Hacky fixes for macOS build

.github/instructions/src.drivers.instructions.md

@@ -1,212 +0,0 @@
----
-applyTo: "src/drivers/**"
----
-
-# PX4 Driver Review Instructions
-
-This file provides guidelines for reviewing driver files in the `src/drivers/` directory.
-
-## Copyright Statements
-
-### Required Files
-
-All source files (`.cpp`, `.c`, `.hpp`, `.h`, `CMakeLists.txt`) MUST include a copyright statement at the top.
-
-**Exceptions:** 
-- `Kconfig` files
-- `module.yaml` files
-
-### Copyright Format
-
-**For new files (created in 2026):**
-```cpp
-/****************************************************************************
- *
- *   Copyright (c) 2026 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.
- *
- ****************************************************************************/
-```
-
-**For updated files (originally created in 2015, updated in 2026):**
-```cpp
-/****************************************************************************
- *
- *   Copyright (c) 2015-2026 PX4 Development Team. All rights reserved.
- *
- * [... rest of copyright text ...]
- *
- ****************************************************************************/
-```
-
-### Key Points
-- First year should be the original creation year
-- When updating an existing file, update the year range: `YYYY-2026`
-- Use the current year (2026 in this case) for new files
-- Maintain consistent formatting with other PX4 driver files
-
----
-
-## Driver Self-Documentation
-
-All drivers MUST be self-documenting through the `print_usage()` method.
-
-### Required Implementation
-
-Every driver `.cpp` file must implement a `print_usage()` method that includes:
-
-1. **PRINT_MODULE_DESCRIPTION macro** - Contains markdown documentation
-2. **Module identification** - Using PRINT_MODULE_USAGE_NAME and optionally PRINT_MODULE_USAGE_SUBCATEGORY
-3. **Parameter documentation** - Relevant parameters, especially enablement parameters
-
-### PRINT_MODULE_DESCRIPTION Structure
-
-The description should follow this markdown format:
-
-```cpp
-PRINT_MODULE_DESCRIPTION(
-    R"DESCR_STR(
-### Description
-[Clear description of what the driver does and its primary functionality]
-
-### Implementation
-[Optional: High-level overview of how the driver works]
-
-### Examples
-[Optional: CLI usage examples if non-trivial]
-$ module_name start -d /dev/ttyS1
-$ module_name stop
-
-)DESCR_STR");
-```
-
-### Required Sections
-
-#### 1. Description Section
-- Brief explanation of the driver's purpose
-- Key features/capabilities
-- Important parameters (especially enable parameters like `SENS_XX_CFG`)
-
-#### 2. Documentation Links
-When applicable, include links to user documentation:
-```cpp
-Setup/usage information: https://docs.px4.io/main/en/sensor/[sensor-name].html
-```
-
-#### 3. Examples Section (when relevant)
-Provide CLI usage examples for non-trivial commands:
-```cpp
-### Examples
-Attempt to start driver on a specified serial device.
-$ vectornav start -d /dev/ttyS1
-Stop driver
-$ vectornav stop
-```
-
-### Complete Example
-
-```cpp
-int MyDriver::print_usage(const char *reason)
-{
-    if (reason) {
-        PX4_WARN("%s\n", reason);
-    }
-
-    PRINT_MODULE_DESCRIPTION(
-        R"DESCR_STR(
-### Description
-This driver interfaces with the XYZ sensor via I2C/SPI. It provides
-distance measurements and is automatically started when SENS_XYZ_CFG
-is set to the appropriate value.
-
-Key features:
-- Distance range: 0.2m to 50m
-- Update rate: up to 100Hz
-- I2C and SPI support
-
-Setup/usage information: https://docs.px4.io/main/en/sensor/xyz_sensor.html
-
-### Examples
-Start driver on I2C bus 1 with address 0x29:
-$ xyz_sensor start -X -b 1 -a 0x29
-)DESCR_STR");
-
-    PRINT_MODULE_USAGE_NAME("xyz_sensor", "driver");
-    PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");
-    PRINT_MODULE_USAGE_COMMAND("start");
-    PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
-    PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x29);
-    PRINT_MODULE_USAGE_DEFAULT_COMMANDS();
-
-    return 0;
-}
-```
-
-### Common Patterns by Driver Type
-
-**For UART/Serial Drivers:**
-```cpp
-PRINT_MODULE_USAGE_PARAM_STRING('d', "/dev/ttyS3", "<file:dev>", "Serial device", true);
-```
-
-**For I2C/SPI Drivers:**
-```cpp
-PRINT_MODULE_USAGE_PARAMS_I2C_SPI_DRIVER(true, true);
-PRINT_MODULE_USAGE_PARAMS_I2C_ADDRESS(0x76);
-```
-
-**For Sensor Drivers:**
-```cpp
-PRINT_MODULE_USAGE_SUBCATEGORY("distance_sensor");  // or imu, magnetometer, etc.
-```
-
----
-
-## Review Checklist
-
-When reviewing driver files, verify:
-
-- [ ] Copyright header is present (except Kconfig and module.yaml)
-- [ ] Copyright year is correct (current year for new files, year range for updates)
-- [ ] `print_usage()` method exists
-- [ ] `PRINT_MODULE_DESCRIPTION` macro is present with markdown content
-- [ ] Description section explains driver purpose clearly
-- [ ] Relevant parameters are documented (especially enable parameters)
-- [ ] Documentation links are included when available
-- [ ] Examples are provided for complex CLI usage
-- [ ] Module name and category are correctly specified
-- [ ] Standard commands (start, stop, status) are documented
-
----
-
-## Additional Resources
-
-- Driver template examples: `src/drivers/*/` (various sensor types)
-- Module macros: `platforms/common/include/px4_platform_common/module.h`
-- Similar drivers for reference patterns (DShot, VectorNav, CrsfRc, etc.)

Tools/msg/generate_msg_docs.py

@@ -8,803 +8,6 @@ Also generates docs/en/middleware/dds_topics.md from dds_topics.yaml
 import os
 import argparse
 import sys
-import re
-
-VALID_FIELDS = { #Note, also have to add the message types as those can be fields
-    'uint64',
-    'uint16',
-    'uint8',
-    'uint32'
-}
-
-ALLOWED_UNITS = set(["m", "m/s", "m/s^2", "(m/s)^2", "deg", "deg/s", "rad", "rad/s", "rad^2", "rpm" ,"V", "A", "mA", "mAh", "W", "dBm", "h", "s", "ms", "us", "Ohm", "MB", "Kb/s", "degC","Pa","%","-"])
-invalid_units = set()
-ALLOWED_FRAMES = set(["NED","Body"])
-ALLOWED_INVALID_VALUES = set(["NaN", "0"])
-ALLOWED_CONSTANTS_NOT_IN_ENUM = set(["ORB_QUEUE_LENGTH","MESSAGE_VERSION"])
-
-class Error:
-    def __init__(self, type, message, linenumber=None, issueString = None, field = None):
-        self.type = type
-        self.message = message
-        self.linenumber = linenumber
-        self.issueString = issueString
-        self.field = field
-
-    def display_error(self):
-        #print(f"Debug: Error: display_error")
-
-
-        if 'trailing_whitespace' == self.type:
-            if self.issueString.strip():    
-                print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber}): {self.issueString}")
-            else:
-                print(f"NOTE: Line has trailing whitespace ({self.message}: {self.linenumber})")
-        elif 'leading_whitespace_field_or_constant' == self.type:
-            print(f"NOTE: Whitespace before field or constant ({self.message}: {self.linenumber}): {self.issueString}")             
-        elif 'field_or_constant_has_multiple_whitepsace' == self.type:
-            print(f"NOTE: Field/constant has more than one sequential whitespace character ({self.message}: {self.linenumber}): {self.issueString}") 
-        elif 'empty_start_line' == self.type:
-            print(f"NOTE: Empty line at start of file ({self.message}: {self.linenumber})")
-        elif 'internal_comment' == self.type:
-            print(f"NOTE: Internal Comment ({self.message}: {self.linenumber})\n {self.issueString}")
-        elif 'internal_comment_empty' == self.type:
-            print(f"NOTE: Empty Internal Comment ({self.message}: {self.linenumber})")
-        elif 'summary_missing' == self.type:
-            print(f"WARNING: No message description ({self.message})")
-        elif 'topic_error' == self.type:
-            print(f"NOTE: TOPIC ISSUE: {self.issueString}")
-        elif 'unknown_unit' == self.type:
-            print(f"WARNING: Unknown Unit: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
-        elif 'constant_not_in_assigned_enum' == self.type:
-            print(f"WARNING: `{self.issueString}` constant: Prefix not in `@enum` field metadata ({self.message}: {self.linenumber})")
-        elif 'unknown_invalid_value' == self.type:
-            print(f"WARNING: Unknown @invalid value: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
-        elif 'unknown_frame' == self.type:
-            print(f"WARNING: Unknown @frame: [{self.issueString}] on `{self.field}` ({self.message}: {self.linenumber})")
-        elif 'command_no_params_pipes' == self.type:
-            print(f"WARNING: `{self.field}` command has no parameters (pipes): [{self.issueString}] ({self.message}: {self.linenumber})")
-        elif 'command_missing_params' == self.type:
-            print(f"WARNING: `{self.field}` command missing params - should be 7 params surrounded by 8 pipes: [{self.issueString}] ({self.message}: {self.linenumber})")
-        elif 'command_too_many_params' == self.type:
-            print(f"WARNING: `{self.field}` command too many params (should be 7). Extras: [{self.issueString}] ({self.message}: {self.linenumber})")
-
-
-        else:
-            self.display_info()
-
-    def display_info(self):
-        """
-        Display info about an error.
-        Used as a fallback if error does not have specific printout in display_error()
-        """
-        #print(f"Debug: Error: display_info")
-        print(f" type: {self.type}, message: {self.message}, linenumber: {self.linenumber}, issueString: {self.issueString}, field: {self.field}")
-
-class Enum:
-    def __init__(self, name, parentMessage):
-        self.name = name
-        self.parent = parentMessage
-        self.enumValues = dict()
-
-    def display_info(self):
-        """
-        Display info about an enum
-        """
-        print(f"Debug: Enum: display_info")
-        print(f" name: {self.name}")
-        for key, value in self.enumValues.items():
-            value.display_info()
-
-class ConstantValue:
-    def __init__(self, name, type, value, comment, line_number):
-        self.name = name.strip()
-        self.type = type.strip()
-        self.value = value.strip()
-        self.comment = comment
-        self.line_number = line_number
-
-        if not self.value:
-            print(f"Debug WARNING: NO VALUE in ConstantValue: {self.name}")  ## TODO make into ERROR
-            exit()
-
-        # TODO if value or name are empty, error
-
-    def display_info(self):
-        print(f"Debug: ConstantValue: display_info")
-        print(f" name: {self.name}, type: {self.type}, value: {self.value}, comment: {self.comment}, line: {self.line_number}")
-
-
-class CommandParam:
-    """
-    Represents an individual param in a command constant
-    Encapsulates parsing of the param to extract units etc.
-    """
-
-    def __init__(self, num, paramText, line_number, parentCommand):
-        self.paramNum = num
-        self.paramText = paramText.strip()
-        self.enum = None
-        self.range = None
-        #self.type = type
-        self.units = []
-        self.enums = []
-        self.minValue = None
-        self.maxValue = None
-        self.invalidValue = None
-        self.frameValue = None
-        self.lineNumber = line_number
-        self.parent = parentCommand
-        self.parentMessage = self.parent.parent
-
-        match = None
-        if self.paramText:
-            match = re.match(r'^((?:\[[^\]]*\]\s*)+)(.*)$', paramText)
-        self.description = paramText
-        bracketed_part = None
-        if match:
-            bracketed_part = match.group(1).strip() # .strip() removes trailing whitespace from the bracketed part
-            self.description = match.group(2).strip()
-        if bracketed_part:
-          # get units
-            bracket_content_matches = re.findall(r'\[(.*?)\]', bracketed_part)
-            #print(f"DEBUG: bracket_content_matches: {bracket_content_matches}")
-            for item in bracket_content_matches:
-                item = item.strip()
-                if item.startswith('@'): # Not a unit:
-                    if item.startswith('@enum'):
-                        item = item.split(" ")
-                        enum = item[1].strip()
-                        if enum and enum not in self.enums:
-                            self.enums.append(enum)
-
-                        # Create parent enum objects for any enums created in this step
-                        for enumName in self.enums:
-                            if not enumName in self.parentMessage.enums:
-                                self.parentMessage.enums[enumName]=Enum(enumName,self.parentMessage)
-
-                    elif item.startswith('@range'):
-                        item = item[6:].strip().split(",")
-                        self.range = item
-                        self.minValue = item[0].strip()
-                        self.maxValue = item[1].strip()
-                    elif item.startswith('@invalid'):
-                        self.invalidValue = item[8:].strip()
-                        #TODO: Do we require a description? (not currently)
-                        if self.invalidValue.split(" ")[0] not in ALLOWED_INVALID_VALUES:
-                            print(f"TODO: Command param do not support @invalid: {self.invalidValue}")
-                            """
-                            error = Error("unknown_invalid_value", self.parent.filename, self.lineNumber, self.invalidValue, self.name)
-                            #error.display_error()
-                            if not "unknown_invalid_value" in self.parent.errors:
-                                self.parent.errors["unknown_invalid_value"] = []
-                            self.parent.errors["unknown_invalid_value"].append(error)
-                            """
-
-                    elif item.startswith('@frame'):
-                        self.frameValue = item[6:].strip()
-                        print(f"TODO: Command param do not support @frame: {self.frameValue}")
-                        """
-                        if self.frameValue not in ALLOWED_FRAMES:
-                            error = Error("unknown_frame", self.parent.filename, self.lineNumber, self.frameValue, self.name)
-                            #error.display_error()
-                            if not "unknown_frame" in self.parent.errors:
-                                self.parent.errors["unknown_frame"] = []
-                            self.parent.errors["unknown_frame"].append(error)
-                        """    
-                    else:
-                        print(f"WARNING: Unhandled metadata in message comment: {item}")
-                        # TODO - report errors for different kinds of metadata
-                        exit()
-
-                else: # bracket is a unit
-                    unit = item.strip()
-
-                    if item == "-":
-                        unit = ""
-                    
-                    if unit and unit not in self.units:
-                        self.units.append(unit) 
-
-                    if unit not in ALLOWED_UNITS:
-                        invalid_units.add(unit)
-                        error = Error("unknown_unit", self.parentMessage.filename, self.lineNumber, unit, self.parent.name)
-                        #error.display_error()
-                        if not "unknown_unit" in self.parentMessage.errors:
-                            self.parentMessage.errors["unknown_unit"] = []
-                        self.parentMessage.errors["unknown_unit"].append(error)
-
-
-    def display_info(self):
-        print(f"Debug: CommandParam: display_info")
-        print(f" id: {self.paramNum}")
-        print(f"   paramText: {self.paramText}\n  unit:  {self.units}\n  enums: {self.enums}\n  lineNumber: {self.lineNumber}\n  range: {self.range}\n  minValue: {self.minValue}\n  maxValue: {self.maxValue}\n  invalidValue: {self.invalidValue}\n  frameValue: {self.frameValue}\n  parent: {self.parent}\n  ")
-
-
-        
-class CommandConstant:
-    """
-    Represents a constant that is a command definition.
-    Encapsulates parsing of the command format.
-    The individual params are further parsed in CommandParam
-    """
-    def __init__(self, name, type, value, comment, line_number, parentMessage):
-        self.name = name.strip()
-        self.type = type.strip()
-        self.value = value.strip()
-        self.comment = comment
-        self.line_number = line_number
-        self.parent = parentMessage
-
-        self.description = self.comment
-        self.param1 = None
-        self.param2 = None
-        self.param3 = None
-        self.param4 = None
-        self.param5 = None
-        self.param6 = None
-        self.param7 = None
-
-        if not self.value:
-            print(f"Debug WARNING: NO VALUE in CommandConstant: {self.name}")  ## TODO make into ERROR
-            exit()
-
-        if not self.comment: # This is an bug for a command
-            #print(f"Debug WARNING: NO COMMENT in CommandConstant: {self.name}")  ## TODO make into ERROR
-            return
-            
-        # Parse command comment to get the description and parameters.
-        # print(f"Debug CommandConstant: {self.comment}") 
-        if not "|" in self.comment:
-            # This is an error for a command constant
-            error = Error("command_no_params_pipes", self.parent.filename, self.line_number, self.comment, self.name)
-            #error.display_error()
-            if not "command_no_params_pipes" in self.parent.errors:
-                self.parent.errors["command_no_params_pipes"] = []
-            self.parent.errors["command_no_params_pipes"].append(error)
-            return
-        
-        # Split on pipes
-        commandSplit = self.comment.split("|")
-        if len(commandSplit) < 9:
-            # Should 7 pipes, so each command is fully surrounded
-            error = Error("command_missing_params", self.parent.filename, self.line_number, self.comment, self.name)
-            #error.display_error()
-            if not "command_missing_params" in self.parent.errors:
-                self.parent.errors["command_missing_params"] = []
-            self.parent.errors["command_missing_params"].append(error)
-
-        self.description = commandSplit[0].strip()
-        self.description = self.description if self.description else None
-
-        params_to_update = commandSplit[1:8]
-
-        for i, value in enumerate(params_to_update, start=1):
-            if value.strip():
-                # parse the param
-                param = CommandParam(i, value, self.line_number, self)
-                #param.display_info() # DEBUG CODE XXX
-                setattr(self, f"param{i}", param)
-                # parse the param
-
-        if len(commandSplit) > 8:
-            extras = commandSplit[8:]
-            error = Error("command_too_many_params", self.parent.filename, self.line_number, extras, self.name)
-            if not "command_too_many_params" in self.parent.errors:
-                self.parent.errors["command_too_many_params"] = []
-            self.parent.errors["command_too_many_params"].append(error)
-
-
-        # TODO if value or name are empty, error
-
-    def markdown_out(self):
-        #print("DEBUG: CommandConstant.markdown_out")
-        output = f"""### {self.name} ({self.value})
-
-{self.description}
-
-Param | Units | Range/Enum | Description
---- | --- | --- | ---
-"""
-        for i in range(1, 8):
-            attr_name = f"param{i}"
-            # getattr returns None if the attribute doesn't exist
-            val = getattr(self, attr_name, None)
-
-            if val is not None:
-                rangeVal = ""
-                if val.minValue or val.maxValue:
-                    rangeVal = f"[{val.minValue if val.minValue else '-'} : {val.maxValue if val.maxValue else '-' }]"
-
-                output+=f"{i} | {", ".join(val.units)}|{', '.join(f"[{e}](#{e})" for e in val.enums)}{rangeVal} | {val.description}\n"
-            else:
-                output+=f"{i} | | | ?\n"                
-
-        output+=f"\n"
-        return output
-
-
-    def display_info(self):
-        print(f"Debug: CommandConstant: display_info")
-        print(f" name: {self.name}, type: {self.type}, value: {self.value}, comment: {self.comment}, line: {self.line_number}")
-        print(f"   description: {self.description}\n  param1: {self.param1}\n  param2: {self.param2}\n  param3: {self.param3}\n  param4: {self.param4}\n  param5: {self.param5}\n  param6: {self.param6}\n  param7: {self.param7}")
-
-class MessageField:
-    """
-    Represents a field.
-    Encapsulates parsing of the field information.
-    """
-    def __init__(self, name, type, comment, line_number, parentMessage):
-        self.name = name
-        self.type = type
-        self.comment = comment
-        self.unit = None
-        self.enums = None
-        self.minValue = None
-        self.maxValue = None
-        self.invalidValue = None
-        self.frameValue = None
-        self.lineNumber = line_number
-        self.parent = parentMessage
-
-        #print(f"MessageComment: {comment}")
-        match = None
-        if self.comment:
-            match = re.match(r'^((?:\[[^\]]*\]\s*)+)(.*)$', comment)
-        self.description = comment
-        bracketed_part = None
-        if match:
-            bracketed_part = match.group(1).strip() # .strip() removes trailing whitespace from the bracketed part
-            self.description = match.group(2).strip()
-        if bracketed_part:
-          # get units
-            bracket_content_matches = re.findall(r'\[(.*?)\]', bracketed_part)
-            #print(f"bracket_content_matches: {bracket_content_matches}")
-            for item in bracket_content_matches:
-                item = item.strip()
-                if item.startswith('@'): # Not a unit:
-                    if item.startswith('@enum'):
-                        item = item.split(" ")
-                        self.enums = item[1:]
-                        # Create parent enum objects
-                        for enumName in self.enums:
-                            if not enumName in parentMessage.enums:
-                                parentMessage.enums[enumName]=Enum(enumName,parentMessage)
-                    elif item.startswith('@range'):
-                        item = item[6:].strip().split(",")
-                        self.minValue = item[0].strip()
-                        self.maxValue = item[1].strip()
-                    elif item.startswith('@invalid'):
-                        self.invalidValue = item[8:].strip()
-                        #TODO: Do we require a description? (not currently)
-                        if self.invalidValue.split(" ")[0] not in ALLOWED_INVALID_VALUES:
-                            error = Error("unknown_invalid_value", self.parent.filename, self.lineNumber, self.invalidValue, self.name)
-                            #error.display_error()
-                            if not "unknown_invalid_value" in self.parent.errors:
-                                self.parent.errors["unknown_invalid_value"] = []
-                            self.parent.errors["unknown_invalid_value"].append(error)
-                    elif item.startswith('@frame'):
-                        self.frameValue = item[6:].strip()
-                        if self.frameValue not in ALLOWED_FRAMES:
-                            error = Error("unknown_frame", self.parent.filename, self.lineNumber, self.frameValue, self.name)
-                            #error.display_error()
-                            if not "unknown_frame" in self.parent.errors:
-                                self.parent.errors["unknown_frame"] = []
-                            self.parent.errors["unknown_frame"].append(error)
-                    else:
-                        print(f"WARNING: Unhandled metadata in message comment: {item}")
-                        # TODO - report errors for different kinds of metadata
-                        exit()
-
-                else: # bracket is a unit
-                    self.unit = item
-
-                    if self.unit not in ALLOWED_UNITS:
-                        invalid_units.add(self.unit)
-                        error = Error("unknown_unit", self.parent.filename, self.lineNumber, self.unit, self.name)
-                        #error.display_error()
-                        if not "unknown_unit" in self.parent.errors:
-                            self.parent.errors["unknown_unit"] = []
-                        self.parent.errors["unknown_unit"].append(error)
-
-                    if item == "-":
-                        self.unit = ""
-
-
-    def display_info(self):
-        print(f"Debug: MessageField: display_info")
-        print(f" name: {self.name}, type: {self.type}, description: {self.description}, enums: {self.enums}, minValue: {self.minValue}, maxValue: {self.maxValue}, invalidValue: {self.invalidValue}, frameValue: {self.frameValue}")
-
-
-class UORBMessage:
-    """
-    Represents a whole message, including fields, enums, commands, constants.
-    The parser function delegates the parsing of each part of the message to 
-    more appropriate classes, once the specific type of line has been identified.
-    """
-
-    def __init__(self, filename):
-
-        self.filename = filename
-        msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
-        self.msg_filename = os.path.join(msg_path, self.filename)
-        self.name = os.path.splitext(os.path.basename(msg_file))[0]
-        self.shortDescription = ""
-        self.longDescription = ""
-        self.fields = []
-        self.constantFields = dict()
-        self.commandConstants = dict()
-        self.enums = dict()
-        self.output_file = os.path.join(output_dir, f"{self.name}.md")
-        self.topics = []
-        self.errors = dict()
-
-        self.parseFile()
-
-        if args.errors:
-            #print(f"DEBUG: args.errors: {args.errors}")
-            if args.error_messages:
-                messages = args.error_messages.split(" ")
-                #print(f"DEBUG: args.errors: {messages},self.name: {self.name}")
-                if self.name in messages:
-                    self.reportErrors()
-                    #print(f"Debug: {self.name} in {messages}")
-            else:
-              self.reportErrors()
-
-    def reportErrors(self):
-        #print(f"Debug: UORBMessage: reportErrors()")
-        for errorType, errors in self.errors.items():
-            for error in errors:
-               error.display_error()
-
-    def markdown_out(self):
-        #print(f"Debug: UORBMessage: markdown_out()")
-
-        # Add page header (forces wide pages)
-        markdown = f"""---
-pageClass: is-wide-page
----
-
-# {self.name} (UORB message)
-
-"""
-        ## Append description info if present
-        markdown += f"{self.shortDescription}\n\n" if self.shortDescription else ""
-        markdown += f"{self.longDescription}\n\n" if self.longDescription else ""
-
-        topicList = " ".join(self.topics)
-        markdown += f"**TOPICS:** {topicList}\n\n"
-
-        # Generate field docs
-        markdown += f"## Fields\n\n"
-        markdown += "Name | Type | Unit [Frame] | Range/Enum | Description\n"
-        markdown += "--- | --- | --- | --- | ---\n"
-        for field in self.fields:
-            unit = f"{field.unit}" if field.unit else ""
-            frame = f"[{field.frameValue}]" if field.frameValue else ""
-            unit = f"{unit} {frame}"
-            unit.strip()
-            unit = f" {unit}"
-
-            value = " "
-            if field.enums:
-                value = ""
-                for enum in field.enums:
-                    value += f"[{enum}](#{enum})"
-                value = value.strip()
-                value = f"{value}"
-            elif field.minValue or field.maxValue:
-                value = f"[{field.minValue if field.minValue else '-'} : {field.maxValue if field.maxValue else '-' }]"
-
-            description = f" {field.description}" if field.description else ""
-            invalid = f" (Invalid: {field.invalidValue}) " if field.invalidValue else ""
-            markdown += f"{field.name} | `{field.type}` |{unit}|{value}|{description}{invalid}\n"
-
-        # Generate table for command docs
-        if len(self.commandConstants) > 0:
-            #print("DEBUGCOMMAND")
-            markdown += f"\n## Commands\n\n"
-
-            """
-            markdown += "Name | Type | Value | Description\n"
-            markdown += "--- | --- | --- |---\n"
-            for name, command in self.commandConstants.items():
-                description = f" {command.comment} " if enum.comment else " "
-                markdown += f'<a href="#{name}"></a> {name} | `{command.type}` | {command.value} |{description}\n'            
-            """
-            for commandConstant in self.commandConstants.values():
-                #print(commandConstant)
-                markdown += commandConstant.markdown_out()     
-
-        # Generate enum docs
-        if len(self.enums) > 0:
-            markdown += f"\n## Enums\n"
-
-            for name, enum in self.enums.items():
-                markdown += f"\n### {name} {{#{name}}}\n\n"
-
-                markdown += "Name | Type | Value | Description\n"
-                markdown += "--- | --- | --- | ---\n"
-
-                for enumValueName, enumValue in enum.enumValues.items():
-                    description = f" {enumValue.comment} " if enumValue.comment else " "
-                    markdown += f'<a href="#{enumValueName}"></a> {enumValueName} | `{enumValue.type}` | {enumValue.value} |{description}\n'
-
-        # Generate table for constants docs
-        if len(self.constantFields) > 0:
-            markdown += f"\n## Constants\n\n"
-            markdown += "Name | Type | Value | Description\n"
-            markdown += "--- | --- | --- |---\n"
-            for name, enum in self.constantFields.items():
-                description = f" {enum.comment} " if enum.comment else " "
-                markdown += f'<a href="#{name}"></a> {name} | `{enum.type}` | {enum.value} |{description}\n'
-
-
-
-        # Append msg contents to the end
-        with open(self.msg_filename, 'r') as source_file:
-            msg_contents = source_file.read()
-            msg_contents = msg_contents.strip()
-
-        #Format markdown using msg name, comment, url, contents.
-        markdown += f"""
-
-## Source Message
-
-[Source file (GitHub)](https://github.com/PX4/PX4-Autopilot/blob/main/msg/{self.filename})
-
-::: details Click here to see original file
-
-```c
-{msg_contents}
-```
-
-:::
-"""
-
-        with open(self.output_file, 'w') as content_file:
-            content_file.write(markdown)
-
-        #exit()
-
-
-    def display_info(self):
-        print(f"UORBMessage: display_info")
-        print(f" name: {self.name}")
-        print(f" filename: {self.filename}, ")
-        print(f" msg_filename: {self.msg_filename}, ")
-        print(f"self.shortDescription: {self.shortDescription}")
-        print(f"self.longDescription: {self.longDescription}")
-        print(f"self.enums: {self.enums}")
-
-        for enum, enumObject in self.enums.items():
-            enumObject.display_info()
-
-        # Output our data so far
-        for field in self.fields:
-            field.display_info()
-
-        for enumvalue in self.constantFields:
-            print(enumvalue)
-            self.constantFields[enumvalue].display_info()
-
-    def handleField(self, line, line_number, parentMessage):
-        #print(f"debug: handleField: (line): \n {line}")
-        # Note, here we know we don't have a comment or a topic.
-        # We expect it to be a field.
-
-        # Check field doesn't have leading whitespace (trailing spaces already checked)
-        if line[:1].isspace(): # Returns True for ' ', '\t', '\n', '\r', etc.
-            #print("First character is whitespace")
-            error = Error("leading_whitespace_field_or_constant", self.filename, line_number, line)
-            if not "leading_whitespace_field_or_constant" in self.errors:
-                self.errors["leading_whitespace_field_or_constant"] = []
-                self.errors["leading_whitespace_field_or_constant"].append(error)
-
-        # Now we can parse the stripped line
-        fieldOrConstant = line.strip()
-
-        # Check that the field or constant has only single whitespace separators
-        stripped_fieldOrConstant = re.sub(r'\s+', ' ', fieldOrConstant) # Collapse all spaces to a single space (LHS already stripped).
-        if stripped_fieldOrConstant != fieldOrConstant:
-            #print("Field/Constant has multiple whitespace characters") # Since the collapsed version shows them.
-            error = Error("field_or_constant_has_multiple_whitepsace", self.filename, line_number, line)
-            if not "field_or_constant_has_multiple_whitepsace" in self.errors:
-                self.errors["field_or_constant_has_multiple_whitepsace"] = []
-                self.errors["field_or_constant_has_multiple_whitepsace"].append(error)
-
-        fieldOrConstant = stripped_fieldOrConstant
-
-
-
-        comment = None
-        if "#" in line:
-            commentExtract = line.split("#", 1) # Split once on left-most '#'
-            fieldOrConstant = commentExtract[0].strip()
-            comment = commentExtract[-1].strip()
-
-        if "=" not in fieldOrConstant:
-            # Is a field:
-            field = fieldOrConstant.split(" ")
-            type = field[0].strip()
-            name = field[1].strip()
-            field = MessageField(name, type, comment, line_number, parentMessage)
-            self.fields.append(field)
-        else:
-            temp = fieldOrConstant.split("=")
-            value = temp[-1]
-            typeAndName = temp[0].split(" ")
-            type = typeAndName[0]
-            name = typeAndName[1]
-            if name.startswith("VEHICLE_CMD_") and parentMessage.name == 'VehicleCommand': #it's a command.
-                #print(f"DEBUG: startswith VEHICLE_CMD_ {name}")
-                commandConstant = CommandConstant(name, type, value, comment, line_number, parentMessage)
-                #commandConstant.display_info()
-                self.commandConstants[name]=commandConstant
-            else: #it's a constant (or part of an enum)
-                constantField = ConstantValue(name, type, value, comment, line_number)
-                self.constantFields[name]=constantField
-
-
-    def parseFile(self):
-        initial_block_lines = []
-        #stopping_token = None
-        found_first_relevant_content = False
-        gettingInitialComments = False
-        gettingFields = False
-
-        with open(self.msg_filename, 'r', encoding='utf-8') as uorbfile:
-            lines = uorbfile.read().splitlines()
-            for line_number, line in enumerate(lines, 1):
-
-                if line != line.rstrip():
-                    #print(f"[{self.filename}] Trailing whitespace on line {line_number}: XX{line}YY")
-                    error = Error("trailing_whitespace", self.filename, line_number, line)
-                    if not "trailing_whitespace" in self.errors:
-                        self.errors["trailing_whitespace"] = []
-                    self.errors["trailing_whitespace"].append(error)
-
-                #print(f"line: {line}")
-                stripped_line = re.sub(r'\s+', ' ', line).strip() # Collapse all spaces to a single space and strip stuff off end.
-                #print(f"stripped_line: {stripped_line}")
-                # TODO? Perhaps report whitespace if the size of those two is different and it is empty
-                # Or perhaps we just fix it on request
-
-                isEmptyLine = False if line.strip() else True
-                if not found_first_relevant_content and isEmptyLine: #Empty line
-                    #print(f"{self.filename}: Empty line at start of file: [{line_number}]\n {line}")
-                    error = Error("empty_start_line", self.filename, line_number, line)
-                    if not "empty_start_line" in self.errors:
-                        self.errors["empty_start_line"] = []
-                    self.errors["empty_start_line"].append(error)
-                    #error.display_error()
-                    continue
-                if not found_first_relevant_content and not isEmptyLine:
-                    found_first_relevant_content = True
-
-                    if stripped_line.startswith("#"):
-                        gettingInitialComments = True
-                    else:
-                        gettingInitialComments = False
-                        gettingFields = True
-
-                if gettingInitialComments and stripped_line.startswith("#"):
-                    stripped_line=stripped_line[1:].strip()
-                    #print(f"DEBUG: gettingInitialComments: comment line: {stripped_line}")
-                    initial_block_lines.append(stripped_line)
-                else:
-                    gettingInitialComments = False
-                    gettingFields = True #Getting fields and constants
-                if gettingFields:
-                    if isEmptyLine:
-                        continue # empty line
-                    if stripped_line.startswith("# TOPICS "):
-                        stripped_line = stripped_line[9:]
-                        stripped_line = stripped_line.split(" ")
-                        self.topics+= stripped_line
-                        # Note, default topic and topic errors handled after all lines parsed
-                        continue
-                    if stripped_line.startswith("#"):
-                        # Its an internal comment
-                        stripped_line=stripped_line[1:].strip()
-                        
-                        if stripped_line:
-                            #print(f"{self.filename}: Internal comment: [{line_number}]\n {line}")
-                            error = Error("internal_comment", self.filename, line_number, line)
-                            if not "internal_comment" in self.errors:
-                                self.errors["internal_comment"] = []
-                            self.errors["internal_comment"].append(error)
-                        else:
-                            #print(f"{self.filename}: Empty internal comment: [{line_number}]\n {line}")
-                            error = Error("internal_comment_empty", self.filename, line_number, line)
-                            if not "internal_comment_empty" in self.errors:
-                                self.errors["internal_comment_empty"] = []
-                            self.errors["internal_comment_empty"].append(error)
-                            #pass # Empty comment
-                        continue
-                    
-                    # Must be a field or a comment.
-                    self.handleField(line, line_number, parentMessage=self)
-
-            # Fix up topics if the topic is empty
-            def camel_to_snake(name):
-                # Match upper case not at start of string
-                s1 = re.sub('(.)([A-Z][a-z]+)', r'\1_\2', name)
-                # Handle cases with multiple capital first letter
-                return re.sub('([A-Z]+)([A-Z][a-z]*)', r'\1_\2', s1).lower()
-
-            defaultTopic = camel_to_snake(self.name)
-            if len(self.topics) == 0:
-                # We have no topic declared, so set the default topic
-                self.topics.append(defaultTopic)
-            elif len(self.topics) == 1:
-                # We have 1 topic declared - either it is default or there is some issue.
-                if defaultTopic in self.topics:
-                    # Declared topic is default topic
-                    error = Error("topic_error", self.filename, "", f"WARNING: TOPIC {defaultTopic} unnecessarily declared for {self.name}")
-                else:
-                    # Declared topic is not default topic
-                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC {self.topics[1]}: Only Declared topic is not default topic {defaultTopic} for {self.name}")
-                if not "topic_error" in self.errors:
-                    self.errors["topic_error"] = []
-                    self.errors["topic_error"].append(error)
-            elif len(self.topics) > 1:
-                if defaultTopic not in self.topics:
-                    error = Error("topic_error", self.filename, "", f"NOTE: TOPIC - Default topic {defaultTopic} for {self.name} not in {self.topics}")
-
-            # Parse our short and long description
-            #print(f"DEBUG: initial_block_lines: {initial_block_lines}")
-            doingLongDescription = False
-            for summaryline in initial_block_lines:
-                if not self.shortDescription and summaryline.strip() == '':
-                    continue
-                if not doingLongDescription and not summaryline.strip() == '':
-                   self.shortDescription += f" {summaryline}"
-                   self.shortDescription = self.shortDescription.strip()
-                   if not self.shortDescription[-1:] == ".": # Add terminating fullstop if not present.
-                       self.shortDescription += "."
-                if not doingLongDescription and summaryline.strip() == '':
-                   doingLongDescription = True
-                   continue
-                if doingLongDescription:
-                    self.longDescription += f"{summaryline}\n"
-
-            if self.longDescription:
-                self.longDescription.strip()
-
-            if not self.shortDescription:
-                # Summary has not been defined
-                error = Error("summary_missing", self.filename)
-                if not "summary_missing" in self.errors:
-                    self.errors["summary_missing"] = []
-                self.errors["summary_missing"].append(error)
-
-
-            # TODO Parse our constantValues into enums, leaving only constants
-            constantValuesToRemove = []
-            #print(f"DEBUG: Self.enums: {self.enums}")
-            for enumName, enumObject in self.enums.items():
-                for enumValueName, enumValueObject in self.constantFields.items():
-                    if enumValueName.startswith(enumName):
-                        # Copy this value into the object (cant be duplicate because parent is dict)
-                        enumObject.enumValues[enumValueName]=enumValueObject
-                        constantValuesToRemove.append(enumValueName)
-            # Now delete the original enumvalues
-            for enumValName in constantValuesToRemove:
-                del self.constantFields[enumValName]
-            constantsNotAssignedToEnums = len(self.constantFields)
-            if constantsNotAssignedToEnums > 0:
-                #print(f"Debug: WARNING constantsNotAssignedToEnums: {constantsNotAssignedToEnums}")
-                for enumValueName, enumValue in self.constantFields.items():
-                    if enumValueName in ALLOWED_CONSTANTS_NOT_IN_ENUM: # Ignore constants
-                        pass
-                    else:
-                        error = Error("constant_not_in_assigned_enum", self.filename, enumValue.line_number, enumValueName)
-                        if not "constant_not_in_assigned_enum" in self.errors:
-                            self.errors["constant_not_in_assigned_enum"] = []
-                        self.errors["constant_not_in_assigned_enum"].append(error)
-                # TODO Maybe present as list of possible enums.
 
