airspeed_selector: new ASPD_SEL_EN to control enabling/disabling module

EKF2 cleanup. Use MAX_NUM_x constants instead of hard-coded numbers
Signed-off-by: Antonio Sanjurjo C <74329840+antonio-sc66@users.noreply.github.com>
2026-06-11 23:20:06 +08:00 · 2023-07-06 11:46:44 -04:00 · 2023-07-06 09:36:27 +02:00 · 2023-07-06 08:24:33 +02:00 · 2023-07-06 08:24:33 +02:00 · 2023-07-05 20:49:39 +12:00
556 changed files with 14509 additions and 13246 deletions
@@ -40,8 +40,6 @@ pipeline {
                     "ark_can-flow_default",
                     "ark_can-gps_canbootloader",
                     "ark_can-gps_default",
-                     "ark_cannode_canbootloader",
-                     "ark_cannode_default",
                     "ark_can-rtk-gps_canbootloader",
                     "ark_can-rtk-gps_default",
                     "ark_fmu-v6x_bootloader",
@@ -55,10 +53,8 @@ pipeline {
                     "cuav_nora_default",
                     "cuav_x7pro_default",
                     "cubepilot_cubeorange_default",
-                     "cubepilot_cubeorangeplus_default",
                     "cubepilot_cubeyellow_default",
                     "diatone_mamba-f405-mk2_default",
-                     "flywoo_gn-f405_default",
                     "freefly_can-rtk-gps_canbootloader",
                     "freefly_can-rtk-gps_default",
                     "holybro_can-gps-v1_canbootloader",
@@ -76,7 +72,7 @@ pipeline {
                     "matek_h743_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v2_default",
-                     "mro_ctrl-zero-classic_default",
+                     "modalai_voxl2-io_default",
                     "mro_ctrl-zero-f7_default",
                     "mro_ctrl-zero-f7-oem_default",
                     "mro_ctrl-zero-h7-oem_default",
@@ -89,7 +85,6 @@ pipeline {
                     "nxp_fmuk66-v3_default",
                     "nxp_fmuk66-v3_socketcan",
                     "nxp_fmurt1062-v1_default",
-                     "nxp_mr-canhubk3_default",
                     "nxp_ucans32k146_canbootloader",
                     "nxp_ucans32k146_default",
                     "omnibus_f4sd_default",
@@ -1,34 +0,0 @@
---
-name: 🐛 Bug report
-about: Create a report to help us improve
-labels: bug-report
-
---
-
-## Describe the bug
-A clear and concise description of the bug.
-
-## To Reproduce
-Steps to reproduce the behavior:
-1. Drone switched on '...'
-2. Uploaded mission '....' (attach QGC mission file)
-3. Took off '....'
-4. See error
-
-## Expected behavior
-A clear and concise description of what you expected to happen.
-
-## Log Files and Screenshots
-*Always* provide a link to the flight log file:
- Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
- Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
- Share the link to the log (Copy and paste the URL of the log)
-
-Add screenshots to help explain your problem.
-
-## Drone (please complete the following information):
- Describe the type of drone.
- Photo of the IMU / autopilot setup if possible.
-
-## Additional context
-Add any other context about the problem here.
@@ -1,20 +0,0 @@
---
-name: 🚀 Feature Request
-about: Suggest an idea for this project
-labels: feature-request
-
---
-
-For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Discord (you can find an invite link on this project README).
-
-## Describe problem solved by the proposed feature
-A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
-
-## Describe your preferred solution
-A clear and concise description of what you want to happen.
-
-## Describe possible alternatives
-A clear and concise description of alternative solutions or features you've considered.
-
-## Additional context
-Add any other context or screenshots for the feature request here.
@@ -1,13 +0,0 @@
---
-name: ⛔ Support Question
-about: See http://discuss.px4.io/ for questions about using PX4.
-
---
-
-## Attention! Please read the note below
-
-We use GitHub issues only to discuss PX4 bugs and new features.
-
-**For questions about using PX4 or related components, please use [PX4 Discuss](http://discuss.px4.io/).**
-
-Thanks!
@@ -1,11 +0,0 @@
---
-name: ⛔ Documentation Issue
-about: See https://github.com/PX4/px4_user_guide for documentation issues
-
---
-
-## Attention! Please read the note below
-
-**Please submit the documentation issue to the [User Guide](https://github.com/PX4/px4_user_guide) repository.**
-
-Thanks!
@@ -0,0 +1,94 @@
+name: 🐛 Bug report
+description: Create a report to help us improve
+title: "[Bug] "
+labels: ["bug-report"]
+body:
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: A clear and concise description of the bug.
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: To Reproduce
+      description: |
+          Steps to reproduce the behavior.
+          1. Drone switched on '...'
+          2. Uploaded mission '....' (attach QGC mission file)
+          3. Took off '....'
+          4. See error
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Expected behavior
+      description: A clear and concise description of what you expected to happen.
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Screenshot / Media
+      description: Add screenshot / media if you have them
+
+  - type: textarea
+    attributes:
+      label: Flight Log
+      description: |
+          *Always* provide a link to the flight log file:
+          - Download the flight log file from the vehicle ([tutorial](https://docs.px4.io/main/en/getting_started/flight_reporting.html)).
+          - Upload the log to the [PX4 Flight Review](http://logs.px4.io/)
+          - Share the link to the log (Copy and paste the URL of the log)
+      placeholder: |
