rc_input: singlewire use push_pull

fix commander: make sure to count all valid mags in preflight check
Previously, if a mag was not required (not index 0 and not used by ekf), it was not counted in num_enabled_and_valid_calibration. If a user set SYS_HAS_MAG to e.g. 3, it would then trigger a preflight failure, even if there were 3 calibrated and enabled mags.
2026-06-21 01:20:34 +08:00 · 2024-06-01 19:15:42 +02:00 · 2024-05-31 12:30:34 -04:00 · 2024-05-31 10:38:17 -04:00 · 2024-05-31 10:38:17 -04:00 · 2024-05-31 10:38:17 -04:00
118 changed files with 1804 additions and 920 deletions
@@ -47,7 +47,7 @@ pipeline {
                     "ark_fmu-v6x_bootloader",
                     "ark_fmu-v6x_default",
                     "ark_pi6x_bootloader",
-                     "ark_pi6x_default"
+                     "ark_pi6x_default",
                     "atl_mantis-edu_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie21_default",
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 2024 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -132,7 +132,9 @@ list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
 string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
 list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)

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

 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                 BRIEF_DOCS "PX4 module libs"
@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -24,7 +24,6 @@ param set-default FW_RR_P 0.085
 param set-default FW_W_EN 1

 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -25,7 +25,6 @@ param set-default FW_W_EN 1

 param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
-param set-default MIS_DIST_1WP 2500

 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
@@ -66,7 +66,6 @@ param set-default MC_PITCHRATE_I 0.05
 param set-default MC_YAWRATE_MAX 20
 param set-default MC_AIRMODE 1

-param set-default MIS_DIST_1WP 100
 param set-default MIS_TAKEOFF_ALT 15

 param set-default MPC_XY_P 0.8
@@ -74,7 +73,6 @@ param set-default MPC_XY_VEL_MAX 5
 param set-default MPC_LAND_SPEED 1.2
 param set-default MPC_TILTMAX_LND 35
 param set-default MPC_Z_VEL_MAX_UP 1.5
-param set-default MPC_Z_VEL_MAN_UP 1.5
 param set-default MPC_TKO_RAMP_T 0.8
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TILTMAX_LND 25
@@ -60,7 +60,6 @@ param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_YAWRAUTO_MAX 40
 param set-default MPC_Z_VEL_MAX_UP 2
-param set-default MPC_Z_VEL_MAN_UP 2

 param set-default NAV_ACC_RAD 3

@@ -123,7 +123,6 @@ param set-default MPC_TILTMAX_AIR 30
 param set-default MPC_XY_P 1
 param set-default MPC_Z_P 2
 param set-default MPC_Z_VEL_MAX_DN 2
-param set-default MPC_Z_VEL_MAN_DN 2

 # gimbal configuration
 param set-default MNT_MODE_IN 0
@@ -123,6 +123,13 @@ else
 		set PARAM_FILE /fs/mtd_params
 	fi

+	# Check if /fs/mtd_params is a valid BSON file
+	if ! bsondump docsize /fs/mtd_caldata
+	then
+		echo "New /fs/mtd_caldata size is:"
+		bsondump docsize /fs/mtd_caldata
+	fi
+
 	#
 	# Load parameters.
 	#
@@ -54,12 +54,21 @@ def extract_timer_from_channel(line, timer_names):

    return None

+def imxrt_is_dshot(line):
+
+    # NXP FlexPWM format format: initIOPWM(PWM::FlexPWM2),
+    search = re.search('(initIOPWMDshot)', line, re.IGNORECASE)
+    if search:
+        return True
+
+    return False
+
 def get_timer_groups(timer_config_file, verbose=False):
    with open(timer_config_file, 'r') as f:
        timer_config = f.read()

    # timers
-    dshot_support = {} # key: timer
+    dshot_support = {str(i): False for i in range(16)}
    timers_start_marker = 'io_timers_t io_timers'
    timers_start = timer_config.find(timers_start_marker)
    if timers_start == -1:
@@ -78,10 +87,9 @@ def get_timer_groups(timer_config_file, verbose=False):
        if timer_type == 'imxrt':
            if verbose: print('imxrt timer found')
            timer_names.append(timer)
+            if imxrt_is_dshot(line):
+                dshot_support[str(len(timers))] = True
            timers.append(str(len(timers)))
-            dshot_support = {str(i): False for i in range(16)}
-            for i in range(8): # First 8 channels support dshot
-                dshot_support[str(i)] = True
        elif timer:
            if verbose: print('found timer def: {:}'.format(timer))
            dshot_support[timer] = 'DMA' in line
@@ -15,7 +15,7 @@ class ModuleDocumentation(object):
    # TOC in https://github.com/PX4/PX4-user_guide/blob/main/en/SUMMARY.md
    valid_categories = ['driver', 'estimator', 'controller', 'system',
                        'communication', 'command', 'template', 'simulation', 'autotune']
-    valid_subcategories = ['', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
+    valid_subcategories = ['', 'camera', 'distance_sensor', 'imu', 'ins', 'airspeed_sensor',
                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']

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

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


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

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

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

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

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


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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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

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


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

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

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

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

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

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

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

                except FirmwareNotSuitableException:
                    unsuitable_board = True
@@ -15,7 +15,6 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
@@ -8,6 +8,7 @@ CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
@@ -97,9 +97,9 @@
 #define INTERFACE_USART_CONFIG         "/dev/ttyS5,57600"
 #define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     1013
-#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
-#define BOARD_FLASH_SECTORS            (15)
-#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
+#define BOARD_FLASH_SECTORS            (14)
+#define BOARD_FLASH_SIZE               (16 * 128 * 1024)
+#define APP_RESERVATION_SIZE 	       (1 * 128 * 1024)

 #define OSC_FREQ                       16

@@ -8,7 +8,7 @@ CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
 CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_ROVER_POS_CONTROL=n
+CONFIG_MODULES_PAYLOAD_DELIVERER=n
 CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
@@ -48,7 +48,6 @@ CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -28,6 +28,7 @@ CONFIG_ARMV7M_ITCM=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU=y
+CONFIG_ARM_MPU_RESET=y
 CONFIG_BOARDCTL=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_ASSERT_RESET_VALUE=0
@@ -267,6 +267,10 @@

 // This is the ENET_1G interface.

+/* Dshot Disambiguation *******************************************************/
+
+#define IOMUX_DSHOT_DEFAULT             (IOMUX_DRIVE_HIGHSTRENGTH | IOMUX_SLEW_FAST)
+
 // Compile time selection
 #if defined(CONFIG_ETH0_PHY_TJA1103)
 #  define BOARD_PHY_ADDR (18)
@@ -29,6 +29,7 @@ CONFIG_ARMV7M_ITCM=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU=y
+CONFIG_ARM_MPU_RESET=y
 CONFIG_BOARDCTL_RESET=y
 CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BOARD_BOOTLOADER_FIXUP=y
@@ -86,7 +87,6 @@ CONFIG_IMXRT_ENET=y
 CONFIG_IMXRT_FLEXCAN1=y
 CONFIG_IMXRT_FLEXCAN2=y
 CONFIG_IMXRT_FLEXCAN3=y
-CONFIG_IMXRT_FLEXIO1=y
 CONFIG_IMXRT_FLEXSPI2=y
 CONFIG_IMXRT_GPIO13_IRQ=y
 CONFIG_IMXRT_GPIO1_0_15_IRQ=y
@@ -6,6 +6,7 @@
 *(.text.board_autoled_on)
 *(.text.clock_timer)
 *(.text.exception_common)
+*(.text.flexio_irq_handler)
 *(.text.hrt_absolute_time)
 *(.text.hrt_call_enter)
 *(.text.hrt_tim_isr)
@@ -114,7 +114,7 @@ const struct clock_configuration_s g_initial_clkconfig = {
 			.div           = 1,
 			.mux           = ACMP_CLK_ROOT_OSC_RC_48M_DIV2,
 		},
-		.flexio1_clk_root =
+		.flexio1_clk_root = /* 240 / 2 = 120Mhz */
 		{
 			.enable        = 1,
 			.div           = 2,
@@ -91,14 +91,14 @@


 constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule0, GPIO_FLEXIO1_FLEXIO23_1, 23),
-	initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule1, GPIO_FLEXIO1_FLEXIO25_1, 25),
-	initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule2, GPIO_FLEXIO1_FLEXIO27_1, 27),
-	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule0, GPIO_FLEXIO1_FLEXIO06_1, 6),
-	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule1, GPIO_FLEXIO1_FLEXIO08_1, 8),
-	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule2, GPIO_FLEXIO1_FLEXIO10_1, 10),
-	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule3, GPIO_FLEXIO1_FLEXIO19_1, 19),
-	initIOPWMDshot(PWM::FlexPWM3, PWM::Submodule0, GPIO_FLEXIO1_FLEXIO29_1, 29),
+	initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule0),
+	initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule1),
+	initIOPWMDshot(PWM::FlexPWM1, PWM::Submodule2),
+	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule0),
+	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule1),
+	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule2),
+	initIOPWMDshot(PWM::FlexPWM2, PWM::Submodule3),
+	initIOPWMDshot(PWM::FlexPWM3, PWM::Submodule0),
 	initIOPWM(PWM::FlexPWM3, PWM::Submodule1),
 	initIOPWM(PWM::FlexPWM3, PWM::Submodule3),
 	initIOPWM(PWM::FlexPWM4, PWM::Submodule0),
@@ -106,14 +106,14 @@ constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
 };

 constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
-	/* FMU_CH1  */  initIOTimerChannel(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_23),
-	/* FMU_CH2  */  initIOTimerChannel(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_25),
-	/* FMU_CH3  */  initIOTimerChannel(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_27),
-	/* FMU_CH4  */  initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_06),
-	/* FMU_CH5  */  initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_08),
-	/* FMU_CH6  */  initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_10),
-	/* FMU_CH7  */  initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule3}, IOMUX::Pad::GPIO_EMC_B1_19),
-	/* FMU_CH8  */  initIOTimerChannel(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_29),
+	/* FMU_CH1  */  initIOTimerChannelDshot(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_23, GPIO_FLEXIO1_FLEXIO23_1 | IOMUX_DSHOT_DEFAULT, 23),
+	/* FMU_CH2  */  initIOTimerChannelDshot(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_25, GPIO_FLEXIO1_FLEXIO25_1 | IOMUX_DSHOT_DEFAULT, 25),
+	/* FMU_CH3  */  initIOTimerChannelDshot(io_timers, {PWM::PWM1_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_27, GPIO_FLEXIO1_FLEXIO27_1 | IOMUX_DSHOT_DEFAULT, 27),
+	/* FMU_CH4  */  initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_06, GPIO_FLEXIO1_FLEXIO06_1 | IOMUX_DSHOT_DEFAULT, 6),
+	/* FMU_CH5  */  initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_08, GPIO_FLEXIO1_FLEXIO08_1 | IOMUX_DSHOT_DEFAULT, 8),
+	/* FMU_CH6  */  initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule2}, IOMUX::Pad::GPIO_EMC_B1_10, GPIO_FLEXIO1_FLEXIO10_1 | IOMUX_DSHOT_DEFAULT, 10),
+	/* FMU_CH7  */  initIOTimerChannelDshot(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule3}, IOMUX::Pad::GPIO_EMC_B1_19, GPIO_FLEXIO1_FLEXIO19_1 | IOMUX_DSHOT_DEFAULT, 19),
+	/* FMU_CH8  */  initIOTimerChannelDshot(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_29, GPIO_FLEXIO1_FLEXIO29_1 | IOMUX_DSHOT_DEFAULT, 29),
 	/* FMU_CH9  */  initIOTimerChannel(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule1}, IOMUX::Pad::GPIO_EMC_B1_31),
 	/* FMU_CH10 */  initIOTimerChannel(io_timers, {PWM::PWM3_PWM_A, PWM::Submodule3}, IOMUX::Pad::GPIO_EMC_B1_21),
 	/* FMU_CH11 */  initIOTimerChannel(io_timers, {PWM::PWM4_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_EMC_B1_00),
@@ -50,7 +50,6 @@ CONFIG_MODULES_FW_POS_CONTROL=y
 CONFIG_MODULES_FW_RATE_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
 CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
 CONFIG_MODULES_LOAD_MON=y
@@ -308,7 +308,7 @@ class MavrosMissionTest(MavrosTestCommon):
        self.assertTrue(res['pitch_error_std'] < 5.0, str(res))

        # TODO: fix by excluding initial heading init and reset preflight
-        self.assertTrue(res['yaw_error_std'] < 13.0, str(res))
+        self.assertTrue(res['yaw_error_std'] < 15.0, str(res))


 if __name__ == '__main__':
@@ -9,6 +9,8 @@ uint8 BACKEND_MAVLINK = 2
 uint8 BACKEND_ALL     = 3
 uint8 backend

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

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

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

-# body angular rates in NED frame
+# body angular rates in FRD frame
 float32 roll		# [rad/s] roll rate setpoint
 float32 pitch		# [rad/s] pitch rate setpoint
 float32 yaw		# [rad/s] yaw rate setpoint
@@ -62,6 +62,11 @@ public:
 	{
 		Node **p;

+		// Don't allow duplicates to be inserted
+		if (find(node_name)) {
+			return;
+		}
+
 		if (_top == nullptr) {
 			p = &_top;

@@ -37,6 +37,10 @@ add_library(bootloader
 	crypto.c
 )

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

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

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

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

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

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

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

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

 #endif

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

 static unsigned head, tail;
 static uint8_t rx_buf[256] USB_DATA_ALIGN;
@@ -294,7 +306,7 @@ void
 jump_to_app()
 {
 	const uint32_t *app_base = (const uint32_t *)APP_LOAD_ADDRESS;
-	const uint32_t *vec_base = (const uint32_t *)app_base + APP_VECTOR_OFFSET;
+	const uint32_t *vec_base = (const uint32_t *)((const uint32_t)app_base + APP_VECTOR_OFFSET);

 	/*
 	 * We refuse to program the first word of the app until the upload is marked
@@ -649,6 +661,8 @@ bootloader(unsigned timeout)

 		led_on(LED_ACTIVITY);

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

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

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

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

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

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

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

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

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

 #pragma once

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

 #define MAX_DES_LENGTH 20
+#define MAX_VERSION_LENGTH 32

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

+int get_version(int max, uint8_t *version_str);
+
 /*****************************************************************************
 * Interface in/output.
 */
@@ -133,4 +138,4 @@ extern void cout(uint8_t *buf, unsigned len);
 #if !defined(APP_VECTOR_OFFSET)
 #  define APP_VECTOR_OFFSET 0
 #endif
-#define APP_VECTOR_OFFSET_WORDS (APP_VECTOR_OFFSET/sizeof(uint32_t))
+#define APP_VECTOR_OFFSET_WORDS (APP_VECTOR_OFFSET/sizeof(uint32_t))
@@ -16,6 +16,7 @@
 #include "imxrt_clockconfig.h"

 #include <nvic.h>
+#include <mpu.h>
 #include <lib/systick.h>
 #include <lib/flash_cache.h>

@@ -395,6 +396,24 @@ flash_func_sector_size(unsigned sector)
 	return 0;
 }

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

 /*!
 * @name Configuration Option
@@ -407,31 +426,19 @@ flash_func_sector_size(unsigned sector)
 * */
 locate_code(".ramfunc")
 void
-flash_func_erase_sector(unsigned sector)
+flash_func_erase_sector(unsigned sector, bool force)
 {
-
 	if (sector > BOARD_FLASH_SECTORS || (int)sector < BOARD_FIRST_FLASH_SECTOR_TO_ERASE) {
 		return;
 	}