 
 import yaml
@@ -924,50 +127,83 @@ if __name__ == "__main__":
 
     parser = argparse.ArgumentParser(description='Generate docs from .msg files')
     parser.add_argument('-d', dest='dir', help='output directory', required=True)
-    parser.add_argument('-e', dest='errors', action='store_true', help='Report errors')
-    parser.add_argument('-m', dest='error_messages', help='Message to report errors against (by default all)')
     args = parser.parse_args()
 
     output_dir = args.dir
     if not os.path.isdir(output_dir):
-        print(f"making output_dir {output_dir}")
         os.mkdir(output_dir)
 
     msg_path = os.path.join(os.path.dirname(os.path.realpath(__file__)),"../../msg")
     msg_files = get_msgs_list(msg_path)
-
     msg_files.sort()
 
     versioned_msgs_list = ''
     unversioned_msgs_list = ''
-    msgTypes = set()
 
     for msg_file in msg_files:
-        # Add messages to set of allowed types (compound types)
-        #msg_type = msg_file.rsplit('/')[-1]
-        #msg_type = msg_type.rsplit('\\')[-1]
-        #msg_type = msg_type.rsplit('.')[0]
         msg_name = os.path.splitext(os.path.basename(msg_file))[0]
-        msgTypes.add(msg_name)
+        output_file = os.path.join(output_dir, msg_name+'.md')
+        msg_filename = os.path.join(msg_path, msg_file)
+        print("{:} -> {:}".format(msg_filename, output_file))
 
-    for msg_file in msg_files:
-        message = UORBMessage(msg_file)
-        # Any additional tests that can't be in UORBMessage parser go here.
-        message.markdown_out()
+        #Format msg url
+        msg_url="[source file](https://github.com/PX4/PX4-Autopilot/blob/main/msg/%s)" % msg_file
+
+        msg_description = ""
+        summary_description = ""
+
+        #Get msg description (first non-empty comment line from top of msg)
+        with open(msg_filename, 'r') as lineparser:
+            line = lineparser.readline()
+            while line.startswith('#') or (line.strip() == ''):
+                print('DEBUG: line: %s' % line)
+                line=line[1:].strip()+'\n'
+                stripped_line=line.strip()
+                if msg_description and not summary_description and stripped_line=='':
+                    summary_description = msg_description.strip()
+
+                msg_description+=line
+                line = lineparser.readline()
+            msg_description=msg_description.strip()
+            if not summary_description and msg_description:
+                summary_description = msg_description
+            print('msg_description: Z%sZ' % msg_description)
+            print('summary_description: Z%sZ' % summary_description)
+            summary_description
+        msg_contents = ""
+        #Get msg contents (read the file)
+        with open(msg_filename, 'r') as source_file:
+            msg_contents = source_file.read()
+
+        #Format markdown using msg name, comment, url, contents.
+        markdown_output="""# %s (UORB message)
+
+%s
+
+%s
+
+```c
+%s
+```
+""" % (msg_name, msg_description, msg_url, msg_contents)
+
+        with open(output_file, 'w') as content_file:
+            content_file.write(markdown_output)
 
         # Categorize as versioned or unversioned
         if "versioned" in msg_file:
-            versioned_msgs_list += f"- [{message.name}]({message.name}.md)"
-            if message.shortDescription:
-                versioned_msgs_list += f" — {message.shortDescription}"
+            versioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
+            if summary_description:
+                versioned_msgs_list += " — %s" % summary_description
             versioned_msgs_list += "\n"
         else:
-            unversioned_msgs_list += f"- [{message.name}]({message.name}.md)"
-            if message.shortDescription:
-                unversioned_msgs_list += f" — {message.shortDescription}"
+            unversioned_msgs_list += '- [%s](%s.md)' % (msg_name, msg_name)
+            if summary_description:
+                unversioned_msgs_list += " — %s" % summary_description
             unversioned_msgs_list += "\n"
+
     # Write out the index.md file
-    index_text=f"""# uORB Message Reference
+    index_text="""# uORB Message Reference
 
 ::: info
 This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/main/Tools/msg/generate_msg_docs.py) from the source code.
@@ -982,14 +218,14 @@ Graphs showing how these are used [can be found here](../middleware/uorb_graph.m
 
 ## Versioned Messages
 
-{versioned_msgs_list}
+%s
 
 ## Unversioned Messages
 
-{unversioned_msgs_list}
-    """
+%s
+    """ % (versioned_msgs_list, unversioned_msgs_list)
     index_file = os.path.join(output_dir, 'index.md')
-    with open(index_file, 'w', encoding='utf-8') as content_file:
+    with open(index_file, 'w') as content_file:
             content_file.write(index_text)
 
     generate_dds_yaml_doc(msg_files)

boards/ark/cannode/default.px4board

@@ -31,7 +31,6 @@ CONFIG_UAVCANNODE_ESC_RAW_COMMAND=y
 CONFIG_UAVCANNODE_ESC_STATUS=y
 CONFIG_UAVCANNODE_FLOW_MEASUREMENT=y
 CONFIG_UAVCANNODE_GNSS_FIX=y
-CONFIG_UAVCANNODE_HARDPOINT_COMMAND=y
 CONFIG_UAVCANNODE_HYGROMETER_MEASUREMENT=y
 CONFIG_UAVCANNODE_LIGHTS_COMMAND=y
 CONFIG_UAVCANNODE_MAGNETIC_FIELD_STRENGTH=y

boards/auterion/fmu-v6x/zenoh.px4board

@@ -1,6 +1,4 @@
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
 CONFIG_DRIVERS_UAVCAN=n
 CONFIG_MODULES_UXRCE_DDS_CLIENT=n
-CONFIG_SYSTEMCMDS_SD_BENCH=n
-CONFIG_SYSTEMCMDS_I2CDETECT=n
 CONFIG_MODULES_ZENOH=y

boards/gearup/airbrainh743/bootloader.px4board

@@ -1,3 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROMFSROOT=""

boards/gearup/airbrainh743/default.px4board

@@ -1,86 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROOT_PATH="/fs/flash"
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS6"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS3"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
-CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS2"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS1"
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BAROMETER_DPS310=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-CONFIG_COMMON_LIGHT=y
-CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
-CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
-CONFIG_DRIVERS_OSD_MSP_OSD=y
-CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_COMMON_TELEMETRY=y
-CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
-CONFIG_MODULES_BATTERY_STATUS=y
-CONFIG_MODULES_COMMANDER=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
-CONFIG_MODULES_DATAMAN=y
-CONFIG_MODULES_EKF2=y
-# CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
-# CONFIG_EKF2_AUXVEL is not set
-# CONFIG_EKF2_BARO_COMPENSATION is not set
-# CONFIG_EKF2_DRAG_FUSION is not set
-# CONFIG_EKF2_GNSS_YAW is not set
-# CONFIG_EKF2_SIDESLIP is not set
-CONFIG_MODULES_EVENTS=y
-CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-CONFIG_MODULES_FW_ATT_CONTROL=y
-CONFIG_MODULES_FW_MODE_MANAGER=y
-CONFIG_MODULES_FW_LATERAL_LONGITUDINAL_CONTROL=y
-CONFIG_MODULES_FW_RATE_CONTROL=y
-CONFIG_MODULES_GYRO_CALIBRATION=y
-CONFIG_MODULES_GYRO_FFT=y
-CONFIG_MODULES_LAND_DETECTOR=y
-CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
-CONFIG_MODULES_LOAD_MON=y
-CONFIG_MODULES_LOGGER=y
-CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
-CONFIG_MODULES_MANUAL_CONTROL=y
-CONFIG_MODULES_MAVLINK=y
-CONFIG_MODULES_MC_ATT_CONTROL=y
-CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-CONFIG_MODULES_MC_POS_CONTROL=y
-CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_NAVIGATOR=y
-CONFIG_MODULES_RC_UPDATE=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_UXRCE_DDS_CLIENT=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MTD=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-CONFIG_SYSTEMCMDS_TOP=y
-CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-CONFIG_SYSTEMCMDS_UORB=y
-CONFIG_SYSTEMCMDS_USB_CONNECTED=y
-CONFIG_SYSTEMCMDS_VER=y
-CONFIG_SYSTEMCMDS_WORK_QUEUE=y

boards/gearup/airbrainh743/firmware.prototype

@@ -1,13 +0,0 @@
-{
-    "board_id": 1209,
-    "magic": "PX4FWv1",
-    "description": "Firmware for the AirBrainH743 by Gear Up",
-    "image": "",
-    "build_time": 0,
-    "summary": "AirBrainH743",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 1966080,
-    "git_identity": "",
-    "board_revision": 0
-}

boards/gearup/airbrainh743/init/rc.board_defaults

@@ -1,17 +0,0 @@
-#!/bin/sh
-#
-# AirBrainH743 board specific defaults
-#------------------------------------------------------------------------------
-
-# Battery voltage divider and current scale
-param set-default BAT1_V_DIV 15.0
-param set-default BAT1_A_PER_V 101.0
-
-# system_power unavailable
-param set-default CBRK_SUPPLY_CHK 894281
-
-param set-default IMU_GYRO_RATEMAX 2000
-
-# W25N NAND flash with littlefs (128 MB): larger buffer, auto-rotate
-set LOGGER_BUF 32
-param set-default SDLOG_DIRS_MAX 3

boards/gearup/airbrainh743/init/rc.board_extras

@@ -1,6 +0,0 @@
-#!/bin/sh
-#
-# AirBrainH743 specific board extras init
-#------------------------------------------------------------------------------
-
-# No extras configured by default

boards/gearup/airbrainh743/init/rc.board_sensors

@@ -1,16 +0,0 @@
-#!/bin/sh
-#
-# AirBrainH743 specific board sensors init
-#------------------------------------------------------------------------------
-
-board_adc start
-
-# Internal SPI bus IMU - ICM42688P (Invensensev3)
-icm42688p -R 2 -b 1 -s start
-
-# Internal I2C bus barometer - DPS310 @ 0x76 (118 decimal)
-dps310 -I -a 118 start
-
-# Internal I2C bus magnetometer - LIS2MDL @ 0x1E (30 decimal)
-# Using iis2mdc driver (functionally equivalent to LIS2MDL)
-iis2mdc -I -R 2 -a 30 start

boards/gearup/airbrainh743/nuttx-config/Kconfig

@@ -1,3 +0,0 @@
-#
-# Board-specific Kconfig for AirBrainH743
-#

boards/gearup/airbrainh743/nuttx-config/bootloader/defconfig

@@ -1,89 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DEV_CONSOLE is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_SPI_EXCHANGE is not set
-# CONFIG_STM32H7_SYSCFG is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/gearup/airbrainh743/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743VI=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=768
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
-CONFIG_BOARD_INITTHREAD_PRIORITY=254
-CONFIG_BOARD_LATE_INITIALIZE=y
-CONFIG_BOARD_LOOPSPERMSEC=22114
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_CDCACM=y
-CONFIG_CDCACM_PRODUCTID=0x004b
-CONFIG_CDCACM_PRODUCTSTR="AirBrainH743 BL"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x3162
-CONFIG_CDCACM_VENDORSTR="Gear Up"
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEBUG_TCBINFO=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_EXPERIMENTAL=y
-CONFIG_FDCLONE_DISABLE=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="bootloader_main"
-CONFIG_INIT_STACKSIZE=3194
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SPI=y
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_USART1=y
-CONFIG_SYSTEMTICK_HOOK=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGINT_CHAR=0x03
-CONFIG_TTY_SIGTSTP=y
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=300
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000

