tools: enable GCC update for older ubuntu versions

New Crowdin translations - zh-CN (#24875 )
Co-authored-by: Crowdin Bot <support+bot@crowdin.com>
2026-06-05 12:10:04 +08:00 · 2025-05-19 14:36:16 +02:00 · 2025-05-18 10:57:05 +10:00 · 2025-05-18 10:56:53 +10:00 · 2025-05-18 10:56:18 +10:00 · 2025-05-16 11:33:40 -08:00
385 changed files with 9824 additions and 4370 deletions
@@ -3,6 +3,3 @@ contact_links:
  - name: Support Question
    url: https://docs.px4.io/main/en/contribute/support.html#forums-and-chat
    about: For questions about using PX4 or related components, please use the discuss forum and discord server
-  - name: Documentation Issue
-    url: https://github.com/PX4/PX4-user_guide/issues
-    about: If you found an issue in documentation, please submit it directly to the docs repository issues
@@ -0,0 +1,33 @@
+name: 📑 Documentation Bug report
+description: Create a report to help us improve the docs
+title: "[Docs] [Bug] "
+labels: ["Documentation 📑"]
+body:
+  - type: textarea
+    attributes:
+      label: Describe the bug
+      description: A clear and concise description of the bug.
+      placeholder: |
+          # A PR to fix the bug is often better than adding this issue!
+          #
+          # If you can't create a PR please provide the following:
+          # - What page and/or section has the problem
+          # - What is the problem - missing information, incorrect information?
+          # - Suggested fixes, links to corresponding code PRs
+          # - Any additional context
+    validations:
+      required: true
+
+  - type: input
+    attributes:
+      label: Page URL
+      description: The URL of the problem page.
+    validations:
+      required: false
+
+  - type: textarea
+    attributes:
+      label: Screenshot / Media
+      description: Add screenshot / media if you have them
+    validations:
+      required: false
@@ -18,10 +18,14 @@ on:
      - 'docs/**'
  pull_request:
    branches:
-      - '**'
+      - '*'
    paths-ignore:
      - 'docs/**'

+concurrency:
+  group: ${{ github.workflow }}-${{ github.ref }}
+  cancel-in-progress: true
+
 jobs:
  group_targets:
    name: Scan for Board Targets
@@ -30,7 +34,6 @@ jobs:
    outputs:
      matrix: ${{ steps.set-matrix.outputs.matrix }}
      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
-      tagname: ${{ steps.set-tag.outputs.tagname }}
      branchname: ${{ steps.set-branch.outputs.branchname }}
    steps:
      - uses: actions/checkout@v4
@@ -61,9 +64,9 @@ jobs:
          echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"

  setup:
-    name: Build Group [${{ matrix.group }}]
+    name: Build Group [${{ matrix.group }}][${{ matrix.arch == 'nuttx' && 'x86' || 'arm64' }}]
    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false]
    needs: group_targets
    strategy:
      matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
@@ -98,7 +101,7 @@ jobs:

      - name: Building [${{ matrix.group }}]
        run: |
-            ./Tools/ci/build_all_runner.sh ${{matrix.targets}}
+            ./Tools/ci/build_all_runner.sh ${{matrix.targets}} ${{matrix.arch}}

      - name: Arrange Build Artifacts
        run: |
@@ -116,7 +119,7 @@ jobs:
  artifacts:
    name: Upload Artifacts to S3
    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    needs: [setup, group_targets]
    if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
    steps:
@@ -144,10 +147,12 @@ jobs:

  release:
    name: Create Release and Upload Artifacts
+    permissions:
+      contents: write
    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}",spot=false]
+    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    needs: [setup, group_targets]
-    if: startsWith(github.ref, 'refs/tags/v')
+    if: startsWith(github.ref, 'refs/tags/')
    steps:
      - name: Download Artifacts
        uses: actions/download-artifact@v4
@@ -9,7 +9,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-      - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -9,7 +9,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-      - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -9,14 +9,14 @@ on:
      - '.github/**'
  pull_request:
    branches:
-      - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
      - '.github/**'

 jobs:
  build:
-    runs-on: macos-14
+    runs-on: macos-latest
    strategy:
      matrix:
        config: [
@@ -32,8 +32,7 @@ jobs:
    - uses: actions/checkout@v4