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

-	for (uint32_t i = 0; i < uint32_per_sector; i++) {
-		if (address[i] != 0xffffffff) {
-			blank = false;
-			break;
-		}
-	}
+		struct flexspi_nor_config_s *pConfig = &g_bootConfig;

+		const uint32_t bytes_per_sector =  flash_func_sector_size(sector);
+		uint32_t *address = (uint32_t *)(IMXRT_FLEXSPI1_CIPHER_BASE + (sector * bytes_per_sector));

-	struct flexspi_nor_config_s *pConfig = &g_bootConfig;
-
-	/* erase the sector if it failed the blank check */
-	if (!blank) {
 		uintptr_t offset = ((uintptr_t) address) - IMXRT_FLEXSPI1_CIPHER_BASE;
 		irqstate_t flags;
 		flags = enter_critical_section();
@@ -439,8 +446,6 @@ flash_func_erase_sector(unsigned sector)
 		leave_critical_section(flags);
 		UNUSED(status);
 	}
-
-
 }

 void
@@ -577,6 +582,21 @@ led_toggle(unsigned led)
 void
 arch_do_jump(const uint32_t *app_base)
 {
+	/* The MPU configuration after booting has ITCM set to MPU_RASR_AP_RORO
+	 * We add this overlaping region to allow the Application to copy code into
+	 * the ITCM when it is booted. With CONFIG_ARM_MPU_RESET defined. The mpu
+	 * init will clear any added regions (after the copy)
+	 */
+
+	mpu_configure_region(IMXRT_ITCM_BASE, 256 * 1024,
+			     /* Instruction access Enabled */
+			     MPU_RASR_AP_RWRW  | /* P:RW   U:RW                */
+			     MPU_RASR_TEX_NOR    /* Normal                     */
+			     /* Not Cacheable              */
+			     /* Not Bufferable             */
+			     /* Not Shareable              */
+			     /* No Subregion disable       */
+			    );

 	/* extract the stack and entrypoint from the app vector table and go */
 	uint32_t stacktop = app_base[APP_VECTOR_OFFSET_WORDS];
@@ -466,18 +466,13 @@ flash_func_sector_size(unsigned sector)
 }

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

-	/* blank-check the sector */
-
-	bool blank = up_progmem_ispageerased(sector) == 0;
-
-	/* erase the sector if it failed the blank check */
-	if (!blank) {
+	if (force || (up_progmem_ispageerased(sector) != 0)) {
 		up_progmem_eraseblock(sector);
 	}
 }
@@ -83,4 +83,4 @@ add_subdirectory(srgbled)
 if (DEFINED PX4_CRYPTO)
 	add_library(px4_random nuttx_random.c)
 	target_link_libraries(px4_random PRIVATE nuttx_crypto)
-endif()
+endif()
@@ -33,145 +33,454 @@
 ****************************************************************************/
 #include <px4_platform_common/px4_config.h>
 #include <px4_platform_common/micro_hal.h>
+#include <px4_platform_common/log.h>
 #include <imxrt_flexio.h>
+#include <hardware/imxrt_flexio.h>
+#include <imxrt_periphclks.h>
 #include <px4_arch/dshot.h>
 #include <px4_arch/io_timer.h>
 #include <drivers/drv_dshot.h>
 #include <stdio.h>
+#include "barriers.h"

 #include "arm_internal.h"

+#define FLEXIO_BASE			IMXRT_FLEXIO1_BASE
+#define FLEXIO_PREQ			120000000
 #define DSHOT_TIMERS			FLEXIO_SHIFTBUFNIS_COUNT
 #define DSHOT_THROTTLE_POSITION		5u
 #define DSHOT_TELEMETRY_POSITION	4u
 #define NIBBLES_SIZE 			4u
 #define DSHOT_NUMBER_OF_NIBBLES		3u

+#if defined(IOMUX_PULL_UP_47K)
+#define IOMUX_PULL_UP IOMUX_PULL_UP_47K
+#endif
+
+static const uint32_t gcr_decode[32] = {
+	0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0, 0x0,
+	0x0, 0x9, 0xA, 0xB, 0x0, 0xD, 0xE, 0xF,
+	0x0, 0x0, 0x2, 0x3, 0x0, 0x5, 0x6, 0x7,
+	0x0, 0x0, 0x8, 0x1, 0x0, 0x4, 0xC, 0x0
+};
+
+uint32_t erpms[DSHOT_TIMERS];
+
+typedef enum {
+	DSHOT_START = 0,
+	DSHOT_12BIT_FIFO,
+	DSHOT_12BIT_TRANSFERRED,
+	DSHOT_TRANSMIT_COMPLETE,
+	BDSHOT_RECEIVE,
+	BDSHOT_RECEIVE_COMPLETE,
+} dshot_state;
+
 typedef struct dshot_handler_t {
 	bool			init;
 	uint32_t 		data_seg1;
 	uint32_t 		irq_data;
+	dshot_state             state;
+	bool			bdshot;
+	uint32_t                raw_response;
+	uint16_t                erpm;
+	uint32_t		crc_error_cnt;
+	uint32_t		frame_error_cnt;
+	uint32_t		no_response_cnt;
+	uint32_t		last_no_response_cnt;
 } dshot_handler_t;

+#define BDSHOT_OFFLINE_COUNT 400 // If there are no responses for 400 setpoints ESC is offline
+
 static dshot_handler_t dshot_inst[DSHOT_TIMERS] = {};

-struct flexio_dev_s *flexio_s;
+static uint32_t dshot_tcmp;
+static uint32_t bdshot_tcmp;
+static uint32_t dshot_mask;
+static uint32_t bdshot_recv_mask;
+static uint32_t bdshot_parsed_recv_mask;
+
+static inline uint32_t flexio_getreg32(uint32_t offset)
+{
+	return getreg32(FLEXIO_BASE + offset);
+}
+
+static inline void flexio_modifyreg32(unsigned int offset,
+				      uint32_t clearbits,
+				      uint32_t setbits)
+{
+	modifyreg32(FLEXIO_BASE + offset, clearbits, setbits);
+}
+
+static inline void flexio_putreg32(uint32_t value, uint32_t offset)
+{
+	putreg32(value, FLEXIO_BASE + offset);
+}
+
+static inline void enable_shifter_status_interrupts(uint32_t mask)
+{
+	flexio_modifyreg32(IMXRT_FLEXIO_SHIFTSIEN_OFFSET, 0, mask);
+}
+
+static inline void disable_shifter_status_interrupts(uint32_t mask)
+{
+	flexio_modifyreg32(IMXRT_FLEXIO_SHIFTSIEN_OFFSET, mask, 0);
+}
+
+static inline uint32_t get_shifter_status_flags(void)
+{
+	return flexio_getreg32(IMXRT_FLEXIO_SHIFTSTAT_OFFSET);
+}
+
+static inline void clear_shifter_status_flags(uint32_t mask)
+{
+	flexio_putreg32(mask, IMXRT_FLEXIO_SHIFTSTAT_OFFSET);
+}
+
+static inline void enable_timer_status_interrupts(uint32_t mask)
+{
+	flexio_modifyreg32(IMXRT_FLEXIO_TIMIEN_OFFSET, 0, mask);
+}
+
+static inline void disable_timer_status_interrupts(uint32_t mask)
+{
+	flexio_modifyreg32(IMXRT_FLEXIO_TIMIEN_OFFSET, mask, 0);
+}
+
+static inline uint32_t get_timer_status_flags(void)
+{
+	return flexio_getreg32(IMXRT_FLEXIO_TIMSTAT_OFFSET);
+}
+
+static inline void clear_timer_status_flags(uint32_t mask)
+{
+	flexio_putreg32(mask, IMXRT_FLEXIO_TIMSTAT_OFFSET);
+}
+
+static void flexio_dshot_output(uint32_t channel, uint32_t pin, uint32_t timcmp, bool inverted)
+{
+	/* Disable Shifter */
+	flexio_putreg32(0, IMXRT_FLEXIO_SHIFTCTL0_OFFSET + channel * 0x4);
+
+	/* No start bit, stop bit low */
+	flexio_putreg32(FLEXIO_SHIFTCFG_INSRC(FLEXIO_SHIFTER_INPUT_FROM_PIN) |
+			FLEXIO_SHIFTCFG_PWIDTH(0) |
+			FLEXIO_SHIFTCFG_SSTOP(FLEXIO_SHIFTER_STOP_BIT_LOW) |
+			FLEXIO_SHIFTCFG_SSTART(FLEXIO_SHIFTER_START_BIT_DISABLED_LOAD_DATA_ON_ENABLE),
+			IMXRT_FLEXIO_SHIFTCFG0_OFFSET + channel * 0x4);
+
+	/* Transmit mode, output to FXIO pin, inverted output for bdshot */
+	flexio_putreg32(FLEXIO_SHIFTCTL_TIMSEL(channel) |
+			FLEXIO_SHIFTCTL_TIMPOL(FLEXIO_SHIFTER_TIMER_POLARITY_ON_POSITIVE) |
+			FLEXIO_SHIFTCTL_PINCFG(FLEXIO_PIN_CONFIG_OUTPUT) |
+			FLEXIO_SHIFTCTL_PINSEL(pin) |
+			FLEXIO_SHIFTCTL_PINPOL(inverted) |
+			FLEXIO_SHIFTCTL_SMOD(FLEXIO_SHIFTER_MODE_TRANSMIT),
+			IMXRT_FLEXIO_SHIFTCTL0_OFFSET + channel * 0x4);
+
+	/* Start transmitting on trigger, disable on compare */
+	flexio_putreg32(FLEXIO_TIMCFG_TIMOUT(FLEXIO_TIMER_OUTPUT_ONE_NOT_AFFECTED_BY_RESET) |
+			FLEXIO_TIMCFG_TIMDEC(FLEXIO_TIMER_DEC_SRC_ON_FLEX_IO_CLOCK_SHIFT_TIMER_OUTPUT) |
+			FLEXIO_TIMCFG_TIMRST(FLEXIO_TIMER_RESET_NEVER) |
+			FLEXIO_TIMCFG_TIMDIS(FLEXIO_TIMER_DISABLE_ON_TIMER_COMPARE) |
+			FLEXIO_TIMCFG_TIMENA(FLEXIO_TIMER_ENABLE_ON_TRIGGER_HIGH) |
+			FLEXIO_TIMCFG_TSTOP(FLEXIO_TIMER_STOP_BIT_DISABLED) |
+			FLEXIO_TIMCFG_TSTART(FLEXIO_TIMER_START_BIT_DISABLED),
+			IMXRT_FLEXIO_TIMCFG0_OFFSET + channel * 0x4);
+
+	flexio_putreg32(timcmp, IMXRT_FLEXIO_TIMCMP0_OFFSET + channel * 0x4);
+
+	/* Baud mode, Trigger on shifter write */
+	flexio_putreg32(FLEXIO_TIMCTL_TRGSEL((4 * channel) + 1) |
+			FLEXIO_TIMCTL_TRGPOL(FLEXIO_TIMER_TRIGGER_POLARITY_ACTIVE_LOW) |
+			FLEXIO_TIMCTL_TRGSRC(FLEXIO_TIMER_TRIGGER_SOURCE_INTERNAL) |
+			FLEXIO_TIMCTL_PINCFG(FLEXIO_PIN_CONFIG_OUTPUT_DISABLED) |
+			FLEXIO_TIMCTL_PINSEL(0) |
+			FLEXIO_TIMCTL_PINPOL(FLEXIO_PIN_ACTIVE_LOW) |
+			FLEXIO_TIMCTL_TIMOD(FLEXIO_TIMER_MODE_DUAL8_BIT_BAUD_BIT),
+			IMXRT_FLEXIO_TIMCTL0_OFFSET + channel * 0x4);
+
+}

 static int flexio_irq_handler(int irq, void *context, void *arg)
 {
+	uint32_t flags = get_shifter_status_flags();
+	uint32_t channel;

-	uint32_t flags = flexio_s->ops->get_shifter_status_flags(flexio_s);
-	uint32_t instance;
+	for (channel = 0; flags && channel < DSHOT_TIMERS; channel++) {
+		if (flags & (1 << channel)) {
+			disable_shifter_status_interrupts(1 << channel);

-	for (instance = 0; flags && instance < DSHOT_TIMERS; instance++) {
-		if (flags & (1 << instance)) {
-			flexio_s->ops->disable_shifter_status_interrupts(flexio_s, (1 << instance));
-			flexio_s->ops->disable_timer_status_interrupts(flexio_s, (1 << instance));
+			if (dshot_inst[channel].state == DSHOT_START) {
+				dshot_inst[channel].state = DSHOT_12BIT_FIFO;
+				flexio_putreg32(dshot_inst[channel].irq_data, IMXRT_FLEXIO_SHIFTBUF0_OFFSET + channel * 0x4);

-			if (dshot_inst[instance].irq_data != 0) {
-				uint32_t buf_adr = flexio_s->ops->get_shifter_buffer_address(flexio_s, FLEXIO_SHIFTER_BUFFER, instance);
-				putreg32(dshot_inst[instance].irq_data, IMXRT_FLEXIO1_BASE + buf_adr);
-				dshot_inst[instance].irq_data = 0;
+			} else if (dshot_inst[channel].state == BDSHOT_RECEIVE) {
+				dshot_inst[channel].state = BDSHOT_RECEIVE_COMPLETE;
+				dshot_inst[channel].raw_response = flexio_getreg32(IMXRT_FLEXIO_SHIFTBUFBIS0_OFFSET + channel * 0x4);
+
+				bdshot_recv_mask |= (1 << channel);
+
+				if (bdshot_recv_mask == dshot_mask) {
+					// Received telemetry on all channels
+					// Schedule workqueue?
+				}
 			}
 		}
 	}