boards/gearup/airbrainh743/nuttx-config/include/board.h

@@ -1,346 +0,0 @@
-/************************************************************************************
- * nuttx-config/include/board.h
- *
- *   Copyright (C) 2026 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 NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ************************************************************************************/
-#ifndef __NUTTX_CONFIG_AIRBRAINH743_INCLUDE_BOARD_H
-#define __NUTTX_CONFIG_AIRBRAINH743_INCLUDE_BOARD_H
-
-/************************************************************************************
- * Included Files
- ************************************************************************************/
-
-#include "board_dma_map.h"
-
-#include <nuttx/config.h>
-
-#ifndef __ASSEMBLY__
-# include <stdint.h>
-#endif
-
-#include "stm32_rcc.h"
-#include "stm32_sdmmc.h"
-
-/************************************************************************************
- * Pre-processor Definitions
- ************************************************************************************/
-
-/* Clocking *************************************************************************/
-/* The AirBrainH743 board provides the following clock sources:
- *
- *   X1: 8 MHz crystal for HSE
- */
-
-#define STM32_BOARD_XTAL        8000000ul
-
-#define STM32_HSI_FREQUENCY     16000000ul
-#define STM32_LSI_FREQUENCY     32000
-#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-#define STM32_LSE_FREQUENCY     32768
-
-/* Main PLL Configuration.
- *
- * PLL source is HSE = 8,000,000
- *
- * PLL_VCOx = (STM32_HSE_FREQUENCY / PLLM) * PLLN
- *
- * SYSCLK  = PLL_VCO / PLLP
- * CPUCLK  = SYSCLK / D1CPRE
- */
-
-#define STM32_BOARD_USEHSE
-
-#define STM32_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
-
-/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
- *
- *   PLL1_VCO = (8,000,000 / 1) * 120 = 960 MHz
- *
- *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
- *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
- *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
- */
-
-#define STM32_PLLCFG_PLL1CFG    (RCC_PLLCFGR_PLL1VCOSEL_WIDE | \
-				 RCC_PLLCFGR_PLL1RGE_4_8_MHZ | \
-				 RCC_PLLCFGR_DIVP1EN | \
-				 RCC_PLLCFGR_DIVQ1EN | \
-				 RCC_PLLCFGR_DIVR1EN)
-#define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
-#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(120)
-#define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
-#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(5)
-#define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
-
-#define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 120)
-#define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
-#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 5)
-#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
-
-/* PLL2 */
-
-#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
-				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
-				  RCC_PLLCFGR_DIVP2EN | \
-				  RCC_PLLCFGR_DIVQ2EN | \
-				  RCC_PLLCFGR_DIVR2EN)
-#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(2)
-#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(48)
-#define STM32_PLLCFG_PLL2P       RCC_PLL2DIVR_P2(2)
-#define STM32_PLLCFG_PLL2Q       RCC_PLL2DIVR_Q2(2)
-#define STM32_PLLCFG_PLL2R       RCC_PLL2DIVR_R2(2)
-
-#define STM32_VCO2_FREQUENCY     ((STM32_HSE_FREQUENCY / 2) * 48)
-#define STM32_PLL2P_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-#define STM32_PLL2Q_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-#define STM32_PLL2R_FREQUENCY    (STM32_VCO2_FREQUENCY / 2)
-
-/* PLL3 */
-
-#define STM32_PLLCFG_PLL3CFG    (RCC_PLLCFGR_PLL3VCOSEL_WIDE | \
-				 RCC_PLLCFGR_PLL3RGE_4_8_MHZ | \
-				 RCC_PLLCFGR_DIVQ3EN)
-#define STM32_PLLCFG_PLL3M      RCC_PLLCKSELR_DIVM3(2)
-#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(48)
-#define STM32_PLLCFG_PLL3P      RCC_PLL3DIVR_P3(2)
-#define STM32_PLLCFG_PLL3Q      RCC_PLL3DIVR_Q3(4)
-#define STM32_PLLCFG_PLL3R      RCC_PLL3DIVR_R3(2)
-
-#define STM32_VCO3_FREQUENCY    ((STM32_HSE_FREQUENCY / 2) * 48)
-#define STM32_PLL3P_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
-#define STM32_PLL3Q_FREQUENCY   (STM32_VCO3_FREQUENCY / 4)
-#define STM32_PLL3R_FREQUENCY   (STM32_VCO3_FREQUENCY / 2)
-
-/* SYSCLK = PLL1P = 480MHz
- * CPUCLK = SYSCLK / 1 = 480 MHz
- */
-
-#define STM32_RCC_D1CFGR_D1CPRE  (RCC_D1CFGR_D1CPRE_SYSCLK)
-#define STM32_SYSCLK_FREQUENCY   (STM32_PLL1P_FREQUENCY)
-#define STM32_CPUCLK_FREQUENCY   (STM32_SYSCLK_FREQUENCY / 1)
-
-/* Configure Clock Assignments */
-
-/* AHB clock (HCLK) is SYSCLK/2 (240 MHz max)
- * HCLK1 = HCLK2 = HCLK3 = HCLK4 = 240
- */
-
-#define STM32_RCC_D1CFGR_HPRE   RCC_D1CFGR_HPRE_SYSCLKd2        /* HCLK  = SYSCLK / 2 */
-#define STM32_ACLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* ACLK in D1, HCLK3 in D1 */
-#define STM32_HCLK_FREQUENCY    (STM32_CPUCLK_FREQUENCY / 2)    /* HCLK in D2, HCLK4 in D3 */
-#define STM32_BOARD_HCLK        STM32_HCLK_FREQUENCY            /* same as above, to satisfy compiler */
-
-/* APB1 clock (PCLK1) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D2CFGR_D2PPRE1  RCC_D2CFGR_D2PPRE1_HCLKd2       /* PCLK1 = HCLK / 2 */
-#define STM32_PCLK1_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB2 clock (PCLK2) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D2CFGR_D2PPRE2  RCC_D2CFGR_D2PPRE2_HCLKd2       /* PCLK2 = HCLK / 2 */
-#define STM32_PCLK2_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB3 clock (PCLK3) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D1CFGR_D1PPRE   RCC_D1CFGR_D1PPRE_HCLKd2        /* PCLK3 = HCLK / 2 */
-#define STM32_PCLK3_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* APB4 clock (PCLK4) is HCLK/2 (120 MHz) */
-
-#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
-#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
-
-/* Timer clock frequencies */
-
-/* Timers driven from APB1 will be twice PCLK1 */
-
-#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
-
-/* Timers driven from APB2 will be twice PCLK2 */
-
-#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
-
-/* Kernel Clock Configuration */
-
-/* I2C123 clock source */
-
-#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI
-
-/* I2C4 clock source */
-
-#define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
-
-/* SPI123 clock source */
-
-#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
-
-/* SPI45 clock source */
-
-#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2
-
-/* SPI6 clock source */
-
-#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2
-
-/* USB 1 and 2 clock source */
-
-#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3
-
-/* ADC 1 2 3 clock source */
-
-#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2
-
-/* FDCAN 1 clock source */
-
-#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE
-#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
-
-/* FLASH wait states */
-
-#define BOARD_FLASH_WAITSTATES 2
-
-/* LED definitions ******************************************************************/
-
-#define BOARD_LED1        0
-#define BOARD_LED2        1
-#define BOARD_LED3        2
-#define BOARD_NLEDS       3
-
-#define BOARD_LED_RED     BOARD_LED1
-#define BOARD_LED_GREEN   BOARD_LED2
-#define BOARD_LED_BLUE    BOARD_LED3
-
-/* LED bits for use with board_userled_all() */
-
-#define BOARD_LED1_BIT    (1 << BOARD_LED1)
-#define BOARD_LED2_BIT    (1 << BOARD_LED2)
-#define BOARD_LED3_BIT    (1 << BOARD_LED3)
-
-#define LED_STARTED        0 /* NuttX has been started   OFF    OFF   OFF  */
-#define LED_HEAPALLOCATE   1 /* Heap has been allocated  OFF    OFF   ON   */
-#define LED_IRQSENABLED    2 /* Interrupts enabled       OFF    ON    OFF  */
-#define LED_STACKCREATED   3 /* Idle stack created       OFF    ON    ON   */
-#define LED_INIRQ          4 /* In an interrupt          N/C    N/C   GLOW */
-#define LED_SIGNAL         5 /* In a signal handler      N/C    GLOW  N/C  */
-#define LED_ASSERTION      6 /* An assertion failed      GLOW   N/C   GLOW */
-#define LED_PANIC          7 /* The system has crashed   Blink  OFF   N/C  */
-#define LED_IDLE           8 /* MCU is is sleep mode     ON     OFF   OFF  */
-
-/* Alternate function pin selections ************************************************/
-
-/* USART1 - Debug (PA9 TX, PA10 RX) */
-#define GPIO_USART1_RX   GPIO_USART1_RX_2   /* PA10 */
-#define GPIO_USART1_TX   GPIO_USART1_TX_2   /* PA9  */
-
-/* USART2 - RC input (PD5 TX, PD6 RX) */
-#define GPIO_USART2_RX   GPIO_USART2_RX_2   /* PD6  */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5  */
-
-/* USART3 - DJI/MSP (PD8 TX, PD9 RX) */
-#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9  */
-#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8  */
-
-/* UART4 - General (PB9 TX, PB8 RX) */
-#define GPIO_UART4_RX    GPIO_UART4_RX_3    /* PB8  */
-#define GPIO_UART4_TX    GPIO_UART4_TX_3    /* PB9  */
-
-/* UART5 - Companion (PB13 TX, PB12 RX) */
-#define GPIO_UART5_RX    GPIO_UART5_RX_1    /* PB12 */
-#define GPIO_UART5_TX    GPIO_UART5_TX_1    /* PB13 */
-
-/* UART7 - ESC telemetry (PE8 TX, PE7 RX) */
-#define GPIO_UART7_RX    GPIO_UART7_RX_3    /* PE7  */
-#define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8  */
-
-/* UART8 - GPS (PE1 TX, PE0 RX) */
-#define GPIO_UART8_RX    GPIO_UART8_RX_1    /* PE0  */
-#define GPIO_UART8_TX    GPIO_UART8_TX_1    /* PE1  */
-
-
-/* SPI
- *
- * SPI1: IMU (PA5 SCK, PA6 MISO, PA7 MOSI)
- * SPI2: W25N Flash (PD3 SCK, PB14 MISO, PC3 MOSI)
- * SPI4: External (PE12 SCK, PE5 MISO, PE6 MOSI)
- */
-
-#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6  */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1   /* PA7  */
-#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_1    /* PA5  */
-
-#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1   /* PB14 */
-#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_3   /* PC3  */
-#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_5    /* PD3  */
-
-#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_2   /* PE5  */
-#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2   /* PE6  */
-#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_1    /* PE12 */
-
-/* I2C
- *
- * I2C1: Internal (PB6 SCL, PB7 SDA)
- * I2C4: External (PD12 SCL, PD13 SDA)
- */
-
-#define GPIO_I2C1_SCL GPIO_I2C1_SCL_1       /* PB6  */
-#define GPIO_I2C1_SDA GPIO_I2C1_SDA_1       /* PB7  */
-
-#define GPIO_I2C1_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN6)
-#define GPIO_I2C1_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTB | GPIO_PIN7)
-
-#define GPIO_I2C4_SCL GPIO_I2C4_SCL_1       /* PD12 */
-#define GPIO_I2C4_SDA GPIO_I2C4_SDA_1       /* PD13 */
-
-#define GPIO_I2C4_SCL_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN12)
-#define GPIO_I2C4_SDA_GPIO                  (GPIO_OUTPUT | GPIO_OPENDRAIN | GPIO_SPEED_50MHz | GPIO_OUTPUT_SET | GPIO_PORTD | GPIO_PIN13)
-
-
-/* USB
- *
- *      OTG_FS_DM                           PA11
- *      OTG_FS_DP                           PA12
- *      VBUS                                PD0
- */
-
-
-#endif  /*__NUTTX_CONFIG_AIRBRAINH743_INCLUDE_BOARD_H  */

boards/gearup/airbrainh743/nuttx-config/include/board_dma_map.h

@@ -1,42 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2026 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
-
-/* DMA mapping for SPI1 (IMU) */
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
-
-/* DMA mapping for SPI2 (W25N Flash) */
-#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0 /* DMA1:39 */
-#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0 /* DMA1:40 */

boards/gearup/airbrainh743/nuttx-config/nsh/defconfig

@@ -1,258 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_NSH_DISABLEBG is not set
-# CONFIG_NSH_DISABLESCRIPT is not set
-# CONFIG_NSH_DISABLE_CAT is not set
-# CONFIG_NSH_DISABLE_CD is not set
-# CONFIG_NSH_DISABLE_CP is not set
-# CONFIG_NSH_DISABLE_DATE is not set
-# CONFIG_NSH_DISABLE_DF is not set
-# CONFIG_NSH_DISABLE_ECHO is not set
-# CONFIG_NSH_DISABLE_ENV is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_EXPORT is not set
-# CONFIG_NSH_DISABLE_FREE is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_HELP is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_KILL is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_LS is not set
-# CONFIG_NSH_DISABLE_MKDIR is not set
-# CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_MOUNT is not set
-# CONFIG_NSH_DISABLE_MV is not set
-# CONFIG_NSH_DISABLE_PRINTF is not set
-# CONFIG_NSH_DISABLE_PS is not set
-# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
-# CONFIG_NSH_DISABLE_PWD is not set
-# CONFIG_NSH_DISABLE_RM is not set
-# CONFIG_NSH_DISABLE_RMDIR is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_SET is not set
-# CONFIG_NSH_DISABLE_SLEEP is not set
-# CONFIG_NSH_DISABLE_SOURCE is not set
-# CONFIG_NSH_DISABLE_TEST is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_NSH_DISABLE_UMOUNT is not set
-# CONFIG_NSH_DISABLE_UNSET is not set
-# CONFIG_NSH_DISABLE_USLEEP is not set
-# CONFIG_SPI_CALLBACK is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/gearup/airbrainh743/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743VI=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DTCM=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_ASSERT_RESET_VALUE=0
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=95150
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x0050
-CONFIG_CDCACM_PRODUCTSTR="AirBrainH743"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x3162
-CONFIG_CDCACM_VENDORSTR="Gear Up"
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_MEMFAULT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_EXPERIMENTAL=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_FS_LITTLEFS=y
-CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
-CONFIG_FS_LITTLEFS_READ_SIZE_FACTOR=1
-CONFIG_FS_LITTLEFS_CACHE_SIZE_FACTOR=1
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_INIT_ENTRYPOINT="nsh_main"
-CONFIG_INIT_STACKSIZE=3194
-CONFIG_LIBC_FLOATINGPOINT=y
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_MAX_EXITFUNS=1
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MM_REGIONS=4
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_W25N=y
-CONFIG_W25N_SPIFREQUENCY=104000000
-CONFIG_NAME_MAX=40
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_OTG_ID_GPIO_DISABLE=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_READLINE_CMD_HISTORY=y
-CONFIG_READLINE_TABCOMPLETION=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_HPWORK=y
-CONFIG_SCHED_HPWORKPRIORITY=249
-CONFIG_SCHED_HPWORKSTACKSIZE=1280
-CONFIG_SCHED_INSTRUMENTATION=y
-CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=256
-CONFIG_STM32H7_ADC1=y
-CONFIG_STM32H7_ADC3=y
-CONFIG_STM32H7_BBSRAM=y
-CONFIG_STM32H7_BBSRAM_FILES=5
-CONFIG_STM32H7_BDMA=y
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
-CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_DMAMUX1=y
-CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32H7_I2C1=y
-CONFIG_STM32H7_I2C4=y
-CONFIG_STM32H7_I2C_DYNTIMEO=y
-CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_RTC=y
-CONFIG_STM32H7_RTC_HSECLOCK=y
-CONFIG_STM32H7_RTC_MAGIC_REG=1
-CONFIG_STM32H7_SAVE_CRASHDUMP=y
-CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_SPI1=y
-CONFIG_STM32H7_SPI1_DMA=y
-CONFIG_STM32H7_SPI1_DMA_BUFFER=4096
-CONFIG_STM32H7_SPI2=y
-CONFIG_STM32H7_SPI2_DMA=y
-CONFIG_STM32H7_SPI2_DMA_BUFFER=4096
-CONFIG_STM32H7_SPI4=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_TIM2=y
-CONFIG_STM32H7_TIM3=y
-CONFIG_STM32H7_TIM5=y
-CONFIG_STM32H7_TIM8=y
-CONFIG_STM32H7_UART4=y
-CONFIG_STM32H7_UART5=y
-CONFIG_STM32H7_UART7=y
-CONFIG_STM32H7_UART8=y
-CONFIG_STM32H7_USART1=y
-CONFIG_STM32H7_USART2=y
-CONFIG_STM32H7_USART3=y
-CONFIG_STM32H7_USART_BREAKS=y
-CONFIG_STM32H7_USART_INVERT=y
-CONFIG_STM32H7_USART_SINGLEWIRE=y
-CONFIG_STM32H7_USART_SWAP=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGTSTP=y
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART5_BAUD=57600
-CONFIG_UART5_RXBUFSIZE=600
-CONFIG_UART5_TXBUFSIZE=1500
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_TXBUFSIZE=1500
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_TXBUFSIZE=1500
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_SERIAL_CONSOLE=y
-CONFIG_USART1_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_RXBUFSIZE=600
-CONFIG_USART3_TXBUFSIZE=1500
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_WATCHDOG=y

boards/gearup/airbrainh743/nuttx-config/scripts/bootloader_script.ld

@@ -1,213 +0,0 @@
-/****************************************************************************
- * scripts/script.ld
- *
- *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory.
- * The flash memory is partitioned into a User Flash memory and a System
- * Flash memory. Each of these memories has two banks:
- *
- *   1) User Flash memory:
- *
- *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
- *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
- *
- *   2) System Flash memory:
- *
- *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
- *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
- *
- *   3) User option bytes for user configuration, only in Bank 1.
- *
- * In the STM32H743II, two different boot spaces can be selected through
- * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
- * BOOT_ADD1 option bytes:
- *
- *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
- *      ST programmed value: Flash memory at 0x0800:0000
- *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
- *      ST programmed value: System bootloader at 0x1FF0:0000
- *
- * The Durandal has a Switch on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
- * drepresed, then the boot will be from 0x1FF0:0000
- *
- * The STM32H743ZI also has 1024Kb of data SRAM.
- * SRAM is split up into several blocks and into three power domains:
- *
- *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
- *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
- *
- *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
- *
- *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
- *           DTCM ports. The DTCM-RAM could be used for critical real-time
- *           data, such as interrupt service routines or stack / heap memory.
- *           Both DTCM-RAMs can be used in parallel (for load/store operations)
- *           thanks to the Cortex-M7 dual issue capability.
- *
- *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
- *
- *           This RAM is connected to ITCM 64-bit interface designed for
- *           execution of critical real-times routines by the CPU.
- *
- *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
- *      through D1 domain AXI bus matrix
- *
- *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
- *
- *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
- *      through D2 domain AHB bus matrix
- *
- *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
- *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
- *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
- *
- *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
- *
- *   4) AHB SRAM (D3 domain) accessible by most of system masters
- *      through D3 domain AHB bus matrix
- *
- *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
- *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- */
-
-MEMORY
-{
-	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	flash (rx)  : ORIGIN = 0x08000000, LENGTH = 2048K
-	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
-	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
-	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
-	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
-	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
-	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-ENTRY(_stext)
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.glue_7)
-		*(.glue_7t)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > flash
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-	.init_section : {
-		_sinit = ABSOLUTE(.);
-		KEEP(*(.init_array .init_array.*))
-		_einit = ABSOLUTE(.);
-	} > flash
-
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > flash
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > flash
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-	} > sram AT > flash
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > sram
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-}

boards/gearup/airbrainh743/nuttx-config/scripts/script.ld

@@ -1,228 +0,0 @@
-/****************************************************************************
- * scripts/script.ld
- *
- *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The board uses an STM32H743II and has 2048Kb of main FLASH memory.
- * The flash memory is partitioned into a User Flash memory and a System
- * Flash memory. Each of these memories has two banks:
- *
- *   1) User Flash memory:
- *
- *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
- *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
- *
- *   2) System Flash memory:
- *
- *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
- *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
- *
- *   3) User option bytes for user configuration, only in Bank 1.
- *
- * In the STM32H743II, two different boot spaces can be selected through
- * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
- * BOOT_ADD1 option bytes:
- *
- *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
- *      ST programmed value: Flash memory at 0x0800:0000
- *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
- *      ST programmed value: System bootloader at 0x1FF0:0000
- *
- * There's a switch on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
- * drepresed, then the boot will be from 0x1FF0:0000
- *
- * The STM32H743ZI also has 1024Kb of data SRAM.
- * SRAM is split up into several blocks and into three power domains:
- *
- *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
- *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
- *
- *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
- *
- *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
- *           DTCM ports. The DTCM-RAM could be used for critical real-time
- *           data, such as interrupt service routines or stack / heap memory.
- *           Both DTCM-RAMs can be used in parallel (for load/store operations)
- *           thanks to the Cortex-M7 dual issue capability.
- *
- *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
- *
- *           This RAM is connected to ITCM 64-bit interface designed for
- *           execution of critical real-times routines by the CPU.
- *
- *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
- *      through D1 domain AXI bus matrix
- *
- *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
- *
- *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
- *      through D2 domain AHB bus matrix
- *
- *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
- *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
- *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
- *
- *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
- *
- *   4) AHB SRAM (D3 domain) accessible by most of system masters
- *      through D3 domain AHB bus matrix
- *
- *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
- *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- */
-
-MEMORY
-{
-	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
-
-	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
-	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
-	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
-	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
-}
-
-OUTPUT_ARCH(arm)
-EXTERN(_vectors)
-ENTRY(_stext)
-
-/*
- * Ensure that abort() is present in the final object.  The exception handling
- * code pulled in by libgcc.a requires it (and that code cannot be easily avoided).
- */
-EXTERN(abort)
-EXTERN(_bootdelay_signature)
-
-SECTIONS
-{
-	.text : {
-		_stext = ABSOLUTE(.);
-		*(.vectors)
-		. = ALIGN(32);
-		/*
-		This signature provides the bootloader with a way to delay booting
-		*/
-		_bootdelay_signature = ABSOLUTE(.);
-		FILL(0xffecc2925d7d05c5)
-		. += 8;
-		*(.text .text.*)
-		*(.fixup)
-		*(.gnu.warning)
-		*(.rodata .rodata.*)
-		*(.gnu.linkonce.t.*)
-		*(.glue_7)
-		*(.glue_7t)
-		*(.got)
-		*(.gcc_except_table)
-		*(.gnu.linkonce.r.*)
-		_etext = ABSOLUTE(.);
-
-	} > FLASH
-
-	/*
-	 * Init functions (static constructors and the like)
-	 */
-	.init_section : {
-		_sinit = ABSOLUTE(.);
-		KEEP(*(.init_array .init_array.*))
-		_einit = ABSOLUTE(.);
-	} > FLASH
-
-
-	.ARM.extab : {
-		*(.ARM.extab*)
-	} > FLASH
-
-	__exidx_start = ABSOLUTE(.);
-	.ARM.exidx : {
-		*(.ARM.exidx*)
-	} > FLASH
-	__exidx_end = ABSOLUTE(.);
-
-	_eronly = ABSOLUTE(.);
-
-	.data : {
-		_sdata = ABSOLUTE(.);
-		*(.data .data.*)
-		*(.gnu.linkonce.d.*)
-		CONSTRUCTORS
-		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > AXI_SRAM
-
-	/* Emit the the D3 power domain section for locating BDMA data */
-
-	.sram4_reserve (NOLOAD) :
-	{
-		*(.sram4)
-		. = ALIGN(4);
-		_sram4_heap_start = ABSOLUTE(.);
-	} > SRAM4
-
-	/* Stabs debugging sections. */
-	.stab 0 : { *(.stab) }
-	.stabstr 0 : { *(.stabstr) }
-	.stab.excl 0 : { *(.stab.excl) }
-	.stab.exclstr 0 : { *(.stab.exclstr) }
-	.stab.index 0 : { *(.stab.index) }
-	.stab.indexstr 0 : { *(.stab.indexstr) }
-	.comment 0 : { *(.comment) }
-	.debug_abbrev 0 : { *(.debug_abbrev) }
-	.debug_info 0 : { *(.debug_info) }
-	.debug_line 0 : { *(.debug_line) }
-	.debug_pubnames 0 : { *(.debug_pubnames) }
-	.debug_aranges 0 : { *(.debug_aranges) }
-}

boards/gearup/airbrainh743/src/CMakeLists.txt

@@ -1,67 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 2026 PX4 Development Team. All rights reserved.
-#
-# Redistribution and use in source and binary forms, with or without
-# modification, are permitted provided that the following conditions
-# are met:
-#
-# 1. Redistributions of source code must retain the above copyright
-#    notice, this list of conditions and the following disclaimer.
-# 2. Redistributions in binary form must reproduce the above copyright
-#    notice, this list of conditions and the following disclaimer in
-#    the documentation and/or other materials provided with the
-#    distribution.
-# 3. Neither the name PX4 nor the names of its contributors may be
-#    used to endorse or promote products derived from this software
-#    without specific prior written permission.
-#
-# THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
-# "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
-# LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
-# FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
-# COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
-# INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
-# BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
-# OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
-# AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
-# LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
-# ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
-# POSSIBILITY OF SUCH DAMAGE.
-#
-############################################################################
-if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
-	add_library(drivers_board
-		bootloader_main.c
-		usb.c
-	)
-	target_link_libraries(drivers_board
-		PRIVATE
-			nuttx_arch
-			nuttx_drivers
-			bootloader
-	)
-	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
-
-else()
-	add_library(drivers_board
-		i2c.cpp
-		init.c
-		led.c
-		spi.cpp
-		timer_config.cpp
-		usb.c
-	)
-	add_dependencies(drivers_board arch_board_hw_info)
-
-	target_link_libraries(drivers_board
-		PRIVATE
-			arch_io_pins
-			arch_spi
-			arch_board_hw_info
-			drivers__led
-			nuttx_arch
-			nuttx_drivers
-			px4_layer
-	)
-endif()