+          # PASTE HERE THE LINK TO THE LOG
+    validations:
+      required: true
+
+  - type: markdown
+    attributes:
+      value: |
+        ## Setup
+
+  - type: textarea
+    attributes:
+      label: Software Version
+      description: |
+          Which version of PX4 are you using?
+      placeholder: |
+          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
+    validations:
+      required: true
+
+  - type: input
+    attributes:
+      label: Flight controller
+      description: Specify your flight controller model (what type is it, where was it bought from, ...).
+    validations:
+      required: true
+
+  - type: dropdown
+    attributes:
+      label: Vehicle type
+      options:
+        - Multicopter
+        - Helicopter
+        - Fixed Wing
+        - Hybrid VTOL
+        - Airship/Balloon
+        - Rover
+        - Boat
+        - Submarine
+        - Other
+
+  - type: textarea
+    attributes:
+      label: How are the different components wired up (including port information)
+      description: Details about how all is wired.
+
+  - type: textarea
+    attributes:
+      label: Additional context
+      description: Add any other context about the problem here.
@@ -0,0 +1,8 @@
+blank_issues_enabled: false
+contact_links:
+  - name: Support Question
+    url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
+    about: For questions about using PX4 or related components, please use the discuss forum and discord server
+  - name: Documentation Issue
+    url: https://github.com/PX4/PX4-user_guide/issues
+    about: If you found an issue in documentation, please submit it directly to the docs repository issues
@@ -0,0 +1,35 @@
+name: 🚀 Feature Request
+description: Suggest an idea for this project
+labels: ["feature-request"]
+body:
+  - type: markdown
+    attributes:
+      value: |
+        ## Please note that feature requests are not 'fire and forget'
+        It is a lot more likely that the feature you would like to have will be implemented if you keep watching your feature request, and provide more details to developers looking into implementing your feature, and help them with testing.
+
+  - type: textarea
+    attributes:
+      label: Describe problem solved by the proposed feature
+      description: A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Describe your preferred solution
+      description: A clear and concise description of what you want to happen.
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Describe possible alternatives
+      description: A clear and concise description of any alternative solutions or features you've considered.
+    validations:
+      required: true
+
+  - type: textarea
+    attributes:
+      label: Additional context
+      description: Add any other context or screenshots for the feature request here.
@@ -1,24 +0,0 @@
-<svg xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink" width="90" height="20">
-  <linearGradient id="smooth" x2="0" y2="100%">
-    <stop offset="0" stop-color="#bbb" stop-opacity=".1"/>
-    <stop offset="1" stop-opacity=".1"/>
-  </linearGradient>
-
-  <mask id="round">
-    <rect width="90" height="20" rx="3" fill="#fff"/>
-  </mask>
-
-  <g mask="url(#round)">
-    <rect width="42" height="20" fill="#555"/>
-    <rect x="42" width="48" height="20" fill="#E01563"/>
-    <rect width="90" height="20" fill="url(#smooth)"/>
-  </g>
-
-  <g fill="#fff" text-anchor="middle" font-family="DejaVu Sans,Verdana,Geneva,sans-serif" font-size="11">
-    <text x="22" y="15" fill="#010101" fill-opacity=".3">slack</text>
-    <text x="22" y="14">slack</text>
-    <text x="65" y="15" fill="#010101" fill-opacity=".3">Join us!</text>
-    <text x="65" y="14">Join us!</text>
-  </g>
-</svg>
-
@@ -1,15 +0,0 @@
-# Number of days of inactivity before an issue becomes stale
-daysUntilStale: 90
-# Number of days of inactivity before a stale issue is closed, or `false` to disable
-daysUntilClose: false
-# Issues with these labels will never be considered stale
-exemptLabels:
-  - pinned
-# Label to use when marking an issue as stale
-staleLabel: stale
-# Comment to post when marking an issue as stale. Set to `false` to disable
-markComment: >
-  This issue has been automatically marked as stale because it has not had
-  recent activity. Thank you for your contributions.
-# Comment to post when closing a stale issue. Set to `false` to disable
-closeComment: false
@@ -11,7 +11,7 @@ on:
 jobs:
  build:
    runs-on: ubuntu-latest
-    container: px4io/px4-dev-armhf:2021-09-08
+    container: px4io/px4-dev-armhf:2023-06-26
    strategy:
      matrix:
        config: [
@@ -24,7 +24,8 @@ jobs:
    - uses: actions/checkout@v1
      with:
        token: ${{secrets.ACCESS_TOKEN}}
-
+    - name: ownership workaround
+      run: git config --system --add safe.directory '*'
    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
      shell: cmake -P {0}
@@ -45,7 +45,6 @@ jobs:
          matek_h743-slim,
          modalai_fc-v1,
          modalai_fc-v2,
-          mro_ctrl-zero-classic,
          mro_ctrl-zero-f7,
          mro_ctrl-zero-f7-oem,
          mro_ctrl-zero-h7,
@@ -0,0 +1,16 @@
+name: 'Handle stale issues and PRs'
+on:
+  schedule:
+    - cron: '30 1 * * *'
+
+jobs:
+  stale:
+    runs-on: ubuntu-latest
+    steps:
+      - uses: actions/stale@v8
+        with:
+          days-before-stale: 30
+          days-before-close: -1
+          stale-issue-label: 'stale'
+          stale-pr-label: 'stale'
+          remove-stale-when-updated: true
@@ -21,7 +21,7 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.3.0+-v1.14
+	branch = px4_firmware_nuttx-10.3.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
@@ -7,7 +7,6 @@