    - name: setup
-      run: |
-        ./Tools/setup/macos.sh
+      run: ./Tools/setup/macos.sh; ./Tools/setup/macos.sh

    - name: Prepare ccache timestamp
      id: ccache_cache_timestamp
@@ -41,14 +40,12 @@ jobs:
      run: |
        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
        message("::set-output name=timestamp::${current_date}")
-
    - name: ccache cache files
      uses: actions/cache@v4
      with:
        path: ~/.ccache
        key: macos_${{matrix.config}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
        restore-keys: macos_${{matrix.config}}-ccache-
-
    - name: setup ccache
      run: |
          mkdir -p ~/.ccache
@@ -12,11 +12,14 @@ on:
      - '.github/**'
  pull_request:
    branches:
-      - '**'
+      - '*'
    paths-ignore:
      - 'docs/**'
      - '.github/**'

+env:
+  RUNS_IN_DOCKER: true
+
 jobs:
  build_and_test:
    name: Build and Test
@@ -1,4 +1,3 @@
-
 name: Container build

 on:
@@ -10,35 +9,144 @@ on:
      - 'release/**'
    tags:
      - 'v*'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
  pull_request:
    branches:
-      - '**'
-    paths-ignore:
-      - 'docs/**'
-      - '.github/**'
+      - '*'
+    paths:
+      - '.github/workflows/dev_container.yml'
+      - 'Tools/setup/ubuntu.sh'
+      - 'Tools/setup/requirements.txt'
+      - 'Tools/setup/Dockerfile'
+      - 'Tools/setup/docker-entrypoint.sh'
+  workflow_dispatch:
+    inputs:
+      px4_version:
+        description: 'Container tag (e.g. v1.16.0)'
+        required: true
+        type: string
+      deploy_to_registry:
+        description: 'Whether to push built images to the registry'
+        required: false
+        type: boolean
+        default: false

 jobs:
-  build:
-    name: Build and Push Container
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
+  setup:
+    name: Set Tags and Variables
+    permissions:
+      contents: read
+    runs-on: [runs-on,"runner=1cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    outputs:
+      px4_version: ${{ steps.px4_version.outputs.px4_version }}
+      meta_tags: ${{ steps.meta.outputs.tags }}
+      meta_labels: ${{ steps.meta.outputs.labels }}
    steps:
+      - uses: runs-on/action@v1
      - uses: actions/checkout@v4
        with:
          fetch-tags: true
          submodules: false
          fetch-depth: 0

-      - name: Set PX4 Tag
-        id: px4-tag
+      # If manual dispatch, take the user‐provided input
+      - name: Set PX4 Tag Version
+        id: px4_version
        run: |
-          echo "tag=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
+          if [[ "${{ github.event_name }}" == "workflow_dispatch" ]]; then
+            echo "px4_version=${{ github.event.inputs.px4_version }}" >> $GITHUB_OUTPUT
+          else
+            echo "px4_version=$(git describe --tags --match 'v[0-9]*')" >> $GITHUB_OUTPUT
+          fi
+
+      - name: Extract metadata (tags, labels) for Docker
+        id: meta
+        uses: docker/metadata-action@v5
+        with:
+          images: |
+            ghcr.io/PX4/px4-dev
+            px4io/px4-dev
+          tags: |
+            type=raw,enable=true,value=${{ steps.px4_version.outputs.px4_version }},priority=1000
+
+  build:
+    name: Build Container (${{ matrix.arch }})
+    permissions:
+      contents: read
+      packages: write
+    needs: setup
+    strategy:
+      matrix:
+        include:
+          - platform: linux/arm64
+            arch: arm64
+            runner: arm64
+          - platform: linux/amd64
+            arch: amd64
+            runner: x64
+    runs-on: [runs-on,"runner=8cpu-linux-${{ matrix.runner }}","image=ubuntu24-full-${{ matrix.runner }}","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    steps:
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
+        with:
+          fetch-tags: true
+          submodules: false
+          fetch-depth: 0
+
+      - name: Login to Docker Hub
+        uses: docker/login-action@v3
+        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+        with:
+          username: ${{ secrets.DOCKERHUB_USERNAME }}
+          password: ${{ secrets.DOCKERHUB_TOKEN }}
+
+      - name: Login to GitHub Container Registry
+        uses: docker/login-action@v3
+        if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+        with:
+          registry: ghcr.io
+          username: ${{ github.actor }}
+          password: ${{ secrets.GITHUB_TOKEN }}
+
+      - name: Set up Docker Buildx
+        uses: docker/setup-buildx-action@v3
+        with:
+          driver: docker-container
+          platforms: ${{ matrix.platform }}
+
+      - name: Build and Load Container Image
+        uses: docker/build-push-action@v6
+        id: docker
+        with:
+          context: Tools/setup
+          tags: |
+            ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
+            px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-${{ matrix.arch }}
+          labels: ${{ needs.setup.outputs.meta_labels }}
+          platforms: ${{ matrix.platform }}
+          load: false
+          push: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+          provenance: false
+          cache-from: type=gha,version=1
+          cache-to: type=gha,version=1,mode=max
+
+  deploy:
+    name: Deploy To Registry
+    permissions:
+      contents: read
+      packages: write
+    runs-on: [runs-on,"runner=8cpu-linux-x64","image=ubuntu24-full-x64","run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
+    needs: [build, setup]
+    if: ${{ startsWith(github.ref, 'refs/tags/') || (github.event_name == 'workflow_dispatch' && github.event.inputs.deploy_to_registry) }}
+    steps:
+      - uses: runs-on/action@v1
+      - uses: actions/checkout@v4
+        with:
+          fetch-tags: true
+          submodules: false
+          fetch-depth: 0