+	flags = get_timer_status_flags();
+
+	for (channel = 0; flags; (channel = (channel + 1) % DSHOT_TIMERS)) {
+		flags = get_timer_status_flags();
+
+		if (flags & (1 << channel)) {
+			clear_timer_status_flags(1 << channel);
+
+			if (dshot_inst[channel].state == DSHOT_12BIT_FIFO) {
+				dshot_inst[channel].state = DSHOT_12BIT_TRANSFERRED;
+
+			} else if (!dshot_inst[channel].bdshot && dshot_inst[channel].state == DSHOT_12BIT_TRANSFERRED) {
+				dshot_inst[channel].state = DSHOT_TRANSMIT_COMPLETE;
+
+			} else if (dshot_inst[channel].bdshot && dshot_inst[channel].state == DSHOT_12BIT_TRANSFERRED) {
+				disable_shifter_status_interrupts(1 << channel);
+				dshot_inst[channel].state = BDSHOT_RECEIVE;
+
+				/* Transmit done, disable timer and reconfigure to receive*/
+				flexio_putreg32(0x0, IMXRT_FLEXIO_TIMCTL0_OFFSET + channel * 0x4);
+
+				/* Input data from pin, no start/stop bit*/
+				flexio_putreg32(FLEXIO_SHIFTCFG_INSRC(FLEXIO_SHIFTER_INPUT_FROM_PIN) |
+						FLEXIO_SHIFTCFG_PWIDTH(0) |
+						FLEXIO_SHIFTCFG_SSTOP(FLEXIO_SHIFTER_STOP_BIT_DISABLE) |
+						FLEXIO_SHIFTCFG_SSTART(FLEXIO_SHIFTER_START_BIT_DISABLED_LOAD_DATA_ON_SHIFT),
+						IMXRT_FLEXIO_SHIFTCFG0_OFFSET + channel * 0x4);
+
+				/* Shifter receive mdoe, on FXIO pin input */
+				flexio_putreg32(FLEXIO_SHIFTCTL_TIMSEL(channel) |
+						FLEXIO_SHIFTCTL_TIMPOL(FLEXIO_SHIFTER_TIMER_POLARITY_ON_POSITIVE) |
+						FLEXIO_SHIFTCTL_PINCFG(FLEXIO_PIN_CONFIG_OUTPUT_DISABLED) |
+						FLEXIO_SHIFTCTL_PINSEL(timer_io_channels[channel].dshot.flexio_pin) |
+						FLEXIO_SHIFTCTL_PINPOL(FLEXIO_PIN_ACTIVE_LOW) |
+						FLEXIO_SHIFTCTL_SMOD(FLEXIO_SHIFTER_MODE_RECEIVE),
+						IMXRT_FLEXIO_SHIFTCTL0_OFFSET + channel * 0x4);
+
+				/* Make sure there no shifter flags high from transmission */
+				clear_shifter_status_flags(1 << channel);
+
+				/* Enable on pin transition, resychronize through reset on rising edge */
+				flexio_putreg32(FLEXIO_TIMCFG_TIMOUT(FLEXIO_TIMER_OUTPUT_ONE_AFFECTED_BY_RESET) |
+						FLEXIO_TIMCFG_TIMDEC(FLEXIO_TIMER_DEC_SRC_ON_FLEX_IO_CLOCK_SHIFT_TIMER_OUTPUT) |
+						FLEXIO_TIMCFG_TIMRST(FLEXIO_TIMER_RESET_ON_TIMER_PIN_RISING_EDGE) |
+						FLEXIO_TIMCFG_TIMDIS(FLEXIO_TIMER_DISABLE_ON_TIMER_COMPARE) |
+						FLEXIO_TIMCFG_TIMENA(FLEXIO_TIMER_ENABLE_ON_TRIGGER_BOTH_EDGE) |
+						FLEXIO_TIMCFG_TSTOP(FLEXIO_TIMER_STOP_BIT_ENABLE_ON_TIMER_DISABLE) |
+						FLEXIO_TIMCFG_TSTART(FLEXIO_TIMER_START_BIT_ENABLED),
+						IMXRT_FLEXIO_TIMCFG0_OFFSET + channel * 0x4);
+
+				/* Enable on pin transition, resychronize through reset on rising edge */
+				flexio_putreg32(bdshot_tcmp, IMXRT_FLEXIO_TIMCMP0_OFFSET + channel * 0x4);
+
+				/* Trigger on FXIO pin transition, Baud mode */
+				flexio_putreg32(FLEXIO_TIMCTL_TRGSEL(2 * timer_io_channels[channel].dshot.flexio_pin) |
+						FLEXIO_TIMCTL_TRGPOL(FLEXIO_TIMER_TRIGGER_POLARITY_ACTIVE_HIGH) |
+						FLEXIO_TIMCTL_TRGSRC(FLEXIO_TIMER_TRIGGER_SOURCE_INTERNAL) |
+						FLEXIO_TIMCTL_PINCFG(FLEXIO_PIN_CONFIG_OUTPUT_DISABLED) |
+						FLEXIO_TIMCTL_PINSEL(0) |
+						FLEXIO_TIMCTL_PINPOL(FLEXIO_PIN_ACTIVE_LOW) |
+						FLEXIO_TIMCTL_TIMOD(FLEXIO_TIMER_MODE_DUAL8_BIT_BAUD_BIT),
+						IMXRT_FLEXIO_TIMCTL0_OFFSET + channel * 0x4);
+
+				/* Enable shifter interrupt for receiving data */
+				enable_shifter_status_interrupts(1 << channel);
+			}
+		}
+
+	}
+
 	return OK;
 }

-int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq)
+
+int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bidirectional_dshot)
 {
-	uint32_t timer_compare;
+	/* Calculate dshot timings based on dshot_pwm_freq */
+	dshot_tcmp = 0x2F00 | (((FLEXIO_PREQ / (dshot_pwm_freq * 3) / 2)) & 0xFF);
+	bdshot_tcmp = 0x2900 | (((FLEXIO_PREQ / (dshot_pwm_freq * 5 / 4) / 2) - 1) & 0xFF);

-	if (dshot_pwm_freq == 150000) {
-		timer_compare = 0x2F8A;
+	/* Clock FlexIO peripheral */
+	imxrt_clockall_flexio1();

-	} else if (dshot_pwm_freq == 300000) {
-		timer_compare = 0x2F45;
+	/* Reset FlexIO peripheral */
+	flexio_modifyreg32(IMXRT_FLEXIO_CTRL_OFFSET, 0,
+			   FLEXIO_CTRL_SWRST_MASK);
+	flexio_putreg32(0, IMXRT_FLEXIO_CTRL_OFFSET);

-	} else if (dshot_pwm_freq == 600000) {
-		timer_compare = 0x2F22;
+	/* Initialize FlexIO peripheral */
+	flexio_modifyreg32(IMXRT_FLEXIO_CTRL_OFFSET,
+			   (FLEXIO_CTRL_DOZEN_MASK |
+			    FLEXIO_CTRL_DBGE_MASK |
+			    FLEXIO_CTRL_FASTACC_MASK |
+			    FLEXIO_CTRL_FLEXEN_MASK),
+			   (FLEXIO_CTRL_DBGE(1) |
+			    FLEXIO_CTRL_FASTACC(1) |
+			    FLEXIO_CTRL_FLEXEN(0)));

-	} else if (dshot_pwm_freq == 1200000) {
-		timer_compare = 0x2F11;
-
-	} else {
-		// Not supported Dshot frequency
-		return 0;
-	}
-
-	/* Init FlexIO peripheral */
-
-	flexio_s = imxrt_flexio_initialize(1);
+	/* FlexIO IRQ handling */
 	up_enable_irq(IMXRT_IRQ_FLEXIO1);
-	irq_attach(IMXRT_IRQ_FLEXIO1, flexio_irq_handler, flexio_s);
+	irq_attach(IMXRT_IRQ_FLEXIO1, flexio_irq_handler, 0);
+
+	dshot_mask = 0x0;

 	for (unsigned channel = 0; (channel_mask != 0) && (channel < DSHOT_TIMERS); channel++) {
 		if (channel_mask & (1 << channel)) {
-			uint8_t timer = timer_io_channels[channel].timer_index;

-			if (io_timers[timer].dshot.pinmux == 0) { // board does not configure dshot on this pin
+			if (timer_io_channels[channel].dshot.pinmux == 0) { // board does not configure dshot on this pin
 				continue;
 			}

-			imxrt_config_gpio(io_timers[timer].dshot.pinmux);
+			imxrt_config_gpio(timer_io_channels[channel].dshot.pinmux | IOMUX_PULL_UP);

-			struct flexio_shifter_config_s shft_cfg;
-			shft_cfg.timer_select = channel;
-			shft_cfg.timer_polarity = FLEXIO_SHIFTER_TIMER_POLARITY_ON_POSITIVE;
-			shft_cfg.pin_config = FLEXIO_PIN_CONFIG_OUTPUT;
-			shft_cfg.pin_select = io_timers[timer].dshot.flexio_pin;
-			shft_cfg.pin_polarity = FLEXIO_PIN_ACTIVE_HIGH;
-			shft_cfg.shifter_mode = FLEXIO_SHIFTER_MODE_TRANSMIT;
-			shft_cfg.parallel_width = 0;
-			shft_cfg.input_source = FLEXIO_SHIFTER_INPUT_FROM_PIN;
-			shft_cfg.shifter_stop = FLEXIO_SHIFTER_STOP_BIT_LOW;
-			shft_cfg.shifter_start = FLEXIO_SHIFTER_START_BIT_DISABLED_LOAD_DATA_ON_ENABLE;
+			dshot_inst[channel].bdshot = enable_bidirectional_dshot;

-			flexio_s->ops->set_shifter_config(flexio_s, channel, &shft_cfg);
-
-			struct flexio_timer_config_s tmr_cfg;
-			tmr_cfg.trigger_select = (4 * channel) + 1;
-			tmr_cfg.trigger_polarity = FLEXIO_TIMER_TRIGGER_POLARITY_ACTIVE_LOW;
-			tmr_cfg.trigger_source = FLEXIO_TIMER_TRIGGER_SOURCE_INTERNAL;
-			tmr_cfg.pin_config = FLEXIO_PIN_CONFIG_OUTPUT_DISABLED;
-			tmr_cfg.pin_select = 0;
-			tmr_cfg.pin_polarity = FLEXIO_PIN_ACTIVE_LOW;
-			tmr_cfg.timer_mode = FLEXIO_TIMER_MODE_DUAL8_BIT_BAUD_BIT;
-			tmr_cfg.timer_output = FLEXIO_TIMER_OUTPUT_ONE_NOT_AFFECTED_BY_RESET;
-			tmr_cfg.timer_decrement = FLEXIO_TIMER_DEC_SRC_ON_FLEX_IO_CLOCK_SHIFT_TIMER_OUTPUT;
-			tmr_cfg.timer_reset = FLEXIO_TIMER_RESET_NEVER;
-			tmr_cfg.timer_disable = FLEXIO_TIMER_DISABLE_ON_TIMER_COMPARE;
-			tmr_cfg.timer_enable = FLEXIO_TIMER_ENABLE_ON_TRIGGER_HIGH;
-			tmr_cfg.timer_stop = FLEXIO_TIMER_STOP_BIT_DISABLED;
-			tmr_cfg.timer_start = FLEXIO_TIMER_START_BIT_DISABLED;
-			tmr_cfg.timer_compare = timer_compare;
-			flexio_s->ops->set_timer_config(flexio_s, channel, &tmr_cfg);
+			flexio_dshot_output(channel, timer_io_channels[channel].dshot.flexio_pin, dshot_tcmp, dshot_inst[channel].bdshot);

 			dshot_inst[channel].init = true;
+
+			// Mask channel to be active on dshot
+			dshot_mask |= (1 << channel);
 		}
 	}

-	flexio_s->ops->enable(flexio_s, true);
+	flexio_modifyreg32(IMXRT_FLEXIO_CTRL_OFFSET, 0,
+			   FLEXIO_CTRL_FLEXEN_MASK);

 	return channel_mask;
 }

+void up_bdshot_erpm(void)
+{
+	uint32_t value;
+	uint32_t data;
+	uint32_t csum_data;
+	uint8_t exponent;
+	uint16_t period;
+	uint16_t erpm;
+
+	bdshot_parsed_recv_mask = 0;
+
+	// Decode each individual channel
+	for (uint8_t channel = 0; (channel < DSHOT_TIMERS); channel++) {
+		if (bdshot_recv_mask & (1 << channel)) {
+			value = ~dshot_inst[channel].raw_response & 0xFFFFF;
+
+			/* if lowest significant isn't 1 we've got a framing error */
+			if (value & 0x1) {
+				/* Decode RLL */
+				value = (value ^ (value >> 1));
+
+				/* Decode GCR */
+				data = gcr_decode[value & 0x1fU];
+				data |= gcr_decode[(value >> 5U) & 0x1fU] << 4U;
+				data |= gcr_decode[(value >> 10U) & 0x1fU] << 8U;
+				data |= gcr_decode[(value >> 15U) & 0x1fU] << 12U;
+
+				/* Calculate checksum */
+				csum_data = data;
+				csum_data = csum_data ^ (csum_data >> 8U);
+				csum_data = csum_data ^ (csum_data >> NIBBLES_SIZE);
+
+				if ((csum_data & 0xFU) != 0xFU) {
+					dshot_inst[channel].crc_error_cnt++;
+
+				} else {
+					data = (data >> 4) & 0xFFF;
+
+					if (data == 0xFFF) {
+						erpm = 0;
+
+					} else {
+						exponent = ((data >> 9U) & 0x7U); /* 3 bit: exponent */
+						period = (data & 0x1ffU); /* 9 bit: period base */
+						period = period << exponent; /* Period in usec */
+						erpm = ((1000000U * 60U / 100U + period / 2U) / period);
+					}
+
+					dshot_inst[channel].erpm = erpm;
+					bdshot_parsed_recv_mask |= (1 << channel);
+					dshot_inst[channel].last_no_response_cnt = dshot_inst[channel].no_response_cnt;
+				}
+
+			} else {
+				dshot_inst[channel].frame_error_cnt++;
+			}
+		}
+	}
+}
+
+
+
+int up_bdshot_get_erpm(uint8_t channel, int *erpm)
+{
+	if (bdshot_parsed_recv_mask & (1 << channel)) {
+		*erpm = (int)dshot_inst[channel].erpm;
+		return 0;
+	}
+
+	return -1;
+}
+
+int up_bdshot_channel_status(uint8_t channel)
+{
+	if (channel < DSHOT_TIMERS) {
+		return ((dshot_inst[channel].no_response_cnt - dshot_inst[channel].last_no_response_cnt) < BDSHOT_OFFLINE_COUNT);
+	}
+
+	return -1;
+}
+
+void up_bdshot_status(void)
+{
+
+	for (uint8_t channel = 0; (channel < DSHOT_TIMERS); channel++) {
+
+		if (dshot_inst[channel].init) {
+			PX4_INFO("Channel %i %s Last erpm %i value", channel, up_bdshot_channel_status(channel) ? "online" : "offline",
+				 dshot_inst[channel].erpm);
+			PX4_INFO("CRC errors Frame error No response");
+			PX4_INFO("%10lu %11lu %11lu", dshot_inst[channel].crc_error_cnt, dshot_inst[channel].frame_error_cnt,
+				 dshot_inst[channel].no_response_cnt);
+		}
+	}
+}
+
 void up_dshot_trigger(void)
 {
-	uint32_t buf_adr;
+	// Calc data now since we're not event driven
+	if (bdshot_recv_mask != 0x0) {
+		up_bdshot_erpm();
+	}

-	for (uint8_t motor_number = 0; (motor_number < DSHOT_TIMERS); motor_number++) {
-		if (dshot_inst[motor_number].init && dshot_inst[motor_number].data_seg1 != 0) {
-			buf_adr = flexio_s->ops->get_shifter_buffer_address(flexio_s, FLEXIO_SHIFTER_BUFFER, motor_number);
-			putreg32(dshot_inst[motor_number].data_seg1, IMXRT_FLEXIO1_BASE + buf_adr);
+	clear_timer_status_flags(0xFF);
+
+	for (uint8_t channel = 0; (channel < DSHOT_TIMERS); channel++) {
+		if (dshot_inst[channel].bdshot && (bdshot_recv_mask & (1 << channel)) == 0) {
+			dshot_inst[channel].no_response_cnt++;
+		}
+
+		if (dshot_inst[channel].init && dshot_inst[channel].data_seg1 != 0) {
+			flexio_putreg32(dshot_inst[channel].data_seg1, IMXRT_FLEXIO_SHIFTBUF0_OFFSET + channel * 0x4);
 		}
 	}