 param set-default FW_LAUN_DETCN_ON 1
 param set-default FW_THR_IDLE 0.1 # needs to be running before throw as that's how gazebo detects arming
-param set-default FW_LAUN_AC_THLD 10

 param set-default FW_LND_ANG 8

@@ -94,4 +94,6 @@ px4_add_romfs_files(

 	17001_flightgear_tf-g1
 	17002_flightgear_tf-g2
+
+	# [22000, 22999] Reserve for custom models
 )
@@ -34,7 +34,9 @@ param set-default CA_ROTOR3_PX -0.25
 param set-default CA_ROTOR3_PY 0.25
 param set-default CA_ROTOR3_KM -0.05

-param set-default PWM_MAIN_FUNC1 101
-param set-default PWM_MAIN_FUNC2 102
-param set-default PWM_MAIN_FUNC3 103
-param set-default PWM_MAIN_FUNC4 104
+param set-default PWM_AUX_FUNC1 101
+param set-default PWM_AUX_FUNC2 102
+param set-default PWM_AUX_FUNC3 103
+param set-default PWM_AUX_FUNC4 104
+param set-default PWM_AUX_TIM0 -4
+
@@ -21,7 +21,11 @@ control_allocator start
 fw_rate_control start
 fw_att_control start
 fw_pos_control start
-airspeed_selector start
+
+if param greater -s ASPD_SEL_EN 0
+then
+	airspeed_selector start
+fi

 #
 # Start attitude control auto-tuner
@@ -20,7 +20,10 @@ ekf2 start &
 #
 control_allocator start

-airspeed_selector start
+if param greater -s ASPD_SEL_EN 0
+then
+	airspeed_selector start
+fi

 vtol_att_control start

@@ -162,7 +162,7 @@ else
 		param select-backup $PARAM_BACKUP_FILE
 	fi

-	if mft query -q -k MFT -s MFT_ETHERNET -v 1
+	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X
 	then
 		netman update -i eth0
 	fi
@@ -266,9 +266,12 @@ else
 		. $FCONFIG
 	fi

-	if px4io supported
+	#
+	# Start IO for PWM output or RC input if enabled
+	#
+	if param compare -s SYS_USE_IO 1
 	then
-	# Check if PX4IO present and update firmware if needed.
+		# Check if PX4IO present and update firmware if needed.
 		if [ -f $IOFW ]
 		then
 			if ! px4io checkcrc ${IOFW}
@@ -290,12 +293,12 @@ else
 					tune_control stop
 				fi
 			fi
+		fi

-			if ! px4io start
-			then
-				echo "PX4IO start failed"
-				set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
-			fi
+		if ! px4io start
+		then
+			echo "PX4IO start failed"
+			set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
 		fi
 	fi

