MHz crystal for HSE
+ *   X1: 8 MHz crystal for HSE
 *
 * So we have these clock source available within the STM32
 *
- *   HSI: 16 MHz RC factory-trimmed
- *   HSE: 16 MHz crystal for HSE
+ *   HSI: 64 MHz RC factory-trimmed
+ *   HSE:  8 MHz crystal for HSE
 */

-#define STM32_BOARD_XTAL        16000000ul
+#define STM32_BOARD_XTAL        8000000ul

 #define STM32_HSI_FREQUENCY     16000000ul
 #define STM32_LSI_FREQUENCY     32000
@@ -74,7 +74,7 @@

 /* Main PLL Configuration.
 *
- * PLL source is HSE = 16,000,000
+ * PLL source is HSE = 8,000,000
 *
 * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
 * Subject to:
@@ -99,7 +99,7 @@

 /* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
 *
- *   PLL1_VCO = (16,000,000 / 1) * 60 = 960 MHz
+ *   PLL1_VCO = (8,000,000 / 1) * 120 = 960 MHz
 *
 *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
 *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
@@ -112,12 +112,12 @@
 				 RCC_PLLCFGR_DIVQ1EN | \
 				 RCC_PLLCFGR_DIVR1EN)
 #define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
-#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(60)
+#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(120)
 #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 / 1) * 60)
+#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 120)
 #define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
 #define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
 #define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
@@ -129,13 +129,13 @@
 				  RCC_PLLCFGR_DIVP2EN | \
 				  RCC_PLLCFGR_DIVQ2EN | \
 				  RCC_PLLCFGR_DIVR2EN)
-#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(4)
+#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(2)
 #define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(48)
 #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) * 48)
+#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 2) * 48)
 #define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
 #define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
 #define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
@@ -145,13 +145,13 @@
 #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_PLL3M      RCC_PLLCKSELR_DIVM3(2)
 #define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(48)
 #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) * 48)
+#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 2) * 48)
 #define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
 #define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
 #define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
@@ -250,7 +250,7 @@

 #define STM32_RCC_D3CCIPR_ADCSEL     RCC_D3CCIPR_ADCSEL_PLL2

-/* FDCAN 1 2 clock source */
+/* FDCAN 1 clock source */

 #define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */

@@ -280,7 +280,7 @@

 /* SDMMC definitions ********************************************************/

-/* Init 400kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
+/* Init 480kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */

 #define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)

@@ -302,18 +302,8 @@
 #define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE

 /* LED definitions ******************************************************************/
-/* The PX4 FMUV6C board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
- * LED_RED a Red LED, that can be controlled by software.
- *
- * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
- * The following definitions are used to access individual LEDs.
- */
-
-/* LED index values for use with board_userled() */
-
-/* LED definitions ******************************************************************/
-/* The px4_fmu-v6c board has three, LED_GREEN a Green LED, LED_BLUE a Blue LED and
- * LED_RED a Red LED, that can be controlled by software.
+/* The board has two, LED_GREEN a Green LED and LED_BLUE a Blue LED,
+ * that can be controlled by software.
 *
 * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
 * The following definitions are used to access individual LEDs.
@@ -323,18 +313,15 @@

 #define BOARD_LED1        0
 #define BOARD_LED2        1
-#define BOARD_LED3        2
-#define BOARD_NLEDS       3
+#define BOARD_NLEDS       2

-#define BOARD_LED_RED     BOARD_LED1
+#define BOARD_LED_BLUE    BOARD_LED1
 #define BOARD_LED_GREEN   BOARD_LED2
-#define BOARD_LED_BLUE    BOARD_LED3

 /* LED bits for use with board_userled_all() */

 #define BOARD_LED1_BIT    (1 << BOARD_LED1)
 #define BOARD_LED2_BIT    (1 << BOARD_LED2)
-#define BOARD_LED3_BIT    (1 << BOARD_LED3)

 /* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
 * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
@@ -363,21 +350,19 @@

 /* Alternate function pin selections ************************************************/

-#define GPIO_USART1_RX   GPIO_USART1_RX_2    /* PA10 */
-#define GPIO_USART1_TX   GPIO_USART1_TX_3    /* PB6 */
+#define GPIO_USART1_RX   GPIO_USART1_RX_2   /* PA10 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_2   /* PA9  */