      - name: Login to Docker Hub
        uses: docker/login-action@v3
-        if: github.event_name != 'pull_request'
        with:
          username: ${{ secrets.DOCKERHUB_USERNAME }}
          password: ${{ secrets.DOCKERHUB_TOKEN }}
@@ -50,58 +158,31 @@ jobs:
          username: ${{ github.actor }}
          password: ${{ secrets.GITHUB_TOKEN }}

-      - name: Extract metadata (tags, labels) for Docker
-        id: meta
-        uses: docker/metadata-action@v5
-        with:
-          images: |
-            ghcr.io/PX4/px4-dev
-            ${{ (github.event_name != 'pull_request') && 'px4io/px4-dev' || '' }}
-          tags: |
-            type=raw,enable=true,value=${{ steps.px4-tag.outputs.tag }},priority=1000
-
-      - name: Set up Docker Buildx
-        uses: docker/setup-buildx-action@v3
-
-      - name: Build and load container image
-        uses: docker/build-push-action@v6
-        id: docker
-        with:
-          context: Tools/setup
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
-          platforms: |
-            linux/amd64
-          load: true
-          push: false
-          cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
-          cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
-
-      - name: Get Tag Name
-        id: tag_name
+      - name: Verify Images Exist Before Creating Manifest
        run: |
-          echo "::set-output name=tag_name::$(echo '${{ fromJSON(steps.docker.outputs.metadata)['image.name'] }}' | sed 's/,.*$//')"
+          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
+          docker manifest inspect px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"
+          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 || echo "⚠️ Warning: No ARM64 image found!"
+          docker manifest inspect ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 || echo "⚠️ Warning: No AMD64 image found!"

-      - name: make quick_check
-        uses: addnab/docker-run-action@v3
-        with:
-          image: ${{ steps.tag_name.outputs.tag_name }}
-          options: -v ${{ github.workspace }}:/workspace
-          run: |
-            cd /workspace
-            git config --global --add safe.directory /workspace
-            make px4_sitl_default
-            make px4_fmu-v6x_default
+      - name: Create and Push Multi-Arch Manifest for Docker Hub
+        run: |
+          docker manifest create px4io/px4-dev:${{ needs.setup.outputs.px4_version }} \
+            --amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
+            --amend px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64