@@ -1,115 +0,0 @@
-#!/bin/bash
-# Flash PX4 to a device running AuterionOS in the local network
-if [ "$1" == "-h" ] || [ "$1" == "--help" ] || [ $# -lt 2 ]; then
-	echo "Usage: $0 -f <firmware.px4|.elf> [-c <configuration_dir>] -d <IP/Device> [-u <user>] [-p <ssh_port>] [--revert]"
-	exit 1
-fi
-
-ssh_port=22
-ssh_user=root
-
-while getopts ":f:c:d:p:u:r" opt; do
-	case ${opt} in
-		f )
-			if [ -n "$OPTARG" ]; then
-				firmware_file="$OPTARG"
-			else
-				echo "ERROR: -f requires a non-empty option argument."
-				exit 1
-			fi
-			;;
-		c )
-			if [ -f "$OPTARG/rc.autostart" ]; then
-				config_dir="$OPTARG"
-			else
-				echo "ERROR: -c configuration directory is empty or does not contain a valid rc.autostart"
-				exit 1
-			fi
-			;;
-		d )
-			if [ "$OPTARG" ]; then
-				device="$OPTARG"
-			else
-				echo "ERROR: -d requires a non-empty option argument."
-				exit 1
-			fi
-			;;
-		p )
-			if [[ "$OPTARG" =~ ^[0-9]+$ ]]; then
-				ssh_port="$OPTARG"
-			else
-				echo "ERROR: -p ssh_port must be a number."
-				exit 1
-			fi
-			;;
-		u )
-			if [ "$OPTARG" ]; then
-				ssh_user="$OPTARG"
-			else
-				echo "ERROR: -u requires a non-empty option argument."
-				exit 1
-			fi
-			;;
-		r )
-			revert=true
-			;;
-	esac
-done
-
-if [ -z "$device" ]; then
-	echo "Error: missing device"
-	exit 1
-fi
-
-target_dir=/shared_container_dir/fmu
-target_file_name="update-dev.tar"
-
-if [ "$revert" == true ]; then
-	# revert to the release version which was originally deployed
-	cmd="cp $target_dir/update.tar $target_dir/$target_file_name"
-	ssh -t -p $ssh_port $ssh_user@$device "$cmd"
-else
-	# create custom update-dev.tar
-	tmp_dir="$(mktemp -d)"
-	config_path=""
-	firmware_path=""
-
-	if [ -d "$config_dir" ]; then
-		cp -r "$config_dir" "$tmp_dir/config"
-		config_path=config
-	fi
-
-	if [ -f "$firmware_file" ]; then
-		extension="${firmware_file##*.}"
-		cp "$firmware_file" "$tmp_dir/firmware.$extension"
-		if [ "$extension" == "elf" ]; then
-			# ensure the file is stripped to reduce file size
-			arm-none-eabi-strip "$tmp_dir/firmware.$extension"
-		fi
-		firmware_path="firmware.$extension"
-	fi
-
-	pushd "$tmp_dir" &>/dev/null
-
-	if [ -z $firmware_path ] && [ -z $config_path ]; then
-		exit 1
-	fi
-
-	tar_name="tar"
-
-	if [ -x "$(command -v gtar)" ]; then
-		# check if gnu-tar is installed on macOS and use that instead
-		tar_name="gtar"
-	fi
-
-	$tar_name -C "$tmp_dir" --sort=name --owner=root:0 --group=root:0 --mtime='2019-01-01 00:00:00' -cvf $target_file_name $firmware_path $config_path
-
-	# send it to the target to start flashing
-	scp -P $ssh_port "$target_file_name" $ssh_user@"$device":$target_dir
-	popd &>/dev/null
-	rm -rf "$tmp_dir"
-fi
-
-# grab status output for flashing progress
-cmd="tail --follow=name $target_dir/update_status 2>/dev/null || true"
-ssh -t -p $ssh_port $ssh_user@$device "$cmd"
@@ -1,51 +0,0 @@
-#!/usr/bin/env bash
-
-DIR="$(dirname $(readlink -f $0))"
-DEFAULT_AUTOPILOT_HOST=10.41.1.1
-DEFAULT_AUTOPILOT_PORT=33333
-DEFAULT_AUTOPILOT_USER=auterion
-
-for i in "$@"
-do
-    case $i in
-        --file=*)
-        PX4_BINARY_FILE="${i#*=}"
-        ;;
-        --default-ip=*)
-        DEFAULT_AUTOPILOT_HOST="${i#*=}"
-        ;;
-        --default-port=*)
-        DEFAULT_AUTOPILOT_PORT="${i#*=}"
-        ;;
-        --default-user=*)
-        DEFAULT_AUTOPILOT_USER="${i#*=}"
-        ;;
-        --revert)
-        REVERT_AUTOPILOT_ARGUMENT=-r
-        ;;
-        --wifi)
-        DEFAULT_AUTOPILOT_HOST=10.41.0.1
-        ;;
-        *)
-            # unknown option
-        ;;
-    esac
-done
-
-# allow these to be overridden
-[ -z "$AUTOPILOT_HOST" ] && AUTOPILOT_HOST=$DEFAULT_AUTOPILOT_HOST
-[ -z "$AUTOPILOT_PORT" ] && AUTOPILOT_PORT=$DEFAULT_AUTOPILOT_PORT
-[ -z "$AUTOPILOT_USER" ] && AUTOPILOT_USER=$DEFAULT_AUTOPILOT_USER
-
-ARGUMENTS=()
-ARGUMENTS+=(-d "$AUTOPILOT_HOST")
-ARGUMENTS+=(-p "$AUTOPILOT_PORT")
-ARGUMENTS+=(-u "$AUTOPILOT_USER")
-ARGUMENTS+=(${PX4_BINARY_FILE:+-f "$PX4_BINARY_FILE"})
-ARGUMENTS+=($REVERT_AUTOPILOT_ARGUMENT)
-
-echo "Flashing $AUTOPILOT_HOST ..."
-
-"$DIR"/remote_update_fmu.sh "${ARGUMENTS[@]}"
-
-exit 0
@@ -56,11 +56,14 @@ def perform_imu_checks(
    # perform the vibration check
    imu_status['imu_vibration_check'] = 'Pass'
    for imu_vibr_metric in ['imu_coning', 'imu_hfgyro', 'imu_hfaccel']:
-        mean_metric = '{:s}_mean'.format(imu_vibr_metric)
-        peak_metric = '{:s}_peak'.format(imu_vibr_metric)
-        if imu_metrics[mean_metric] > check_levels['{:s}_warn'.format(mean_metric)] \
-                or imu_metrics[peak_metric] > check_levels['{:s}_warn'.format(peak_metric)]:
-            imu_status['imu_vibration_check'] = 'Warning'
+        mean_metric = '{:s}_mean_warn'.format(imu_vibr_metric)
+        peak_metric = '{:s}_peak_warn'.format(imu_vibr_metric)
+        mean_key = '{:s}_mean'.format(imu_vibr_metric)
+        peak_key = '{:s}_peak'.format(imu_vibr_metric)
+        if mean_key in imu_metrics and peak_key in imu_metrics:
+            if imu_metrics[mean_key] > check_levels[mean_metric] \
+                   or imu_metrics[peak_key] > check_levels[peak_metric]:
+                imu_status['imu_vibration_check'] = 'Warning'

    if imu_status['imu_vibration_check'] == 'Warning':
        print('IMU vibration check warning.')
@@ -104,9 +104,9 @@ def calculate_innov_fail_metrics(