boards/gearup/airbrainh743/src/board_config.h

@@ -1,223 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file board_config.h
- *
- * AirBrainH743 (Gear Up) internal definitions
- */
-
-#pragma once
-
-/****************************************************************************************************
- * Included Files
- ****************************************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-
-#include <stm32_gpio.h>
-
-/****************************************************************************************************
- * Definitions
- ****************************************************************************************************/
-
-/* Enable small flash logging support (for W25N NAND flash) */
-#ifdef CONFIG_MTD_W25N
-#  define BOARD_SMALL_FLASH_LOGGING 1
-#endif
-
-/* LEDs are active low
- * STAT RGB LED:
- *   PB15 = Blue
- *   PD11 = Green
- *   PD15 = Red
- * BAT LED (orange): hardwired to power input
- */
-#define GPIO_nLED_BLUE       /* PB15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN15)
-#define GPIO_nLED_GREEN      /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
-#define GPIO_nLED_RED        /* PD15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN15)
-
-#define BOARD_HAS_CONTROL_STATUS_LEDS   1
-#define BOARD_OVERLOAD_LED              LED_RED
-#define BOARD_ARMED_STATE_LED           LED_GREEN
-
-/*
- * ADC channels
- *
- * These are the channel numbers of the ADCs of the microcontroller that
- * can be used by the Px4 Firmware in the adc driver
- */
-
-/* ADC defines to be used in sensors.cpp to read from a particular channel */
-#define ADC1_CH(n)                  (n)
-
-/* Define GPIO pins used as ADC N.B. Channel numbers must match below */
-#define PX4_ADC_GPIO  \
-	/* PC4 */  GPIO_ADC12_INP4, \
-	/* PC5 */  GPIO_ADC12_INP8
-
-/* Define Channel numbers must match above GPIO pin IN(n)*/
-#define ADC_BATTERY_VOLTAGE_CHANNEL     /* PC4 */  ADC1_CH(4)
-#define ADC_BATTERY_CURRENT_CHANNEL     /* PC5 */  ADC1_CH(8)
-
-#define ADC_CHANNELS \
-	((1 << ADC_BATTERY_VOLTAGE_CHANNEL) | \
-	 (1 << ADC_BATTERY_CURRENT_CHANNEL))
-
-
-/* Define Battery Voltage Divider and A per V
- */
-#define BOARD_BATTERY1_V_DIV         (15.0f)
-#define BOARD_BATTERY1_A_PER_V       (101.0f)
-
-
-/* PWM
- * 8 PWM outputs for motors + 1 for LED strip
- */
-#define DIRECT_PWM_OUTPUT_CHANNELS   9
-#define DIRECT_INPUT_TIMER_CHANNELS  9
-
-#define BOARD_HAS_PWM  DIRECT_PWM_OUTPUT_CHANNELS
-
-
-/* Tone alarm output (directly connected to transistor switch of external buzzer)
- *
- * GPIO mode only (active buzzer) - passive buzzer with different tones is not
- * supported because PA15 can only use TIM2, which is also used for motor outputs
- * M7 (PB10, TIM2_CH3) and M8 (PB11, TIM2_CH4). The PWM tone alarm driver changes
- * the timer's prescaler and auto-reload registers (shared across all channels),
- * which would affect M7/M8 PWM frequency during tone playback.
- */
-#define GPIO_TONE_ALARM_IDLE    /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
-#define GPIO_TONE_ALARM_GPIO    /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN15)
-
-
-/* ICM42688P FSYNC - directly connected to IMU via GPIO (no timer).
- * The driver clears TMST_FSYNC_EN and FIFO_TMST_FSYNC_EN, so FSYNC is unused.
- * This GPIO is kept low to prevent spurious triggers.
- */
-#define GPIO_42688P_FSYNC       /* PC7 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN7)
-
-
-/* USB OTG FS
- *
- * PD0 VBUS sensing (active high input)
- */
-#define GPIO_OTGFS_VBUS         /* PD0 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTD|GPIO_PIN0)
-
-
-/* High-resolution timer */
-#define HRT_TIMER               8  /* use timer8 for the HRT */
-#define HRT_TIMER_CHANNEL       3  /* use capture/compare channel 3 */
-
-
-/*
- * Serial Port Mapping:
- *
- *   UART    Device    Pins          Function
- *   ----    ------    ----          --------
- *   USART1  /dev/ttyS0  PA9/PA10    Console/Debug
- *   USART2  /dev/ttyS1  PD5/PD6     RC Input
- *   USART3  /dev/ttyS2  PD8/PD9     TEL4 (DJI/MSP)
- *   UART4   /dev/ttyS3  PA0/PA1     TEL1
- *   UART5   /dev/ttyS4  PB13/PB12   TEL2
- *   UART7   /dev/ttyS5  PE8/PE7     TEL3 (ESC Telemetry)
- *   UART8   /dev/ttyS6  PE1/PE0     GPS1
- */
-
-/* RC Serial port - USART2 (PD5/PD6) */
-#define RC_SERIAL_PORT          "/dev/ttyS1"
-#define BOARD_SUPPORTS_RC_SERIAL_PORT_OUTPUT
-
-
-/* This board provides a DMA pool and APIs */
-#define BOARD_DMA_ALLOC_POOL_SIZE 5120
-
-/* This board provides the board_on_reset interface */
-#define BOARD_HAS_ON_RESET 1
-
-
-#define PX4_GPIO_INIT_LIST { \
-		PX4_ADC_GPIO, \
-		GPIO_nLED_RED, \
-		GPIO_nLED_GREEN, \
-		GPIO_nLED_BLUE, \
-		GPIO_TONE_ALARM_IDLE, \
-		GPIO_42688P_FSYNC, \
-	}
-
-#define BOARD_ENABLE_CONSOLE_BUFFER
-
-#define BOARD_NUM_IO_TIMERS 4
-
-
-__BEGIN_DECLS
-
-/****************************************************************************************************
- * Public Types
- ****************************************************************************************************/
-
-/****************************************************************************************************
- * Public data
- ****************************************************************************************************/
-
-#ifndef __ASSEMBLY__
-
-/****************************************************************************************************
- * Public Functions
- ****************************************************************************************************/
-
-/****************************************************************************
- * Name: stm32_spiinitialize
- *
- * Description:
- *   Called to configure SPI chip select GPIO pins for the board.
- *
- ****************************************************************************/
-
-extern void stm32_spiinitialize(void);
-
-extern void stm32_usbinitialize(void);
-
-extern void board_peripheral_reset(int ms);
-
-/* Parameters stored in internal flash */
-#define FLASH_BASED_PARAMS
-
-#include <px4_platform_common/board_common.h>
-
-#endif /* __ASSEMBLY__ */
-
-__END_DECLS

boards/gearup/airbrainh743/src/bootloader_main.c

@@ -1,75 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file bootloader_main.c
- *
- * AirBrainH743-specific early startup code for bootloader
- */
-
-#include "board_config.h"
-#include "bl.h"
-
-#include <nuttx/config.h>
-#include <nuttx/board.h>
-#include <chip.h>
-#include <stm32_uart.h>
-#include <arch/board/board.h>
-#include "arm_internal.h"
-#include <px4_platform_common/init.h>
-
-extern int sercon_main(int c, char **argv);
-
-__EXPORT void board_on_reset(int status) {}
-
-__EXPORT void stm32_boardinitialize(void)
-{
-	/* configure USB interfaces */
-	stm32_usbinitialize();
-}
-
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-	return 0;
-}
-
-void board_late_initialize(void)
-{
-	sercon_main(0, NULL);
-}
-
-extern void sys_tick_handler(void);
-void board_timerhook(void)
-{
-	sys_tick_handler();
-}

boards/gearup/airbrainh743/src/hw_config.h

@@ -1,85 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2026 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
-
-#define APP_LOAD_ADDRESS               0x08020000
-#define BOOTLOADER_DELAY               5000
-#define INTERFACE_USB                  1
-#define INTERFACE_USB_CONFIG           "/dev/ttyACM0"
-#define BOARD_VBUS                     MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
-
-#define INTERFACE_USART                1
-#define INTERFACE_USART_CONFIG         "/dev/ttyS0,57600"
-#define BOOT_DELAY_ADDRESS             0x000001a0
-#define BOARD_TYPE                     1209
-#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
-#define BOARD_FLASH_SECTORS            (14)
-#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
-
-#define OSC_FREQ                       8
-
-#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_BLUE
-#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_GREEN
-#define BOARD_LED_ON                   0
-#define BOARD_LED_OFF                  1
-
-#define SERIAL_BREAK_DETECT_DISABLED   1
-
-#if !defined(ARCH_SN_MAX_LENGTH)
-# define ARCH_SN_MAX_LENGTH 12
-#endif
-
-/* Reserve 128KB (1 sector) at end of flash for parameters */
-#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
-
-#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
-#  define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
-#endif
-
-#if !defined(USB_DATA_ALIGN)
-# define USB_DATA_ALIGN
-#endif
-
-#ifndef BOOT_DEVICES_SELECTION
-#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
-#endif
-
-#ifndef BOOT_DEVICES_FILTER_ONUSB
-#  define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
-#endif
-
-/* Boot device selection list*/
-#define USB0_DEV       0x01
-#define SERIAL0_DEV    0x02
-#define SERIAL1_DEV    0x04

boards/gearup/airbrainh743/src/i2c.cpp

@@ -1,47 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/i2c_hw_description.h>
-
-/*
- * I2C bus configuration for AirBrainH743
- *
- * I2C1: Internal bus - PB6 (SCL), PB7 (SDA)
- *       Devices: DPS310 baro @ 0x76, LIS2MDL compass @ 0x1E
- * I2C4: External bus - PD12 (SCL), PD13 (SDA)
- */
-
-constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
-	initI2CBusInternal(1),
-	initI2CBusExternal(4),
-};

boards/gearup/airbrainh743/src/init.c

@@ -1,249 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file init.c
- *
- * AirBrainH743-specific early startup code.
- */
-
-#include "board_config.h"
-
-#include <stdbool.h>
-#include <stdio.h>
-#include <string.h>
-#include <debug.h>
-#include <errno.h>
-#include <syslog.h>
-#include <fcntl.h>
-#include <unistd.h>
-
-#include <nuttx/config.h>
-#include <nuttx/board.h>
-#include <nuttx/spi/spi.h>
-#include <nuttx/mtd/mtd.h>
-#include <nuttx/fs/fs.h>
-#include <arch/board/board.h>
-#include "arm_internal.h"
-
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_board_led.h>
-#include <systemlib/px4_macros.h>
-#include <px4_arch/io_timer.h>
-#include <px4_platform_common/init.h>
-#include <px4_platform/gpio.h>
-#include <px4_platform/board_dma_alloc.h>
-
-#if defined(FLASH_BASED_PARAMS)
-#include <parameters/flashparams/flashfs.h>
-#endif
-
-#ifdef CONFIG_MTD_W25N
-extern FAR struct mtd_dev_s *w25n_initialize(FAR struct spi_dev_s *dev, uint32_t spi_devid);
-#endif
-
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-__END_DECLS
-
-/************************************************************************************
- * Name: board_peripheral_reset
- *
- * Description:
- *
- ************************************************************************************/
-__EXPORT void board_peripheral_reset(int ms)
-{
-	UNUSED(ms);
-}
-
-/************************************************************************************
- * Name: board_on_reset
- *
- * Description:
- * Optionally provided function called on entry to board_system_reset
- * It should perform any house keeping prior to the rest.
- *
- * status - 1 if resetting to boot loader
- *          0 if just resetting
- *
- ************************************************************************************/
-__EXPORT void board_on_reset(int status)
-{
-	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
-	}
-
-	if (status >= 0) {
-		up_mdelay(100);
-	}
-}
-
-/************************************************************************************
- * Name: stm32_boardinitialize
- *
- * Description:
- *   All STM32 architectures must provide the following entry point.
- *
- ************************************************************************************/
-__EXPORT void stm32_boardinitialize(void)
-{
-	/* Reset PWM first thing */
-	board_on_reset(-1);
-
-	/* configure LEDs */
-	board_autoled_initialize();
-
-	/* configure pins */
-	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
-	px4_gpio_init(gpio, arraySize(gpio));
-
-	/* configure USB interfaces */
-	stm32_usbinitialize();
-}
-
-/****************************************************************************
- * Name: board_app_initialize
- *
- * Description:
- *   Perform application specific initialization.
- *
- ****************************************************************************/
-__EXPORT int board_app_initialize(uintptr_t arg)
-{
-	/* Need hrt running before using the ADC */
-	px4_platform_init();
-
-	/* configure SPI interfaces */
-	stm32_spiinitialize();
-
-	/* configure the DMA allocator */
-	if (board_dma_alloc_init() < 0) {
-		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
-	}
-
-	/* initial LED state */
-	drv_led_start();
-	led_off(LED_RED);
-	led_off(LED_GREEN);
-	led_off(LED_BLUE);
-
-	if (board_hardfault_init(2, true) != 0) {
-		led_on(LED_RED);
-	}
-
-#ifdef CONFIG_MTD_W25N
-	/* Initialize W25N01GV NAND Flash on SPI2 */
-	struct spi_dev_s *spi2 = stm32_spibus_initialize(2);
-
-	if (!spi2) {
-		syslog(LOG_ERR, "[boot] FAILED to initialize SPI2 for W25N\n");
-		led_on(LED_RED);
-
-	} else {
-		struct mtd_dev_s *mtd = w25n_initialize(spi2, 0);
-
-		if (!mtd) {
-			syslog(LOG_ERR, "[boot] FAILED to initialize W25N MTD driver\n");
-			led_on(LED_RED);
-
-		} else {
-			int ret = register_mtddriver("/dev/mtd0", mtd, 0755, NULL);
-
-			if (ret < 0) {
-				syslog(LOG_ERR, "[boot] FAILED to register MTD driver: %d\n", ret);
-				led_on(LED_RED);
-
-			} else {
-				syslog(LOG_INFO, "[boot] W25N MTD registered at /dev/mtd0\n");
-
-#ifdef CONFIG_FS_LITTLEFS
-				ret = nx_mount("/dev/mtd0", CONFIG_BOARD_ROOT_PATH, "littlefs", 0, NULL);
-
-				if (ret == 0) {
-					/* Verify the filesystem is usable by creating a test file */
-					int fd = open(CONFIG_BOARD_ROOT_PATH "/.mount_test", O_CREAT | O_WRONLY | O_TRUNC);
-
-					if (fd >= 0) {
-						close(fd);
-						unlink(CONFIG_BOARD_ROOT_PATH "/.mount_test");
-
-					} else {
-						syslog(LOG_WARNING, "[boot] littlefs mounted but not usable, reformatting\n");
-						nx_umount2(CONFIG_BOARD_ROOT_PATH, 0);
-						ret = -1;
-					}
-				}
-
-				if (ret < 0) {
-					ret = nx_mount("/dev/mtd0", CONFIG_BOARD_ROOT_PATH, "littlefs", 0, "forceformat");
-				}
-
-				if (ret < 0) {
-					syslog(LOG_ERR, "[boot] FAILED to mount littlefs: %d\n", ret);
-					led_on(LED_RED);
-
-				} else {
-					syslog(LOG_INFO, "[boot] LittleFS mounted at %s\n", CONFIG_BOARD_ROOT_PATH);
-				}
-
-#endif
-			}
-		}
-	}
-
-#endif
-
-#if defined(FLASH_BASED_PARAMS)
-	/* Initialize parameters in internal flash (sector 15, 128KB at 0x081E0000) */
-	static sector_descriptor_t params_sector_map[] = {
-		{15, 128 * 1024, 0x081E0000},
-		{0, 0, 0},
-	};
-
-	int result = parameter_flashfs_init(params_sector_map, NULL, 0);
-
-	if (result != OK) {
-		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", result);
-		led_on(LED_RED);
-	}
-
-#endif
-
-	/* Configure the HW based on the manifest */
-	px4_platform_configure();
-
-	return OK;
-}

boards/gearup/airbrainh743/src/led.c

@@ -1,205 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2026 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_platform_common/px4_config.h>
-
-#include <stdbool.h>
-
-#include "chip.h"
-#include "stm32_gpio.h"
-#include "board_config.h"
-
-#include <nuttx/board.h>
-#include <arch/board/board.h>
-
-__BEGIN_DECLS
-extern void led_init(void);
-extern void led_on(int led);
-extern void led_off(int led);
-extern void led_toggle(int led);
-__END_DECLS
-
-#ifdef CONFIG_ARCH_LEDS
-static bool nuttx_owns_leds = true;
-static const uint8_t xlatpx4[] = {1, 2, 4, 0};
-#  define xlat(p) xlatpx4[(p)]
-static uint32_t g_ledmap[] = {
-	GPIO_nLED_RED,     // Indexed by BOARD_LED_RED
-	GPIO_nLED_GREEN,   // Indexed by BOARD_LED_GREEN
-	GPIO_nLED_BLUE,    // Indexed by BOARD_LED_BLUE
-};
-
-#else
-
-#  define xlat(p) (p)
-static uint32_t g_ledmap[] = {
-	GPIO_nLED_RED,     // LED_RED
-	GPIO_nLED_GREEN,   // LED_GREEN
-	GPIO_nLED_BLUE,    // LED_BLUE
-};
-
-#endif
-
-__EXPORT void led_init(void)
-{
-	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
-		if (g_ledmap[l] != 0) {
-			stm32_configgpio(g_ledmap[l]);
-		}
-	}
-}
-
-static void phy_set_led(int led, bool state)
-{
-	/* Drive Low to switch on (active low LEDs) */
-	if (led < (int)(sizeof(g_ledmap) / sizeof(g_ledmap[0])) && g_ledmap[led] != 0) {
-		stm32_gpiowrite(g_ledmap[led], !state);
-	}
-}
-
-static bool phy_get_led(int led)
-{
-	/* If Low it is on */
-	if (led < (int)(sizeof(g_ledmap) / sizeof(g_ledmap[0])) && g_ledmap[led] != 0) {
-		return !stm32_gpioread(g_ledmap[led]);
-	}
-
-	return false;
-}
-
-__EXPORT void led_on(int led)
-{
-	phy_set_led(xlat(led), true);
-}
-
-__EXPORT void led_off(int led)
-{
-	phy_set_led(xlat(led), false);
-}
-
-__EXPORT void led_toggle(int led)
-{
-	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
-}
-
-#ifdef CONFIG_ARCH_LEDS
-/****************************************************************************
- * Public Functions
- ****************************************************************************/
-
-void board_autoled_initialize(void)
-{
-	led_init();
-}
-
-void board_autoled_on(int led)
-{
-	if (!nuttx_owns_leds) {
-		return;
-	}
-
-	switch (led) {
-	default:
-		break;
-
-	case LED_HEAPALLOCATE:
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_IRQSENABLED:
-		phy_set_led(BOARD_LED_BLUE, false);
-		phy_set_led(BOARD_LED_GREEN, true);
-		break;
-
-	case LED_STACKCREATED:
-		phy_set_led(BOARD_LED_GREEN, true);
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_INIRQ:
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_SIGNAL:
-		phy_set_led(BOARD_LED_GREEN, true);
-		break;
-
-	case LED_ASSERTION:
-		phy_set_led(BOARD_LED_RED, true);
-		phy_set_led(BOARD_LED_BLUE, true);
-		break;
-
-	case LED_PANIC:
-		phy_set_led(BOARD_LED_RED, true);
-		break;
-
-	case LED_IDLE:
-		phy_set_led(BOARD_LED_RED, true);
-		break;
-	}
-}
-
-void board_autoled_off(int led)
-{
-	if (!nuttx_owns_leds) {
-		return;
-	}
-
-	switch (led) {
-	default:
-		break;
-
-	case LED_SIGNAL:
-		phy_set_led(BOARD_LED_GREEN, false);
-		break;
-
-	case LED_INIRQ:
-		phy_set_led(BOARD_LED_BLUE, false);
-		break;
-
-	case LED_ASSERTION:
-		phy_set_led(BOARD_LED_RED, false);
-		phy_set_led(BOARD_LED_BLUE, false);
-		break;
-
-	case LED_PANIC:
-		phy_set_led(BOARD_LED_RED, false);
-		break;
-
-	case LED_IDLE:
-		phy_set_led(BOARD_LED_RED, false);
-		break;
-	}
-}
-
-#endif /* CONFIG_ARCH_LEDS */

boards/gearup/airbrainh743/src/spi.cpp

@@ -1,58 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/spi_hw_description.h>
-#include <drivers/drv_sensor.h>
-#include <nuttx/spi/spi.h>
-
-/*
- * SPI bus configuration for AirBrainH743
- *
- * SPI1: IMU (Invensensev3/ICM42688P) - PA5 SCK, PA6 MISO, PA7 MOSI, PA3 CS
- * SPI2: W25N Flash - PD3 SCK, PB14 MISO, PC3 MOSI, PD4 CS
- * SPI4: External/AUX - PE12 SCK, PE5 MISO, PE6 MOSI
- */
-
-constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
-	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin3}),
-	}),
-	initSPIBus(SPI::Bus::SPI2, {
-		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin4}),  // W25N Flash
-	}),
-	initSPIBusExternal(SPI::Bus::SPI4, {
-		initSPIConfigExternal(SPI::CS{GPIO::PortB, GPIO::Pin3}), // User 1 GPIO as chip select
-	}),
-};
-
-static constexpr bool unused = validateSPIConfig(px4_spi_buses);

boards/gearup/airbrainh743/src/timer_config.cpp

@@ -1,74 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-#include <px4_arch/io_timer_hw_description.h>
-
-/*
- * PWM output configuration for AirBrainH743
- *
- * M1: PE14 (TIM1_CH4)
- * M2: PE13 (TIM1_CH3)
- * M3: PE11 (TIM1_CH2)
- * M4: PE9  (TIM1_CH1)
- * M5: PB0  (TIM3_CH3)
- * M6: PB1  (TIM3_CH4)
- * M7: PB10 (TIM2_CH3)
- * M8: PB11 (TIM2_CH4)
- * M9: PA2  (TIM5_CH3) - LED strip
- *
- * Note: TIM2 is shared with buzzer pin PA15 (TIM2_CH1). The buzzer is disabled
- * by default because the tone alarm driver would change the timer prescaler/ARR
- * which affects M7/M8 PWM frequency. See board_config.h for details.
- */
-
-constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOTimer(Timer::Timer1, DMA{DMA::Index1, DMA::Stream0, DMA::Channel6}),
-	initIOTimer(Timer::Timer3, DMA{DMA::Index1, DMA::Stream2, DMA::Channel5}),
-	initIOTimer(Timer::Timer2, DMA{DMA::Index1, DMA::Stream6, DMA::Channel3}),
-	initIOTimer(Timer::Timer5),
-};
-
-constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),  // M1
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),  // M2
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),  // M3
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),   // M4
-	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),   // M5
-	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),   // M6
-	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortB, GPIO::Pin10}),  // M7
-	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),  // M8
-	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortA, GPIO::Pin2}),   // M9 (LED)
-};
-
-constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
-	initIOTimerChannelMapping(io_timers, timer_io_channels);

boards/gearup/airbrainh743/src/usb.c

@@ -1,75 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 2026 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file usb.c
- *
- * Board-specific USB functions.
- */
-
-#include "board_config.h"
-#include <nuttx/usb/usbdev.h>
-#include <nuttx/usb/usbdev_trace.h>
-#include <stm32_otg.h>
-#include <debug.h>
-
-/************************************************************************************
- * Name: stm32_usbinitialize
- *
- * Description:
- *   Called to setup USB-related GPIO pins for the board.
- *
- ************************************************************************************/
-
-__EXPORT void stm32_usbinitialize(void)
-{
-	/* The OTG FS has an internal soft pull-up */
-
-	/* Configure the OTG FS VBUS sensing GPIO */
-#ifdef CONFIG_STM32H7_OTGFS
-	stm32_configgpio(GPIO_OTGFS_VBUS);
-#endif
-}
-
-/************************************************************************************
- * Name:  stm32_usbsuspend
- *
- * Description:
- *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
- *   used.  This function is called whenever the USB enters or leaves suspend mode.
- *
- ************************************************************************************/
-__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
-{
-	uinfo("resume: %d\n", resume);
-}

boards/holybro/kakutef7/nuttx-config/nsh/defconfig

@@ -16,36 +16,36 @@
 # CONFIG_NSH_DISABLE_CAT is not set
 # CONFIG_NSH_DISABLE_CD is not set
 # CONFIG_NSH_DISABLE_CP is not set
-CONFIG_NSH_DISABLE_DATE=y
-CONFIG_NSH_DISABLE_DF=y
+# CONFIG_NSH_DISABLE_DATE is not set
+# CONFIG_NSH_DISABLE_DF is not set
 # CONFIG_NSH_DISABLE_ECHO is not set
 # CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
 # CONFIG_NSH_DISABLE_EXIT is not set
-CONFIG_NSH_DISABLE_EXPORT=y
-CONFIG_NSH_DISABLE_FREE=y
-CONFIG_NSH_DISABLE_GET=y
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_GET is not set
 # CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
 # CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
 # CONFIG_NSH_DISABLE_LS is not set
-CONFIG_NSH_DISABLE_MKDIR=y
+# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
 # CONFIG_NSH_DISABLE_MOUNT is not set
 # CONFIG_NSH_DISABLE_MV is not set
-CONFIG_NSH_DISABLE_PRINTF=y
-CONFIG_NSH_DISABLE_PS=y
-CONFIG_NSH_DISABLE_PSSTACKUSAGE=y
-CONFIG_NSH_DISABLE_PWD=y
+# CONFIG_NSH_DISABLE_PRINTF is not set
+# CONFIG_NSH_DISABLE_PS is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE is not set
+# CONFIG_NSH_DISABLE_PWD is not set
 # CONFIG_NSH_DISABLE_RM is not set
-CONFIG_NSH_DISABLE_RMDIR=y
+# CONFIG_NSH_DISABLE_RMDIR is not set
 # CONFIG_NSH_DISABLE_SEMICOLON is not set
 # CONFIG_NSH_DISABLE_SET is not set
 # CONFIG_NSH_DISABLE_SLEEP is not set
 # CONFIG_NSH_DISABLE_SOURCE is not set
 # CONFIG_NSH_DISABLE_TEST is not set
-CONFIG_NSH_DISABLE_TIME=y
+# CONFIG_NSH_DISABLE_TIME is not set
 # CONFIG_NSH_DISABLE_UMOUNT is not set
 # CONFIG_NSH_DISABLE_UNSET is not set
 # CONFIG_NSH_DISABLE_USLEEP is not set

boards/holybro/kakuteh7v2/default.px4board

@@ -1,6 +1,5 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROOT_PATH="/fs/flash"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"

boards/holybro/kakuteh7v2/init/rc.board_defaults

@@ -38,6 +38,5 @@ param set-default SYS_DM_BACKEND 1
 # Ignore that there is no SD card
 param set-default COM_ARM_SDCARD 0
 
-# W25N NAND flash with littlefs (128 MB): larger buffer, auto-rotate
-set LOGGER_BUF 32
-param set-default SDLOG_DIRS_MAX 3
+# Disable logging
+param set-default SDLOG_BACKEND 0

boards/holybro/kakuteh7v2/nuttx-config/include/board.h

@@ -99,7 +99,7 @@
  *   PLL1_VCO = (8,000,000 / 1) * 120 = 960 MHz
  *
  *   PLL1P = PLL1_VCO/2  = 960 MHz / 2   = 480 MHz
- *   PLL1Q = PLL1_VCO/5  = 960 MHz / 5   = 192 MHz (SPI123 clock, max 200 MHz)
+ *   PLL1Q = PLL1_VCO/4  = 960 MHz / 4   = 240 MHz
  *   PLL1R = PLL1_VCO/8  = 960 MHz / 8   = 120 MHz
  */
 
@@ -111,12 +111,12 @@
 #define STM32_PLLCFG_PLL1M       RCC_PLLCKSELR_DIVM1(1)
 #define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(120)
 #define STM32_PLLCFG_PLL1P       RCC_PLL1DIVR_P1(2)
-#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(5)
+#define STM32_PLLCFG_PLL1Q       RCC_PLL1DIVR_Q1(4)
 #define STM32_PLLCFG_PLL1R       RCC_PLL1DIVR_R1(8)
 
 #define STM32_VCO1_FREQUENCY     ((STM32_HSE_FREQUENCY / 1) * 120)
 #define STM32_PLL1P_FREQUENCY    (STM32_VCO1_FREQUENCY / 2)
-#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 5)
+#define STM32_PLL1Q_FREQUENCY    (STM32_VCO1_FREQUENCY / 4)
 #define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
 
 /* PLL2 */
@@ -227,9 +227,9 @@
 
 #define STM32_RCC_D3CCIPR_I2C4SRC    RCC_D3CCIPR_I2C4SEL_HSI
 
-/* SPI123 clock source - PLL1Q = 192 MHz for W25N NAND flash (max 104 MHz) */
+/* SPI123 clock source */
 
-#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL1
+#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2
 