-	flexio_s->ops->clear_timer_status_flags(flexio_s, 0xFF);
-	flexio_s->ops->enable_shifter_status_interrupts(flexio_s, 0xFF);
+	bdshot_recv_mask = 0x0;
+
+	clear_timer_status_flags(0xFF);
+	enable_shifter_status_interrupts(0xFF);
+	enable_timer_status_interrupts(0xFF);
 }

+/* Expand packet from 16 bits 48 to get T0H and T1H timing */
 uint64_t dshot_expand_data(uint16_t packet)
 {
 	unsigned int mask;
@@ -197,16 +506,22 @@ uint64_t dshot_expand_data(uint16_t packet)
 * bit 	12		- dshot telemetry enable/disable
 * bits 	13-16	- XOR checksum
 **/
-void dshot_motor_data_set(unsigned motor_number, uint16_t throttle, bool telemetry)
+void dshot_motor_data_set(unsigned channel, uint16_t throttle, bool telemetry)
 {
-	if (motor_number < DSHOT_TIMERS && dshot_inst[motor_number].init) {
+	if (channel < DSHOT_TIMERS && dshot_inst[channel].init) {
+		uint16_t csum_data;
 		uint16_t packet = 0;
 		uint16_t checksum = 0;

 		packet |= throttle << DSHOT_THROTTLE_POSITION;
 		packet |= ((uint16_t)telemetry & 0x01) << DSHOT_TELEMETRY_POSITION;

-		uint16_t csum_data = packet;
+		if (dshot_inst[channel].bdshot) {
+			csum_data = ~packet;
+
+		} else {
+			csum_data = packet;
+		}

 		/* XOR checksum calculation */
 		csum_data >>= NIBBLES_SIZE;
@@ -219,8 +534,20 @@ void dshot_motor_data_set(unsigned motor_number, uint16_t throttle, bool telemet
 		packet |= (checksum & 0x0F);

 		uint64_t dshot_expanded = dshot_expand_data(packet);
-		dshot_inst[motor_number].data_seg1 = (uint32_t)(dshot_expanded & 0xFFFFFF);
-		dshot_inst[motor_number].irq_data = (uint32_t)(dshot_expanded >> 24);
+
+		dshot_inst[channel].data_seg1 = (uint32_t)(dshot_expanded & 0xFFFFFF);
+		dshot_inst[channel].irq_data = (uint32_t)(dshot_expanded >> 24);
+		dshot_inst[channel].state = DSHOT_START;
+
+		if (dshot_inst[channel].bdshot) {
+
+			flexio_putreg32(0x0, IMXRT_FLEXIO_TIMCTL0_OFFSET + channel * 0x4);
+			disable_shifter_status_interrupts(1 << channel);
+
+			flexio_dshot_output(channel, timer_io_channels[channel].dshot.flexio_pin, dshot_tcmp, dshot_inst[channel].bdshot);
+
+			clear_timer_status_flags(0xFF);
+		}
 	}
 }

@@ -87,7 +87,6 @@ typedef struct io_timers_t {
 	uint32_t  clock_register;      /* SIM_SCGCn */
 	uint32_t  clock_bit;           /* SIM_SCGCn bit pos */
 	uint32_t  vectorno;            /* IRQ number */
-	dshot_conf_t	dshot;
 } io_timers_t;

 typedef struct io_timers_channel_mapping_element_t {
@@ -112,6 +111,7 @@ typedef struct timer_io_channels_t {
 	uint8_t   sub_module;          /* 0 based sub module offset */
 	uint8_t   sub_module_bits;     /* LDOK and CLDOK bits */
 	uint8_t   timer_channel;       /* Unused */
+	dshot_conf_t	dshot;
 } timer_io_channels_t;

 #define SM0           0
@@ -36,7 +36,7 @@ add_subdirectory(../imxrt/adc adc)
 add_subdirectory(../imxrt/board_critmon board_critmon)
 add_subdirectory(../imxrt/board_hw_info board_hw_info)
 add_subdirectory(../imxrt/board_reset board_reset)
-#add_subdirectory(../imxrt/dshot dshot)
+add_subdirectory(../imxrt/dshot dshot)
 add_subdirectory(../imxrt/hrt hrt)
 add_subdirectory(../imxrt/led_pwm led_pwm)
 add_subdirectory(../imxrt/io_pins io_pins)
@@ -0,0 +1,36 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2023 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+#pragma once
+
+
+#include "../../../imxrt/include/px4_arch/dshot.h"
@@ -41,6 +41,7 @@
 #include <nuttx/irq.h>

 #include <drivers/drv_hrt.h>
+#include "dshot.h"

 #pragma once
 __BEGIN_DECLS
@@ -110,6 +111,7 @@ typedef struct timer_io_channels_t {
 	uint8_t   sub_module;          /* 0 based sub module offset */
 	uint8_t   sub_module_bits;     /* LDOK and CLDOK bits */
 	uint8_t   timer_channel;       /* Unused */
+	dshot_conf_t dshot;
 } timer_io_channels_t;

 #define SM0           0
@@ -601,6 +601,16 @@ static inline constexpr timer_io_channels_t initIOTimerChannel(const io_timers_t
 	return ret;
 }

+static inline constexpr timer_io_channels_t initIOTimerChannelDshot(const io_timers_t io_timers_conf[MAX_IO_TIMERS],
+		PWM::FlexPWMConfig pwm_config, IOMUX::Pad pad, uint32_t dshot_pinmux, uint32_t flexio_pin)
+{
+	timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, pwm_config, pad);
+
+	ret.dshot.pinmux = dshot_pinmux;
+	ret.dshot.flexio_pin = flexio_pin;
+	return ret;
+}
+
 static inline constexpr io_timers_t initIOPWM(PWM::FlexPWM pwm, PWM::FlexPWMSubmodule sub)
 {
 	io_timers_t ret{};
@@ -609,3 +619,14 @@ static inline constexpr io_timers_t initIOPWM(PWM::FlexPWM pwm, PWM::FlexPWMSubm
 	ret.submodle = sub;
 	return ret;
 }
+
+
+
+static inline constexpr io_timers_t initIOPWMDshot(PWM::FlexPWM pwm, PWM::FlexPWMSubmodule sub)
+{
+	io_timers_t ret{};
+
+	ret.base = getFlexPWMBaseRegister(pwm);
+	ret.submodle = sub;
+	return ret;
+}
@@ -690,6 +690,16 @@ static inline constexpr timer_io_channels_t initIOTimerChannel(const io_timers_t
 	return ret;
 }

+static inline constexpr timer_io_channels_t initIOTimerChannelDshot(const io_timers_t io_timers_conf[MAX_IO_TIMERS],
+		PWM::FlexPWMConfig pwm_config, IOMUX::Pad pad, uint32_t dshot_pinmux, uint32_t flexio_pin)
+{
+	timer_io_channels_t ret = initIOTimerChannel(io_timers_conf, pwm_config, pad);
+
+	ret.dshot.pinmux = dshot_pinmux;
+	ret.dshot.flexio_pin = flexio_pin;
+	return ret;
+}
+
 static inline constexpr io_timers_t initIOPWM(PWM::FlexPWM pwm, PWM::FlexPWMSubmodule sub)
 {
 	io_timers_t ret{};
@@ -699,14 +709,13 @@ static inline constexpr io_timers_t initIOPWM(PWM::FlexPWM pwm, PWM::FlexPWMSubm
 	return ret;
 }

-static inline constexpr io_timers_t initIOPWMDshot(PWM::FlexPWM pwm, PWM::FlexPWMSubmodule sub, uint32_t pinmux,
-		uint32_t flexio_pin)
+
+
+static inline constexpr io_timers_t initIOPWMDshot(PWM::FlexPWM pwm, PWM::FlexPWMSubmodule sub)
 {
 	io_timers_t ret{};

 	ret.base = getFlexPWMBaseRegister(pwm);
 	ret.submodle = sub;
-	ret.dshot.pinmux = pinmux;
-	ret.dshot.flexio_pin = flexio_pin;
 	return ret;
 }
@@ -82,7 +82,7 @@ static uint8_t dshot_burst_buffer_array[DSHOT_TIMERS * DSHOT_BURST_BUFFER_SIZE(M
 px4_cache_aligned_data() = {};
 static uint32_t *dshot_burst_buffer[DSHOT_TIMERS] = {};

-int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq)
+int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bidirectional_dshot)
 {
 	unsigned buffer_offset = 0;

@@ -152,6 +152,22 @@ int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq)
 	return ret_val == OK ? channels_init_mask : ret_val;
 }

+int up_bdshot_get_erpm(uint8_t channel, int *erpm)
+{
+	// Not implemented
+	return -1;
+}
+
+int up_bdshot_channel_status(uint8_t channel)
+{
+	// Not implemented
+	return -1;
+}
+
+void up_bdshot_status(void)
+{
+}
+
 void up_dshot_trigger(void)
 {
 	for (uint8_t timer = 0; (timer < DSHOT_TIMERS); timer++) {
@@ -44,6 +44,7 @@ include_directories(

 add_library(px4 SHARED
 	${PX4_SOURCE_DIR}/platforms/qurt/unresolved_symbols.c
+	${PX4_SOURCE_DIR}/platforms/qurt/new_delete.cpp
 	${PX4_BINARY_DIR}/apps.cpp
 	)

@@ -0,0 +1,92 @@
+#include <stdlib.h>
+#include <new>
+
+/*
+  These are the heap access function exported by the SLPI DSP image.
+*/
+extern "C" {
+	void *fc_heap_alloc(size_t size);
+	void fc_heap_free(void *ptr);
+}
+
+/*
+  Globally override new and delete so that it can use the correct
+  heap manager for the Qurt platform.
+
+  Note that new comes in multiple different variants. When new is used
+  without std::nothrow the compiler is free to assume it will not fail
+  as it assumes exceptions are enabled. This makes code like this
+  unsafe when using -fno-exceptions:
+
+    a = new b;
+    if (a == nullptr) {
+      handle_error()
+    }
+
+  The compiler may remove the error handling. With g++ you can use
+  -fcheck-new to avoid this, but on clang++ the compiler accepts
+  -fcheck-new as a valid flag, but doesn't implement it, and may remove
+  the error checking. That makes using clang++ unsafe with
+  -fno-exceptions if you ever call new without std::nothrow.
+..It has been verified that hexagon-clang++ will remove the nullptr checks
+  after new if any optimization is selected for the compiler.
+*/
+
+/*
+  variant for new(std::nothrow), which is all that should be used in
+  PX4
+ */
+void *operator new (size_t size, std::nothrow_t const &nothrow) noexcept
+{
+	if (size < 1) {
+		size = 1;
+	}
+
+	return (fc_heap_alloc(size));
+}
+
+void *operator new[](size_t size, std::nothrow_t const &nothrow) noexcept
+{
+	if (size < 1) {
+		size = 1;
+	}
+
+	return (fc_heap_alloc(size));
+}
+
+/*
+  These variants are for new without std::nothrow. We don't want to ever
+  use these from PX4 code
+ */
+void *operator new (size_t size)
+{
+	if (size < 1) {
+		size = 1;
+	}
+
+	return (fc_heap_alloc(size));
+}
+
+
+void *operator new[](size_t size)
+{
+	if (size < 1) {
+		size = 1;
+	}
+
+	return (fc_heap_alloc(size));
+}
+
+/*
+	Override delete to free up memory to correct heap
+*/
+
+void operator delete (void *p) noexcept
+{
+	if (p) { fc_heap_free(p); }
+}
+
+void operator delete[](void *ptr) noexcept
+{
+	if (ptr) { fc_heap_free(ptr); }
+}
@@ -53,6 +53,7 @@
 #include <mathlib/mathlib.h>
 #include <matrix/math.hpp>
 #include <px4_platform_common/px4_work_queue/ScheduledWorkItem.hpp>
+#include <px4_platform_common/module.h>
 #include <systemlib/err.h>
 #include <parameters/param.h>

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

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

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

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

 class CameraInterface
 {
@@ -206,7 +206,8 @@ void CdcAcmAutostart::state_connecting()

 	if (_ttyacm_fd < 0) {
 		PX4_DEBUG("can't open port");
-		goto fail;
+		// fail silently and keep trying to open the port
+		return;
 	}

 	if (_sys_usb_auto.get() == 2) {
@@ -91,7 +91,7 @@ typedef enum {
 * @param dshot_pwm_freq	Frequency of DSHOT signal. Usually DSHOT150, DSHOT300, DSHOT600 or DSHOT1200
 * @return <0 on error, the initialized channels mask.
 */
-__EXPORT extern int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq);
+__EXPORT extern int up_dshot_init(uint32_t channel_mask, unsigned dshot_pwm_freq, bool enable_bidirectional_dshot);

 /**
 * Set Dshot motor data, used by up_dshot_motor_data_set() and up_dshot_motor_command() (internal method)
@@ -137,4 +137,28 @@ __EXPORT extern void up_dshot_trigger(void);
 */
 __EXPORT extern int up_dshot_arm(bool armed);

+/**
+ * Print bidrectional dshot status
+ */
+__EXPORT extern void up_bdshot_status(void);
+
+
+/**
+ * Get bidrectional dshot erpm for a channel
+ * @param channel	Dshot channel
+ * @param erpm		pointer to write the erpm value
+ * @return <0 on error, OK on succes
+ */
+__EXPORT extern int up_bdshot_get_erpm(uint8_t channel, int *erpm);
+
+
+/**
+ * Get bidrectional dshot status for a channel
+ * @param channel	Dshot channel
+ * @param erpm		pointer to write the erpm value
+ * @return <0 on error / not supported, 0 on offline, 1 on online
+ */
+__EXPORT extern int up_bdshot_channel_status(uint8_t channel);
+
+
 __END_DECLS
@@ -144,7 +144,9 @@ void DShot::enable_dshot_outputs(const bool enabled)
 			}
 		}

-		int ret = up_dshot_init(_output_mask, dshot_frequency);
+		_bidirectional_dshot_enabled = _param_bidirectional_enable.get();
+
+		int ret = up_dshot_init(_output_mask, dshot_frequency, _bidirectional_dshot_enabled);

 		if (ret < 0) {
 			PX4_ERR("up_dshot_init failed (%i)", ret);
@@ -157,6 +159,7 @@ void DShot::enable_dshot_outputs(const bool enabled)
 		for (unsigned i = 0; i < _num_outputs; ++i) {
 			if (((1 << i) & _output_mask) == 0) {
 				_mixing_output.disableFunction(i);
+
 			}
 		}

@@ -167,6 +170,10 @@ void DShot::enable_dshot_outputs(const bool enabled)
 		}

 		_outputs_initialized = true;
+
+		if (_bidirectional_dshot_enabled) {
+			init_telemetry(NULL);
+		}
 	}

 	if (_outputs_initialized) {
@@ -206,17 +213,20 @@ void DShot::init_telemetry(const char *device)

 	_telemetry->esc_status_pub.advertise();

-	int ret = _telemetry->handler.init(device);
+	if (device != NULL) {
+		int ret = _telemetry->handler.init(device);

-	if (ret != 0) {
-		PX4_ERR("telemetry init failed (%i)", ret);
+		if (ret != 0) {
+			PX4_ERR("telemetry init failed (%i)", ret);
+		}
 	}

 	update_telemetry_num_motors();
 }

-void DShot::handle_new_telemetry_data(const int telemetry_index, const DShotTelemetry::EscData &data)
+int DShot::handle_new_telemetry_data(const int telemetry_index, const DShotTelemetry::EscData &data)
 {
+	int ret = 0;
 	// fill in new motor data
 	esc_status_s &esc_status = _telemetry->esc_status_pub.get();