-#define GPIO_USART2_RX   GPIO_USART2_RX_1   /* PA3   */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5   */
+#define GPIO_USART2_RX   GPIO_USART2_RX_2   /* PD6  */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5  */

-#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9   */
-#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8   */
+#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9  */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8  */

-#define GPIO_UART5_RX    GPIO_UART5_RX_3    /* PD2  */
-#define GPIO_UART5_TX    GPIO_UART5_TX_3    /* PC12 */
-// GPIO_UART5_RTS   no remap                /* PC8  */
-// GPIO_UART5_CTS  No remap                 /* PC9  */
+#define GPIO_UART4_RX    GPIO_UART4_RX_3    /* PB8  */
+#define GPIO_UART4_TX    GPIO_UART4_TX_3    /* PB9  */

-#define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7 */
+#define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7  */
 #define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6  */

 #define GPIO_UART7_RX    GPIO_UART7_RX_3    /* PE7  */
@@ -385,35 +370,43 @@
 #define GPIO_UART7_RTS   GPIO_UART7_RTS_1   /* PE9  */
 #define GPIO_UART7_CTS   GPIO_UART7_CTS_1   /* PE10 */

-#define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0 */
-#define GPIO_UART8_TX    GPIO_UART8_TX_1    /* PE1 */
+#define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0  */
+#define GPIO_UART8_TX    GPIO_UART8_TX_1    /* PE1  */


 /* CAN
 *
 * CAN1 is routed to transceiver.
- * CAN2 is routed to transceiver.
 */
+
 #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_2     /* PB5 */
-#define GPIO_CAN2_TX     GPIO_CAN2_TX_1     /* PB13  */

 /* SPI
- * SPI1 is sensors
- * SPI2 is FRAM
 *
+ * SPI1 is MPU6000
+ * SPI2 is MAX7456
+ * SPI3 is extern with PD4 and PE2 as CS
+ * SPI4 is ICM20602
 */

 #define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))

 #define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1               /* PA7  */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3               /* PD7  */
 #define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5  */

-#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_2               /* PC2  */
-#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_3               /* PC3  */
-#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_5) /* PD3  */
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1               /* PB14 */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_1               /* PB15 */
+#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_4) /* PB13 */
+
+#define GPIO_SPI3_MISO   GPIO_SPI3_MISO_1               /* PB4  */
+#define GPIO_SPI3_MOSI   GPIO_SPI3_MOSI_4               /* PB5  */
+#define GPIO_SPI3_SCK    ADJ_SLEW_RATE(GPIO_SPI3_SCK_1) /* PB3  */
+
+#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1               /* PE13 */
+#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_1               /* PE14 */
+#define GPIO_SPI4_SCK    ADJ_SLEW_RATE(GPIO_SPI4_SCK_1) /* PE12 */

 /* I2C
 *
@@ -423,42 +416,35 @@
 *
 */

-#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
+#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1       /* PB6  */
 #define GPIO_I2C1_SDA GPIO_I2C1_SDA_1       /* PB7  */

-#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN8)
-#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
+#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
+#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)

 #define GPIO_I2C2_SCL GPIO_I2C2_SCL_1       /* PB10 */
-#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1       /* PB11*/
+#define GPIO_I2C2_SDA GPIO_I2C2_SDA_1       /* PB11 */

-#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
-#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN |GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN11)
+#define GPIO_I2C2_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN10)
+#define GPIO_I2C2_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN11)

-#define GPIO_I2C4_SCL GPIO_I2C4_SCL_1       /* PD12 */
-#define GPIO_I2C4_SDA GPIO_I2C4_SDA_1       /* PD13 */
-
-#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN12)
-#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN13)
-
-/* SDMMC2
+/* SDMMC1
 *
- *      VDD 3.3
- *      GND
- *      SDMMC2_CK                           PD6
- *      SDMMC2_CMD                          PD7
- *      SDMMC2_D0                           PB14
- *      SDMMC2_D1                           PB15
- *      SDMMC2_D2                           PB3
- *      SDMMC2_D3                           PB4
+ *      SDMMC1_D0                          PC8
+ *      SDMMC1_D1                          PC9
+ *      SDMMC1_D2                          PC10
+ *      SDMMC1_D3                          PC11
+ *      SDMMC1_CK                          PC12
+ *      SDMMC1_CMD                         PD2
 */