 /* SPI45 clock source */
 
@@ -281,17 +281,17 @@
 
 #define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 
-/* 25 MHz Max for now, 25 mHz = PLL1Q/(2*div), div = PLL1Q/(2*freq)
- * PLL1Q = 192 MHz, div = 192 / 50 = 3.84, round up to 4 for 24 MHz
+/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
+ * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
  */
 
 #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_MMCXFR_CLKDIV   (4 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
 #  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif
 #if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
-#  define STM32_SDMMC_SDXFR_CLKDIV    (4 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #else
 #  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
 #endif

boards/holybro/kakuteh7v2/nuttx-config/include/board_dma_map.h

@@ -33,10 +33,6 @@
 
 #pragma once
 
-/* SPI1 DMA for W25N NAND Flash */
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1 */
-
 #define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_1 /* DMA2 */
 #define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_1 /* DMA2 */
 

boards/holybro/kakuteh7v2/nuttx-config/nsh/defconfig

@@ -104,10 +104,6 @@ CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
 CONFIG_FS_PROCFS_MAX_TASKS=64
 CONFIG_FS_PROCFS_REGISTER=y
 CONFIG_FS_ROMFS=y
-CONFIG_FS_LITTLEFS=y
-CONFIG_FS_LITTLEFS_PROGRAM_SIZE_FACTOR=1
-CONFIG_FS_LITTLEFS_READ_SIZE_FACTOR=1
-CONFIG_FS_LITTLEFS_CACHE_SIZE_FACTOR=1
 CONFIG_GRAN=y
 CONFIG_GRAN_INTR=y
 CONFIG_HAVE_CXX=y
@@ -130,9 +126,7 @@ CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
 CONFIG_MTD_PROGMEM=y
-# CONFIG_MTD_RAMTRON is not set
-CONFIG_MTD_W25N=y
-CONFIG_W25N_SPIFREQUENCY=104000000
+CONFIG_MTD_RAMTRON=y
 CONFIG_NAME_MAX=40
 CONFIG_NSH_ARCHINIT=y
 CONFIG_NSH_ARGCAT=y
@@ -141,7 +135,7 @@ CONFIG_NSH_CMDPARMS=y
 CONFIG_NSH_CROMFSETC=y
 CONFIG_NSH_LINELEN=128
 CONFIG_NSH_MAXARGUMENTS=15
-# CONFIG_NSH_MMCSDSPIPORTNO is not set
+CONFIG_NSH_MMCSDSPIPORTNO=1
 CONFIG_NSH_NESTDEPTH=8
 CONFIG_NSH_QUOTE=y
 CONFIG_NSH_ROMFSETC=y
@@ -154,6 +148,9 @@ CONFIG_PREALLOC_TIMERS=50
 CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
+CONFIG_RAMTRON_SETSPEED=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -191,7 +188,6 @@ CONFIG_STM32H7_BKPSRAM=y
 CONFIG_STM32H7_DMA1=y
 CONFIG_STM32H7_DMA2=y
 CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_DMAMUX1=y
 CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
 CONFIG_STM32H7_I2C1=y
 CONFIG_STM32H7_I2C_DYNTIMEO=y
@@ -206,8 +202,6 @@ CONFIG_STM32H7_SDMMC1=y
 CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32H7_SPI1=y
-CONFIG_STM32H7_SPI1_DMA=y
-CONFIG_STM32H7_SPI1_DMA_BUFFER=4096
 CONFIG_STM32H7_SPI2=y
 CONFIG_STM32H7_SPI4=y
 CONFIG_STM32H7_SPI4_DMA=y

boards/holybro/kakuteh7v2/src/board_config.h

@@ -59,11 +59,6 @@
 #  define BOARD_HAS_NBAT_V              1
 #  define BOARD_HAS_NBAT_I              1
 
-/* Enable small flash logging support (for W25N NAND flash) */
-#ifdef CONFIG_MTD_W25N
-#  define BOARD_SMALL_FLASH_LOGGING 1
-#endif
-
 /* Holybro KakuteH7 GPIOs ************************************************************************/
 
 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */

boards/holybro/kakuteh7v2/src/init.c

@@ -59,8 +59,6 @@
 #include <nuttx/spi/spi.h>
 #include <nuttx/analog/adc.h>
 #include <nuttx/mm/gran.h>
-#include <nuttx/mtd/mtd.h>
-#include <nuttx/fs/fs.h>
 #include <chip.h>
 #include <stm32_uart.h>
 #include <arch/board/board.h>
@@ -81,10 +79,6 @@
 #  include <parameters/flashparams/flashfs.h>
 #endif
 
-#ifdef CONFIG_MTD_W25N
-extern FAR struct mtd_dev_s *w25n_initialize(FAR struct spi_dev_s *dev, uint32_t spi_devid);
-#endif
-
 
 /****************************************************************************
  * Pre-Processor Definitions
@@ -237,49 +231,14 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		led_on(LED_RED);
 	}
 
-#ifdef CONFIG_MTD_W25N
-	/* Initialize W25N01GV NAND Flash on SPI1 */
-	struct spi_dev_s *spi1 = stm32_spibus_initialize(1);
+	/* Get the SPI port for the microSD slot */
+	struct spi_dev_s *spi_dev = stm32_spibus_initialize(CONFIG_NSH_MMCSDSPIPORTNO);
 
-	if (!spi1) {
-		syslog(LOG_ERR, "[boot] FAILED to initialize SPI1 for W25N\n");
-		led_on(LED_RED);
-
-	} else {
-		struct mtd_dev_s *mtd = w25n_initialize(spi1, 0);
-
-		if (!mtd) {
-			syslog(LOG_ERR, "[boot] FAILED to initialize W25N MTD driver\n");
-			led_on(LED_RED);
-
-		} else {
-			int ret = register_mtddriver("/dev/mtd0", mtd, 0755, NULL);
-
-			if (ret < 0) {
-				syslog(LOG_ERR, "[boot] FAILED to register MTD driver: %d\n", ret);
-				led_on(LED_RED);
-
-			} else {
-				syslog(LOG_INFO, "[boot] W25N MTD registered at /dev/mtd0\n");
-
-#ifdef CONFIG_FS_LITTLEFS
-				ret = nx_mount("/dev/mtd0", CONFIG_BOARD_ROOT_PATH, "littlefs", 0, "autoformat");
-
-				if (ret < 0) {
-					syslog(LOG_ERR, "[boot] FAILED to mount littlefs: %d\n", ret);
-					led_on(LED_RED);
-
-				} else {
-					syslog(LOG_INFO, "[boot] LittleFS mounted at %s\n", CONFIG_BOARD_ROOT_PATH);
-				}
-
-#endif
-			}
-		}
+	if (!spi_dev) {
+		syslog(LOG_ERR, "[boot] FAILED to initialize SPI port %d\n", CONFIG_NSH_MMCSDSPIPORTNO);
+		led_on(LED_BLUE);
 	}
 
-#endif
-
 	up_udelay(20);
 
 

boards/holybro/kakuteh7v2/src/spi.cpp

@@ -37,7 +37,7 @@
 
 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortA, GPIO::Pin4})  // W25N01GV NAND Flash
+		initSPIDevice(SPIDEV_MMCSD(0), SPI::CS{GPIO::PortA, GPIO::Pin4})
 	}),
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortB, GPIO::Pin12}),

cmake/px4_add_common_flags.cmake

@@ -73,7 +73,7 @@ function(px4_add_common_flags)
 		-Warray-bounds
 		-Wcast-align
 		-Wdisabled-optimization
-		-Wdouble-promotion
+		# -Wdouble-promotion
 		-Wfatal-errors
 		-Wfloat-equal
 		-Wformat-security

docs/.vitepress/theme/style.css

@@ -160,44 +160,3 @@
  .vp-doc img {
   display: inline; /* block by default set by vitepress */
 }
-
-
-/**
- * Custom styles for wide pages
- * -------------------------------------------------------------------------- */
-
-.is-wide-page .content-container {
-  max-width: 100% !important;
-}
-@media (min-width: 1280px) {
-  .is-wide-page .content {
-    min-width: 940px !important;
-  }
-}
-
-/* Make page width larger  */
-@media (min-width: 1440px) {
-  .is-wide-page .VPSidebar {
-    padding-left: 32px !important;
-    width: var(--vp-sidebar-width) !important;
-  }
-  .is-wide-page .VPContent.has-sidebar {
-    padding-left: var(--vp-sidebar-width) !important;
-    padding-right: 0 !important;
-  }
-
-  .is-wide-page .VPNavBar.has-sidebar .title {
-    padding-left: 32px !important;
-  }
-
-  .is-wide-page .VPNavBar.has-sidebar .content {
-    padding-left: var(--vp-sidebar-width) !important;
-    padding-right: 32px !important;
-  }
-
-  /* Very hacky */
-  .is-wide-page .VPNavBar.has-sidebar #local-search {
-    z-index: 10;
-  }
-
-}

docs/en/SUMMARY.md

@@ -178,7 +178,6 @@
       - [CubePilot Cube Orange (CubePilot)](flight_controller/cubepilot_cube_orange.md)
       - [CubePilot Cube Yellow (CubePilot)](flight_controller/cubepilot_cube_yellow.md)
         - [Cube Wiring Quickstart](assembly/quick_start_cube.md)
-      - [Gear Up AirBrainH743](flight_controller/gearup_airbrainh743.md)
       - [Holybro Kakute H7v2](flight_controller/kakuteh7v2.md)
       - [Holybro Kakute H7mini](flight_controller/kakuteh7mini.md)
       - [Holybro Kakute H7](flight_controller/kakuteh7.md)

docs/en/config/safety.md

@@ -106,7 +106,7 @@ The settings and underlying parameters are shown below.
 
 | Setting                                                              | Parameter                                                                      | Description                                                                                                                     |
 | -------------------------------------------------------------------- | ------------------------------------------------------------------------------ | ------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None (default), `1`: Warning, `3`: Return mode. |
+| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None, `1`: Warning, `3`: Return mode (default). |
 | <a id="COM_FLT_TIME_MAX"></a> Maximum flight time failsafe level     | [COM_FLT_TIME_MAX](../advanced_config/parameter_reference.md#COM_FLT_TIME_MAX) | Maximum allowed flight time before Return mode will be engaged, in seconds. `-1`: Disabled (default).                           |
 
 ## Manual Control Loss Failsafe
@@ -283,7 +283,7 @@ Acting on a detected failure during flight is deactivated by default (enable by
 During **takeoff** the failure detector [attitude trigger](#attitude-trigger) invokes the [disarm action](#act_disarm) if the vehicle flips (disarm kills the motors but, unlike flight termination, will not launch a parachute or perform other failure actions).
 Note that this check is _always enabled on takeoff_, irrespective of the `CBRK_FLIGHTTERM` parameter.
 
-The failure detector is active in all vehicle types and modes, except for those where the vehicle is _expected_ to do flips (i.e. [Acro mode (MC)](../flight_modes_mc/acro.md), [Acro mode (FW)](../flight_modes_fw/acro.md), and [Manual (FW)](../flight_modes_fw/manual.md)).
+The failure detector is active in all vehicle types and modes, except for those where the vehicle is _expected_ to do flips (i.e. [Acro mode (MC)](../flight_modes_mc/altitude.md), [Acro mode (FW)](../flight_modes_fw/altitude.md), and [Manual (FW)](../flight_modes_fw/manual.md)).
 
 ### Attitude Trigger
 

docs/en/flight_controller/autopilot_manufacturer_supported.md

@@ -25,7 +25,6 @@ The boards in this category are:
 - [CubePilot Cube Orange+](../flight_controller/cubepilot_cube_orangeplus.md)
 - [CubePilot Cube Orange](../flight_controller/cubepilot_cube_orange.md)
 - [CubePilot Cube Yellow](../flight_controller/cubepilot_cube_yellow.md)
-- [Gear Up AirBrainH743](../flight_controller/gearup_airbrainh743.md)
 - [Holybro Kakute H7v2](../flight_controller/kakuteh7v2.md)
 - [Holybro Kakute H7mini](../flight_controller/kakuteh7mini.md)
 - [Holybro Kakute H7](../flight_controller/kakuteh7.md)

docs/en/flight_controller/gearup_airbrainh743.md

@@ -1,96 +0,0 @@
-# Gear Up AirBrainH743
-
-:::warning
-PX4 does not manufacture this (or any) autopilot.
-Contact the [manufacturer](https://takeyourgear.com/) for hardware support.
-:::
-
-::: info
-This flight controller is [manufacturer supported](../flight_controller/autopilot_manufacturer_supported.md).
-:::
-
-Purchase from [takeyourgear.com](https://takeyourgear.com/pages/products/airbrain).
-
-For more information and pinout, check the [GitHub documentation](https://github.com/GearUp-Company/AirBrainH743).
-
-## Key Features
-
-- MCU: STM32H743 32-bit processor running at 480 MHz
-- IMU: ICM42688P
-- Barometer: DPS310
-- Magnetometer: LIS2MDL (internal)
-- 128MB NAND Flash for logging (W25N)
-- 7x UARTs
-- I2C, SPI
-- 9x PWM Outputs (8 Motor outputs, 1 LED strip)
-- Battery input voltage: 3S-10S
-- Battery voltage/current monitoring
-- 5V@2A and 10V@2.5A BEC outputs
-- USB Type-C (IP68)
-- EMC and ESD protection
-
-## Connectors and Pins
-
-:::warning
-The pin order is different from the Pixhawk standard (compatible to the Betaflight standard).
-:::
-
-### UARTs
-
-Current UART configuration:
-
-| UART   | Device     | Function                     |
-| ------ | ---------- | ---------------------------- |
-| USART1 | /dev/ttyS0 | Console/Debug                |
-| USART2 | /dev/ttyS1 | RC Input                     |
-| USART3 | /dev/ttyS2 | TEL4 (DJI/MSP)               |
-| UART4  | /dev/ttyS3 | TEL1                         |
-| UART5  | /dev/ttyS4 | TEL2                         |
-| UART7  | /dev/ttyS5 | TEL3 (ESC Telemetry)         |
-| UART8  | /dev/ttyS6 | GPS1                         |
-
-### Motor/Servo Outputs
-
-| Connector | Pin | Function     |
-| ----------| ------------------ |
-| ESC       | M1  | Motor 1      |
-| ESC       | M2  | Motor 2      |
-| ESC       | M3  | Motor 3      |
-| ESC       | M4  | Motor 4      |
-| PWM       | M5  | Motor 5      |
-| PWM       | M6  | Motor 6      |
-| PWM       | M7  | Motor 7      |
-| PWM       | M8  | Motor 8      |
-| AUX       | M9  | LED/PWM/etc. |
-
-<a id="bootloader"></a>
-
-## PX4 Bootloader Update
-
-Before PX4 firmware can be installed, the _PX4 bootloader_ must be flashed.
-Download the [gearup_airbrainh743_bootloader.bin](https://github.com/PX4/PX4-Autopilot/blob/main/boards/gearup/airbrainh743/extras/gearup_airbrainh743_bootloader.bin) bootloader binary and read [this page](../advanced_config/bootloader_update_from_betaflight.md) for flashing instructions.
-
-## Building Firmware
-
-To [build PX4](../dev_setup/building_px4.md) for this target:
-
-```
-make gearup_airbrainh743_default
-```
-
-## Installing PX4 Firmware
-
-Firmware can be installed in any of the normal ways:
-
-- Build and upload the source:
-
-  ```
-  make gearup_airbrainh743_default upload
-  ```
-
-- [Load the firmware](../config/firmware.md) using _QGroundControl_.
-  You can use either pre-built firmware or your own custom firmware.
-
-### System Console
-
-UART1 (ttyS0) is configured for use as the [System Console](../debug/system_console.md).

docs/en/middleware/uxrce_dds.md

@@ -324,7 +324,7 @@ The configuration can be done using the [UXRCE-DDS parameters](../advanced_confi
   - [UXRCE_DDS_NS_IDX](../advanced_config/parameter_reference.md#UXRCE_DDS_NS_IDX) <Badge type="tip" text="PX4 v1.17" />: Index-based namespace definition.
     Setting this parameter to any value other than `-1` creates a namespace with the prefix `uav_` and the specified value, e.g. `uav_0`, `uav_1`, etc.
     See [namespace](#customizing-the-namespace) for methods to define richer or arbitrary namespaces.
-  - [`UXRCE_DDS_FLCTRL`](../advanced_config/parameter_reference.md#UXRCE_DDS_FLCTRL) <Badge type="tip" text="main (planned for: PX4 v1.18)" />: Serial port hardware flow control enable.
+  - [`UXRCE_DDS_FLCTRL`](../advanced_config/parameter_reference.md#UXRCE_DDS_FLCTRL) <Badge type="tip" text="PX4 main" />: Serial port hardware flow control enable.
     To use hardware flow control, a custom MicroXRCE Agent needs to be adopted. Please refer to [this PR](https://github.com/eProsima/Micro-XRCE-DDS-Agent/pull/407) for the required changes, cherry-pick them on top of the [agent version](#build-run-within-ros-2-workspace) you need to use and then run the agent with the additional `--flow-control` option.
 
 ::: info

docs/en/ros2/px4_ros2_control_interface.md

@@ -27,7 +27,7 @@ Unless the mode is safety-critical, requires strict timing or very high update r
 
 ::: tip
 If you want to use Python, check out the [examples in the repository](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/python).
-Not all classes have Python bindings yet — the [supported bindings are here](https://auterion.github.io/px4-ros2-interface-lib/python/index.html).
+Not all classes have Python bindings yet — the [supported bindings are here](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/px4_ros2_py/src/px4_ros2).
 You are welcome to add and contribute missing classes.
 :::
 

docs/en/sensor/sfxx_lidar.md

@@ -15,8 +15,6 @@ The following models are supported by PX4, and can be connected to either the I2
 | [LW20/C](https://lightware.co.za/products/lw20-c-100-m) | 100       | I2C bus           | Waterproofed (IP67) with servo for sense-and-avoid applications                            |
 | [SF30/D](https://lightwarelidar.com/shop/sf30-d-200-m/) | 200       | I2C bus           | Waterproofed (IP67)                                                                        |
 | [SF45/B](../sensor/sf45_rotating_lidar.md)              | 50        | Serial            | Rotary Lidar (Used for [Collision Prevention](../computer_vision/collision_prevention.md)) |
-| [GRF250](https://lightwarelidar.com/shop/grf-250/) | 250 | I2C | Gimbal Range Finder
-| [GRF500](https://lightwarelidar.com/shop/grf-500/) | 500 | I2C | Gimbal Range Finder
 
 ::: details Discontinued
 

docs/ko/config/safety.md

@@ -106,7 +106,7 @@ There are several other "battery related" failsafe mechanisms that may be config
 
 | 설정                                                                   | 매개변수                                                                                                                                          | 설명                                                                                                                                                                                                                                 |
 | -------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None (default), `1`: Warning, `3`: Return mode. |
+| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None, `1`: Warning, `3`: Return mode (default). |
 | <a id="COM_FLT_TIME_MAX"></a> Maximum flight time failsafe level     | [COM_FLT_TIME_MAX](../advanced_config/parameter_reference.md#COM_FLT_TIME_MAX) | Maximum allowed flight time before Return mode will be engaged, in seconds. `-1`: Disabled (default).                                                           |
 
 ## Manual Control Loss Failsafe

docs/uk/SUMMARY.md

@@ -93,7 +93,6 @@
     - [Настройка Зворотнього Переходу](config_vtol/vtol_back_transition_tuning.md)
     - [ВЗІП Датчик польоту](config_vtol/vtol_without_airspeed_sensor.md)
     - [VTOL Weather Vane](config_vtol/vtol_weathervane.md)
-    - [VTOL Ice Shedding](config_vtol/vtol_ice_shedding.md)
   - [Режим польоту](flight_modes_vtol/index.md)
     - [Mission Mode (VTOL)](flight_modes_vtol/mission.md)
     - [Return Mode (VTOL)](flight_modes_vtol/return.md)
@@ -362,8 +361,6 @@
 
     - [Супутниковий зв'язок (Iridium/RockBlock)](advanced_features/satcom_roadblock.md)
 
-    - [Analog Video Transmitters](vtx/index.md)
-
   - [Енергетичні системи](power_systems/index.md)
     - [Налаштування оцінки батареї](config/battery.md)
     - [Battery Chemistry Overview](power_systems/battery_chemistry.md)

docs/uk/config/safety.md

@@ -104,7 +104,7 @@ There are several other "battery related" failsafe mechanisms that may be config
 
 | Налаштування                                                         | Параметр                                                                                                                                      | Опис                                                                                                                                                                                                                               |
 | -------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None (default), `1`: Warning, `3`: Return mode. |
+| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None, `1`: Warning, `3`: Return mode (default). |
 | <a id="COM_FLT_TIME_MAX"></a> Maximum flight time failsafe level     | [COM_FLT_TIME_MAX](../advanced_config/parameter_reference.md#COM_FLT_TIME_MAX) | Maximum allowed flight time before Return mode will be engaged, in seconds. `-1`: Disabled (default).                                                           |
 
 ## Manual Control Loss Failsafe

docs/uk/config_vtol/index.md

@@ -9,4 +9,3 @@ As part of this you should calibrate the [Airspeed sensor](../config/airspeed.md
 - [Back-transition Tuning](../config_vtol/vtol_back_transition_tuning.md)
 - [VTOL w/o Airspeed Sensor](../config_vtol/vtol_without_airspeed_sensor.md)
 - [VTOL Weather Vane](../config_vtol/vtol_weathervane.md)
-- [Ice Shedding](../config_vtol/vtol_ice_shedding.md)

docs/uk/config_vtol/vtol_ice_shedding.md

@@ -1,22 +0,0 @@
-# VTOL Ice Shedding feature
-
-## Загальний огляд
-
-Ice shedding is a feature that periodically spins unused motors in fixed-wing
-flight, to break off any ice that is starting to build up in the motors while it
-is still feasible to do so.
-
-It is configured by the paramter `CA_ICE_PERIOD`. When it is 0, the feature is
-disabled, when it is above 0, it sets the duration of the ice shedding cycle in
-seconds. In each cycle, the rotors are spun for two seconds at a motor output of
-0.01.
-
-:::warning
-When enabling the feature on a new airframe, there is the risk of producing
-torques that disturb the fixed-wing rate controller. To mitigate this risk:
-
-- Set your `PWM_MIN` values correctly, so that the motor output 0.01 actually
-  produces 1% thrust
-- Be prepared to take control and switch back to multicopter
-
-:::

docs/uk/contribute/code.md

@@ -34,7 +34,7 @@ Not all PX4 source code matches the style guide, but any _new code_ that you wri
 
 ### Довжина рядка
 
-- Maximum line length is 140 characters.
+- Максимальна довжина рядка становить 120 символів.
 
 ### Розширення файлів
 

docs/uk/modules/hello_sky.md

@@ -89,19 +89,15 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too
      ```
 
      :::tip
-
      The main function must be named `<module_name>_main` and exported from the module as shown.
 
-
 :::
 
      :::tip
-
      `PX4_INFO` is the equivalent of `printf` for the PX4 shell (included from **px4_platform_common/log.h**).
      There are different log levels: `PX4_INFO`, `PX4_WARN`, `PX4_ERR`, `PX4_DEBUG`.
      Warnings and errors are additionally added to the [ULog](../dev_log/ulog_file_format.md) and shown on [Flight Review](https://logs.px4.io/).
 
-
 :::
 
 3. Create and open a new _cmake_ definition file named **CMakeLists.txt**.
@@ -170,7 +166,7 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too
 4. Create and open a new _Kconfig_ definition file named **Kconfig** and define your symbol for naming (see [Kconfig naming convention](../hardware/porting_guide_config.md#px4-kconfig-symbol-naming-convention)).
    Скопіюйте текст нижче:
 
-   ```text
+   ```
    menuconfig EXAMPLES_PX4_SIMPLE_APP
    	bool "px4_simple_app"
    	default n

docs/uk/neural_networks/mc_neural_network_control.md

@@ -22,11 +22,7 @@ If not, there are other possible NN frameworks, such as [Eigen](https://eigen.tu
 This document explains how you can include the module in your PX4 build, and provides a broad overview of how it works.
 The other documents in the section provide more information about the integration, allowing you to replace the NN with a version trained on different data, or even to replace the TLFM library altogether.
 
-:::tip
-For more information, see the Masters thesis from which this module was created: [Deep Reinforcement Learning for Embedded Control Policies for Aerial Vehicles](https://nva.sikt.no/registration/019b26689144-efeebae8-84d6-4413-ad7f-9aceb4ff7374).
-
-In addition, the (Norwegian) website [A Neural Network Mode for PX4 on Embedded Flight Controllers](https://ntnu-arl.github.io/px4-nns/) has a youtube video and a workshop paper .
-:::
+If you are looking for more resources to learn about the module, a website has been created with links to a youtube video and a workshop paper. A full master's thesis will be added later. [A Neural Network Mode for PX4 on Embedded Flight Controllers](https://ntnu-arl.github.io/px4-nns/).
 
 ## Neural Network PX4 Firmware
 

docs/uk/neural_networks/raptor.md

@@ -35,7 +35,7 @@ The method we developed for training the RAPTOR policy is called Meta-Imitation
 
 You can torture test the RAPTOR policy in your browser at [https://raptor.rl.tools](https://raptor.rl.tools) or in the embedded app here:
 
-<iframe src="https://raptor.rl.tools?raptor=false" width="100%" height="1000" style="border: none;"></iframe>
+<iframe src="https://rl-tools.github.io/raptor.rl.tools?raptor=false" width="100%" height="1000" style="border: none;"></iframe>
 
 For more information please refer to the paper at [https://arxiv.org/abs/2509.11481](https://arxiv.org/abs/2509.11481).
 

docs/uk/peripherals/adsb_flarm.md

@@ -11,7 +11,7 @@ PX4 traffic avoidance works with ADS-B or FLARM products that supply transponder
 Було протестовано з наступними пристроями:
 
 - [PingRX ADS-B Receiver](https://uavionix.com/product/pingrx-pro/) (uAvionix)
-- [FLARM](https://www.flarm.com/en/drones/)
+- [FLARM](https://flarm.com/products/uav/atom-uav-flarm-for-drones/) <!-- I think originally https://flarm.com/products/powerflarm/uav/ -->
 
 ## Налаштування програмного забезпечення
 

docs/uk/ros2/px4_ros2_control_interface.md

@@ -14,7 +14,7 @@ At the time of writing, parts of the PX4 ROS 2 Control Interface are experimenta
 
 :::
 
-The [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) is a C++ library (with Python bindings) that simplifies controlling PX4 from ROS 2.
+[PX4 ROS 2 Interface бібліотека](../ros2/px4_ros2_interface_lib.md) - це бібліотека C++++, яка спрощує контроль PX4 з ROS 2.
 