-      - name: Push container image
-        uses: docker/build-push-action@v6
-        with:
-          context: Tools/setup
-          tags: ${{ steps.meta.outputs.tags }}
-          labels: ${{ steps.meta.outputs.labels }}
-          platforms: |
-            linux/amd64
-          provenance: mode=max
-          push: ${{ github.event_name != 'pull_request' }}
-          cache-from: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }}
-          cache-to: type=s3,blobs_prefix=cache/${{ github.repository }}/,manifests_prefix=cache/${{ github.repository }}/,region=${{ env.RUNS_ON_AWS_REGION }},bucket=${{ env.RUNS_ON_S3_BUCKET_CACHE }},mode=max
+          docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
+          docker manifest annotate px4io/px4-dev:${{ needs.setup.outputs.px4_version }} px4io/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
+
+          docker manifest push px4io/px4-dev:${{ needs.setup.outputs.px4_version }}
+
+      - name: Create and Push Multi-Arch Manifest for GHCR
+        run: |
+          docker manifest create ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} \
+            --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 \
+            --amend ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64
+
+          docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-arm64 --arch arm64
+          docker manifest annotate ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }} ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}-amd64 --arch amd64
+
+          docker manifest push ghcr.io/px4/px4-dev:${{ needs.setup.outputs.px4_version }}
@@ -1,6 +1,18 @@
 name: Docs - Deploy PX4 User Guide

 on:
+  push:
+    branches:
+      - 'main'
+      - 'release/**'
+    paths:
+      - 'docs/en/**'
+  pull_request:
+    branches:
+      - '*'
+    paths:
+      - 'docs/en/**'
+
  # Allows you to run this workflow manually from the Actions tab
  workflow_dispatch:

@@ -68,7 +80,7 @@ jobs:
      - name: Deploy
        run: |
          git clone --single-branch --branch main --depth 1 https://${{ secrets.PX4BUILTBOT_PERSONAL_ACCESS_TOKEN }}@github.com/PX4/docs.px4.io.git
-          # make it an orphan branch
+          # make it an orphan branch      
          cd docs.px4.io
          CURRENT_DATETIME=$(date +'%Y%m%d_%H_%M')
          git checkout --orphan "${CURRENT_DATETIME}_main"
@@ -1,114 +0,0 @@
-name: Docs - Deploy PX4 User Guide to AWS
-
-on:
-  push:
-    branches:
-      - "main"
-      - "release/**"
-    paths:
-      - "docs/en/**"
-      - "docs/zh/**"
-      - "docs/uk/**"
-      - "docs/ko/**"
-  pull_request:
-    paths:
-      - "docs/en/**"
-      - "docs/zh/**"
-      - "docs/uk/**"
-      - "docs/ko/**"
-
-permissions:
-  contents: read
-  actions: read
-  id-token: write # for AWS OIDC
-
-concurrency:
-  group: docs-deploy
-  cancel-in-progress: false
-
-jobs:
-  build:
-    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false,extras=s3-cache]
-    outputs:
-      branchname: ${{ steps.set-branch.outputs.branchname }}
-      releaseversion: ${{ steps.set-version.outputs.releaseversion }}
-    steps:
-      - uses: runs-on/action@v1
-
-      - name: Checkout
-        uses: actions/checkout@v4
-
-      - id: set-branch
-        run: echo "branchname=${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}" >> $GITHUB_OUTPUT
-
-      - id: set-version
-        run: |
-          branch="${{ steps.set-branch.outputs.branchname }}"
-          if [[ "$branch" == "main" ]]; then
-            version="main"
-          else
-            version="v${branch#release/}"
-          fi
-          echo "releaseversion=$version" >> $GITHUB_OUTPUT
-
-      - name: Setup Node
-        uses: actions/setup-node@v4
-        with:
-          node-version: 20
-          cache: npm
-          cache-dependency-path: ./docs/yarn.lock
-
-      - name: Install dependencies
-        run: yarn install --frozen-lockfile --cwd ./docs
-
-      - name: Build with VitePress
-        working-directory: ./docs
-        env:
-          BRANCH_NAME: ${{ steps.set-version.outputs.releaseversion }}
-        run: |
-          npm run docs:build_ubuntu
-          touch .vitepress/dist/.nojekyll
-          npm run docs:sitemap
-
-      - name: Upload artifact
-        if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-        uses: actions/upload-artifact@v4
-        with:
-          name: px4_docs_build
-          path: docs/.vitepress/dist/
-          retention-days: 1
-
-  deploy:
-    if: ${{ github.event_name == 'push' || (github.event_name == 'pull_request' && github.event.pull_request.merged) || github.event_name == 'workflow_dispatch' }}
-    needs: build
-    runs-on: ubuntu-latest
-
-    steps:
-      - name: Download Artifact
-        uses: actions/download-artifact@v4
-        with:
-          name: px4_docs_build
-          path: ~/_book
-
-      - name: Configure AWS from OIDC
-        uses: aws-actions/configure-aws-credentials@v4
-        with:
-          role-to-assume: ${{ secrets.AWS_ROLE_ARN }}
-          aws-region: us-west-2
-
-      - name: Sanity check AWS credentials
-        run: aws sts get-caller-identity
-
-      - name: Upload HTML with short cache
-        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
-            --delete \
-            --exclude "*" --include "*.html" \
-            --cache-control "public, max-age=60"
-
-      - name: Upload assets with long cache
-        run: |
-          aws s3 sync ~/_book/ s3://px4-docs/${{ needs.build.outputs.releaseversion }}/ \
-            --delete \
-            --exclude "*.html" \
-            --cache-control "public, max-age=86400, immutable"
@@ -3,7 +3,7 @@ name: EKF Change Indicator
 on:
  pull_request:
    branches:
-      - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -9,7 +9,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-      - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -27,7 +27,7 @@ jobs:
          "failsafe_web",
        ]
    container:
-      image: px4io/px4-dev-nuttx-focal:2022-08-12
+      image: px4io/px4-dev:v1.16.0-ondemand
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
      - name: Install Node v20.18.0
@@ -39,11 +39,13 @@ jobs:
        with:
          fetch-depth: 0