@@ -239,18 +249,83 @@ void DShot::handle_new_telemetry_data(const int telemetry_index, const DShotTele
 		esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_DSHOT;
 		esc_status.esc_count = _telemetry->handler.numMotors();
 		++esc_status.counter;
-		// FIXME: mark all ESC's as online, otherwise commander complains even for a single dropout
-		esc_status.esc_online_flags = (1 << esc_status.esc_count) - 1;
-		esc_status.esc_armed_flags = (1 << esc_status.esc_count) - 1;

-		_telemetry->esc_status_pub.update();
-
-		// reset esc data (in case a motor times out, so we won't send stale data)
-		memset(&esc_status.esc, 0, sizeof(_telemetry->esc_status_pub.get().esc));
-		esc_status.esc_online_flags = 0;
+		ret = 1; // Indicate we wrapped, so we publish data
 	}

 	_telemetry->last_telemetry_index = telemetry_index;
+
+	return ret;
+}
+
+void DShot::publish_esc_status(void)
+{
+	esc_status_s &esc_status = _telemetry->esc_status_pub.get();
+	int telemetry_index = 0;
+
+	// clear data of the esc that are offline
+	for (int index = 0; (index < _telemetry->last_telemetry_index); index++) {
+		if ((esc_status.esc_online_flags & (1 << index)) == 0) {
+			memset(&esc_status.esc[index], 0, sizeof(struct esc_report_s));
+		}
+	}
+
+	// FIXME: mark all UART Telemetry ESC's as online, otherwise commander complains even for a single dropout
+	esc_status.esc_count = _telemetry->handler.numMotors();
+	esc_status.esc_online_flags = (1 << esc_status.esc_count) - 1;
+	esc_status.esc_armed_flags = (1 << esc_status.esc_count) - 1;
+
+	if (_bidirectional_dshot_enabled) {
+		for (unsigned i = 0; i < _num_outputs; i++) {
+			if (_mixing_output.isFunctionSet(i)) {
+				if (up_bdshot_channel_status(i)) {
+					esc_status.esc_online_flags |= 1 << i;
+
+				} else {
+					esc_status.esc_online_flags &= ~(1 << i);
+				}
+
+				++telemetry_index;
+			}
+		}
+	}
+
+	// ESC telem wrap around or bdshot update
+	_telemetry->esc_status_pub.update();
+
+	// reset esc online flags
+	esc_status.esc_online_flags = 0;
+}
+
+int DShot::handle_new_bdshot_erpm(void)
+{
+	int num_erpms = 0;
+	int telemetry_index = 0;
+	int erpm;
+	esc_status_s &esc_status = _telemetry->esc_status_pub.get();
+
+	esc_status.timestamp = hrt_absolute_time();
+	esc_status.counter = _esc_status_counter++;
+	esc_status.esc_connectiontype = esc_status_s::ESC_CONNECTION_TYPE_DSHOT;
+	esc_status.esc_armed_flags = _outputs_on;
+
+	for (unsigned i = 0; i < _num_outputs; i++) {
+		if (_mixing_output.isFunctionSet(i)) {
+			if (up_bdshot_get_erpm(i, &erpm) == 0) {
+				num_erpms++;
+				esc_status.esc_online_flags |= 1 << telemetry_index;
+				esc_status.esc[telemetry_index].timestamp = hrt_absolute_time();
+				esc_status.esc[telemetry_index].esc_rpm = (erpm * 100) / (_param_mot_pole_count.get() / 2);
+				esc_status.esc[telemetry_index].actuator_function = _telemetry->actuator_functions[telemetry_index];
+			}
+
+			++telemetry_index;
+		}
+
+
+	}
+
+	return num_erpms;
 }

 int DShot::send_command_thread_safe(const dshot_command_t command, const int num_repetitions, const int motor_index)
@@ -463,6 +538,7 @@ void DShot::Run()

 	if (_telemetry) {
 		int telem_update = _telemetry->handler.update();
+		int need_to_publish = 0;

 		// Are we waiting for ESC info?
 		if (_waiting_for_esc_info) {
@@ -472,10 +548,21 @@ void DShot::Run()
 			}

 		} else if (telem_update >= 0) {
-			handle_new_telemetry_data(telem_update, _telemetry->handler.latestESCData());
+			need_to_publish = handle_new_telemetry_data(telem_update, _telemetry->handler.latestESCData());
+		}
+
+		if (_bidirectional_dshot_enabled) {
+			// Add bdshot data to esc status
+			need_to_publish += handle_new_bdshot_erpm();
+		}
+
+		if (need_to_publish > 0) {
+			// ESC telem wrap around or bdshot update
+			publish_esc_status();
 		}
 	}

+
 	if (_parameter_update_sub.updated()) {
 		update_params();
 	}
@@ -713,6 +800,11 @@ int DShot::print_status()
 		_telemetry->handler.printStatus();
 	}

+	/* Print dshot status */
+	if (_bidirectional_dshot_enabled) {
+		up_bdshot_status();
+	}
+
 	return 0;
 }

@@ -131,7 +131,11 @@ private:

 	void init_telemetry(const char *device);

-	void handle_new_telemetry_data(const int telemetry_index, const DShotTelemetry::EscData &data);
+	int handle_new_telemetry_data(const int telemetry_index, const DShotTelemetry::EscData &data);
+
+	void publish_esc_status(void);
+
+	int handle_new_bdshot_erpm(void);

 	int request_esc_info();

@@ -158,6 +162,7 @@ private:
 	bool _outputs_initialized{false};
 	bool _outputs_on{false};
 	bool _waiting_for_esc_info{false};
+	bool _bidirectional_dshot_enabled{false};

 	static constexpr unsigned _num_outputs{DIRECT_PWM_OUTPUT_CHANNELS};
 	uint32_t _output_mask{0};
@@ -169,12 +174,14 @@ private:
 	uORB::SubscriptionInterval _parameter_update_sub{ORB_ID(parameter_update), 1_s};
 	uORB::Subscription _vehicle_command_sub{ORB_ID(vehicle_command)};
 	uORB::Publication<vehicle_command_ack_s> _command_ack_pub{ORB_ID(vehicle_command_ack)};
+	uint16_t _esc_status_counter{0};

 	DEFINE_PARAMETERS(
 		(ParamFloat<px4::params::DSHOT_MIN>)    _param_dshot_min,
 		(ParamBool<px4::params::DSHOT_3D_ENABLE>) _param_dshot_3d_enable,
 		(ParamInt<px4::params::DSHOT_3D_DEAD_H>) _param_dshot_3d_dead_h,
 		(ParamInt<px4::params::DSHOT_3D_DEAD_L>) _param_dshot_3d_dead_l,
-		(ParamInt<px4::params::MOT_POLE_COUNT>) _param_mot_pole_count
+		(ParamInt<px4::params::MOT_POLE_COUNT>) _param_mot_pole_count,
+		(ParamBool<px4::params::DSHOT_BIDIR_EN>) _param_bidirectional_enable
 	)
 };
@@ -183,6 +183,9 @@ bool DShotTelemetry::decodeByte(uint8_t byte, bool &successful_decoding)
 				  _latest_data.erpm);
 			++_num_successful_responses;
 			successful_decoding = true;
+
+		} else {
+			++_num_checksum_errors;
 		}

 		return true;
@@ -195,6 +198,7 @@ void DShotTelemetry::printStatus() const
 {
 	PX4_INFO("Number of successful ESC frames: %i", _num_successful_responses);
 	PX4_INFO("Number of timeouts: %i", _num_timeouts);
+	PX4_INFO("Number of CRC errors: %i", _num_checksum_errors);
 }

 uint8_t DShotTelemetry::updateCrc8(uint8_t crc, uint8_t crc_seed)
@@ -140,4 +140,5 @@ private:
 	// statistics
 	int _num_timeouts{0};
 	int _num_successful_responses{0};
+	int _num_checksum_errors{0};
 };
@@ -33,6 +33,16 @@ parameters:
                    When mixer outputs 1000 or value inside DSHOT 3D deadband, DShot 0 is sent.
            type: boolean
            default: 0
+        DSHOT_BIDIR_EN:
+            description:
+                short: Enable bidirectional DShot
+                long: |
+                    This parameter enables bidirectional DShot which provides RPM feedback.
+                    Note that this requires ESCs that support bidirectional DSHot, e.g. BlHeli32.
+                    This is not the same as DShot telemetry which requires an additional serial connection.
+            type: boolean
+            default: 0
+            reboot_required: true
        DSHOT_3D_DEAD_H:
            description:
                short: DSHOT 3D deadband high
@@ -314,7 +314,7 @@ void  RCInput::swap_rx_tx()
 #  ifdef TIOCSSINGLEWIRE

 	if (rv != OK) {
-		ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED);
+		ioctl(_rcs_fd, TIOCSSINGLEWIRE, SER_SINGLEWIRE_ENABLED | SER_SINGLEWIRE_PUSHPULL);
 	}

 #  else
@@ -78,7 +78,9 @@ def run(logfile, use_gnss, scale_init):
    if scale_init is None:
        scale_init = 1.0

-    state = np.array([0.0, 0.0, scale_init])
+    # The estimator estimates the inverse scale factor to have a simpler measurement jacobian
+    inverse_scale_init = 1 / scale_init
+    state = np.array([0.0, 0.0, inverse_scale_init])
    P = np.diag([1.0, 1.0, 1e-4])
    wind_nsd = 1e-2
    scale_nsd = 1e-4
@@ -118,7 +120,7 @@ def run(logfile, use_gnss, scale_init):

        wind_est_n[i] = state[0]
        wind_est_e[i] = state[1]
-        scale_est[i] = state[2]
+        scale_est[i] = 1 / state[2]

    plt.figure(1)
    ax1 = plt.subplot(2, 1, 1)
@@ -194,6 +194,25 @@ CameraFeedback::print_usage(const char *reason)
 		R"DESCR_STR(
 ### Description

+The camera_feedback module publishes `CameraCapture` UORB topics when image capture has been triggered.
+
+If camera capture is enabled, then trigger information from the camera capture pin is published;
+otherwise trigger information at the point the camera was commanded to trigger is published
+(from the `camera_trigger` module).
+
+The `CAMERA_IMAGE_CAPTURED` message is then emitted (by streaming code) following `CameraCapture` updates.
+`CameraCapture` topics are also logged and can be used for geotagging.
+
+### Implementation
+
+`CameraTrigger` topics are published by the `camera_trigger` module (`feedback` field set `false`)
+when image capture is triggered, and may also be published by the  `camera_capture` driver
+(with `feedback` field set `true`) if the camera capture pin is activated.
+
+The `camera_feedback` module subscribes to `CameraTrigger`.
+It discards topics from the `camera_trigger` module if camera capture is enabled.
+For the topics that are not discarded it creates a `CameraCapture` topic with the timestamp information
+from the `CameraTrigger` and position information from the vehicle.

 )DESCR_STR");

@@ -50,6 +50,7 @@ px4_add_library(health_and_arming_checks
 	checks/gyroCheck.cpp
 	checks/homePositionCheck.cpp
 	checks/imuConsistencyCheck.cpp
+	checks/loggerCheck.cpp
 	checks/magnetometerCheck.cpp
 	checks/manualControlCheck.cpp
 	checks/missionCheck.cpp
@@ -51,6 +51,7 @@
 #include "checks/failureDetectorCheck.hpp"
 #include "checks/gyroCheck.hpp"
 #include "checks/imuConsistencyCheck.hpp"
+#include "checks/loggerCheck.hpp"
 #include "checks/magnetometerCheck.hpp"
 #include "checks/manualControlCheck.hpp"
 #include "checks/homePositionCheck.hpp"
@@ -130,6 +131,7 @@ private:
 	FailureDetectorChecks _failure_detector_checks;
 	GyroChecks _gyro_checks;
 	ImuConsistencyChecks _imu_consistency_checks;
+	LoggerChecks _logger_checks;
 	MagnetometerChecks _magnetometer_checks;
 	ManualControlChecks _manual_control_checks;
 	HomePositionChecks _home_position_checks;
@@ -167,6 +169,7 @@ private:
 		&_failure_detector_checks,
 		&_gyro_checks,
 		&_imu_consistency_checks,
+		&_logger_checks,
 		&_magnetometer_checks,
 		&_manual_control_checks,
 		&_home_position_checks,
@@ -0,0 +1,60 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include "loggerCheck.hpp"
+
+using namespace time_literals;
+
+LoggerChecks::LoggerChecks()
+	: _param_sdlog_mode_handle(param_find("SDLOG_MODE"))
+{
+	param_get(_param_sdlog_mode_handle, &_sdlog_mode);
+}
+
+void LoggerChecks::checkAndReport(const Context &context, Report &reporter)
+{
+	bool active = false;
+
+	if (_sdlog_mode >= 0) {
+		if (_logger_status_sub.advertised()) {
+			logger_status_s status;
+			_logger_status_sub.copy(&status);
+
+			if (hrt_elapsed_time(&status.timestamp) < 3_s && status.is_logging) {
+				active = true;
+			}
+		}
+	}
+
+	reporter.setHealth(health_component_t::logging, active, false, false);
+}
@@ -0,0 +1,54 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2024 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#include "../Common.hpp"
+
+#include <uORB/Subscription.hpp>
+#include <uORB/SubscriptionMultiArray.hpp>
+#include <uORB/topics/logger_status.h>
+
+class LoggerChecks : public HealthAndArmingCheckBase
+{
+public:
+	LoggerChecks();
+	~LoggerChecks() = default;
+
+	void checkAndReport(const Context &context, Report &reporter) override;
+
+private:
+	uORB::Subscription _logger_status_sub{ORB_ID::logger_status};
+	const param_t _param_sdlog_mode_handle;
+	int32_t _sdlog_mode = -1;
+};
@@ -50,10 +50,6 @@ void MagnetometerChecks::checkAndReport(const Context &context, Report &reporter
 		bool is_mag_fault = false;
 		const bool is_required = instance == 0 || isMagRequired(instance, is_mag_fault);

-		if (!is_required) {
-			continue;
-		}
-
 		const bool exists = _sensor_mag_sub[instance].advertised();
 		bool is_valid = false;
 		bool is_calibration_valid = false;
@@ -83,6 +79,11 @@ void MagnetometerChecks::checkAndReport(const Context &context, Report &reporter
 			reporter.setIsPresent(health_component_t::magnetometer);
 		}

+		// Do not raise errors if a mag is not required
+		if (!is_required) {
+			continue;
+		}
+
 		const bool is_sensor_ok = is_valid && is_calibration_valid && !is_mag_fault;

 		if (!is_sensor_ok) {
@@ -142,6 +142,36 @@ void PowerChecks::checkAndReport(const Context &context, Report &reporter)
 							     power_module_count, _param_com_power_count.get());
 				}
 			}
+
+			// Overcurrent detection
+			if (system_power.hipower_5v_oc) {
+				/* EVENT
+				 * @description
+				 * Check the power supply
+				 */
+				reporter.healthFailure(NavModes::All, health_component_t::system,
+						       events::ID("check_power_oc_hipower"),
+						       events::Log::Error, "Overcurrent detected for the hipower 5V supply");
+			}
+
+			if (system_power.periph_5v_oc) {
+				/* EVENT
+				 * @description
+				 * Check the power supply
+				 */
+				reporter.healthFailure(NavModes::All, health_component_t::system,
+						       events::ID("check_power_oc_periph"),
+						       events::Log::Error, "Overcurrent detected for the peripheral 5V supply");
+			}
+
+			if (system_power.hipower_5v_oc || system_power.periph_5v_oc) {
+				if (context.isArmed() && !_overcurrent_warning_sent) {
+					_overcurrent_warning_sent = true;
+					events::send(events::ID("check_power_oc_report"),
+						     events::Log::Error,
+						     "5V overcurrent detected, landing advised");
+				}
+			}
 		}