    # 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'),
+                                      ('magx', 'fs_bad_mag_x', 'magx_fail_percentage'),
+                                      ('magy', 'fs_bad_mag_y', 'magy_fail_percentage'),
+                                      ('magz', 'fs_bad_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'),
@@ -222,7 +222,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
        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',
+                                       ['fs_bad_mag_x', 'fs_bad_mag_y', 'fs_bad_mag_z',
                                        'reject_yaw'], ['reject_airspeed'], ['reject_sideslip'],
                                       ['reject_optflow_x',
                                        'reject_optflow_y']], x_label='time (sec)',
@@ -1 +1 @@
-symforce>=0.5.0
+symforce>=0.9.0
@@ -10,7 +10,7 @@ sitl_num=2
 [ -n "$1" ] && sitl_num="$1"

 SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-src_path="$SCRIPT_DIR/.."
+src_path="$SCRIPT_DIR/../../"

 build_path=${src_path}/build/px4_sitl_default

@@ -106,7 +106,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -20,6 +20,7 @@ CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_COMMON_OSD=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
@@ -20,7 +20,6 @@ CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
-CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
@@ -17,19 +17,17 @@ param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1

 param set-default SENS_EN_THERMAL 1
+param set-default SENS_TEMP_ID 2818058
 param set-default SENS_IMU_TEMP 10.0
 #param set-default SENS_IMU_TEMP_FF 0.0
 #param set-default SENS_IMU_TEMP_I 0.025
 #param set-default SENS_IMU_TEMP_P 1.0

-if ver hwtypecmp ARKV6X000
+if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007
 then
-	param set-default SENS_TEMP_ID 2818058
-fi
-
-if ver hwtypecmp ARKV6X001
-then
-	param set-default SENS_TEMP_ID 3014666
+	param set-default SYS_USE_IO 0
+else
+	param set-default SYS_USE_IO 1
 fi

 safety_button start
@@ -4,7 +4,7 @@
 #------------------------------------------------------------------------------
 set HAVE_PM2 yes

-if mft query -q -k MFT -s MFT_PM2 -v 0
+if ver hwtypecmp ARKV6X005000 ARKV6X005001 ARKV6X005002 ARKV6X005003 ARKV6X005004
 then
 	set HAVE_PM2 no
 fi
@@ -47,29 +47,14 @@ then
 	fi
 fi

-if ver hwtypecmp ARKV6X000
-then
-	# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
-	iim42652 -R 3 -s -b 1 -C 32051 start
+# Internal SPI bus IIM42652 with SPIX measured frequency of 32.051kHz
+iim42652 -R 3 -s -b 1 -C 32051 start

-	# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
-	icm42688p -R 9 -s -b 2 -C 32051 start
+# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
+icm42688p -R 9 -s -b 2 -C 32051 start

-	# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
-	icm42688p -R 6 -s -b 3 -C 32051 start
-fi
-
-if ver hwtypecmp ARKV6X001
-then
-	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
-	iim42653 -R 3 -s -b 1 -C 32051 start
-
-	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
-	iim42653 -R 9 -s -b 2 -C 32051 start
-
-	# Internal SPI bus IIM42653 with SPIX measured frequency of 32.051kHz
-	iim42653 -R 6 -s -b 3 -C 32051 start
-fi
+# Internal SPI bus ICM42688p with SPIX measured frequency of 32.051kHz
+icm42688p -R 6 -s -b 3 -C 32051 start

 # Internal magnetometer on I2C
 bmm150 -I start
@@ -7,6 +7,7 @@
 #
 # CONFIG_DEV_CONSOLE is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_SPI_EXCHANGE is not set
 # CONFIG_STM32H7_SYSCFG is not set
 CONFIG_ARCH="arm"
@@ -48,13 +49,14 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_PREALLOC_TIMERS=50
+CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
@@ -387,7 +387,7 @@

 #define GPIO_UART7_RX    GPIO_UART7_RX_4    /* PF6  */
 #define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
-#define GPIO_UART7_RTS   (GPIO_UART7_RTS_2 | GPIO_PULLDOWN)   /* PF8  */
+#define GPIO_UART7_RTS   GPIO_UART7_RTS_2   /* PF8  */
 #define GPIO_UART7_CTS   (GPIO_UART7_CTS_1 | GPIO_PULLDOWN)   /* PE10 */

 #define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0 */
@@ -118,7 +118,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_IPCFG_BINARY=y
@@ -291,8 +291,9 @@ CONFIG_UART4_RXBUFSIZE=600
 CONFIG_UART4_TXBUFSIZE=1500
 CONFIG_UART5_IFLOWCONTROL=y
 CONFIG_UART5_OFLOWCONTROL=y
+CONFIG_UART7_RXBUFSIZE=1500
 CONFIG_UART5_RXDMA=y
-CONFIG_UART5_TXBUFSIZE=3000
+CONFIG_UART5_TXBUFSIZE=10000
 CONFIG_UART5_TXDMA=y
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_IFLOWCONTROL=y
@@ -55,6 +55,7 @@ else()
 		init.c
 		led.c
 		mtd.cpp
+		manifest.c
 		sdio.c
 		spi.cpp
 		spix_sync.c
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2016-2024 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2016-2022 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
@@ -204,17 +204,30 @@
 #define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)