+      - name: Git ownership workaround
+        run: git config --system --add safe.directory '*'
+
      - name: Install empscripten
        run: |
          git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk
          cd _emscripten_sdk
-          git checkout 4.0.15
          ./emsdk install latest
          ./emsdk activate latest

@@ -14,7 +14,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-      - '**'
+      - '*'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -28,7 +28,7 @@ jobs:
    name: Analyzing ${{ matrix.target }}
    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu24-full-x64,"run-id=${{ github.run_id }}",spot=false]
    container:
-      image: px4io/px4-dev-nuttx-focal
+      image: px4io/px4-dev:v1.16.0-ondemand
    strategy:
      matrix:
        target: [px4_fmu-v5x, px4_fmu-v6x]
@@ -80,7 +80,7 @@ jobs:
        id: bloaty-step
        with:
          bloaty-file-args: ./with-change.elf -- ./before-change.elf
-          bloaty-additional-args: -d sections,compileunits -s vm -n 20
+          bloaty-additional-args: -d sections,symbols -s vm -n 20
          output-to-summary: true

      - name: Generate output
@@ -9,7 +9,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-      - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -9,7 +9,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-    - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -9,7 +9,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-      - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -31,7 +31,7 @@ jobs:
    - name: Build PX4 and Run Test [${{ matrix.config }}]
      uses: addnab/docker-run-action@v3
      with:
-        image: px4io/px4-dev-nuttx-focal:2022-08-12
+        image: px4io/px4-dev:v1.16.0-ondemand
        options: -v ${{ github.workspace }}:/workspace
        run: |
          cd /workspace
@@ -9,7 +9,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-    - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -11,11 +11,13 @@ on:
    - 'main'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'
  pull_request:
    branches:
-      - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
+      - '.github/**'

 jobs:
  build:
@@ -31,12 +33,6 @@ jobs:
    - name: Git Ownership Workaround
      run: git config --system --add safe.directory '*'