 	} else {
@@ -48,6 +48,7 @@ public:

 private:
 	uORB::Subscription _system_power_sub{ORB_ID(system_power)};
+	bool _overcurrent_warning_sent{false};

 	DEFINE_PARAMETERS_CUSTOM_PARENT(HealthAndArmingCheckBase,
 					(ParamInt<px4::params::CBRK_SUPPLY_CHK>) _param_cbrk_supply_chk,
@@ -320,7 +320,8 @@ bool Ekf::shouldResetGpsFusion() const
 #endif // CONFIG_EKF2_OPTICAL_FLOW

 	const bool is_reset_required = has_horizontal_aiding_timed_out
-				       || isTimedOut(_time_last_hor_pos_fuse, 2 * _params.reset_timeout_max);
+				       || (isTimedOut(_time_last_hor_pos_fuse, 2 * _params.reset_timeout_max)
+					   && (_params.gnss_ctrl & static_cast<int32_t>(GnssCtrl::HPOS)));

 	const bool is_inflight_nav_failure = _control_status.flags.in_air
 					     && isTimedOut(_time_last_hor_vel_fuse, _params.reset_timeout_max)
@@ -59,13 +59,6 @@ void Ekf::controlMagFusion()
 		return;
 	}

-	// stop mag (require a reset before using again) if there was an external yaw reset (yaw estimator, GPS yaw, etc)
-	if (_mag_decl_cov_reset && (_state_reset_status.reset_count.quat != _state_reset_count_prev.quat)) {
-		ECL_INFO("yaw reset, stopping mag fusion to force reinitialization");
-		stopMagFusion();
-		resetMagCov();
-	}
-
 	magSample mag_sample;

 	if (_mag_buffer && _mag_buffer->pop_first_older_than(_time_delayed_us, &mag_sample)) {
@@ -154,11 +147,13 @@ void Ekf::controlMagFusion()

 		// WMM update can occur on the last epoch, just after mag fusion
 		const bool wmm_updated = (_wmm_gps_time_last_set >= aid_src.time_last_fuse);
+		const bool using_ne_aiding = _control_status.flags.gps || _control_status.flags.aux_gpos;
+

 		{
-		const bool mag_consistent_or_no_gnss = _control_status.flags.mag_heading_consistent || !_control_status.flags.gps;
+		const bool mag_consistent_or_no_ne_aiding = _control_status.flags.mag_heading_consistent || !using_ne_aiding;
 		const bool common_conditions_passing = _control_status.flags.mag
-						       && ((_control_status.flags.yaw_align && mag_consistent_or_no_gnss)
+						       && ((_control_status.flags.yaw_align && mag_consistent_or_no_ne_aiding)
 						           || (!_control_status.flags.ev_yaw && !_control_status.flags.yaw_align))
 						       && !_control_status.flags.mag_fault
 						       && !_control_status.flags.mag_field_disturbed
@@ -185,74 +180,47 @@ void Ekf::controlMagFusion()

 		// if we are using 3-axis magnetometer fusion, but without external NE aiding,
 		// then the declination must be fused as an observation to prevent long term heading drift
-		// fusing declination when gps aiding is available is optional.
-		const bool not_using_ne_aiding = !_control_status.flags.gps && !_control_status.flags.aux_gpos;
-		_control_status.flags.mag_dec = _control_status.flags.mag
-						&& (not_using_ne_aiding || !_control_status.flags.mag_aligned_in_flight);
+		const bool no_ne_aiding_or_pre_takeoff = !using_ne_aiding || !_control_status.flags.in_air;
+		_control_status.flags.mag_dec = _control_status.flags.mag && no_ne_aiding_or_pre_takeoff;

 		if (_control_status.flags.mag) {

 			if (continuing_conditions_passing && _control_status.flags.yaw_align) {

-				if (mag_sample.reset || checkHaglYawResetReq() || wmm_updated) {
+				if (mag_sample.reset || checkHaglYawResetReq() || (wmm_updated && no_ne_aiding_or_pre_takeoff)) {
 					ECL_INFO("reset to %s", AID_SRC_NAME);
 					resetMagStates(_mag_lpf.getState(), _control_status.flags.mag_hdg || _control_status.flags.mag_3D);
 					aid_src.time_last_fuse = _time_delayed_us;

 				} else {
-					if (!_mag_decl_cov_reset) {
-						// After any magnetic field covariance reset event the earth field state
-						// covariances need to be corrected to incorporate knowledge of the declination
-						// before fusing magnetometer data to prevent rapid rotation of the earth field
-						// states for the first few observations.
-						fuseDeclination(0.02f);
-						_mag_decl_cov_reset = true;
-						fuseMag(mag_sample.mag, R_MAG, H, aid_src);
+					// The normal sequence is to fuse the magnetometer data first before fusing
+					// declination angle at a higher uncertainty to allow some learning of
+					// declination angle over time.
+					const bool update_all_states = _control_status.flags.mag_3D || _control_status.flags.mag_hdg;
+					const bool update_tilt = _control_status.flags.mag_3D;
+					fuseMag(mag_sample.mag, R_MAG, H, aid_src, update_all_states, update_tilt);

-					} else {
-						// The normal sequence is to fuse the magnetometer data first before fusing
-						// declination angle at a higher uncertainty to allow some learning of
-						// declination angle over time.
-						const bool update_all_states = _control_status.flags.mag_3D || _control_status.flags.mag_hdg;
-						const bool update_tilt = _control_status.flags.mag_3D;
-						fuseMag(mag_sample.mag, R_MAG, H, aid_src, update_all_states, update_tilt);
+					// the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned
+					if (update_all_states && update_tilt) {
+						_fault_status.flags.bad_mag_x = (aid_src.innovation_variance[0] < aid_src.observation_variance[0]);
+						_fault_status.flags.bad_mag_y = (aid_src.innovation_variance[1] < aid_src.observation_variance[1]);
+						_fault_status.flags.bad_mag_z = (aid_src.innovation_variance[2] < aid_src.observation_variance[2]);
+					}

-						// the innovation variance contribution from the state covariances is negative which means the covariance matrix is badly conditioned
-						if (update_all_states && update_tilt) {
-							_fault_status.flags.bad_mag_x = (aid_src.innovation_variance[0] < aid_src.observation_variance[0]);
-							_fault_status.flags.bad_mag_y = (aid_src.innovation_variance[1] < aid_src.observation_variance[1]);
-							_fault_status.flags.bad_mag_z = (aid_src.innovation_variance[2] < aid_src.observation_variance[2]);
-						}
-
-						if (_control_status.flags.mag_dec) {
-							fuseDeclination(0.5f);
-						}
+					if (_control_status.flags.mag_dec) {
+						fuseDeclination(0.5f);
 					}
 				}

 				const bool is_fusion_failing = isTimedOut(aid_src.time_last_fuse, _params.reset_timeout_max);

 				if (is_fusion_failing) {
-					if (_nb_mag_3d_reset_available > 0) {
-						// Data seems good, attempt a reset (mag states only unless mag_3D currently active)
+					if (no_ne_aiding_or_pre_takeoff) {
 						ECL_WARN("%s fusion failing, resetting", AID_SRC_NAME);
 						resetMagStates(_mag_lpf.getState(), _control_status.flags.mag_hdg || _control_status.flags.mag_3D);
 						aid_src.time_last_fuse = _time_delayed_us;

-						if (_control_status.flags.in_air) {
-							_nb_mag_3d_reset_available--;
-						}
-
-					} else if (starting_conditions_passing) {
-						// Data seems good, but previous reset did not fix the issue
-						// something else must be wrong, declare the sensor faulty and stop the fusion
-						//_control_status.flags.mag_fault = true;
-						ECL_WARN("stopping %s fusion, starting conditions failing", AID_SRC_NAME);
-						stopMagFusion();
-
 					} else {
-						// A reset did not fix the issue but all the starting checks are not passing
-						// This could be a temporary issue, stop the fusion without declaring the sensor faulty
 						ECL_WARN("stopping %s, fusion failing", AID_SRC_NAME);
 						stopMagFusion();
 					}
@@ -267,12 +235,9 @@ void Ekf::controlMagFusion()
 		} else {
 			if (starting_conditions_passing) {

-				_control_status.flags.mag = true;
-
 				// activate fusion, reset mag states and initialize variance if first init or in flight reset
 				if (!_control_status.flags.yaw_align
 				    || wmm_updated
-				    || !_mag_decl_cov_reset
 				    || !_state.mag_I.longerThan(0.f)
 				    || (getStateVariance<State::mag_I>().min() < kMagVarianceMin)
 				    || (getStateVariance<State::mag_B>().min() < kMagVarianceMin)
@@ -283,16 +248,17 @@ void Ekf::controlMagFusion()

 					resetMagStates(_mag_lpf.getState(), reset_heading);
 					aid_src.time_last_fuse = _time_delayed_us;
-					_nb_mag_3d_reset_available = 2;

 					if (reset_heading) {
 						_control_status.flags.yaw_align = true;
 					}

+					_control_status.flags.mag = true;
+
 				} else {
 					if (fuseMag(mag_sample.mag, R_MAG, H, aid_src)) {
 						ECL_INFO("starting %s fusion", AID_SRC_NAME);
-						_nb_mag_3d_reset_available = 2;
+						_control_status.flags.mag = true;
 					}
 				}
 			}
@@ -367,23 +333,7 @@ void Ekf::resetMagStates(const Vector3f &mag, bool reset_heading)
 						* Vector3f(_mag_strength_gps, 0, 0);

 		// mag_B: reset
-#if defined(CONFIG_EKF2_GNSS)
-
-		if (isYawEmergencyEstimateAvailable()) {
-
-			const Dcmf R_to_earth = updateYawInRotMat(_yawEstimator.getYaw(), _R_to_earth);
-			const Dcmf R_to_body = R_to_earth.transpose();
-
-			// mag_B: reset using WMM and yaw estimator
-			_state.mag_B = mag - (R_to_body * mag_earth_pred);
-
-			ECL_INFO("resetMagStates using yaw estimator");
-
-		} else if (!reset_heading && _control_status.flags.yaw_align) {
-#else
-
 		if (!reset_heading && _control_status.flags.yaw_align) {
-#endif
 			// mag_B: reset using WMM
 			const Dcmf R_to_body = quatToInverseRotMat(_state.quat_nominal);
 			_state.mag_B = mag - (R_to_body * mag_earth_pred);
@@ -399,9 +349,6 @@ void Ekf::resetMagStates(const Vector3f &mag, bool reset_heading)
 			resetMagHeading(mag);
 		}

-		// earth field was reset to WMM, skip initial declination fusion
-		_mag_decl_cov_reset = true;
-
 	} else {
 		// mag_B: reset
 		_state.mag_B.zero();
@@ -103,7 +103,13 @@ bool Ekf::fuseMag(const Vector3f &mag, const float R_MAG, VectorState &H, estima

 		VectorState Kfusion = P * H / aid_src.innovation_variance[index];

-		if (!update_all_states) {
+		if (update_all_states) {
+			if (!update_tilt) {
+				Kfusion(State::quat_nominal.idx + 0) = 0.f;
+				Kfusion(State::quat_nominal.idx + 1) = 0.f;
+			}
+
+		} else {
 			// zero non-mag Kalman gains if not updating all states

 			// copy mag_I and mag_B Kalman gains
@@ -116,14 +122,8 @@ bool Ekf::fuseMag(const Vector3f &mag, const float R_MAG, VectorState &H, estima
 			Kfusion.slice<State::mag_B.dof, 1>(State::mag_B.idx, 0) = K_mag_B;
 		}

-		if (!update_tilt) {
-			Kfusion(State::quat_nominal.idx + 0) = 0.f;
-			Kfusion(State::quat_nominal.idx + 1) = 0.f;
-		}
-
 		if (measurementUpdate(Kfusion, H, aid_src.observation_variance[index], aid_src.innovation[index])) {
 			fused[index] = true;
-			limitDeclination();
 		}
 	}

@@ -149,10 +149,6 @@ bool Ekf::fuseMag(const Vector3f &mag, const float R_MAG, VectorState &H, estima

 bool Ekf::fuseDeclination(float decl_sigma)
 {
-	if (!_control_status.flags.mag) {
-		return false;
-	}
-
 	float decl_measurement = NAN;

 	if ((_params.mag_declination_source & GeoDeclinationMask::USE_GEO_DECL)
@@ -191,87 +187,12 @@ bool Ekf::fuseDeclination(float decl_sigma)

 		_fault_status.flags.bad_mag_decl = !is_fused;

-		if (is_fused) {
-			limitDeclination();
-		}
-
 		return is_fused;
 	}

 	return false;
 }

-void Ekf::limitDeclination()
-{
-	const Vector3f mag_I_before = _state.mag_I;
-
-	// get a reference value for the earth field declinaton and minimum plausible horizontal field strength
-	float decl_reference = NAN;
-	float h_field_min = 0.001f;
-
-	if (_params.mag_declination_source & GeoDeclinationMask::USE_GEO_DECL
-	    && (PX4_ISFINITE(_mag_declination_gps) && PX4_ISFINITE(_mag_strength_gps) && PX4_ISFINITE(_mag_inclination_gps))
-	   ) {
-		decl_reference = _mag_declination_gps;
-
-		// set to 50% of the horizontal strength from geo tables if location is known
-		h_field_min = fmaxf(h_field_min, 0.5f * _mag_strength_gps * cosf(_mag_inclination_gps));
-
-	} else if ((_params.mag_declination_source & GeoDeclinationMask::SAVE_GEO_DECL)
-		   && PX4_ISFINITE(_params.mag_declination_deg) && (fabsf(_params.mag_declination_deg) > 0.f)
-		  ) {
-		// use parameter value if GPS isn't available
-		decl_reference = math::radians(_params.mag_declination_deg);
-	}
-
-	if (!PX4_ISFINITE(decl_reference)) {
-		return;
-	}
-
-	// do not allow the horizontal field length to collapse - this will make the declination fusion badly conditioned
-	// and can result in a reversal of the NE field states which the filter cannot recover from
-	// apply a circular limit
-	float h_field = sqrtf(_state.mag_I(0) * _state.mag_I(0) + _state.mag_I(1) * _state.mag_I(1));
-
-	if (h_field < h_field_min) {
-		if (h_field > 0.001f * h_field_min) {
-			const float h_scaler = h_field_min / h_field;
-			_state.mag_I(0) *= h_scaler;
-			_state.mag_I(1) *= h_scaler;
-
-		} else {
-			// too small to scale radially so set to expected value
-			_state.mag_I(0) = 2.0f * h_field_min * cosf(decl_reference);
-			_state.mag_I(1) = 2.0f * h_field_min * sinf(decl_reference);
-		}
-
-		h_field = h_field_min;
-	}
-
-	// do not allow the declination estimate to vary too much relative to the reference value
-	constexpr float decl_tolerance = 0.5f;
-	const float decl_max = decl_reference + decl_tolerance;
-	const float decl_min = decl_reference - decl_tolerance;
-	const float decl_estimate = atan2f(_state.mag_I(1), _state.mag_I(0));
-
-	if (decl_estimate > decl_max)  {
-		_state.mag_I(0) = h_field * cosf(decl_max);
-		_state.mag_I(1) = h_field * sinf(decl_max);
-
-	} else if (decl_estimate < decl_min)  {
-		_state.mag_I(0) = h_field * cosf(decl_min);
-		_state.mag_I(1) = h_field * sinf(decl_min);
-	}
-
-	if ((mag_I_before - _state.mag_I).longerThan(0.01f)) {
-		ECL_DEBUG("declination limited mag I [%.3f, %.3f, %.3f] -> [%.3f, %.3f, %.3f] (decl: %.3f)",
-			  (double)mag_I_before(0), (double)mag_I_before(1), (double)mag_I_before(2),
-			  (double)_state.mag_I(0), (double)_state.mag_I(1), (double)_state.mag_I(2),
-			  (double)decl_reference
-			 );
-	}
-}
-
 float Ekf::calculate_synthetic_mag_z_measurement(const Vector3f &mag_meas, const Vector3f &mag_earth_predicted)
 {
 	// theoretical magnitude of the magnetometer Z component value given X and Y sensor measurement and our knowledge
@@ -163,22 +163,26 @@ void Ekf::predictCovariance(const imuSample &imu_delayed)