 Розробники використовують бібліотеку для створення і динамічної реєстрації режимів, написаних за допомогою ROS 2.
 Ці режими динамічно реєструються в PX4 і здаються частиною PX4 для наземної станції або іншої зовнішньої системи.
@@ -26,12 +26,6 @@ The [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) is a C++ li
 PX4 ROS 2 modes are easier to implement and maintain than PX4 internal modes, and provide more resources for developers in terms of processing power and pre-existing libraries.
 Unless the mode is safety-critical, requires strict timing or very high update rates, or your vehicle doesn't have a companion computer, you should [consider using PX4 ROS 2 modes in preference to PX4 internal modes](../concept/flight_modes.md#internal-vs-external-modes).
 
-:::tip
-If you want to use Python, check out the [examples in the repository](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/python).
-Not all classes have Python bindings yet — the [supported bindings are here](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/px4_ros2_py/src/px4_ros2).
-You are welcome to add and contribute missing classes.
-:::
-
 ## Загальний огляд
 
 Ця діаграма надає концептуального уявлення про те, як режими інтерфейсу і режими керування будуть взаємодіяти з PX4.

docs/uk/ros2/px4_ros2_interface_lib.md

@@ -7,7 +7,7 @@
 На момент написання цієї статті, деякі частини бібліотеки інтерфейсу PX4 ROS 2 є експериментальними і, отже, можуть бути змінені.
 :::
 
-The [PX4 ROS 2 Interface Library](https://github.com/Auterion/px4-ros2-interface-lib) is a C++ library (with Python bindings) that simplifies controlling and interacting with PX4 from ROS 2.
+[PX4 ROS 2 Інтерфейс бібліотеки](https://github.com/Auterion/px4-ros2-interface-lib) є бібліотекою C+++, яка спрощує контроль і взаємодіє з PX4 з ROS 2.
 
 The library provides three high-level interfaces for developers:
 

docs/uk/vtx/index.md

@@ -1,287 +0,0 @@
-# Analog Video Transmitters
-
-Analog Video Transmitters (VTX) can be controlled by PX4 via a half-duplex UART connection implementing the SmartAudio v1, v2, and v2.1 and Tramp protocols.
-
-The protocols allow writing and reading:
-
-- device status.
-- transmission frequency in MHz or via band and channel index.
-- transmission power in dBm or mW.
-- operation modes.
-
-VTX settings are controlled by parameters and optionally via RC AUX channels or CRSF MSP commands.
-The driver stores frequency and power tables that map band/channel indices to actual transmission values.
-Configuration is device-specific and set up using the command line interface.
-
-## Початок роботи
-
-Connect the SmartAudio or Tramp pin of the VTX to the TX pin of a free serial port on the flight controller.
-Then set the following parameters:
-
-- `VTX_SER_CFG`: Select the serial port used for VTX communication.
-- `VTX_DEVICE`: Selects the VTX device (generic SmartAudio/Tramp or a specific device).
-
-Note that since the VTX communication is half-duplex, you can, for example, use the single-pin Radio Controller port for the VTX and use a full duplex TELEM port for CRSF communication.
-
-You should now be able to see the VTX device in the driver status:
-
-```
-nsh> vtx status
-INFO  [vtx] UART device: /dev/ttyS4
-INFO  [vtx] VTX table "UNINITIALIZED":
-INFO  [vtx] Power levels:
-INFO  [vtx] RC mapping: Disabled
-INFO  [vtx] Parameters:
-INFO  [vtx]   band: 1
-INFO  [vtx]   channel: 1
-INFO  [vtx]   frequency: 0 MHz
-INFO  [vtx]   power level: 1
-INFO  [vtx]   power: 0 = 0 mW
-INFO  [vtx]   pit mode: off
-INFO  [vtx] SmartAudio v2:
-INFO  [vtx]   band: 1
-INFO  [vtx]   channel: 1
-INFO  [vtx]   frequency: 6110 MHz
-INFO  [vtx]   power level: 1
-INFO  [vtx]   power: 0 mW
-INFO  [vtx]   pit mode: on
-INFO  [vtx]   lock: unlocked
-```
-
-:::warning
-Without a configured power table, power mappings are unknown and default to 0 mW.
-Some VTX devices enter pit mode when power is set to 0, regardless of the `VTX_PIT_MODE` parameter.
-:::
-
-## VTX Table Configuration
-
-The VTX table stores frequency and power mappings for your specific device.
-
-The manufacturer usually provides this information in the form of a JSON file that can be translated into a [Betaflight CLI command set](https://www.betaflight.com/docs/development/VTX#vtx-table) that this driver implements for compatibility.
-
-### Power Level Configuration
-
-```
-# Set table name ≤16 characters
-vtxtable name "Peak THOR T67"
-
-# Set the power values that are sent to the VTX for each power level index
-# Note: SmartAudio v1 and v2 use index values!
-vtxtable powervalues 0 1 2 3 4
-# Note: SmartAudio v2.1 uses dBm values instead!
-#       vtxtable powervalues 14 23 27 30 35
-# Note: Tramp uses mW values instead!
-#       vtxtable powervalues 25 200 500 1000 3000
-
-# Set the corresponding power labels for each power level index ≤4 characters.
-# These are used for status reporting.
-vtxtable powerlabels 25 200 500 1W 3W
-
-# Set number of power levels
-vtxtable powerlevels 5
-
-# Save configuration
-vtxtable save
-```
-
-This will create a VTX table with 5 power levels.
-
-```nsh> vtxtable status
-INFO  [vtxtable] VTX table "Peak THOR T67":
-INFO  [vtxtable] Power levels:
-INFO  [vtxtable]   1:  0 = 25
-INFO  [vtxtable]   2:  1 = 200
-INFO  [vtxtable]   3:  2 = 500
-INFO  [vtxtable]   4:  3 = 1W
-INFO  [vtxtable]   5:  4 = 3W
-```
-
-### Frequency Table Configuration
-
-```
-# Set the name of each band and the frequencies of each channel
-vtxtable band 1 BAND_A A FACTORY 6110 6130 6150 6170 6190 6210 6230 6250
-vtxtable band 2 BAND_B B FACTORY 6270 6290 6310 6330 6350 6370 6390 6410
-vtxtable band 3 BAND_E E FACTORY 6430 6450 6470 6490 6510 6530 6550 6570
-vtxtable band 4 BAND_F F FACTORY 6590 6610 6630 6650 6670 6690 6710 6730
-vtxtable band 5 BAND_R R FACTORY 6750 6770 6790 6810 6830 6850 6870 6890
-vtxtable band 6 BAND_P P FACTORY 6910 6930 6950 6970 6990 7010 7030 7050
-vtxtable band 7 BAND_H H FACTORY 7070 7090 7110 7130 7150 7170 7190 7210
-vtxtable band 8 BAND_U U FACTORY 6115 6265 6425 6585 6745 6905 7065 7185
-
-# Set number of bands and channels
-vtxtable bands 8
-vtxtable channels 8
-
-# Save configuration
-vtxtable save
-```
-
-This will create a VTX table with 8 bands and 8 channels.
-Note that FACTORY sends the band and channel indexes to the VTX device and they use their internal frequency mapping. In this mode the frequency is just for indication purposes.
-In contrast, CUSTOM would send the actual frequency values to the VTX device, but not all devices support this mode.
-Setting a frequency to zero will skip setting it.
-
-```
-nsh> vtxtable status
-INFO  [vtxtable] VTX table 8x8: Peak THOR T67
-INFO  [vtxtable]  A: BAND_A          = 6110 6130 6150 6170 6190 6210 6230 6250
-INFO  [vtxtable]  B: BAND_B          = 6270 6290 6310 6330 6350 6370 6390 6410
-INFO  [vtxtable]  E: BAND_E          = 6430 6450 6470 6490 6510 6530 6550 6570
-INFO  [vtxtable]  F: BAND_F          = 6590 6610 6630 6650 6670 6690 6710 6730
-INFO  [vtxtable]  R: BAND_R          = 6750 6770 6790 6810 6830 6850 6870 6890
-INFO  [vtxtable]  P: BAND_P          = 6910 6930 6950 6970 6990 7010 7030 7050
-INFO  [vtxtable]  H: BAND_H          = 7070 7090 7110 7130 7150 7170 7190 7210
-INFO  [vtxtable]  U: BAND_U          = 6115 6265 6425 6585 6745 6905 7065 7185
-```
-
-### Table Constraints
-
-Maximum table dimensions:
-
-- ≤24 bands each with ≤16 channels and ≤32GHz frequency values.
-- ≤16 power levels.
-- ≤16 characters table name.
-- ≤12 characters band name and 1 character band letter.
-- ≤4 characters power label length (to support "2.5W").
-
-## AUX Channel Mapping
-
-The AUX mapping feature allows you to control VTX settings using RC AUX channels.
-Each mapping entry defines an AUX channel range that triggers a specific VTX configuration.
-
-To enable AUX mapping, set `VTX_MAP_CONFIG` to one of the following values:
-
-- `0`: Disabled
-- `1`: Disabled (reserved for CRSF MSP integration)
-- `2`: Map AUX channels to power level control only
-- `3`: Map AUX channels to band and channel control only
-- `4`: Map AUX channels to all settings (power, band, and channel)
-
-### Configuring AUX Map Entries
-
-Use the following command format to add mapping entries:
-
-```
-vtxtable <index> <aux_channel> <band> <channel> <power> <start_pwm> <end_pwm>
-```
-
-Параметри:
-
-- `index`: Map entry index (0-159)
-- `aux_channel`: AUX channel number (3-19, where AUX1=3)
-- `band`: Target band (1-24, or 0 to leave unchanged)
-- `channel`: Target channel (1-16, or 0 to leave unchanged)
-- `power`: Power level (1-16, 0 to leave unchanged, or -1 for pit mode)
-- `start_pwm`: Start of PWM range in microseconds (typically 900-2100)
-- `end_pwm`: End of PWM range in microseconds (typically 900-2100)
-
-:::info
-AUX channel numbering starts from 3 (AUX1=channel 3) to account for the first four RC channels 0-3 used for flight control.
-:::
-
-Example configuration for a 6-position dial controlling band/channel on AUX4 (channel 7):
-
-```
-vtx  0 7 7 1 0  900 1025
-vtx  1 7 7 2 0 1025 1100
-vtx  2 7 7 4 0 1100 1175
-vtx  3 7 7 6 0 1175 1225
-vtx  4 7 7 8 0 1225 1300
-vtx  5 7 3 8 0 1300 2100
-```
-
-Example configuration for power control on AUX3 (channel 6):
-
-```
-vtxtable 16 6 0 0 -1  900 1250
-vtxtable 17 6 0 0  1 1250 1525
-vtxtable 18 6 0 0  2 1525 1650
-vtxtable 19 6 0 0  3 1650 1875
-vtxtable 20 6 0 0  4 1875 2010
-```
-
-Save the configuration with:
-
-```
-vtxtable save
-```
-
-The map status can be verified with `vtxtable status`.
-
-## CRSF MSP Integration
-
-When using a CRSF receiver with MSP support, you can control VTX settings directly from your transmitter using MSP commands sent over the CRSF link.
-This feature must be enabled at compile time with the `VTX_CRSF_MSP_SUPPORT` Kconfig option.
-
-To enable CRSF MSP control, set `VTX_MAP_CONFIG` to one of:
-
-- `1`: MSP controls both frequency (band/channel) and power
-- `2`: MSP controls frequency (band/channel) only, AUX controls power
-- `3`: MSP controls power only, AUX controls band/channel
-
-When MSP integration is active, the driver responds to `MSP_SET_VTX_CONFIG` (0x59) commands.
-The transmitter can send band, channel, frequency, power level, and pit mode settings via MSP, which are automatically mapped to the corresponding PX4 parameters.
-
-:::tip
-The MSP integration allows seamless VTX control from transmitters that support VTX configuration via Lua scripts or built-in VTX menus without requiring additional hardware switches.
-:::
-
-## Build Configuration
-
-Both the VTX driver and VTX table support are configured via Kconfig options.
-
-Key configuration options:
-
-- `VTX_CRSF_MSP_SUPPORT`: Enables CRSF MSP command support (default: disabled)
-- `VTXTABLE_CONFIG_FILE`: File path for persistent configuration (default: `/fs/microsd/vtx_config`)
-- `VTXTABLE_AUX_MAP`: Enables AUX channel mapping (default: disabled)
-
-## Parameter Reference
-
-### VTX Settings Parameters
-
-- `VTX_BAND` (0-23): Frequency band selection (Band 1-24 in UI)
-- `VTX_CHANNEL` (0-15): Channel within band (Channel 1-16 in UI)
-- `VTX_FREQUENCY` (0-32000): Direct frequency in MHz (overrides band/channel when non-zero)
-- `VTX_POWER` (0-15): Power level (Level 1-16 in UI, as configured in table)
-- `VTX_PIT_MODE` (boolean): Pit mode for reduced power (default: disabled)
-
-### Налаштування параметрів
-
-- `VTX_SER_CFG`: Serial port assignment for VTX communication
-- `VTX_MAP_CONFIG`: Controls how VTX settings are mapped:
-  - Without `VTX_CRSF_MSP_SUPPORT`:
-    - `0`: Disabled
-    - `1`: Disabled
-    - `2`: AUX controls power only
-    - `3`: AUX controls band/channel only
-    - `4`: AUX controls both power and band/channel
-  - With `VTX_CRSF_MSP_SUPPORT`:
-    - `0`: Disabled
-    - `1`: MSP controls both frequency and power
-    - `2`: MSP controls frequency, AUX controls power
-    - `3`: MSP controls power, AUX controls band/channel
-    - `4`: Not used with MSP support
-- `VTX_DEVICE`: Device-specific configuration (see below)
-
-## Device-Specific Configuration
-
-The `VTX_DEVICE` parameter allows device-specific workarounds.
-It encodes both the protocol type and device variant:
-
-- Low byte (bits 0-7): Protocol selection
-  - `0`: SmartAudio (default)
-  - `1`: Tramp
-- High byte (bits 8-15): Device-specific variant
-  - `0`: Generic device
-  - `20`: Peak THOR T67
-  - `40`: Rush Max Solo
-
-### Known Device Workarounds
-
-**Peak THOR T67** (`VTX_DEVICE` = 5120):
-This device incorrectly reports pit mode status but otherwise functions normally.
-The driver applies a workaround to override the reported status with the actual configured state.
-
-For generic devices, use `VTX_DEVICE` = 0 (SmartAudio) or `VTX_DEVICE` = 1 (Tramp).

docs/zh/SUMMARY.md

@@ -93,7 +93,6 @@
     - [VTOL后转换调参](config_vtol/vtol_back_transition_tuning.md)
     - [没有空速传感器的VTOL  ](config_vtol/vtol_without_airspeed_sensor.md)
     - [垂直起降风向仪](config_vtol/vtol_weathervane.md)
-    - [VTOL Ice Shedding](config_vtol/vtol_ice_shedding.md)
   - [飞行模式](flight_modes_vtol/index.md)
     - [Mission Mode (VTOL)](flight_modes_vtol/mission.md)
     - [Return Mode (VTOL)](flight_modes_vtol/return.md)
@@ -362,8 +361,6 @@
 
     - [Satellite Comms (Iridium/RockBlock)](advanced_features/satcom_roadblock.md)
 
-    - [Analog Video Transmitters](vtx/index.md)
-
   - [Power Systems](power_systems/index.md)
     - [Battery Estimation Tuning](config/battery.md)
     - [Battery Chemistry Overview](power_systems/battery_chemistry.md)

docs/zh/config/safety.md

@@ -106,7 +106,7 @@ The settings and underlying parameters are shown below.
 
 | 设置                                                                   | 参数                                                                                                                                            | 描述                                                                                                                                                                                                                                 |
 | -------------------------------------------------------------------- | --------------------------------------------------------------------------------------------------------------------------------------------- | ---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------- |
-| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None (default), `1`: Warning, `3`: Return mode. |
+| <a id="COM_FLTT_LOW_ACT"></a> Low flight time for safe return action | [COM_FLTT_LOW_ACT](../advanced_config/parameter_reference.md#COM_FLTT_LOW_ACT) | Action when return mode can only just reach safety with remaining battery. `0`: None, `1`: Warning, `3`: Return mode (default). |
 | <a id="COM_FLT_TIME_MAX"></a> Maximum flight time failsafe level     | [COM_FLT_TIME_MAX](../advanced_config/parameter_reference.md#COM_FLT_TIME_MAX) | Maximum allowed flight time before Return mode will be engaged, in seconds. `-1`: Disabled (default).                                                           |
 
 ## Manual Control Loss Failsafe

docs/zh/config_vtol/index.md

@@ -9,4 +9,3 @@ Then perform VTOL-specific configuration and tuning:
 - [Back-transition Tuning](../config_vtol/vtol_back_transition_tuning.md)
 - [VTOL w/o Airspeed Sensor](../config_vtol/vtol_without_airspeed_sensor.md)
 - [VTOL Weather Vane](../config_vtol/vtol_weathervane.md)
-- [Ice Shedding](../config_vtol/vtol_ice_shedding.md)

docs/zh/config_vtol/vtol_ice_shedding.md

@@ -1,22 +0,0 @@
-# VTOL Ice Shedding feature
-
-## 综述
-
-Ice shedding is a feature that periodically spins unused motors in fixed-wing
-flight, to break off any ice that is starting to build up in the motors while it
-is still feasible to do so.
-
-It is configured by the paramter `CA_ICE_PERIOD`. When it is 0, the feature is
-disabled, when it is above 0, it sets the duration of the ice shedding cycle in
-seconds. In each cycle, the rotors are spun for two seconds at a motor output of
-0.01.
-
-:::warning
-When enabling the feature on a new airframe, there is the risk of producing
-torques that disturb the fixed-wing rate controller. To mitigate this risk:
-
-- Set your `PWM_MIN` values correctly, so that the motor output 0.01 actually
-  produces 1% thrust
-- Be prepared to take control and switch back to multicopter
-
-:::

docs/zh/contribute/code.md

@@ -34,7 +34,7 @@ If you update an existing file you are not required to make the whole file compl
 
 ### Line Length
 
-- Maximum line length is 140 characters.
+- Maximum line length is 120 characters.
 
 ### File Extensions
 

docs/zh/modules/hello_sky.md

@@ -89,19 +89,15 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too
      ```
 
      :::tip
-
      The main function must be named `<module_name>_main` and exported from the module as shown.
 
-
 :::
 
      :::tip
-
      `PX4_INFO` is the equivalent of `printf` for the PX4 shell (included from **px4_platform_common/log.h**).
      There are different log levels: `PX4_INFO`, `PX4_WARN`, `PX4_ERR`, `PX4_DEBUG`.
      Warnings and errors are additionally added to the [ULog](../dev_log/ulog_file_format.md) and shown on [Flight Review](https://logs.px4.io/).
 
-
 :::
 
 3. Create and open a new _cmake_ definition file named **CMakeLists.txt**.
@@ -170,7 +166,7 @@ This consists of a single _C_ file and a _cmake_ definition (which tells the too
 4. Create and open a new _Kconfig_ definition file named **Kconfig** and define your symbol for naming (see [Kconfig naming convention](../hardware/porting_guide_config.md#px4-kconfig-symbol-naming-convention)).
    复制下面的文本：
 
-   ```text
+   ```
    menuconfig EXAMPLES_PX4_SIMPLE_APP
    	bool "px4_simple_app"
    	default n

docs/zh/modules/modules_communication.md

@@ -35,7 +35,7 @@ Source: [modules/mavlink](https://github.com/PX4/PX4-Autopilot/tree/main/src/mod
 This module implements the MAVLink protocol, which can be used on a Serial link or UDP network connection. It communicates with the system via uORB: some messages are directly handled in the module (eg. mission protocol), others are published via uORB (eg. vehicle_command).
 
 流（Stream）被用来以特定速率发送周期性的消息，例如飞机姿态信息。
-When starting the mavlink instance, a mode can be specified, which defines the set of enabled streams with their rates.
+Streams are used to send periodic messages with a specific rate, such as the vehicle attitude. When starting the mavlink instance, a mode can be specified, which defines the set of enabled streams with their rates. For a running instance, streams can be configured via <code>mavlink stream</code> command.
 For a running instance, streams can be configured via `mavlink stream` command.
 
 可以存在多个该模块的实例，每个实例连接到一个串口设备或者网络端口。

docs/zh/neural_networks/mc_neural_network_control.md

@@ -22,11 +22,7 @@ If not, there are other possible NN frameworks, such as [Eigen](https://eigen.tu
 This document explains how you can include the module in your PX4 build, and provides a broad overview of how it works.
 The other documents in the section provide more information about the integration, allowing you to replace the NN with a version trained on different data, or even to replace the TLFM library altogether.
 
-:::tip
-For more information, see the Masters thesis from which this module was created: [Deep Reinforcement Learning for Embedded Control Policies for Aerial Vehicles](https://nva.sikt.no/registration/019b26689144-efeebae8-84d6-4413-ad7f-9aceb4ff7374).
-
-In addition, the (Norwegian) website [A Neural Network Mode for PX4 on Embedded Flight Controllers](https://ntnu-arl.github.io/px4-nns/) has a youtube video and a workshop paper .
-:::
+If you are looking for more resources to learn about the module, a website has been created with links to a youtube video and a workshop paper. A full master's thesis will be added later. [A Neural Network Mode for PX4 on Embedded Flight Controllers](https://ntnu-arl.github.io/px4-nns/).
 
 ## Neural Network PX4 Firmware
 

docs/zh/neural_networks/raptor.md

@@ -35,7 +35,7 @@ The method we developed for training the RAPTOR policy is called Meta-Imitation
 
 You can torture test the RAPTOR policy in your browser at [https://raptor.rl.tools](https://raptor.rl.tools) or in the embedded app here:
 
-<iframe src="https://raptor.rl.tools?raptor=false" width="100%" height="1000" style="border: none;"></iframe>
+<iframe src="https://rl-tools.github.io/raptor.rl.tools?raptor=false" width="100%" height="1000" style="border: none;"></iframe>
 
 For more information please refer to the paper at [https://arxiv.org/abs/2509.11481](https://arxiv.org/abs/2509.11481).
 

docs/zh/peripherals/adsb_flarm.md

@@ -11,7 +11,7 @@ PX4 traffic avoidance works with ADS-B or FLARM products that supply transponder
 It has been tested with the following devices:
 
 - [PingRX ADS-B Receiver](https://uavionix.com/product/pingrx-pro/) (uAvionix)
-- [FLARM](https://www.flarm.com/en/drones/)
+- [FLARM](https://flarm.com/products/uav/atom-uav-flarm-for-drones/) <!-- I think originally https://flarm.com/products/powerflarm/uav/ -->
 
 ## 硬件安装
 

docs/zh/ros2/px4_ros2_control_interface.md

@@ -14,7 +14,7 @@ Experimental
 
 :::
 
-The [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) is a C++ library (with Python bindings) that simplifies controlling PX4 from ROS 2.
+这[PX4 ROS 2接口库](../ros2/px4_ros2_interface_lib.md)是一个 C++ 库，可简化从 ROS 2 控制 PX4 的操作。
 
 开发者可使用该库创建并动态注册以 ROS 2 编写的模式。
 这些模式会动态注册到 PX4 中，并且对于地面站或其他外部系统而言，它们看起来就像是 PX4 的一部分。
@@ -26,12 +26,6 @@ The [PX4 ROS 2 Interface Library](../ros2/px4_ros2_interface_lib.md) is a C++ li
 PX4 ROS 2 模式相较于 PX4 内部模式，更易于实现和维护，并且在处理能力与既有代码库资源方面，能为开发者提供更丰富的支持。
 除非该模式属于安全关键型、对时序有严格要求或需要极高的更新速率，或者你的飞行器没有搭载伴随计算机，否则你应优先[考虑使用 PX4 ROS 2 模式，而非 PX4 内部模式](../concept/flight_modes.md#internal-vs-external-modes)。
 
-:::tip
-If you want to use Python, check out the [examples in the repository](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/examples/python).
-Not all classes have Python bindings yet — the [supported bindings are here](https://github.com/Auterion/px4-ros2-interface-lib/tree/main/px4_ros2_py/src/px4_ros2).
-You are welcome to add and contribute missing classes.
-:::
-
 ## 综述
 
 该图从概念层面概述了控制接口模式与模式执行器如何与 PX4 进行交互。

docs/zh/ros2/px4_ros2_interface_lib.md

@@ -7,7 +7,7 @@ Experimental
 在撰写本文时，PX4 ROS 2 接口库的部分内容仍处于试验阶段，因此可能会发生变动。
 :::
 
-The [PX4 ROS 2 Interface Library](https://github.com/Auterion/px4-ros2-interface-lib) is a C++ library (with Python bindings) that simplifies controlling and interacting with PX4 from ROS 2.
+[PX4 ROS 2 接口库 ]（https://github.com/Auterion/px4-ros2-interface-lib）是一个 C++ 库，可简化从 ROS 2 对 PX4 进行控制和交互的操作。
 