-#define GPIO_SDMMC2_CK   GPIO_SDMMC2_CK_1  /* PD6  */
-#define GPIO_SDMMC2_CMD  GPIO_SDMMC2_CMD_1 /* PD7  */
-//      GPIO_SDMMC2_D0   No Remap          /* PB14 */
-//      GPIO_SDMMC2_D1   No Remap          /* PB15 */
-#define GPIO_SDMMC2_D2   GPIO_SDMMC2_D2_2  /* PB3  */
-//      GPIO_SDMMC2_D3    No Remap         /* PB4  */
+// #define GPIO_SDMMC1_D0   GPIO_SDMMC1_D0    /* PC8  */
+// #define GPIO_SDMMC1_D1   GPIO_SDMMC1_D1    /* PC9  */
+// #define GPIO_SDMMC1_D2   GPIO_SDMMC1_D2    /* PC10 */
+// #define GPIO_SDMMC1_D3   GPIO_SDMMC1_D3    /* PC11 */
+// #define GPIO_SDMMC1_CK   GPIO_SDMMC1_CK    /* PC12 */
+// #define GPIO_SDMMC1_CMD  GPIO_SDMMC1_CMD   /* PD2  */
+

 /* USB
 *
@@ -473,14 +459,15 @@
 #if defined(CONFIG_BOARD_USE_PROBES)
 # include "stm32_gpio.h"
 # define PROBE_N(n) (1<<((n)-1))
-# define PROBE_1    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN8)   /* PA8  AUX1 */
-# define PROBE_2    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)  /* PE11 AUX2 */
-# define PROBE_3    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN13)  /* PE13 AUX3 */
-# define PROBE_4    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN14)  /* PE14 AUX4 */
-# define PROBE_5    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)  /* PD14 AUX5 */
-# define PROBE_6    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN15)  /* PD15 AUX6 */
-# define PROBE_7    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN0)   /* PA0  AUX7 */
-# define PROBE_8    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN2)   /* PA1  AUX8 */
+# define PROBE_1    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTI|GPIO_PIN0)   /* PI0 AUX1 */
+# define PROBE_2    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN12)  /* PH12 AUX2 */
+# define PROBE_3    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN11)  /* PH11 AUX3 */
+# define PROBE_4    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN10)  /* PH10 AUX4 */
+# define PROBE_5    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN13)  /* PD13 AUX5 */
+# define PROBE_6    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTD|GPIO_PIN14)  /* PD14 AUX6 */
+# define PROBE_7    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN6)   /* PH6  AUX7 */
+# define PROBE_8    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTH|GPIO_PIN9)   /* PH9  AUX8 */
+# define PROBE_9    (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN11)  /* PE11  CAP1 */

 # define PROBE_INIT(mask) \
 	do { \
@@ -492,6 +479,7 @@
 		if ((mask)& PROBE_N(6)) { stm32_configgpio(PROBE_6); } \
 		if ((mask)& PROBE_N(7)) { stm32_configgpio(PROBE_7); } \
 		if ((mask)& PROBE_N(8)) { stm32_configgpio(PROBE_8); } \
+		if ((mask)& PROBE_N(9)) { stm32_configgpio(PROBE_9); } \
 	} while(0)