 #if defined(CONFIG_EKF2_MAGNETOMETER)
-	if (_control_status.flags.mag) {
-		// mag_I: add process noise
-		float mag_I_sig = dt * math::constrain(_params.mage_p_noise, 0.f, 1.f);
-		float mag_I_process_noise = sq(mag_I_sig);
+	// mag_I: add process noise
+	float mag_I_sig = dt * math::constrain(_params.mage_p_noise, 0.f, 1.f);
+	float mag_I_process_noise = sq(mag_I_sig);

-		for (unsigned index = 0; index < State::mag_I.dof; index++) {
-			const unsigned i = State::mag_I.idx + index;
+	for (unsigned index = 0; index < State::mag_I.dof; index++) {
+		const unsigned i = State::mag_I.idx + index;
+
+		if (P(i, i) < sq(_params.mag_noise)) {
 			P(i, i) += mag_I_process_noise;
 		}
+	}

-		// mag_B: add process noise
-		float mag_B_sig = dt * math::constrain(_params.magb_p_noise, 0.f, 1.f);
-		float mag_B_process_noise = sq(mag_B_sig);
+	// mag_B: add process noise
+	float mag_B_sig = dt * math::constrain(_params.magb_p_noise, 0.f, 1.f);
+	float mag_B_process_noise = sq(mag_B_sig);

-		for (unsigned index = 0; index < State::mag_B.dof; index++) {
-			const unsigned i = State::mag_B.idx + index;
+	for (unsigned index = 0; index < State::mag_B.dof; index++) {
+		const unsigned i = State::mag_B.idx + index;
+
+		if (P(i, i) < sq(_params.mag_noise)) {
 			P(i, i) += mag_B_process_noise;
 		}
 	}
@@ -304,10 +308,7 @@ void Ekf::resetAccelBiasCov()
 #if defined(CONFIG_EKF2_MAGNETOMETER)
 void Ekf::resetMagCov()
 {
-	if (_mag_decl_cov_reset) {
-		ECL_INFO("reset mag covariance");
-		_mag_decl_cov_reset = false;
-	}
+	ECL_INFO("reset mag covariance");

 	P.uncorrelateCovarianceSetVariance<State::mag_I.dof>(State::mag_I.idx, sq(_params.mag_noise));
 	P.uncorrelateCovarianceSetVariance<State::mag_B.dof>(State::mag_B.idx, sq(_params.mag_noise));
@@ -705,8 +705,6 @@ private:
 	// used by magnetometer fusion mode selection
 	bool _yaw_angle_observable{false};	///< true when there is enough horizontal acceleration to make yaw observable
 	AlphaFilter<float> _mag_heading_innov_lpf{0.1f};
-	bool _mag_decl_cov_reset{false};	///< true after the fuseDeclination() function has been used to modify the earth field covariances after a magnetic field reset event.
-	uint8_t _nb_mag_3d_reset_available{0};
 	uint32_t _min_mag_health_time_us{1'000'000}; ///< magnetometer is marked as healthy only after this amount of time

 	estimator_aid_source3d_s _aid_src_mag{};
@@ -764,8 +762,6 @@ private:
 	// argument passed in is the declination uncertainty in radians
 	bool fuseDeclination(float decl_sigma);

-	// apply sensible limits to the declination and length of the NE mag field states estimates
-	void limitDeclination();
 #endif // CONFIG_EKF2_MAGNETOMETER

 #if defined(CONFIG_EKF2_AIRSPEED)
@@ -220,172 +220,172 @@ Timestamp,state[0],state[1],state[2],state[3],state[4],state[5],state[6],state[7
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+33990000,-0.29,0.015,-0.0056,0.96,0.036,0.095,-0.065,0.095,-0.014,-0.032,-0.0013,-0.0057,-3.5e-05,0.066,0.013,-0.12,-0.11,-0.024,0.5,0.084,-0.032,-0.067,0,0,4.1e-05,3.6e-05,0.047,0.02,0.022,0.005,0.35,0.35,0.03,2.5e-07,2.4e-07,1.4e-06,0.0018,0.002,7.7e-05,0.0011,5.7e-05,0.0012,0.0011,0.00063,0.0012,1,1
+34090000,-0.29,0.015,-0.0056,0.96,0.039,0.1,-0.064,0.098,-0.0041,-0.036,-0.0013,-0.0057,-3.2e-05,0.066,0.013,-0.12,-0.11,-0.024,0.5,0.084,-0.032,-0.067,0,0,4.1e-05,3.6e-05,0.047,0.021,0.023,0.0051,0.36,0.37,0.03,2.6e-07,2.4e-07,1.4e-06,0.0018,0.002,7.7e-05,0.0011,5.7e-05,0.0012,0.0011,0.00063,0.0012,1,1
+34190000,-0.29,0.015,-0.0055,0.96,0.041,0.097,-0.061,0.093,-0.016,-0.039,-0.0013,-0.0057,-3.7e-05,0.066,0.013,-0.12,-0.11,-0.024,0.5,0.084,-0.032,-0.067,0,0,4.1e-05,3.6e-05,0.047,0.02,0.022,0.005,0.36,0.36,0.03,2.5e-07,2.4e-07,1.4e-06,0.0018,0.002,7.7e-05,0.0011,5.7e-05,0.0012,0.0011,0.00063,0.0012,1,1
+34290000,-0.29,0.015,-0.0054,0.96,0.042,0.1,-0.06,0.098,-0.0061,-0.045,-0.0013,-0.0057,-3e-05,0.066,0.013,-0.12,-0.11,-0.024,0.5,0.084,-0.032,-0.067,0,0,4.1e-05,3.6e-05,0.047,0.021,0.023,0.005,0.37,0.37,0.03,2.5e-07,2.4e-07,1.4e-06,0.0018,0.002,7.6e-05,0.0011,5.7e-05,0.0012,0.0011,0.00063,0.0012,1,1
+34390000,-0.29,0.015,-0.0053,0.96,0.043,0.097,-0.055,0.093,-0.018,-0.049,-0.0013,-0.0057,-3.8e-05,0.066,0.013,-0.12,-0.11,-0.024,0.5,0.084,-0.032,-0.067,0,0,4.1e-05,3.6e-05,0.047,0.02,0.022,0.005,0.37,0.37,0.03,2.5e-07,2.3e-07,1.4e-06,0.0018,0.002,7.6e-05,0.0011,5.7e-05,0.0012,0.0011,0.00062,0.0012,1,1
+34490000,-0.29,0.015,-0.0053,0.96,0.046,0.1,-0.053,0.097,-0.0082,-0.052,-0.0013,-0.0057,-3e-05,0.066,0.013,-0.12,-0.11,-0.024,0.5,0.085,-0.032,-0.067,0,0,4.1e-05,3.6e-05,0.047,0.021,0.022,0.005,0.38,0.38,0.03,2.5e-07,2.3e-07,1.4e-06,0.0018,0.002,7.6e-05,0.0011,5.7e-05,0.0012,0.0011,0.00062,0.0012,1,1
+34590000,-0.29,0.014,-0.0052,0.96,0.046,0.097,0.74,0.091,-0.022,-0.024,-0.0013,-0.0057,-4e-05,0.066,0.014,-0.12,-0.11,-0.024,0.5,0.085,-0.031,-0.067,0,0,4.1e-05,3.6e-05,0.046,0.02,0.021,0.005,0.38,0.38,0.03,2.5e-07,2.3e-07,1.4e-06,0.0018,0.002,7.5e-05,0.0011,5.7e-05,0.0012,0.0011,0.00062,0.0012,1,1
+34690000,-0.29,0.014,-0.0052,0.96,0.051,0.1,1.7,0.096,-0.012,0.095,-0.0013,-0.0057,-3.7e-05,0.066,0.014,-0.12,-0.11,-0.024,0.5,0.085,-0.031,-0.067,0,0,4.1e-05,3.6e-05,0.046,0.02,0.021,0.005,0.39,0.39,0.03,2.5e-07,2.3e-07,1.4e-06,0.0018,0.002,7.5e-05,0.0011,5.7e-05,0.0012,0.0011,0.00062,0.0012,1,1
+34790000,-0.29,0.014,-0.0052,0.96,0.052,0.098,2.7,0.09,-0.026,0.27,-0.0013,-0.0057,-4.7e-05,0.066,0.014,-0.12,-0.11,-0.024,0.5,0.085,-0.031,-0.067,0,0,4.1e-05,3.6e-05,0.046,0.019,0.019,0.005,0.39,0.39,0.03,2.5e-07,2.3e-07,1.4e-06,0.0018,0.002,7.5e-05,0.0011,5.7e-05,0.0012,0.0011,0.00062,0.0012,1,1
+34890000,-0.29,0.014,-0.0052,0.96,0.057,0.1,3.7,0.095,-0.016,0.56,-0.0013,-0.0057,-4.3e-05,0.066,0.014,-0.12,-0.11,-0.024,0.5,0.085,-0.031,-0.067,0,0,4.1e-05,3.6e-05,0.046,0.019,0.019,0.005,0.4,0.4,0.03,2.5e-07,2.3e-07,1.4e-06,0.0018,0.002,7.5e-05,0.0011,5.7e-05,0.0012,0.0011,0.00062,0.0012,1,1
@@ -117,12 +117,6 @@ void FlightModeManager::Run()

 		if (isAnyTaskActive()) {
 			generateTrajectorySetpoint(dt, vehicle_local_position);
-
-		} else {
-			// Publish empty constraints (constraints from previous flight tasks must be overridden)
-			vehicle_constraints_s vehicle_constraints = FlightTask::empty_constraints;
-			vehicle_constraints.timestamp = time_stamp_now;
-			_vehicle_constraints_pub.publish(vehicle_constraints);
 		}

 	}
@@ -50,8 +50,8 @@ bool FlightTaskManualAccelerationSlow::update()
 	// Limits which can only slow down from the nominal configuration we initialize with here
 	// This is ensured by the executing classes
 	float velocity_horizontal = _param_mpc_vel_manual.get();
-	float velocity_up = _param_mpc_z_v_man_up.get();
-	float velocity_down = _param_mpc_z_v_man_dn.get();
+	float velocity_up = _param_mpc_z_vel_max_up.get();
+	float velocity_down = _param_mpc_z_vel_max_dn.get();
 	float yaw_rate = math::radians(_param_mpc_man_y_max.get());

 	// MAVLink commanded limits
@@ -81,6 +81,8 @@ private:
 					(ParamFloat<px4::params::MC_SLOW_DEF_VVEL>) _param_mc_slow_def_vvel,
 					(ParamFloat<px4::params::MC_SLOW_DEF_YAWR>) _param_mc_slow_def_yawr,
 					(ParamFloat<px4::params::MPC_VEL_MANUAL>) _param_mpc_vel_manual,
+					(ParamFloat<px4::params::MPC_Z_VEL_MAX_UP>) _param_mpc_z_vel_max_up,
+					(ParamFloat<px4::params::MPC_Z_VEL_MAX_DN>) _param_mpc_z_vel_max_dn,
 					(ParamFloat<px4::params::MPC_MAN_Y_MAX>) _param_mpc_man_y_max
 				       )
 };
@@ -72,15 +72,6 @@ bool FlightTaskManualAltitude::activate(const trajectory_setpoint_s &last_setpoi
 	return ret;
 }

-void FlightTaskManualAltitude::_setDefaultConstraints()
-{
-	FlightTask::_setDefaultConstraints();
-
-	// Apply velocity limits for manual modes
-	_constraints.speed_up = _param_mpc_z_v_man_up.get();
-	_constraints.speed_down = _param_mpc_z_v_man_dn.get();
-}
-
 void FlightTaskManualAltitude::_updateConstraintsFromEstimator()
 {
 	if (PX4_ISFINITE(_sub_vehicle_local_position.get().hagl_min)) {
@@ -101,8 +92,8 @@ void FlightTaskManualAltitude::_updateConstraintsFromEstimator()
 void FlightTaskManualAltitude::_scaleSticks()
 {
 	// Use sticks input with deadzone and exponential curve for vertical velocity
-	const float vel_max_up = fminf(_param_mpc_z_v_man_up.get(), _velocity_constraint_up);
-	const float vel_max_down = fminf(_param_mpc_z_v_man_dn.get(), _velocity_constraint_down);
+	const float vel_max_up = fminf(_param_mpc_z_vel_max_up.get(), _velocity_constraint_up);
+	const float vel_max_down = fminf(_param_mpc_z_vel_max_dn.get(), _velocity_constraint_down);
 	const float vel_max_z = (_sticks.getPosition()(2) > 0.0f) ? vel_max_down : vel_max_up;
 	_velocity_setpoint(2) = vel_max_z * _sticks.getPositionExpo()(2);
 }
@@ -243,10 +234,10 @@ void FlightTaskManualAltitude::_respectMaxAltitude()
 		// TODO: manipulate the velocity setpoint instead of tweaking the saturation of the controller
 		if (PX4_ISFINITE(_max_distance_to_ground)) {
 			_constraints.speed_up = math::constrain(_param_mpc_z_p.get() * (_max_distance_to_ground - _dist_to_bottom),
-								-_param_mpc_z_v_man_dn.get(), _param_mpc_z_v_man_up.get());
+								-_param_mpc_z_vel_max_dn.get(), _param_mpc_z_vel_max_up.get());

 		} else {
-			_constraints.speed_up = _param_mpc_z_v_man_up.get();
+			_constraints.speed_up = _param_mpc_z_vel_max_up.get();
 		}

 		// if distance to bottom exceeded maximum distance, slowly approach maximum distance
@@ -256,10 +247,10 @@ void FlightTaskManualAltitude::_respectMaxAltitude()
 			// set position setpoint to maximum distance to ground
 			_position_setpoint(2) = _position(2) + delta_distance_to_max;
 			// limit speed downwards to 0.7m/s
-			_constraints.speed_down = math::min(_param_mpc_z_v_man_dn.get(), 0.7f);
+			_constraints.speed_down = math::min(_param_mpc_z_vel_max_dn.get(), 0.7f);