-    - name: Update ROS Keys
-      run: |
-        sudo rm /etc/apt/sources.list.d/ros2.list && \
-        sudo curl -sSL https://raw.githubusercontent.com/ros/rosdistro/master/ros.key -o /usr/share/keyrings/ros-archive-keyring.gpg && \
-        echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/ros-archive-keyring.gpg] http://packages.ros.org/ros2/ubuntu $(. /etc/os-release && echo $UBUNTU_CODENAME) main" | sudo tee /etc/apt/sources.list.d/ros2.list > /dev/null
-
    - name: Install gazebo
      run: |
        apt update && apt install -y gazebo11 libgazebo11-dev gstreamer1.0-plugins-bad gstreamer1.0-plugins-base gstreamer1.0-plugins-good gstreamer1.0-plugins-ugly libgstreamer-plugins-base1.0-dev
@@ -85,7 +81,7 @@ jobs:
        . /opt/ros/galactic/setup.bash
        mkdir -p /opt/px4_ws/src
        cd /opt/px4_ws/src
-        git clone --recursive --branch release/1.16 https://github.com/Auterion/px4-ros2-interface-lib.git
+        git clone --recursive https://github.com/Auterion/px4-ros2-interface-lib.git
        cd ..
        # Copy messages to ROS workspace
        "${PX4_DIR}/Tools/copy_to_ros_ws.sh" "$(pwd)"
@@ -8,7 +8,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-      - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -14,7 +14,7 @@ on:
      - '.github/**'
  pull_request:
    branches:
-      - '**'
+    - '*'
    paths-ignore:
      - 'docs/**'
      - '.github/**'
@@ -301,11 +301,11 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: holybro_durandal-v1_default
-    holybro_kakuteh7-wing_default:
-      short: holybro_kakuteh7-wing
+    holybro_kakuteh7dualimu_default:
+      short: holybro_kakuteh7dualimu
      buildType: MinSizeRel
      settings:
-        CONFIG: holybro_kakuteh7-wing_default
+        CONFIG: holybro_kakuteh7dualimu_default
    matek_h743-slim_default:
      short: matek_h743-slim
      buildType: MinSizeRel
@@ -300,6 +300,8 @@ uorb_graphs:
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v5_default uorb_graph
+	@$(MAKE) --no-print-directory px4_fmu-v5x_default uorb_graph
+	@$(MAKE) --no-print-directory px4_fmu-v6x_default uorb_graph
 	@$(MAKE) --no-print-directory px4_sitl_default uorb_graph

 px4io_update:
@@ -1,15 +1,13 @@
 #!/bin/sh
 # shellcheck disable=SC2154

-echo "INFO  [init] Gazebo simulator"
-
 # Enforce minimum gz version as Harmonic (gz-sim8)
 MIN_GZ_VERSION="8.0.0"
 GZ_SIM_VERSION=$(gz sim --versions 2>/dev/null | head -n 1 | tr -d ' ')

 if [ -z "$GZ_SIM_VERSION" ]; then
-    echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
-    exit 1
+	echo "ERROR [init] Gazebo gz sim not found. Please install gz-harmonic"
+	exit 1
 fi

 # Use sort compare, check that MIN_GZ_VERSION is ordered last
@@ -17,6 +15,8 @@ if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)"
 	gz_command="gz"
 	gz_sub_command="sim"

+	echo "INFO  [init] Gazebo simulator $GZ_SIM_VERSION"
+
 	# Specify render engine if `GZ_SIM_RENDER_ENGINE` is set
 	# (for example, if you want to use Ogre 1.x instead of Ogre 2.x):
 	if [ -n "${PX4_GZ_SIM_RENDER_ENGINE}" ]; then
@@ -24,19 +24,15 @@ if [ "$(printf '%s\n' "$GZ_SIM_VERSION" "$MIN_GZ_VERSION" | sort -V | head -n1)"
 		gz_sub_command="${gz_sub_command} --render-engine ${PX4_GZ_SIM_RENDER_ENGINE}"
 	fi
 else
-    echo "ERROR [init] Gazebo gz sim version is too old ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
-    exit 1
+	echo "ERROR [init] Gazebo version too hold ($GZ_SIM_VERSION). Minimum required version is $MIN_GZ_VERSION"
+	exit 1
 fi

-# Look for an already running world
-get_gz_world() {
-	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
-}
-
-# If not standalone
+# If not standalone launch the world
 if [ -z "${PX4_GZ_STANDALONE}" ]; then

-	get_gz_world
+	# Look for an already running world
+	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "^/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )

 	# shellcheck disable=SC2153
 	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
@@ -70,13 +66,6 @@ fi

 # Wait for Gazebo world to be ready before proceeding
 check_scene_info() {
-
-	get_gz_world
-
-	if [ -n "${PX4_GZ_STANDALONE}" ] && [ -n "${gz_world}" ]; then
-		PX4_GZ_WORLD=${gz_world}
-	fi
-
 	SERVICE_INFO=$(${gz_command} service -i --service "/world/${PX4_GZ_WORLD}/scene/info" 2>&1)
 	if echo "$SERVICE_INFO" | grep -q "Service providers"; then
 		return 0
@@ -100,6 +89,21 @@ while [ $ATTEMPTS -gt 0 ]; do
 	sleep 1
 done