 /* HW Version and Revision drive signals Default to 1 to detect */
-#define BOARD_HAS_HW_SPLIT_VERSIONING
+#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_PREFIX    "ARKV6X"

-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 and Rev 3,4 Sensor sets
 //                 Base/FMUM
-#define ARKV6X_0   HW_FMUM_ID(0x0) // ARKV6X,     Sensor Set  Rev 0
-#define ARKV6X_1   HW_FMUM_ID(0x1) // ARKV6X,     Sensor Set  Rev 1
+#define ARKV6X00   HW_VER_REV(0x0,0x0) // ARKV6X,                 Rev 0
+#define ARKV6X01   HW_VER_REV(0x0,0x1) // ARKV6X,     BMI388 I2C2 Rev 1
+#define ARKV6X03   HW_VER_REV(0x0,0x3) // ARKV6X,     Sensor Set  Rev 3
+#define ARKV6X04   HW_VER_REV(0x0,0x4) // ARKV6X,     Sensor Set  Rev 4
+#define ARKV6X10   HW_VER_REV(0x1,0x0) // NO PX4IO,               Rev 0
+#define ARKV6X13   HW_VER_REV(0x1,0x3) // NO PX4IO,   Sensor Set  Rev 3
+#define ARKV6X14   HW_VER_REV(0x1,0x4) // NO PX4IO,   Sensor Set  Rev 4
+//#define ARKV6X40   HW_VER_REV(0x4,0x0) // ARKV6X,                    HB CM4 base Rev 0 // never shipped
+//#define ARKV6X41   HW_VER_REV(0x4,0x1) // ARKV6X,     BMI388 I2C2    HB CM4 base Rev 1 // never shipped
+#define ARKV6X43   HW_VER_REV(0x4,0x3) // ARKV6X,     Sensor Set     HB CM4 base Rev 3
+#define ARKV6X44   HW_VER_REV(0x4,0x4) // ARKV6X,     Sensor Set     HB CM4 base Rev 4
+#define ARKV6X50   HW_VER_REV(0x5,0x0) // ARKV6X, ARKV6X Rev 0 with HB Mini Rev 5
+//#define ARKV6X51   HW_VER_REV(0x5,0x1) // ARKV6X,     BMI388 I2C2    HB Mini Rev 1 // never shipped
+#define ARKV6X53   HW_VER_REV(0x5,0x3) // ARKV6X,     Sensor Set     HB Mini Rev 3
+#define ARKV6X54   HW_VER_REV(0x5,0x4) // ARKV6X,     Sensor Set     HB Mini Rev 4

 #define UAVCAN_NUM_IFACES_RUNTIME  1

@@ -239,6 +252,7 @@
 /* PWM
 */
 #define DIRECT_PWM_OUTPUT_CHANNELS   8
+#define BOARD_PWM_FREQ	             1024000

 #define GPIO_FMU_CH1                    /* PI0  */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTI|GPIO_PIN0)
 #define GPIO_FMU_CH2                    /* PH12 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTH|GPIO_PIN12)
@@ -0,0 +1,223 @@
+/****************************************************************************
+ *
+ *   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_v0640[] = {
+	{
+		//  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_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
+	{ARKV6X00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
+	{ARKV6X01, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2
+	{ARKV6X03, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 3
+	//{ARKV6X40, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, //                       HB CM4 base           // never shipped
+	//{ARKV6X41, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2  HB CM4 base           // never shipped
+	{ARKV6X43, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 3
+	{ARKV6X44, hw_mft_list_v0640, arraySize(hw_mft_list_v0640)}, // BMP388 moved to I2C2, HB CM4 base Sensor Set 4
+	{ARKV6X50, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // ARKV6X Rev 0 with HB Mini Rev 5
+	//{ARKV6X51, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2  HB Mini               // never shipped
+	{ARKV6X53, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 3
+	{ARKV6X54, hw_mft_list_v0650, arraySize(hw_mft_list_v0650)}, // BMP388 moved to I2C2, HB Mini Sensor Set 4
+	{ARKV6X10, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO
+	{ARKV6X13, hw_mft_list_v0610, arraySize(hw_mft_list_v0610)}, // No PX4IO BMP388 moved to I2C2, Sensor Set 3
+	{ARKV6X04, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)}, // BMP388 moved to I2C2, Sensor Set 4
+	{ARKV6X14, 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() << 16;
+		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 %08" 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;
+}
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
+ *   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
@@ -31,9 +31,6 @@
 *
 ****************************************************************************/

-#include <nuttx/config.h>
-#include <board_config.h>
-
 #include <nuttx/spi/spi.h>
 #include <px4_platform_common/px4_manifest.h>
 //                                                              KiB BS    nB
@@ -95,16 +92,10 @@ static const px4_mft_entry_s mtd_mft = {
 	.pmft = (void *) &board_mtd_config,
 };

-static const px4_mft_entry_s mft_mft = {
-	.type = MFT,
-	.pmft = (void *) system_query_manifest,
-};
-
 static const px4_mft_s mft = {
-	.nmft = 2,
+	.nmft = 1,
 	.mfts = {
-		&mtd_mft,
-		&mft_mft,
+		&mtd_mft
 	}
 };