 		} else {
-			_constraints.speed_down = _param_mpc_z_v_man_dn.get();
+			_constraints.speed_down = _param_mpc_z_vel_max_dn.get();
 		}
 	}
 }
@@ -59,7 +59,6 @@ protected:
 	virtual void _updateSetpoints(); /**< updates all setpoints */
 	virtual void _scaleSticks(); /**< scales sticks to velocity in z */
 	bool _checkTakeoff() override;
-	void _setDefaultConstraints() override;
 	void _updateConstraintsFromEstimator();

 	/**
@@ -84,8 +83,6 @@ protected:
 					(ParamInt<px4::params::MPC_ALT_MODE>) _param_mpc_alt_mode,
 					(ParamFloat<px4::params::MPC_HOLD_MAX_XY>) _param_mpc_hold_max_xy,
 					(ParamFloat<px4::params::MPC_Z_P>) _param_mpc_z_p, /**< position controller altitude propotional gain */
-					(ParamFloat<px4::params::MPC_Z_V_MAN_UP>) _param_mpc_z_v_man_up, /**< maximum upwards velocity */
-					(ParamFloat<px4::params::MPC_Z_V_MAN_DN>) _param_mpc_z_v_man_dn, /**< maximum downwards velocity */
 					(ParamFloat<px4::params::MPC_LAND_ALT1>) _param_mpc_land_alt1, /**< altitude at which to start downwards slowdown */
 					(ParamFloat<px4::params::MPC_LAND_ALT2>) _param_mpc_land_alt2, /**< altitude below which to land with land speed */
 					(ParamFloat<px4::params::MPC_LAND_SPEED>)
@@ -1037,6 +1037,12 @@ void Logger::publish_logger_status()
 	if (hrt_elapsed_time(&_logger_status_last) >= 1_s) {
 		for (int i = 0; i < (int)LogType::Count; ++i) {

+			logger_status_s status = {};
+			status.type = i;
+			status.backend = _writer.backend();
+			status.num_messages = _num_subscriptions;
+			status.timestamp = hrt_absolute_time();
+
 			const LogType log_type = static_cast<LogType>(i);

 			if (_writer.is_started(log_type)) {
@@ -1046,19 +1052,16 @@ void Logger::publish_logger_status()
 				const float kb_written = _writer.get_total_written_file(log_type) / 1024.0f;
 				const float seconds = hrt_elapsed_time(&_statistics[i].start_time_file) * 1e-6f;

-				logger_status_s status;
-				status.type = i;
-				status.backend = _writer.backend();
+				status.is_logging = true;
 				status.total_written_kb = kb_written;
 				status.write_rate_kb_s = kb_written / seconds;
 				status.dropouts = _statistics[i].write_dropouts;
 				status.message_gaps = _message_gaps;
 				status.buffer_used_bytes = buffer_fill_count_file;
 				status.buffer_size_bytes = _writer.get_buffer_size_file(log_type);
-				status.num_messages = _num_subscriptions;
-				status.timestamp = hrt_absolute_time();
-				_logger_status_pub[i].publish(status);
 			}
+
+			_logger_status_pub[i].publish(status);
 		}

 		_logger_status_last = hrt_absolute_time();
@@ -1963,10 +1963,6 @@ Mavlink::task_main(int argc, char *argv[])
 			break;
 #endif

-//		case 'e':
-//			_mavlink_link_termination_allowed = true;
-//			break;
-
 		case 'm': {

 				int mode;
@@ -597,8 +597,6 @@ private:
 	 */
 	unsigned int		_mavlink_param_queue_index{0};

-	bool			_mavlink_link_termination_allowed{false};
-
 	char			*_subscribe_to_stream{nullptr};
 	float			_subscribe_to_stream_rate{0.0f};  ///< rate of stream to subscribe to (0=disable, -1=unlimited, -2=default)
 	bool			_udp_initialised{false};
@@ -151,6 +151,7 @@ private:
 			fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_GPS, health_component_t::gps, msg);
 			fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_RC_RECEIVER, health_component_t::remote_control, msg);
 			fillOutComponent(health_report, MAV_SYS_STATUS_AHRS, health_component_t::local_position_estimate, msg);
+			fillOutComponent(health_report, MAV_SYS_STATUS_LOGGING, health_component_t::logging, msg);
 			fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_ABSOLUTE_PRESSURE, health_component_t::absolute_pressure, msg);
 			fillOutComponent(health_report, MAV_SYS_STATUS_SENSOR_DIFFERENTIAL_PRESSURE, health_component_t::differential_pressure,
 					 msg);
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Peter van der Perk	c00ed78dda	rc_input: singlewire use push_pull	2024-06-01 19:15:42 +02:00
Beat Küng	ca112fea8a	fix commander: make sure to count all valid mags in preflight check Previously, if a mag was not required (not index 0 and not used by ekf), it was not counted in num_enabled_and_valid_calibration. If a user set SYS_HAS_MAG to e.g. 3, it would then trigger a preflight failure, even if there were 3 calibrated and enabled mags.	2024-05-31 12:30:34 -04:00
bresch	53210dd8f3	ekf2-mag: with NE aiding, constrain heading drift only before takeoff After takeoff, the heading is easily observable	2024-05-31 10:38:17 -04:00
bresch	3dac9af09e	ekf2-mag: do not reset on WMM change when NE aiding is active The mag field states are observed. No need to reset them.	2024-05-31 10:38:17 -04:00
bresch	ee765e7859	ekf2-mag: do not reset when NE aiding is active	2024-05-31 10:38:17 -04:00
bresch	6515935b52	ekf2-mag: do not limit the earth mag field estimate The EKF can recover from an initial bad earth mag field estimate. Constraining the field is not necessary and can lead to an unpredicted behavior of the filter. Declination fusion is safe to run even when the horizontal field is 0	2024-05-31 10:38:17 -04:00
bresch	774b6ed3b8	ekf2-mag: do not use yaw emergency estimator to reset mag states On slowly moving vehicles (e.g.: boats, rovers), the yaw estimator has worse convergence than the main EKF. Resetting the mag states using the yaw estimator as reference can lead to poor heading. Also, the EKF can recover really well from initially incorrect mag states.	2024-05-31 10:38:17 -04:00
bresch	c3d984703c	ekf2-mag: remove immediate declination fusion after reset	2024-05-31 10:38:17 -04:00
bresch	a6007e4b93	ekf2-mag: turn around update_all_states condition Non-functional	2024-05-31 10:38:17 -04:00
bresch	c11c75d32e	ekf2-mag: always add process noise until initial value	2024-05-31 10:38:17 -04:00
Eric Katzfey	493c9e49db	uORB: ORBSet don't allow duplicate insertion * fixes a small memory leak in uORBManager.cpp (if using ORB_COMMUNICATOR)	2024-05-30 16:53:48 -04:00
asimopunov	42f4e02d7e	bsondump: add check if bson document size is set to zero and set to decoded size (#23088 )	2024-05-30 14:52:19 +02:00
Peter van der Perk	cd93e2982c	dshot: telemetry esc_status use sequential numbering for each motor channel != telemetry_index, we've to count from 0 and increment for each enabled ESC	2024-05-30 04:56:42 -04:00
Peter van der Perk	7982f54a6a	dshot: refactoring	2024-05-30 04:56:42 -04:00
Peter van der Perk	ff6966da57	imxrt: dshot fix erpm calculation by implementing 3-bit exponent and 9-bit period	2024-05-30 04:56:42 -04:00
Peter van der Perk	3874b4c55d	imxrt: move flexio irq handler to itcm	2024-05-30 04:56:42 -04:00
Peter van der Perk	5d2fda6172	dshot: bdshot fix esc offline/online checks	2024-05-30 04:56:42 -04:00
Peter van der Perk	0e41f9730f	imxrt: dshot improve state machine reduce's no response count	2024-05-30 04:56:42 -04:00
Peter van der Perk	f3ef0d6610	dshot: fix clearing out esc status	2024-05-30 04:56:42 -04:00
Peter van der Perk	b0cb697f71	imxrt: dshot add 1060 support and use channels instead of timers	2024-05-30 04:56:42 -04:00
Peter van der Perk	e2969952d3	drivers: dshot: prepare to extend for bidrectional dshot	2024-05-30 04:56:42 -04:00
Peter van der Perk	2de0af52e8	px4_fmuv6xrt: bidirectional dshot driver	2024-05-30 04:56:42 -04:00
Peize-Liu	2f4d6b6fac	[Fix][hkust_nxt-dual]:board hkust_nxt-dual fix hw_config.h missing APP_RESERVATION_SIZE param (#23204 )	2024-05-30 10:35:04 +02:00
Silvan Fuhrer	efe2a52eb4	ROMFS: remove MIS_DIST_1WP customizations in airframes Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-29 21:00:35 -04:00
Silvan Fuhrer	752051470f	Navigator: increase default of MIS_DIST_1WP to 10km The previous default of 900m leads to many warnings if left unchanged, especially if the vehicle is already in-air when the Mission is started. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-29 21:00:35 -04:00
bresch	993782cffa	ekf2: only trigger position timeout reset when hpos fusion is active	2024-05-29 20:49:14 -04:00
Silvan Fuhrer	0379048ad2	mavsdk_tests: increase acceptance radius for position check on offboard landing Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-29 20:46:26 -04:00
Eric Katzfey	ae34e39b7e	QuRT: Increased the size of the memory heap available to qurt platform (#23194 ) * Increased the size of the memory heap available to qurt platform	2024-05-29 20:44:40 -04:00
Daniel Agar	f3d152741c	boards: sky-drones_smartap-airlink_default disable gyro_fft module to save flash	2024-05-29 20:38:49 -04:00
Daniel Agar	b36f47535e	boards: px4_fmu-v6c_default disable gyro_fft module to save flash	2024-05-29 20:38:49 -04:00
Daniel Agar	a80c96e575	boards: px4_fmu-v5x_test disable payload_deliverer module to save flash	2024-05-29 20:38:49 -04:00
Per Frivik	267cb9906e	integrationtests: mavros increase threshold for yaw_error_std	2024-05-29 11:11:09 -04:00
David Sidrane	f655d1be9b	Update px4_fmu-v6xrt Bootloader	2024-05-29 11:08:49 -04:00
David Sidrane	3beb57aae1	px4_fmu-v6xrt & bootloader:Bootloader enusres that ITCM memory is writable before jump to APP	2024-05-29 11:08:49 -04:00
David Sidrane	d79c5f170b	bootloader/common/bl.c:Fixed Wrong vec_base caculation - only effects imxrt	2024-05-29 11:08:49 -04:00
David Sidrane	04e0d3475f	nxp/imxrt_common/main:Fix Breakage from `a9962dc`	2024-05-29 11:08:49 -04:00
Matthias Grob	daa89ba30a	Jankinsfile-compile: add missing comma after `ark_pi6x_default`	2024-05-29 15:42:41 +02:00
Jacob Dahl	a4650fd70d	HealthCheck: added health check for logger to report if it's running (#22781 )	2024-05-29 11:56:50 +02:00
Hamish Willee	b5627f487f	camera_trigger: module docs for camera trigger driver (#23104 )	2024-05-29 11:37:27 +02:00
Matthias Grob	d1db0addf9	CameraFeedback: shorten line length such that documentation parser works This broke in `4f64acb352` and was also flagged by CI in the pr and since then.	2024-05-29 11:24:53 +02:00
Silvan Fuhrer	032ae69eee	VTOL: remove _dt passing as it's no longer used (and was wrong) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-28 14:54:33 +02:00
Silvan Fuhrer	f8fe7c7aa3	VTOL Standard: fix transition pusher motor slew rate Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-28 14:54:33 +02:00
Matthias Grob	dfee9ca4c6	MAVLink: remove never used `_mavlink_link_termination_allowed`	2024-05-28 10:41:00 +02:00
Silvan Fuhrer	1206005ed2	RTL_status: improve comment Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-27 12:03:16 +02:00
Silvan Fuhrer	42bca65cbf	RTL_mission_reverse: start from previous WP if RTL is triggered while in Mission Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-27 12:03:16 +02:00
Silvan Fuhrer	b9d3b9f211	RTL_mission_fast: continue mission if RTL is triggered while in Mission Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-05-27 12:03:16 +02:00
bresch	f9e2ab8d44	msg-rates-setpoint: fix frame name NED -> FRD	2024-05-27 09:35:34 +02:00
Jacob Dahl	da35c4adce	cdcacm_autostart: handle USB power only (#23183 )	2024-05-25 17:16:34 -06:00
bresch	ccbcbbe268	wind_est_replay: report scale instead of inverse_scale The estimator internally estimates the scale inverse, but the interface should be the scale as "airspeed_corrected = scale * airspeed"	2024-05-24 17:25:39 +02:00
Hamish Willee	4f64acb352	Docs for camera_feedback module (#23103 ) * Docs for camera_feedback module * Update src/modules/camera_feedback/CameraFeedback.cpp * Update src/modules/camera_feedback/CameraFeedback.cpp	2024-05-23 08:44:34 +10:00
Beat Küng	e1ffc2cdaa	commander: add check for 5V overcurrent	2024-05-22 09:34:04 +02:00
Julian Oes	a9962dc44d	boards: update all bootloaders	2024-05-22 18:18:55 +12:00
Julian Oes	5bace785e0	px_uploader: catch serial exception correctly Signed-off-by: Julian Oes <julian@oes.ch>	2024-05-22 18:18:55 +12:00
Julian Oes	e4fd80b6ef	bootloader: remove unused/duplicate defines	2024-05-22 18:18:55 +12:00
Julian Oes	6ebb2b33df	bootloader: track ArduPilot protocol Just so we don't conflict on these commands in the future.	2024-05-22 18:18:55 +12:00
Julian Oes	8fe8f2fcb3	px_uploader.py: clean up various tidbits Includes: - Remove some of the outdated Python2 checks and compatibility. - Try not catch all exceptions but only the expected ones. Otherwise, this makes it really hard to debug if anything unexpected actually goes wrong. - Make use of fstrings. - Make output slightly prettier. Signed-off-by: Julian Oes <julian@oes.ch>	2024-05-22 18:18:55 +12:00
Julian Oes	7c4507b6d6	bootloader: add bootloader version This adds a new protocol extension which allows to get the bootloader version. The bootloader version is different from the bootloader protocol revision which has stabilized at 5 and is not easy to update unless a bootloader is actually breaking the protocol. The reason being that both the Python script as well as the uploader used in QGC will not attempt to load firmware if they don't know the bootloader version, so it could basically be considered a "breaking" protocol revision. Signed-off-by: Julian Oes <julian@oes.ch>	2024-05-22 18:18:55 +12:00
Julian Oes	21e550fdba	tools/bootloader: add force-erase option If the STM32H7 fails to program or erase a full chunk of 256 bytes, the ECC check will trigger a busfault when trying to read from it. To speed up erasing and optimize wear, we read before erasing to check if it actually needs erasing. That's when a busfault happens and the erase time outs. The workaround is to add an option to do a full erase without check. Credit goes to: https://github.com/ArduPilot/ardupilot/pull/22090 And the protocol option added to the bootloader is the same as for ArduPilot, so compatible. Signed-off-by: Julian Oes <julian@oes.ch>	2024-05-22 18:18:55 +12:00
Jacob Dahl	4a13e495d7	boards: ark: pi6x: CONFIG_DRIVERS_CDCACM_AUTOSTART=y (#23163 )	2024-05-21 19:49:40 -06:00