 该库为开发者提供了两个高级接口。
 

docs/zh/vtx/index.md

@@ -1,287 +0,0 @@
-# Analog Video Transmitters
-
-Analog Video Transmitters (VTX) can be controlled by PX4 via a half-duplex UART connection implementing the SmartAudio v1, v2, and v2.1 and Tramp protocols.
-
-The protocols allow writing and reading:
-
-- device status.
-- transmission frequency in MHz or via band and channel index.
-- transmission power in dBm or mW.
-- operation modes.
-
-VTX settings are controlled by parameters and optionally via RC AUX channels or CRSF MSP commands.
-The driver stores frequency and power tables that map band/channel indices to actual transmission values.
-Configuration is device-specific and set up using the command line interface.
-
-## 入门指南
-
-Connect the SmartAudio or Tramp pin of the VTX to the TX pin of a free serial port on the flight controller.
-Then set the following parameters:
-
-- `VTX_SER_CFG`: Select the serial port used for VTX communication.
-- `VTX_DEVICE`: Selects the VTX device (generic SmartAudio/Tramp or a specific device).
-
-Note that since the VTX communication is half-duplex, you can, for example, use the single-pin Radio Controller port for the VTX and use a full duplex TELEM port for CRSF communication.
-
-You should now be able to see the VTX device in the driver status:
-
-```
-nsh> vtx status
-INFO  [vtx] UART device: /dev/ttyS4
-INFO  [vtx] VTX table "UNINITIALIZED":
-INFO  [vtx] Power levels:
-INFO  [vtx] RC mapping: Disabled
-INFO  [vtx] Parameters:
-INFO  [vtx]   band: 1
-INFO  [vtx]   channel: 1
-INFO  [vtx]   frequency: 0 MHz
-INFO  [vtx]   power level: 1
-INFO  [vtx]   power: 0 = 0 mW
-INFO  [vtx]   pit mode: off
-INFO  [vtx] SmartAudio v2:
-INFO  [vtx]   band: 1
-INFO  [vtx]   channel: 1
-INFO  [vtx]   frequency: 6110 MHz
-INFO  [vtx]   power level: 1
-INFO  [vtx]   power: 0 mW
-INFO  [vtx]   pit mode: on
-INFO  [vtx]   lock: unlocked
-```
-
-:::warning
-Without a configured power table, power mappings are unknown and default to 0 mW.
-Some VTX devices enter pit mode when power is set to 0, regardless of the `VTX_PIT_MODE` parameter.
-:::
-
-## VTX Table Configuration
-
-The VTX table stores frequency and power mappings for your specific device.
-
-The manufacturer usually provides this information in the form of a JSON file that can be translated into a [Betaflight CLI command set](https://www.betaflight.com/docs/development/VTX#vtx-table) that this driver implements for compatibility.
-
-### Power Level Configuration
-
-```
-# Set table name ≤16 characters
-vtxtable name "Peak THOR T67"
-
-# Set the power values that are sent to the VTX for each power level index
-# Note: SmartAudio v1 and v2 use index values!
-vtxtable powervalues 0 1 2 3 4
-# Note: SmartAudio v2.1 uses dBm values instead!
-#       vtxtable powervalues 14 23 27 30 35
-# Note: Tramp uses mW values instead!
-#       vtxtable powervalues 25 200 500 1000 3000
-
-# Set the corresponding power labels for each power level index ≤4 characters.
-# These are used for status reporting.
-vtxtable powerlabels 25 200 500 1W 3W
-
-# Set number of power levels
-vtxtable powerlevels 5
-
-# Save configuration
-vtxtable save
-```
-
-This will create a VTX table with 5 power levels.
-
-```nsh> vtxtable status
-INFO  [vtxtable] VTX table "Peak THOR T67":
-INFO  [vtxtable] Power levels:
-INFO  [vtxtable]   1:  0 = 25
-INFO  [vtxtable]   2:  1 = 200
-INFO  [vtxtable]   3:  2 = 500
-INFO  [vtxtable]   4:  3 = 1W
-INFO  [vtxtable]   5:  4 = 3W
-```
-
-### Frequency Table Configuration
-
-```
-# Set the name of each band and the frequencies of each channel
-vtxtable band 1 BAND_A A FACTORY 6110 6130 6150 6170 6190 6210 6230 6250
-vtxtable band 2 BAND_B B FACTORY 6270 6290 6310 6330 6350 6370 6390 6410
-vtxtable band 3 BAND_E E FACTORY 6430 6450 6470 6490 6510 6530 6550 6570
-vtxtable band 4 BAND_F F FACTORY 6590 6610 6630 6650 6670 6690 6710 6730
-vtxtable band 5 BAND_R R FACTORY 6750 6770 6790 6810 6830 6850 6870 6890
-vtxtable band 6 BAND_P P FACTORY 6910 6930 6950 6970 6990 7010 7030 7050
-vtxtable band 7 BAND_H H FACTORY 7070 7090 7110 7130 7150 7170 7190 7210
-vtxtable band 8 BAND_U U FACTORY 6115 6265 6425 6585 6745 6905 7065 7185
-
-# Set number of bands and channels
-vtxtable bands 8
-vtxtable channels 8
-
-# Save configuration
-vtxtable save
-```
-
-This will create a VTX table with 8 bands and 8 channels.
-Note that FACTORY sends the band and channel indexes to the VTX device and they use their internal frequency mapping. In this mode the frequency is just for indication purposes.
-In contrast, CUSTOM would send the actual frequency values to the VTX device, but not all devices support this mode.
-Setting a frequency to zero will skip setting it.
-
-```
-nsh> vtxtable status
-INFO  [vtxtable] VTX table 8x8: Peak THOR T67
-INFO  [vtxtable]  A: BAND_A          = 6110 6130 6150 6170 6190 6210 6230 6250
-INFO  [vtxtable]  B: BAND_B          = 6270 6290 6310 6330 6350 6370 6390 6410
-INFO  [vtxtable]  E: BAND_E          = 6430 6450 6470 6490 6510 6530 6550 6570
-INFO  [vtxtable]  F: BAND_F          = 6590 6610 6630 6650 6670 6690 6710 6730
-INFO  [vtxtable]  R: BAND_R          = 6750 6770 6790 6810 6830 6850 6870 6890
-INFO  [vtxtable]  P: BAND_P          = 6910 6930 6950 6970 6990 7010 7030 7050
-INFO  [vtxtable]  H: BAND_H          = 7070 7090 7110 7130 7150 7170 7190 7210
-INFO  [vtxtable]  U: BAND_U          = 6115 6265 6425 6585 6745 6905 7065 7185
-```
-
-### Table Constraints
-
-Maximum table dimensions:
-
-- ≤24 bands each with ≤16 channels and ≤32GHz frequency values.
-- ≤16 power levels.
-- ≤16 characters table name.
-- ≤12 characters band name and 1 character band letter.
-- ≤4 characters power label length (to support "2.5W").
-
-## AUX Channel Mapping
-
-The AUX mapping feature allows you to control VTX settings using RC AUX channels.
-Each mapping entry defines an AUX channel range that triggers a specific VTX configuration.
-
-To enable AUX mapping, set `VTX_MAP_CONFIG` to one of the following values:
-
-- `0`: Disabled
-- `1`: Disabled (reserved for CRSF MSP integration)
-- `2`: Map AUX channels to power level control only
-- `3`: Map AUX channels to band and channel control only
-- `4`: Map AUX channels to all settings (power, band, and channel)
-
-### Configuring AUX Map Entries
-
-Use the following command format to add mapping entries:
-
-```
-vtxtable <index> <aux_channel> <band> <channel> <power> <start_pwm> <end_pwm>
-```
-
-Parameters:
-
-- `index`: Map entry index (0-159)
-- `aux_channel`: AUX channel number (3-19, where AUX1=3)
-- `band`: Target band (1-24, or 0 to leave unchanged)
-- `channel`: Target channel (1-16, or 0 to leave unchanged)
-- `power`: Power level (1-16, 0 to leave unchanged, or -1 for pit mode)
-- `start_pwm`: Start of PWM range in microseconds (typically 900-2100)
-- `end_pwm`: End of PWM range in microseconds (typically 900-2100)
-
-:::info
-AUX channel numbering starts from 3 (AUX1=channel 3) to account for the first four RC channels 0-3 used for flight control.
-:::
-
-Example configuration for a 6-position dial controlling band/channel on AUX4 (channel 7):
-
-```
-vtx  0 7 7 1 0  900 1025
-vtx  1 7 7 2 0 1025 1100
-vtx  2 7 7 4 0 1100 1175
-vtx  3 7 7 6 0 1175 1225
-vtx  4 7 7 8 0 1225 1300
-vtx  5 7 3 8 0 1300 2100
-```
-
-Example configuration for power control on AUX3 (channel 6):
-
-```
-vtxtable 16 6 0 0 -1  900 1250
-vtxtable 17 6 0 0  1 1250 1525
-vtxtable 18 6 0 0  2 1525 1650
-vtxtable 19 6 0 0  3 1650 1875
-vtxtable 20 6 0 0  4 1875 2010
-```
-
-Save the configuration with:
-
-```
-vtxtable save
-```
-
-The map status can be verified with `vtxtable status`.
-
-## CRSF MSP Integration
-
-When using a CRSF receiver with MSP support, you can control VTX settings directly from your transmitter using MSP commands sent over the CRSF link.
-This feature must be enabled at compile time with the `VTX_CRSF_MSP_SUPPORT` Kconfig option.
-
-To enable CRSF MSP control, set `VTX_MAP_CONFIG` to one of:
-
-- `1`: MSP controls both frequency (band/channel) and power
-- `2`: MSP controls frequency (band/channel) only, AUX controls power
-- `3`: MSP controls power only, AUX controls band/channel
-
-When MSP integration is active, the driver responds to `MSP_SET_VTX_CONFIG` (0x59) commands.
-The transmitter can send band, channel, frequency, power level, and pit mode settings via MSP, which are automatically mapped to the corresponding PX4 parameters.
-
-:::tip
-The MSP integration allows seamless VTX control from transmitters that support VTX configuration via Lua scripts or built-in VTX menus without requiring additional hardware switches.
-:::
-
-## Build Configuration
-
-Both the VTX driver and VTX table support are configured via Kconfig options.
-
-Key configuration options:
-
-- `VTX_CRSF_MSP_SUPPORT`: Enables CRSF MSP command support (default: disabled)
-- `VTXTABLE_CONFIG_FILE`: File path for persistent configuration (default: `/fs/microsd/vtx_config`)
-- `VTXTABLE_AUX_MAP`: Enables AUX channel mapping (default: disabled)
-
-## Parameter Reference
-
-### VTX Settings Parameters
-
-- `VTX_BAND` (0-23): Frequency band selection (Band 1-24 in UI)
-- `VTX_CHANNEL` (0-15): Channel within band (Channel 1-16 in UI)
-- `VTX_FREQUENCY` (0-32000): Direct frequency in MHz (overrides band/channel when non-zero)
-- `VTX_POWER` (0-15): Power level (Level 1-16 in UI, as configured in table)
-- `VTX_PIT_MODE` (boolean): Pit mode for reduced power (default: disabled)
-
-### Configuration Parameters
-
-- `VTX_SER_CFG`: Serial port assignment for VTX communication
-- `VTX_MAP_CONFIG`: Controls how VTX settings are mapped:
-  - Without `VTX_CRSF_MSP_SUPPORT`:
-    - `0`: Disabled
-    - `1`: Disabled
-    - `2`: AUX controls power only
-    - `3`: AUX controls band/channel only
-    - `4`: AUX controls both power and band/channel
-  - With `VTX_CRSF_MSP_SUPPORT`:
-    - `0`: Disabled
-    - `1`: MSP controls both frequency and power
-    - `2`: MSP controls frequency, AUX controls power
-    - `3`: MSP controls power, AUX controls band/channel
-    - `4`: Not used with MSP support
-- `VTX_DEVICE`: Device-specific configuration (see below)
-
-## Device-Specific Configuration
-
-The `VTX_DEVICE` parameter allows device-specific workarounds.
-It encodes both the protocol type and device variant:
-
-- Low byte (bits 0-7): Protocol selection
-  - `0`: SmartAudio (default)
-  - `1`: Tramp
-- High byte (bits 8-15): Device-specific variant
-  - `0`: Generic device
-  - `20`: Peak THOR T67
-  - `40`: Rush Max Solo
-
-### Known Device Workarounds
-
-**Peak THOR T67** (`VTX_DEVICE` = 5120):
-This device incorrectly reports pit mode status but otherwise functions normally.
-The driver applies a workaround to override the reported status with the actual configured state.
-
-For generic devices, use `VTX_DEVICE` = 0 (SmartAudio) or `VTX_DEVICE` = 1 (Tramp).

msg/MavlinkTunnel.msg

@@ -20,4 +20,4 @@ uint8 payload_length     # Length of the data transported in payload
 uint8[128] payload       # Data itself
 
 # Topic aliases for known payload types
-# TOPICS mavlink_tunnel esc_serial_passthru io_serial_passthru
+# TOPICS mavlink_tunnel esc_serial_passthru

platforms/common/apps.cpp.in

@@ -2,7 +2,6 @@
 #include <px4_platform_common/time.h>
 #include <px4_platform_common/posix.h>
 #include <px4_platform_common/log.h>
-#include <uORB/uORB.h>
 
 #include "apps.h"
 
@@ -44,7 +43,6 @@ void list_builtins(apps_map_type &apps)
 int shutdown_main(int argc, char *argv[])
 {
 	printf("Exiting NOW.\n");
-	uorb_shutdown();
 	system_exit(0);
 }
 

platforms/common/shutdown.cpp

@@ -49,7 +49,6 @@
 
 #include <px4_platform_common/external_reset_lockout.h>
 #include <px4_platform_common/log.h>
-#include <uORB/uORB.h>
 
 #include <stdint.h>
 #include <errno.h>
@@ -174,8 +173,6 @@ static void shutdown_worker(void *arg)
 	const bool delay_elapsed = (now > shutdown_time_us);
 
 	if (delay_elapsed && ((done && shutdown_lock_counter == 0) || (now > (shutdown_time_us + shutdown_timeout_us)))) {
-		uorb_shutdown();
-
 		if (shutdown_args & SHUTDOWN_ARG_REBOOT) {
 #if defined(CONFIG_BOARDCTL_RESET)
 			PX4_INFO_RAW("Reboot NOW.");

platforms/common/uORB/uORB.cpp

@@ -51,7 +51,6 @@
 #include <sys/boardctl.h>
 #endif
 
-
 static uORB::DeviceMaster *g_dev = nullptr;
 
 int uorb_start(void)
@@ -114,18 +113,6 @@ int uorb_top(char **topic_filter, int num_filters)
 	return OK;
 }
 
-void uorb_shutdown(void)
-{
-#ifdef CONFIG_ORB_COMMUNICATOR
-	uORBCommunicator::IChannel *ch = uORB::Manager::get_instance()->get_uorb_communicator();
-
-	if (ch) {
-		ch->shutdown();
-	}
-
-#endif /* CONFIG_ORB_COMMUNICATOR */
-}
-
 orb_advert_t orb_advertise(const struct orb_metadata *meta, const void *data)
 {
 	return uORB::Manager::get_instance()->orb_advertise(meta, data);

platforms/common/uORB/uORB.h

@@ -121,7 +121,6 @@ __BEGIN_DECLS
 int uorb_start(void);
 int uorb_status(void);
 int uorb_top(char **topic_filter, int num_filters);
-void uorb_shutdown(void);
 
 /**
  * ORB topic advertiser handle.

platforms/common/uORB/uORBCommunicator.hpp

@@ -129,22 +129,6 @@ public:
 
 	virtual int16_t send_message(const char *messageName, int32_t length, uint8_t *data) = 0;
 
-
-	//=========================================================================
-	//     INTERFACES FOR Lifecycle messages
-	//=========================================================================
-
-	/**
-	 * @brief Interface to notify the remote entity of a shutdown.
-	 *
-	 * @return
-	 * 	0 = success; This means the shutdown is successfully sent to the receiver
-	 * 		Note: This does not mean that the receiver has received it.
-	 *  otherwise = failure.
-	 */
-
-	virtual int16_t shutdown() { return 0; }
-
 };
 
 /**

platforms/posix/src/px4/common/drv_hrt.cpp

@@ -51,7 +51,7 @@
 #include <errno.h>
 #include "hrt_work.h"
 
-// Voxl board specific API definitions to get time
+// Voxl2 board specific API definitions to get time offset
 #if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
 #include "fc_sensor.h"
 #endif
@@ -112,6 +112,29 @@ hrt_abstime hrt_absolute_time()
 #else // defined(ENABLE_LOCKSTEP_SCHEDULER)
 	struct timespec ts;
 	px4_clock_gettime(CLOCK_MONOTONIC, &ts);
+
+# if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
+	hrt_abstime temp_abstime = ts_to_abstime(&ts);
+	int apps_time_offset = fc_sensor_get_time_offset();
+
+	if (apps_time_offset < 0) {
+		hrt_abstime temp_offset = -apps_time_offset;
+
+		if (temp_offset >= temp_abstime) {
+			temp_abstime = 0;
+
+		} else {
+			temp_abstime -= temp_offset;
+		}
+
+	} else {
+		temp_abstime += (hrt_abstime) apps_time_offset;
+	}
+
+	ts.tv_sec = temp_abstime / 1000000;
+	ts.tv_nsec = (temp_abstime % 1000000) * 1000;
+# endif // defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
+
 	return ts_to_abstime(&ts);
 #endif // defined(ENABLE_LOCKSTEP_SCHEDULER)
 }
@@ -453,21 +476,8 @@ int px4_clock_gettime(clockid_t clk_id, struct timespec *tp)
 	}
 
 #endif // defined(ENABLE_LOCKSTEP_SCHEDULER)
+	return system_clock_gettime(clk_id, tp);
 
-	int rv = system_clock_gettime(clk_id, tp);
-
-# if defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
-
-	// On VOXL use DSP clock as reference for MONOTONIC
-	if (clk_id == CLOCK_MONOTONIC) {
-		hrt_abstime temp_abstime = fc_sensor_get_dsp_timestamp_us();
-		tp->tv_sec = temp_abstime / 1000000;
-		tp->tv_nsec = (temp_abstime % 1000000) * 1000;
-	}
-
-# endif // defined(CONFIG_MUORB_APPS_SYNC_TIMESTAMP)
-
-	return rv;
 }
 
 #if defined(ENABLE_LOCKSTEP_SCHEDULER)

platforms/posix/src/px4/common/main.cpp

@@ -73,7 +73,6 @@
 #include <px4_platform_common/getopt.h>
 #include <px4_platform_common/tasks.h>
 #include <px4_platform_common/posix.h>
-#include <uORB/uORB.h>
 
 #include "apps.h"
 #include "px4_daemon/client.h"
@@ -506,7 +505,6 @@ void sig_int_handler(int sig_num)
 	fflush(stdout);
 	printf("\nPX4 Exiting...\n");
 	fflush(stdout);
-	uorb_shutdown();
 	px4_daemon::Pxh::stop();
 	_exit_requested = true;
 }

src/drivers/actuators/voxl_esc/module.yaml

@@ -19,10 +19,6 @@ actuator_output:
       label: 'ESC 3 Spin Direction'
     - param: 'VOXL_ESC_SDIR4'
       label: 'ESC 4 Spin Direction'
-    - param: 'VOXL_ESC_CMD'
-      label: 'ESC Command Type'
-    - param: 'VOXL_ESC_PWR_MIN'
-      label: 'ESC Minimum Power With PWM Command Type'
   output_groups:
     - param_prefix: VOXL_ESC
       group_label: 'ESCs'

src/drivers/actuators/voxl_esc/voxl_esc.cpp

@@ -300,7 +300,6 @@ int VoxlEsc::load_params(voxl_esc_params_t *params, ch_assign_t *map)
 	param_get(param_find("VOXL_ESC_SDIR3"),  &params->direction_map[2]);
 	param_get(param_find("VOXL_ESC_SDIR4"),  &params->direction_map[3]);
 
-	param_get(param_find("VOXL_ESC_PWR_MIN"), &params->pwr_min);
 	param_get(param_find("VOXL_ESC_RPM_MIN"), &params->rpm_min);
 	param_get(param_find("VOXL_ESC_RPM_MAX"), &params->rpm_max);
 
@@ -312,23 +311,10 @@ int VoxlEsc::load_params(voxl_esc_params_t *params, ch_assign_t *map)
 
 	param_get(param_find("VOXL_ESC_GPIO_CH"), &params->gpio_ctl_channel);
 
-	param_get(param_find("VOXL_ESC_CMD"), &params->cmd_type);
-
-	if (params->cmd_type > VOXL_ESC_PWM_CMDS) {
-		PX4_WARN("Warning, VOXL_ESC_CMD set to invalid value %d. Using 1 instead", (int) params->cmd_type);
-		params->cmd_type = VOXL_ESC_PWM_CMDS;
-
-	} else if (params->cmd_type < VOXL_ESC_RPM_CMDS) {
-		PX4_WARN("Warning, VOXL_ESC_CMD set to invalid value %d. Using 0 instead", (int) params->cmd_type);
-		params->cmd_type = VOXL_ESC_RPM_CMDS;
-	}
-
-	if (params->cmd_type == VOXL_ESC_RPM_CMDS) {
-		if (params->rpm_min >= params->rpm_max) {
-			PX4_ERR("Invalid parameter VOXL_ESC_RPM_MIN.  Please verify parameters.");
-			params->rpm_min = 0;
-			ret = PX4_ERROR;
-		}
+	if (params->rpm_min >= params->rpm_max) {
+		PX4_ERR("Invalid parameter VOXL_ESC_RPM_MIN.  Please verify parameters.");
+		params->rpm_min = 0;
+		ret = PX4_ERROR;
 	}
 
 	if (params->turtle_motor_percent < 0 || params->turtle_motor_percent > 100) {
@@ -406,24 +392,19 @@ int VoxlEsc::task_spawn(int argc, char *argv[])
 	int ch;
 	const char *myoptarg = nullptr;
 
-	VoxlEsc *instance = new VoxlEsc();
+	while ((ch = px4_getopt(argc, argv, "dv", &myoptind, &myoptarg)) != EOF) {
+		switch (ch) {
+		case 'd':
+			_device = argv[myoptind];
+			break;
 
-	// Parse any passed in options
-	if ((argc > 1) && (argv[1] != nullptr)) {
-		while ((ch = px4_getopt(argc - 1, &argv[1], "d:", &myoptind, &myoptarg)) != EOF) {
-			switch (ch) {
-			case 'd':
-				_device = argv[myoptind];
-				PX4_INFO("Configuring device as %s", _device);
-				break;
-
-			default:
-				PX4_ERR("Unknown option: %c", ch);
-				break;
-			}
+		default:
+			break;
 		}
 	}
 
+	VoxlEsc *instance = new VoxlEsc();
+
 	if (instance) {
 		_object.store(instance);
 		_task_id = task_id_is_work_queue;
@@ -590,8 +571,6 @@ int VoxlEsc::parse_response(uint8_t *buf, uint8_t len, bool print_feedback)
 				QC_ESC_FB_POWER_STATUS packet;
 				memcpy(&packet, _fb_packet.buffer, packet_size);
 
-				_rx_power_status_count++;
-
 				float voltage = packet.voltage * 0.001f; // Voltage is reported at 1 mV resolution
 				float current = packet.current * 0.008f; // Total current is reported at 8mA resolution
 
@@ -928,19 +907,8 @@ int VoxlEsc::update_params()
 	if (ret == PX4_OK) {
 		_mixing_output.setAllDisarmedValues(0);
 		_mixing_output.setAllFailsafeValues(0);
-
-		if (_parameters.cmd_type == VOXL_ESC_RPM_CMDS) {
-			_mixing_output.setAllMinValues(_parameters.rpm_min);
-			_mixing_output.setAllMaxValues(_parameters.rpm_max);
-
-		} else if (_parameters.cmd_type == VOXL_ESC_PWM_CMDS) {
-			// we use a minimum value of 1, since 0 is for disarmed
-			_min_active_pwm = math::constrain(static_cast<int>((_parameters.pwr_min *
-							  static_cast<float>(VOXL_ESC_PWM_MAX))),
-							  VOXL_ESC_PWM_MIN, VOXL_ESC_PWM_MAX);
-			_mixing_output.setAllMinValues(_min_active_pwm);
-			_mixing_output.setAllMaxValues(VOXL_ESC_PWM_MAX);
-		}
+		_mixing_output.setAllMinValues(_parameters.rpm_min);
+		_mixing_output.setAllMaxValues(_parameters.rpm_max);
 
 		_rpm_fullscale = _parameters.rpm_max - _parameters.rpm_min;
 	}
@@ -1248,18 +1216,11 @@ bool VoxlEsc::updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 			_esc_chans[i].rate_req = 0;
 
 		} else {
-			if ((_turtle_mode_en) || (_parameters.cmd_type == VOXL_ESC_RPM_CMDS)) {
-				if (_extended_rpm) {
-					if (outputs[i] > VOXL_ESC_RPM_MAX_EXT) { outputs[i] = VOXL_ESC_RPM_MAX_EXT; }
+			if (_extended_rpm) {
+				if (outputs[i] > VOXL_ESC_RPM_MAX_EXT) { outputs[i] = VOXL_ESC_RPM_MAX_EXT; }
 
-				} else {
-					if (outputs[i] > VOXL_ESC_RPM_MAX) { outputs[i] = VOXL_ESC_RPM_MAX; }
-				}
-
-			} else if (_parameters.cmd_type == VOXL_ESC_PWM_CMDS) {
-				if (outputs[i] > VOXL_ESC_PWM_MAX) { outputs[i] = VOXL_ESC_PWM_MAX; }
-
-				else if (outputs[i] < _min_active_pwm) { outputs[i] = _min_active_pwm; }
+			} else {
+				if (outputs[i] > VOXL_ESC_RPM_MAX) { outputs[i] = VOXL_ESC_RPM_MAX; }
 			}
 
 			if (!_turtle_mode_en) {
@@ -1274,34 +1235,18 @@ bool VoxlEsc::updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 
 
 	Command cmd;
-
-	if (_parameters.cmd_type == VOXL_ESC_RPM_CMDS) {
-		cmd.len = qc_esc_create_rpm_packet4_fb(_esc_chans[0].rate_req,
-						       _esc_chans[1].rate_req,
-						       _esc_chans[2].rate_req,
-						       _esc_chans[3].rate_req,
-						       _esc_chans[0].led,
-						       _esc_chans[1].led,
-						       _esc_chans[2].led,
-						       _esc_chans[3].led,
-						       _fb_idx,
-						       cmd.buf,
-						       sizeof(cmd.buf),
-						       _extended_rpm);
-
-	} else if (_parameters.cmd_type == VOXL_ESC_PWM_CMDS) {
-		cmd.len = qc_esc_create_pwm_packet4_fb(_esc_chans[0].rate_req,
-						       _esc_chans[1].rate_req,
-						       _esc_chans[2].rate_req,
-						       _esc_chans[3].rate_req,
-						       _esc_chans[0].led,
-						       _esc_chans[1].led,
-						       _esc_chans[2].led,
-						       _esc_chans[3].led,
-						       _fb_idx,
-						       cmd.buf,
-						       sizeof(cmd.buf));
-	}
+	cmd.len = qc_esc_create_rpm_packet4_fb(_esc_chans[0].rate_req,
+					       _esc_chans[1].rate_req,
+					       _esc_chans[2].rate_req,
+					       _esc_chans[3].rate_req,
+					       _esc_chans[0].led,
+					       _esc_chans[1].led,
+					       _esc_chans[2].led,
+					       _esc_chans[3].led,
+					       _fb_idx,
+					       cmd.buf,
+					       sizeof(cmd.buf),
+					       _extended_rpm);
 
 	if (_uart_port.write(cmd.buf, cmd.len) != cmd.len) {
 		PX4_ERR("Failed to send packet");
@@ -1391,22 +1336,16 @@ bool VoxlEsc::updateOutputs(uint16_t outputs[MAX_ACTUATORS],
 
 	uint8_t num_writes = 0;
 