@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (C) 2024 PX4 Development Team. All rights reserved.
+ *   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
@@ -36,7 +36,7 @@
 #include <nuttx/spi/spi.h>

 constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSIONS] = {
-	initSPIFmumID(ARKV6X_0, {
+	initSPIHWVersion(ARKV6X00, {
 		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}),
@@ -59,15 +59,15 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 		}),
 	}),

-	initSPIFmumID(ARKV6X_1, {
+	initSPIHWVersion(ARKV6X01, { // Placeholder
 		initSPIBus(SPI::Bus::SPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin9}, SPI::DRDY{GPIO::PortF, GPIO::Pin2}),
+			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_IIM42653, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
+			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_IIM42653, SPI::CS{GPIO::PortI, GPIO::Pin4}, SPI::DRDY{GPIO::PortI, GPIO::Pin6}),
+			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
@@ -82,7 +82,9 @@
 #define rDMAR(_tmr)     REG(_tmr, STM32_GTIM_DMAR_OFFSET)
 #define rBDTR(_tmr)     REG(_tmr, STM32_ATIM_BDTR_OFFSET)

-#define BOARD_SPIX_SYNC_PWM_FREQ 1024000
+#if !defined(BOARD_PWM_FREQ)
+#define BOARD_PWM_FREQ 1000000
+#endif

 unsigned
 spix_sync_timer_get_period(unsigned timer)
@@ -127,11 +129,11 @@ static void spix_sync_timer_init_timer(unsigned timer, unsigned rate)
 		 * Otherwise, other frequencies are attainable by adjusting .clock_freq accordingly.
 		 */

-		rPSC(timer) = (spix_sync_timers[timer].clock_freq / BOARD_SPIX_SYNC_PWM_FREQ) - 1;
+		rPSC(timer) = (spix_sync_timers[timer].clock_freq / BOARD_PWM_FREQ) - 1;

 		/* configure the timer to update at the desired rate */

-		rARR(timer) = (BOARD_SPIX_SYNC_PWM_FREQ / rate) - 1;
+		rARR(timer) = (BOARD_PWM_FREQ / rate) - 1;

 		/* generate an update event; reloads the counter and all registers */
 		rEGR(timer) = GTIM_EGR_UG;
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -120,7 +120,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_LIBC_LONG_LONG=y
@@ -105,7 +105,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -140,7 +140,15 @@

 #define PX4_PWM_ALTERNATE_RANGES
 #define PWM_LOWEST_MIN 0
+#define PWM_MOTOR_OFF	0
+#define PWM_SERVO_STOP	0
+#define PWM_DEFAULT_MIN 20
+#define PWM_HIGHEST_MIN 0
 #define PWM_HIGHEST_MAX 255
+#define PWM_DEFAULT_MAX 255
+#define PWM_LOWEST_MAX 255
+#define PWM_DEFAULT_TRIM 1500
+

 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer8 for the HRT */
@@ -106,7 +106,7 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -141,7 +141,15 @@

 #define PX4_PWM_ALTERNATE_RANGES
 #define PWM_LOWEST_MIN 0
+#define PWM_MOTOR_OFF	0
+#define PWM_SERVO_STOP	0
+#define PWM_DEFAULT_MIN 20
+#define PWM_HIGHEST_MIN 0
 #define PWM_HIGHEST_MAX 255
+#define PWM_DEFAULT_MAX 255
+#define PWM_LOWEST_MAX 255
+#define PWM_DEFAULT_TRIM 1500
+

 /* High-resolution timer */
 #define HRT_TIMER		8	/* use timer8 for the HRT */
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -111,7 +111,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
@@ -14,4 +14,6 @@ param set-default SENS_EN_THERMAL 0

 param set-default -s SENS_TEMP_ID 2621474

+param set-default SYS_USE_IO 1
+
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
@@ -14,4 +14,6 @@ param set-default SENS_EN_THERMAL 0

 param set-default -s SENS_TEMP_ID 2621474

+param set-default SYS_USE_IO 1
+
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
@@ -8,22 +8,16 @@ board_adc start
 # 1. Isolated {ICM42688p, ICM20948(with mag)}, body-fixed {ICM20649}
 # 2. Isolated {ICM42688p, ICM42688p}, body-fixed  {ICM20649, ICM45686, AK09918}
 # 3. Isolated {ICM42688p, ICM42688p}, body-fixed  {ICM45686, AK09918}
-# 4. Isolated {ICM45686, ICM45686}, body-fixed  {ICM45686, AK09918}

 # SPI4 is isolated, SPI1 is body-fixed

 # SPI4, isolated
 ms5611 -s -b 4 start

-if icm42688p -s -b 4 -R 10 -q start -c 15
+icm42688p -s -b 4 -R 10 start -c 15
+if ! icm20948 -s -b 4 -R 10 -M -q start
 then
-	if ! icm20948 -s -b 4 -R 10 -M -q start
-	then
-		icm42688p -s -b 4 -R 6 start -c 13
-	fi
-else
-	icm45686 -s -b 4 -R 10 start -c 15
-	icm45686 -s -b 4 -R 6 start -c 13
+	icm42688p -s -b 4 -R 6 start -c 13
 fi