 # define PROBE(n,s)  do {stm32_gpiowrite(PROBE_##n,(s));}while(0)
@@ -502,4 +490,4 @@
 # define PROBE_MARK(n)
 #endif

-#endif  /*__NUTTX_CONFIG_PX4_FMU_V6C_INCLUDE_BOARD_H  */
+#endif  /*__NUTTX_CONFIG_MATEKH743SLIM_INCLUDE_BOARD_H  */
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Daniel Agar	054b8093de	[DO NOT MERGE] try changing UAVCAN default timer to 6	2022-05-06 10:29:14 -04:00
Beat Küng	113982e3e7	commander: fix incorrect return in set_link_loss_nav_state() If both local position and altitude were not valid, then both RC loss and datalink loss would not trigger any failsafe at all, independently from the configured action.	2022-05-06 10:14:13 -04:00
achim	a71cf21c28	boards: matek_h743-slim_default try to fit as many modules of all categories as possible into the flash.	2022-05-06 10:13:30 -04:00
achim	87ebf17ab0	boards: matek h743 enable 12 pwm outs on slim and wing V1.0 and V1.5	2022-05-06 10:10:59 -04:00
achim	fc887a23af	boards: matek h743 mini	2022-05-06 10:09:14 -04:00
Silvan Fuhrer	20400cbb74	ROMFS: reduce FW_SPOILERS_LND to 0.4 to leave ailerons enough control authority Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-06 16:05:03 +02:00
Matthias Grob	843c814fb8	MulticopterPositionControl: allow offboard takeoff also when not landed	2022-05-06 04:12:18 -07:00
Matthias Grob	fbc109436f	MultiCopterRateControl: refactor setpoint naming	2022-05-06 04:12:18 -07:00
Matthias Grob	1211a457d7	MulticopterPositionControl: Overwrite vertical acceleration during takeoff rampup only	2022-05-06 04:12:18 -07:00
Matthias Grob	d9a2fe5226	Revert "MCPosControl: fix invalid setpoint race condition" This reverts commit `e7a2c1d88e`.	2022-05-06 04:12:18 -07:00
achim	1f3a78b535	boards: mro ctrl zero classic enable all pwm outs * enable all available pwm outs, cause io timer 15 is supported now	2022-05-05 22:39:12 -04:00
mcsauder	2a66be4899	Colocate struct stateSample with other instances of *Sample structs.	2022-05-05 18:41:50 -04:00
mcsauder	a0d9687409	Add c++ style initializers where missing in EKF/common.cpp, standardize tab/space indentation, align comments and format whitespace.	2022-05-05 18:41:50 -04:00
bresch	cab477d715	ekf2: optimize KHP computation Calculating K(HP) takes less operations than (KH)P because K and H are vectors. Without considering the sparsity optimization: - KH (2424 operations) is then a 24x24 matrix an it takes 24^3 operations to multiply it with P. Total: 14400 op - HP (24(24+24-1) operations) is a row vector and it takes 24 operations to left-multiply it by K. Total:1152 op	2022-05-05 10:34:17 -04:00
achim	3233272cbb	boards: diatone_mamba-f405-mk2_default fix /dev/ttyS2 name	2022-05-05 09:41:49 -04:00
bresch	c890e8bf99	WindEstimator: fix state covariance prediction All the states are stationary so the discrete-time process noise Qk can be directly added to the state covariance matrix P	2022-05-05 11:53:33 +02:00
Konrad	14a2fdfe55	Removed l1 control slope angle limitation. The maximal approach angle to the line was set to 45°, no the approach angle can be up to 90°.	2022-05-04 21:23:22 -04:00
achim	2bee8bfd45	boards: diatone_mamba-f405-mk2_default - change modules still fit to flash, there is no board variant with sd slot	2022-05-04 21:08:44 -04:00
achim	bf8d759d3d	boards: matek h743 slim support v1 and v1.5 IMU variants - remove temp compensation to still fit into flash	2022-05-04 14:05:16 -04:00
Matthias Grob	46fdc28cf8	MulticopterPositionControl: fix typo "descen{d/t}"	2022-05-04 02:22:18 -07:00
Daniel Agar	7f1bb556e9	Update src/modules/mc_pos_control/MulticopterPositionControl.cpp Co-authored-by: Mathieu Bresciani <brescianimathieu@gmail.com>	2022-05-04 02:22:18 -07:00
Matthias Grob	3fb4889ab9	MultcopterPositionControl: fix executing a zero setpoint for 200ms This is a combination of the originally introduced delay: `06c10f61c1` then the emergency failsafe being changed to not just land, position control being rescheduled to not overwrite every setpoint in: e502214429576ce68ac3fee9d2db19112f4604b9 and it being fixed by overwriting the setpoint but not removing the long obsolete hystersis here: `114e85d260`	2022-05-04 02:22:18 -07:00
Matthias Grob	cb484c5ac7	PositionControl: publish NAN jerk because the controller does not read or write jerk	2022-05-04 02:22:18 -07:00