-	// Don't do these faster than 20Hz
-	if (hrt_elapsed_time(&_last_uart_passthru) > 50_ms) {
-		_last_uart_passthru = hrt_absolute_time();
+	while (_esc_serial_passthru_sub.updated() && (num_writes < 4)) {
+		mavlink_tunnel_s uart_passthru{};
+		_esc_serial_passthru_sub.copy(&uart_passthru);
 
-		// Don't do more than a few writes each check
-		while (_esc_serial_passthru_sub.updated() && (num_writes < 4)) {
-			mavlink_tunnel_s uart_passthru{};
-			_esc_serial_passthru_sub.copy(&uart_passthru);
-
-			if (_uart_port.write(uart_passthru.payload, uart_passthru.payload_length) != uart_passthru.payload_length) {
-				PX4_ERR("Failed to send mavlink tunnel data to esc");
-				return false;
-			}
-
-			num_writes++;
+		if (_uart_port.write(uart_passthru.payload, uart_passthru.payload_length) != uart_passthru.payload_length) {
+			PX4_ERR("Failed to send mavlink tunnel data to esc");
+			return false;
 		}
+
+		num_writes++;
 	}
 
 	perf_count(_output_update_perf);
@@ -1686,8 +1625,6 @@ void VoxlEsc::print_params()
 	PX4_INFO("Params: VOXL_ESC_SDIR3: %" PRId32, _parameters.direction_map[2]);
 	PX4_INFO("Params: VOXL_ESC_SDIR4: %" PRId32, _parameters.direction_map[3]);
 
-	PX4_INFO("Params: VOXL_ESC_PWR_MIN: %f", (double) _parameters.pwr_min);
-
 	PX4_INFO("Params: VOXL_ESC_RPM_MIN: %" PRId32, _parameters.rpm_min);
 	PX4_INFO("Params: VOXL_ESC_RPM_MAX: %" PRId32, _parameters.rpm_max);
 
@@ -1704,8 +1641,6 @@ void VoxlEsc::print_params()
 	PX4_INFO("Params: VOXL_ESC_T_OVER: %" PRId32, _parameters.esc_over_temp_threshold);
 
 	PX4_INFO("Params: VOXL_ESC_GPIO_CH: %" PRId32, _parameters.gpio_ctl_channel);
-
-	PX4_INFO("Params: VOXL_ESC_CMD: %" PRId32, _parameters.cmd_type);
 }
 
 int VoxlEsc::print_status()
@@ -1715,10 +1650,6 @@ int VoxlEsc::print_status()
 	PX4_INFO("UART port: %s", _device);
 	PX4_INFO("UART open: %s", _uart_port.isOpen() ? "yes" : "no");
 
-	PX4_INFO("CRC error count: %lu", (long unsigned int) _rx_crc_error_count);
-	PX4_INFO("Packet RX count: %lu", (long unsigned int) _rx_packet_count);
-	PX4_INFO("Power status count: %lu", (long unsigned int) _rx_power_status_count);
-
 	PX4_INFO("");
 	print_params();
 	PX4_INFO("");
@@ -1758,7 +1689,6 @@ const char * VoxlEsc::board_id_to_name(int board_id)
 		case 40: return "ModalAi 4-in-1 ESC (M0129-3)";
 		case 41: return "ModalAi 4-in-1 ESC (M0134-6)";
 		case 42: return "ModalAi 4-in-1 ESC (M0138-1)";
-		case 44: return "ModalAi 4-in-1 ESC (M0129-6)";
 		default: return "Unknown Board";
 	}
 }

src/drivers/actuators/voxl_esc/voxl_esc.hpp

@@ -117,8 +117,8 @@ private:
 
 	static constexpr uint16_t DISARMED_VALUE = 0;
 
-	static constexpr int VOXL_ESC_PWM_MIN = 1;
-	static constexpr int VOXL_ESC_PWM_MAX = 800;
+	static constexpr uint16_t VOXL_ESC_PWM_MIN = 0;
+	static constexpr uint16_t VOXL_ESC_PWM_MAX = 800;
 	static constexpr uint16_t VOXL_ESC_DEFAULT_RPM_MIN = 5000;
 	static constexpr uint16_t VOXL_ESC_DEFAULT_RPM_MAX = 17000;
 
@@ -148,9 +148,6 @@ private:
 	static constexpr uint32_t VOXL_ESC_GPIO_CTL_AUX5 = 5;
 	static constexpr uint32_t VOXL_ESC_GPIO_CTL_AUX6 = 6;
 
-	static constexpr int32_t VOXL_ESC_RPM_CMDS = 0;
-	static constexpr int32_t VOXL_ESC_PWM_CMDS = 1;
-
 	Serial			_uart_port{};
 
 	typedef struct {
@@ -162,7 +159,6 @@ private:
 		float		turtle_stick_minf{0.15f};
 		float		turtle_cosphi{0.99f};
 		int32_t		baud_rate{VOXL_ESC_DEFAULT_BAUD};
-		float		pwr_min{0.05f};
 		int32_t		rpm_min{VOXL_ESC_DEFAULT_RPM_MIN};
 		int32_t		rpm_max{VOXL_ESC_DEFAULT_RPM_MAX};
 		int32_t		function_map[VOXL_ESC_OUTPUT_CHANNELS] {0, 0, 0, 0};
@@ -173,7 +169,6 @@ private:
 		int32_t		esc_warn_temp_threshold{0};
 		int32_t		esc_over_temp_threshold{0};
 		int32_t		gpio_ctl_channel{0};
-		int32_t		cmd_type{0};
 	} voxl_esc_params_t;
 
 	struct EscChan {
@@ -227,8 +222,6 @@ private:
 	bool _need_version_info{true};
 	QC_ESC_EXTENDED_VERSION_INFO _version_info[VOXL_ESC_OUTPUT_CHANNELS];
 
-	int _min_active_pwm{1};
-
 	voxl_esc_params_t	_parameters;
 	int			update_params();
 	int			load_params(voxl_esc_params_t *params, ch_assign_t *map);
@@ -257,15 +250,13 @@ private:
 	int			_fb_idx;
 	uint32_t		_rx_crc_error_count{0};
 	uint32_t		_rx_packet_count{0};
-	uint32_t		_rx_power_status_count{0};
 
 	static const uint8_t	READ_BUF_SIZE = 128;
 	uint8_t			_read_buf[READ_BUF_SIZE];
 
 	Battery			_battery;
-	static constexpr unsigned _battery_report_interval{20_ms};
+	static constexpr unsigned _battery_report_interval{100_ms};
 	hrt_abstime		_last_battery_report_time;
-	hrt_abstime		_last_uart_passthru{0};
 
 	bool			_device_initialized{false};
 

src/drivers/actuators/voxl_esc/voxl_esc_params.c

@@ -276,31 +276,3 @@ PARAM_DEFINE_INT32(VOXL_ESC_T_OVER, 0);
  * @max 6
  */
 PARAM_DEFINE_INT32(VOXL_ESC_GPIO_CH, 0);
-
-/**
- * UART ESC command type
- *
- * Selects between RPM or PWM commands
- *
- * @reboot_required true
- *
- * @group VOXL ESC
- * @value 0 - RPM
- * @value 1 - PWM
- * @min 0
- * @max 1
- */
-PARAM_DEFINE_INT32(VOXL_ESC_CMD, 0);
-
-/**
- * UART ESC Minimum motor power
- *
- * Minimum motor power for ESC when VOXL_ESC_CMD is set for PWM.
- * Make sure to set this high enough so that the motors are always spinning
- * while armed.
- *
- * @group VOXL ESC
- * @min 0.0
- * @max 1.0
- */
-PARAM_DEFINE_FLOAT(VOXL_ESC_PWR_MIN, 0.05);

src/drivers/distance_sensor/lightware_laser_i2c/lightware_laser_i2c.cpp

@@ -107,12 +107,6 @@ private:
 		ZeroOffset = 116,
 	};
 
-	enum class RegisterGRF : uint8_t {
-		DistanceOutput = 27,
-		UpdateRate = 74,
-	};
-
-
 	static constexpr uint16_t output_data_config_sf20 = 0b110'1011'0100;
 	static constexpr uint8_t output_data_config_sf30 = 0b0111'1110;
 
@@ -129,7 +123,6 @@ private:
 		Generic = 0,
 		LW20c,
 		SF30d,
-		GRF,
 	};
 	enum class State {
 		Configuring,
@@ -249,20 +242,6 @@ int LightwareLaser::init()
 		_type = Type::SF30d;
 		break;
 
-	case 8:  /* GRF250 (250m 5Hz) */
-		_px4_rangefinder.set_min_distance(0.1f);
-		_px4_rangefinder.set_max_distance(250.0f);
-		_conversion_interval = 200000;
-		_type = Type::GRF;
-		break;
-
-	case 9:  /* GRF500 (500m 5Hz) */
-		_px4_rangefinder.set_min_distance(0.1f);
-		_px4_rangefinder.set_max_distance(500.0f);
-		_conversion_interval = 200000;
-		_type = Type::GRF;
-		break;
-
 	default:
 		PX4_ERR("invalid HW model %" PRId32 ".", hw_model);
 		return ret;
@@ -299,9 +278,6 @@ int LightwareLaser::probe()
 
 	case Type::SF30d:
 		return enableI2CBinaryProtocol("SF30", "LW30");
-
-	case  Type::GRF:
-		return enableI2CBinaryProtocol("GRF250", "GRF500");
 	}
 
 	return -1;
@@ -385,17 +361,6 @@ int LightwareLaser::configure()
 			return ret;
 		}
 		break;
-
-	case Type::GRF: {
-			int ret = enableI2CBinaryProtocol("GRF250", "GRF500");
-			const uint8_t cmd1[] = {(uint8_t) RegisterGRF::UpdateRate, 0, 0, 0, 50};
-			ret |= transfer(cmd1, sizeof(cmd1), nullptr, 0);
-			uint8_t cmd2[] = {(uint8_t)RegisterGRF::DistanceOutput, 0, 0, 1};
-			ret |= transfer(cmd2, sizeof(cmd2), nullptr, 0);
-
-			return ret;
-		}
-		break;
 	}
 
 	return -1;
@@ -425,29 +390,6 @@ int LightwareLaser::collect()
 			break;
 		}
 
-	case Type::GRF: {
-
-			/* read from the sensor */
-			perf_begin(_sample_perf);
-			uint8_t val[4] {};
-			const hrt_abstime timestamp_sample = hrt_absolute_time();
-
-			if (readRegister((uint8_t)Register::DistanceData, &val[0], 4) < 0) {
-				perf_count(_comms_errors);
-				perf_end(_sample_perf);
-				PX4_INFO("Register Read Error");
-				return PX4_ERROR;
-			}
-
-			perf_end(_sample_perf);
-
-			uint16_t distance_cm = val[2] << 16 | val[1] << 8 | val[0];
-			float distance_m = float(distance_cm) * 1e-1f;
-
-			_px4_rangefinder.update(timestamp_sample, distance_m);
-			break;
-		}
-
 	case Type::LW20c:
 	case Type::SF30d:
 
@@ -474,8 +416,6 @@ int LightwareLaser::collect()
 
 		_px4_rangefinder.update(timestamp_sample, distance_m, quality);
 		break;
-
-
 	}
 
 	return PX4_OK;
@@ -558,10 +498,6 @@ int LightwareLaser::updateRestriction()
 				const uint8_t cmd[] = {(uint8_t)Register::LaserFiring, (uint8_t)(_restriction ? 0 : 1)};
 				return transfer(cmd, sizeof(cmd), nullptr, 0);
 			}
-
-		case Type::GRF: {
-				return 0;
-			}
 		}
 	}
 

src/drivers/distance_sensor/lightware_laser_i2c/parameters.c

@@ -36,7 +36,7 @@
  *
  * @reboot_required true
  * @min 0
- * @max 9
+ * @max 7
  * @group Sensors
  * @value 0 Disabled
  * @value 1 SF10/a
@@ -46,8 +46,6 @@
  * @value 5 SF/LW20/b
  * @value 6 SF/LW20/c
  * @value 7 SF/LW30/d
- * @value 8 GRF250
- * @value 9 GRF500
  */
 PARAM_DEFINE_INT32(SENS_EN_SF1XX, 0);
 

src/drivers/gps/gps.cpp

@@ -786,13 +786,6 @@ GPS::run()
 		param_get(handle, &gps_ubx_min_elev);
 	}
 
-	int32_t gps_ubx_rate = 0;
-	handle = param_find("GPS_UBX_RATE");
-
-	if (handle != PARAM_INVALID) {
-		param_get(handle, &gps_ubx_rate);
-	}
-
 	handle = param_find("GPS_UBX_MODE");
 
 	GPSDriverUBX::UBXMode ubx_mode{GPSDriverUBX::UBXMode::Normal};
@@ -858,13 +851,6 @@ GPS::run()
 		param_get(handle, &ppk_output);
 	}
 
-	handle = param_find("GPS_UBX_JAM_DET");
-	int32_t jam_det_sensitivity_hi = 1;
-
-	if (handle != PARAM_INVALID) {
-		param_get(handle, &jam_det_sensitivity_hi);
-	}
-
 	int32_t gnssSystemsParam = static_cast<int32_t>(GPSHelper::GNSSSystemsMask::RECEIVER_DEFAULTS);
 
 	if (_instance == Instance::Main) {
@@ -952,11 +938,9 @@ GPS::run()
 					.dgnss_timeout = (uint8_t)gps_ubx_dgnss_to,
 					.min_cno = (uint8_t)gps_ubx_min_cno,
 					.min_elev = (int8_t)gps_ubx_min_elev,
-					.output_rate = (uint8_t)gps_ubx_rate,
 					.heading_offset = heading_offset,
 					.uart2_baudrate = f9p_uart2_baudrate,
 					.ppk_output = ppk_output > 0,
-					.jam_det_sensitivity_hi = jam_det_sensitivity_hi > 0,
 					.mode = ubx_mode,
 				};
 

src/drivers/gps/params.c

@@ -114,25 +114,6 @@ PARAM_DEFINE_INT32(GPS_UBX_MIN_CNO, 0);
  */
 PARAM_DEFINE_INT32(GPS_UBX_MIN_ELEV, 0);
 
-/**
- * u-blox GPS output rate
- *
- * Configure the output rate of u-blox GPS receivers (protocol v27+).
- * When set to 0, automatic rate selection is used based on the receiver model.
- * Default rates: M9N=8Hz, F9P L1L2=5Hz, F9P L1L5=5Hz, Others=10Hz.
- *
- * Note: Higher rates reduce satellite count (e.g., >8Hz limits to 16 SVs on M9N).
- * Max rates vary by model and RTK mode: F9P L1L2=5-7Hz, F9P L1L5=7-8Hz, X20=25Hz.
- * High rates at 115200 baud may cause dropouts.
- *
- * @min 0
- * @max 25
- * @unit Hz
- * @reboot_required true
- * @group GPS
- */
-PARAM_DEFINE_INT32(GPS_UBX_RATE, 0);
-
 /**
  * Enable sat info (if available)
  *
@@ -217,20 +198,6 @@ PARAM_DEFINE_INT32(GPS_UBX_CFG_INTF, 0);
  */
 PARAM_DEFINE_INT32(GPS_UBX_PPK, 0);
 
-/**
- * u-blox GPS jamming detection high sensitivity mode
- *
- * Enables or disables the high sensitivity mode for the u-blox jamming detection
- * (CFG-SEC-JAMDET_SENSITIVITY_HI). When enabled, the receiver uses a
- * more sensitive algorithm to detect jamming. Disabling this may reduce false
- * positives in electrically noisy environments.
- *
- * @boolean
- * @reboot_required true
- * @group GPS
- */
-PARAM_DEFINE_INT32(GPS_UBX_JAM_DET, 1);
-
 /**
  * Wipes the flash config of UBX modules.
  *

src/drivers/hygrometer/sht3x/sht3x.h

@@ -110,7 +110,7 @@ private:
 
 	float measured_temperature = 0;
 	float measured_humidity = 0;
-	uint64_t measurement_time = 0;
+	uint32_t measurement_time = 0;
 	uint16_t measurement_index = 0;
 
 	sht_info _sht_info;

src/drivers/magnetometer/qmc5883p/QMC5883P.cpp

@@ -244,8 +244,6 @@ void QMC5883P::RunImpl()
 
 bool QMC5883P::Configure()
 {
-	RegisterWrite(Register::REG_29, 0x06);
-
 	// first set and clear all configured register bits
 	for (const auto &reg_cfg : _register_cfg) {
 		RegisterSetAndClearBits(reg_cfg.reg, reg_cfg.set_bits, reg_cfg.clear_bits);

src/drivers/magnetometer/qmc5883p/QMC5883P.hpp

@@ -107,7 +107,7 @@ private:
 	static constexpr uint8_t size_register_cfg{2};
 	register_config_t _register_cfg[size_register_cfg] {
 		// Register                   | Set bits, Clear bits
-		{ Register::CNTL1,            CNTL1_BIT::MODE_CONTINUOUS | CNTL1_BIT::OSR2_4 | CNTL1_BIT::ODR_200HZ,  CNTL1_BIT::OSR1_8},
+		{ Register::CNTL1,            CNTL1_BIT::MODE_CONTINUOUS | CNTL1_BIT::OSR1_8 | CNTL1_BIT::ODR_50HZ,  CNTL1_BIT::OSR2_8},
 		{ Register::CNTL2,            CNTL2_BIT::RNG_2G, CNTL2_BIT::SOFT_RST | CNTL2_BIT::SELF_TEST},
 	};
 };

src/drivers/magnetometer/qmc5883p/QST_QMC5883P_registers.hpp

@@ -79,8 +79,6 @@ enum class Register : uint8_t {
 	CNTL2           = 0x0B, // Control Register 2
 
 	CHIP_ID         = 0x00,
-
-	REG_29 = 0x29,
 };
 
 // STATUS
@@ -92,11 +90,11 @@ enum STATUS_BIT : uint8_t {
 // CNTL1
 enum CNTL1_BIT : uint8_t {
 	// OSR2[7:6]
-	OSR2_4          =  Bit7, // 10
+	OSR2_8          =  Bit7 | Bit6, // 00
 	// OSR1[5:4]
 	OSR1_8          =  Bit5 | Bit4, // 11
 	// ODR[3:2]
-	ODR_200HZ        =  Bit3 | Bit2, // 11
+	ODR_50HZ        =  Bit2,        // 01
 	// MODE[1:0]
 	MODE_CONTINUOUS = Bit1 | Bit0,  // 11
 };

src/drivers/power_monitor/voxlpm/voxlpm.cpp

@@ -254,11 +254,11 @@ VOXLPM::print_status()
 
 	switch (_pm_type) {
 	case VOXLPM_TYPE_V2_LTC:
-		PX4_INFO("- V2 (LTC2964)");
+		printf("- V2 (LTC2964)\n");
 		break;
 
 	case VOXLPM_TYPE_V3_INA:
-		PX4_INFO("- V3 (INA231)");
+		printf("- V3 (INA231)\n");
 		break;
 
 	default:
@@ -267,27 +267,27 @@ VOXLPM::print_status()
 
 	switch (_ch_type) {
 	case VOXLPM_CH_TYPE_VBATT:
-		PX4_INFO("- type: BATT");
+		printf("- type: BATT\n");
 		break;
 
 	case VOXLPM_CH_TYPE_P5VDC:
-		PX4_INFO("- type: P5VDC");
+		printf("- type: P5VDC\n");
 		break;
 
 	case VOXLPM_CH_TYPE_P12VDC:
-		PX4_INFO("- type: P12VDC");
+		printf("- type: P12VDC\n");
 		break;
 
 	default:
-		PX4_INFO("- type: UNKOWN");
+		printf("- type: UNKOWN\n");
 		break;
 	}
 
-	PX4_INFO("  - voltage: %9.4f VDC ", (double)_voltage);
-	PX4_INFO("  - current: %9.4f ADC ", (double)_amperage);
-	PX4_INFO("  - shunt: %9.4f mV, %9.4f mA", (double)_vshunt * 1000, (double)_vshuntamps * 1000);
-	PX4_INFO("  - rsense: %9.6f ohm, cal: %i", (double)_rshunt, _cal);
-	PX4_INFO("  - meas interval:  %u us ", _meas_interval_us);
+	printf("  - voltage: %9.4f VDC \n", (double)_voltage);
+	printf("  - current: %9.4f ADC \n", (double)_amperage);
+	printf("  - shunt: %9.4f mV, %9.4f mA\n", (double)_vshunt * 1000, (double)_vshuntamps * 1000);
+	printf("  - rsense: %9.6f ohm, cal: %i\n", (double)_rshunt, _cal);
+	printf("  - meas interval:  %u us \n", _meas_interval_us);
 }
 
 void

src/drivers/power_monitor/voxlpm/voxlpm.hpp

@@ -246,7 +246,7 @@ private:
 	int 			measure_ina231();
 
 	bool			_initialized;
-	static constexpr unsigned _meas_interval_us{20_ms};
+	static constexpr unsigned _meas_interval_us{100_ms};
 	perf_counter_t		_sample_perf;
 	perf_counter_t		_comms_errors;
 

src/drivers/uavcannode/Kconfig

@@ -34,10 +34,6 @@ if DRIVERS_UAVCANNODE
         bool "Include GNSS fix"
         default n
 
-    config UAVCANNODE_HARDPOINT_COMMAND
-        bool "Include hardpoint commands"
-        default n
-
     config UAVCANNODE_HYGROMETER_MEASUREMENT
         bool "Include hygrometer measurement"
         default n

src/drivers/uavcannode/Publishers/GnssFix2.hpp

@@ -113,10 +113,10 @@ public:
 			}
 
 			// Diagonal matrix
-			// position variances -- Xx, Yy, Zz (eph/epv are std dev in meters, must square for variance)
-			fix2.covariance.push_back(gps.eph * gps.eph);
-			fix2.covariance.push_back(gps.eph * gps.eph);
-			fix2.covariance.push_back(gps.epv * gps.epv);
+			// position variances -- Xx, Yy, Zz
+			fix2.covariance.push_back(gps.eph);
+			fix2.covariance.push_back(gps.eph);
+			fix2.covariance.push_back(gps.epv);
 			// velocity variance -- Vxx, Vyy, Vzz
 			fix2.covariance.push_back(gps.s_variance_m_s);
 			fix2.covariance.push_back(gps.s_variance_m_s);

src/drivers/uavcannode/Subscribers/HardpointCommand.hpp

@@ -1,123 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2026 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 "UavcanSubscriberBase.hpp"
-
-#include <uavcan/equipment/hardpoint/Command.hpp>
-
-#include <uORB/Publication.hpp>
-#include <uORB/topics/actuator_servos.h>
-
-namespace uavcannode
-{
-
-class HardpointCommand;
-
-typedef uavcan::MethodBinder<HardpointCommand *,
-	void (HardpointCommand::*)(const uavcan::ReceivedDataStructure<uavcan::equipment::hardpoint::Command>&)>
-	HardpointCommandBinder;
-
-class HardpointCommand :
-	public UavcanSubscriberBase,
-	private uavcan::Subscriber<uavcan::equipment::hardpoint::Command, HardpointCommandBinder>
-{
-public:
-	HardpointCommand(uavcan::INode &node) :
-		UavcanSubscriberBase(uavcan::equipment::hardpoint::Command::DefaultDataTypeID),
-		uavcan::Subscriber<uavcan::equipment::hardpoint::Command, HardpointCommandBinder>(node)
-	{}
-
-	bool init()
-	{
-		if (start(HardpointCommandBinder(this, &HardpointCommand::callback)) < 0) {
-			PX4_ERR("uavcan::equipment::hardpoint::Command subscription failed");
-			return false;
-		}
-
-		return true;
-	}
-
-	void PrintInfo() const override
-	{
-		printf("\t%s:%d -> %s\n",
-		       uavcan::equipment::hardpoint::Command::getDataTypeFullName(),
-		       uavcan::equipment::hardpoint::Command::DefaultDataTypeID,
-		       _actuator_servos_pub.get_topic()->o_name);
-	}
-
-private:
-	void callback(const uavcan::ReceivedDataStructure<uavcan::equipment::hardpoint::Command> &msg)
-	{
-
-		uint8_t servo_id = msg.hardpoint_id;
-		actuator_servos_s actuator_servos {};
-
-		if (servo_id >= actuator_servos_s::NUM_CONTROLS) {
-			return;
-		}
-
-		for (uint8_t i = servo_id; i < actuator_servos_s::NUM_CONTROLS; ++i) {
-
-			actuator_servos.timestamp = hrt_absolute_time();
-			actuator_servos.timestamp_sample = actuator_servos.timestamp;
-
-			if (msg.command == 1) {
-				actuator_servos.control[i] = 1; // grip
-
-			} else if (msg.command == 0) {
-				actuator_servos.control[i] = -1; // release
-
-			} else {
-				actuator_servos.control[i] = 0; // do nothing
-			}
-
-			actuator_servos.timestamp = hrt_absolute_time();
-			actuator_servos.timestamp_sample = actuator_servos.timestamp;
-
-			// If ID is not 0 (broadcast), do not iterate
-			if (servo_id != 0) {
-				break;
-			}
-
-		}
-
-		_actuator_servos_pub.publish(actuator_servos);
-
-	}
-
-	uORB::Publication<actuator_servos_s> _actuator_servos_pub{ORB_ID(actuator_servos)};
-
-};
-} // namespace uavcannode