 # SPI1, body-fixed
@@ -49,7 +49,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
@@ -49,9 +49,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI4, {
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin4}),  // MPU_EXT_CS
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin15}), // ACCEL_EXT_CS
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortC, GPIO::Pin15}), // ACCEL_EXT_CS
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortC, GPIO::Pin13}), // GYRO_EXT_CS
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortC, GPIO::Pin13}), // GYRO_EXT_CS
 		initSPIDevice(DRV_BARO_DEVTYPE_MS5611, 	SPI::CS{GPIO::PortC, GPIO::Pin14}), // BARO_EXT_CS
 	}),
 };
@@ -13,4 +13,6 @@ param set-default BAT2_A_PER_V 17
 # Disable IMU thermal control
 param set-default SENS_EN_THERMAL 0

+param set-default SYS_USE_IO 1
+
 set IOFW "/etc/extras/cubepilot_io-v2_default.bin"
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -62,7 +62,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
 CONFIG_MEMSET_64BIT=y
@@ -109,7 +109,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_LIBC_STRERROR=y
@@ -11,3 +11,5 @@ param set-default BAT2_A_PER_V 36.367515152

 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1
+
+param set-default SYS_USE_IO 1
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -10,8 +10,10 @@ CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
+CONFIG_DRIVERS_OSD_ATXXXX=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=y
@@ -31,5 +33,6 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_DMESG=y
@@ -115,7 +115,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -113,6 +113,7 @@
 /* RC Serial port */

 #define RC_SERIAL_PORT                     "/dev/ttyS4"
+#define RC_SERIAL_SINGLEWIRE

 #define GPIO_RSSI_IN                       /* PC5  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN5)

@@ -129,6 +130,8 @@
 		GPIO_RSSI_IN,                \
 	}

+#define BOARD_ENABLE_CONSOLE_BUFFER
+
 #define BOARD_NUM_IO_TIMERS 4

 __BEGIN_DECLS
@@ -252,9 +252,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif

-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
 	return OK;
 }
@@ -33,12 +33,6 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
-# CONFIG_EKF2_AUXVEL is not set
-# CONFIG_EKF2_BARO_COMPENSATION is not set
-# CONFIG_EKF2_DRAG_FUSION is not set
-# CONFIG_EKF2_EXTERNAL_VISION is not set
-# CONFIG_EKF2_GNSS_YAW is not set
-# CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
@@ -22,10 +22,13 @@ param set-default CBRK_SUPPLY_CHK 894281
 # Select the Generic 250 Racer by default
 param set-default SYS_AUTOSTART 4050

-# use EKF2 without mag
+# use the Q attitude estimator, it works w/o mag or GPS.
+param set-default SYS_MC_EST_GROUP 3
+param set-default ATT_ACC_COMP 0
+param set-default ATT_W_ACC 0.4000
+param set-default ATT_W_GYRO_BIAS 0.0000
+
 param set-default SYS_HAS_MAG 0
-# and enable gravity fusion
-param set-default EKF2_IMU_CONTROL 7

 # the startup tune is not great on a binary output buzzer, so disable it
 param set-default CBRK_BUZZER 782090
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -43,7 +43,7 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),
 	}),
 	initSPIBus(SPI::Bus::SPI4, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
 		initSPIDevice(DRV_IMU_DEVTYPE_MPU6000, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
 		initSPIDevice(DRV_IMU_DEVTYPE_BMI270, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
 	}),
@@ -32,12 +32,6 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
-# CONFIG_EKF2_AUXVEL is not set
-# CONFIG_EKF2_BARO_COMPENSATION is not set
-# CONFIG_EKF2_DRAG_FUSION is not set
-# CONFIG_EKF2_EXTERNAL_VISION is not set
-# CONFIG_EKF2_GNSS_YAW is not set
-# CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
@@ -47,7 +47,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -33,12 +33,6 @@ CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
-# CONFIG_EKF2_AUXVEL is not set
-# CONFIG_EKF2_BARO_COMPENSATION is not set
-# CONFIG_EKF2_DRAG_FUSION is not set
-# CONFIG_EKF2_EXTERNAL_VISION is not set
-# CONFIG_EKF2_GNSS_YAW is not set
-# CONFIG_EKF2_SIDESLIP is not set
 CONFIG_MODULES_ESC_BATTERY=y
 CONFIG_MODULES_EVENTS=y
 CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
@@ -47,7 +47,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -9,5 +9,7 @@ param set-default BAT2_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152

+param set-default SYS_USE_IO 1
+
 rgbled_pwm start
 safety_button start
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -30,7 +30,7 @@ CONFIG_FDCLONE_STDIO=y
 CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=4096
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -104,7 +104,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -47,7 +47,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -111,7 +111,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -48,7 +48,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -113,7 +113,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -47,7 +47,7 @@ CONFIG_HAVE_CXX=y
 CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
@@ -112,7 +112,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -111,7 +111,7 @@ CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_STACKSIZE=3094
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_MAX_EXITFUNS=1
@@ -14,10 +14,10 @@ CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
+# CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
+# CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
+# CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
+# CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
 CONFIG_COMMON_LIGHT=y
@@ -29,11 +29,13 @@ CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
+CONFIG_DRIVERS_RPM=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
 CONFIG_MODULES_AIRSPEED_SELECTOR=y
+# CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
 CONFIG_MODULES_CONTROL_ALLOCATOR=y
@@ -52,6 +54,7 @@ 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
@@ -70,6 +73,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UXRCE_DDS_CLIENT=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
--- a/Show More
+++ b/Show More