Matthias Grob	5055fec796	MulticoperPositionControl: explicitly overwrite setpoint timestamp when setpoint is reset	2022-05-04 02:22:18 -07:00
Matthias Grob	424fd8b304	MulticoperPositionControl: remove time_stamp_now alias for timestamp_sample of the local position to make it explicit what is used is not a fresh hrt_absolute_time() call by this module.	2022-05-04 02:22:18 -07:00
Matthias Grob	8180f931de	MulticopterPositionControl: rename local_pos -> vehicle_local_position	2022-05-04 02:22:18 -07:00
Matthias Grob	4ffe796b4d	MulticopterPositionControl: clarify previous position control naming	2022-05-04 02:22:18 -07:00
Daniel Agar	ad6592f669	mc_pos_control: require current trajectory setpoint to run controller	2022-05-04 02:22:18 -07:00
Silvan Fuhrer	138772386f	FW Position control: explicitly set spoiler/flaps in every control mode Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-03 15:11:21 +02:00
Silvan Fuhrer	089673ff35	only allow positive spoiler and flap controls Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-03 15:11:21 +02:00
Silvan Fuhrer	64ff31aa08	VTOL: add flap and spoiler support - including slew rate limiting - adds option to set spoiler setting during the Land phase (hover) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-03 15:11:21 +02:00
Silvan Fuhrer	4b8f93de5c	FW: rework spoiler/flap control logic - remove separate flaperon controls input to mixer instead enable spoiler support - add slew rate limiting on both flap and spoiler controls - add spoiler configuration for Landing and Descend - add trimming from spoiler deflection - FW Attitude control: remove FW_FLAPS_SCL param --> The flap settings for takeoff and landing are now specified relative to full range. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-03 15:11:21 +02:00
Silvan Fuhrer	21a2892f47	use actuator_controls[8] for collective tilt for tiltrotor VTOL, instead of [4] [4] is reserved for Flaps, so also having the tilt on it was preventing us from using flaps on tiltrotors, and other ripple effects. By using [8] the tilt is separated from all other channels - it requires to increase the size of actuator_controls by 1 to 9. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2022-05-03 15:11:21 +02:00
Peter van der Perk	7e6aa28106	Added LTO targets for CI	2022-05-02 10:07:54 -04:00
Peter van der Perk	108c98a691	Added experimental LTO kconfig option	2022-05-02 10:07:54 -04:00
Beat Küng	8da02e2233	dshot: avoid using pwm failsafe params when dynamic mixing is enabled	2022-05-02 07:16:23 +02:00
Daniel Agar	7784cd1f40	boards: mro_ctrl-zero-classic updates to sync with ctrl-zero-h7-oem	2022-04-30 09:40:52 -04:00
Daniel Agar	6fc857772d	ekf2: remove unnecessary const references	2022-04-29 21:39:02 -04:00
ShiauweiZhao	4a6e958100	add tattu_can smart battery kconfig	2022-04-29 13:49:32 -04:00
Vincent Poon	080ba4458a	holybro/kakuteh7: change Product ID to show board name properly in QGC https://github.com/mavlink/qgroundcontrol/pull/10270	2022-04-29 07:21:58 +02:00
Beat Küng	d94ec84e46	logged_topics: remove unused vehicle_angular_acceleration_setpoint, extend add_high_rate_topics	2022-04-28 19:51:28 -04:00
Beat Küng	4338976247	ActuatorEffectivenessRotors: add missing getEffectivenessMatrix Fixes MOTORS_6DOF	2022-04-28 19:51:28 -04:00
Beat Küng	efdf5b8fce	vehicle_{thrust,torque}_setpoint.msg: fix comment	2022-04-28 19:51:28 -04:00
Beat Küng	a9129ea003	logger watchdog: also check main thread There was a time window where if a task with higher priority than the main logger thread would busy-loop, it would block both logging threads and the watchdog would not trigger if the writer was in idle state. This can happen for fast SD card writes.	2022-04-28 19:49:24 -04:00
Beat Küng	9e0a8050a9	fix dshot: remove setAllFailsafeValues Fixes a regression from `c1e5e666f0`, where with static mixers the dshot outputs would go to max instead of 0 in a failsafe case.	2022-04-28 13:29:24 -04:00
Daniel Agar	a15432fac1	drivers/rc_input: RC_INPUT_PROTO parameter minimal implementation (#19539 ) Co-authored-by: chris1seto <chris12892@gmail.com> Co-authored-by: chris1seto <chris12892@gmail.com>	2022-04-27 21:06:43 -06:00