+# World is ready, check if custom location is provided
+if [ -n "${PX4_HOME_LAT}" ] || [ -n "${PX4_HOME_LON}" ] || [ -n "${PX4_HOME_ALT}" ]; then
+	# must have all three
+	if [ -z "${PX4_HOME_LAT}" ] || [ -z "${PX4_HOME_LON}" ] || [ -z "${PX4_HOME_ALT}" ]; then
+		echo "ERROR [init] PX4_HOME_LAT, PX4_HOME_LON and PX4_HOME_ALT must all be set"
+		exit 1
+	fi
+	echo "INFO  [init] Setting world origin to lat: ${PX4_HOME_LAT}, lon: ${PX4_HOME_LON}, alt: ${PX4_HOME_ALT}"
+	${gz_command} service -s "/world/${PX4_GZ_WORLD}/set_spherical_coordinates" \
+		--reqtype gz.msgs.SphericalCoordinates \
+		--reptype gz.msgs.Boolean \
+		--timeout 1000 \
+		--req "surface_model: EARTH_WGS84, latitude_deg: ${PX4_HOME_LAT}, longitude_deg: ${PX4_HOME_LON}, elevation: ${PX4_HOME_ALT}" > /dev/null 2>&1
+fi
+
 # Start gz_bridge - either spawn a model or connect to existing one
 if [ -n "${PX4_SIM_MODEL#*gz_}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
 	# Spawn a model
@@ -190,9 +190,6 @@ param set-default SYS_FAILURE_EN 1
 # does not go below 50% by default, but failure injection can trigger failsafes.
 param set-default COM_LOW_BAT_ACT 3

-# set default IP to localhost
-param set-default UXRCE_DDS_AG_IP 2130706433  # 127.0.0.1
-

 # Adapt timeout parameters if simulation runs faster or slower than realtime.
 if [ -n "$PX4_SIM_SPEED_FACTOR" ]; then
@@ -317,7 +314,7 @@ then
 	uxrce_dds_port="$PX4_UXRCE_DDS_PORT"
 fi

-uxrce_dds_client start -t udp -p $uxrce_dds_port $uxrce_dds_ns
+uxrce_dds_client start -t udp -h 127.0.0.1 -p $uxrce_dds_port $uxrce_dds_ns

 if param greater -s MNT_MODE_IN -1
 then
@@ -340,7 +337,11 @@ then
 	gyro_calibration start
 fi

-payload_deliverer start
+# Payload deliverer module if gripper is enabled
+if param compare -s PD_GRIPPER_EN 1
+then
+	payload_deliverer start
+fi

 if param compare -s ICE_EN 1
 then
@@ -7,6 +7,7 @@
 #
 # @board px4_fmu-v2 exclude
 # @board bitcraze_crazyflie exclude
+# @board px4_fmu-v6x exclude
 #

 . ${R}etc/init.d/rc.mc_defaults
@@ -560,7 +560,11 @@ else
 		px4flow start -X &
 	fi

-	payload_deliverer start
+	# Payload deliverer module if gripper is enabled
+	if param compare -s PD_GRIPPER_EN 1
+	then
+		payload_deliverer start
+	fi

 	if param compare -s ICE_EN 1
 	then
@@ -86,21 +86,17 @@ def process_target(px4board_file, target_name):
    assert platform, f"PLATFORM not found in {px4board_file}"

    if platform not in excluded_platforms:
-        # get the container based on the platform and toolchain
+        container = 'ghcr.io/px4/px4-dev:v1.16.0-ondemand'
        if platform == 'posix':
-            container = 'px4io/px4-dev-base-focal:2021-09-08'
            group = 'base'
            if toolchain:
                if toolchain.startswith('aarch64'):
-                    container = 'px4io/px4-dev-aarch64:2022-08-12'
                    group = 'aarch64'
                elif toolchain == 'arm-linux-gnueabihf':
-                    container = 'px4io/px4-dev-armhf:2023-06-26'
                    group = 'armhf'
                else:
                    if verbose: print(f'unmatched toolchain: {toolchain}')
        elif platform == 'nuttx':
-            container = 'px4io/px4-dev-nuttx-focal:2022-08-12'
            group = 'nuttx'
        else:
            if verbose: print(f'unmatched platform: {platform}')
@@ -124,7 +120,7 @@ if(verbose):
 # - Events
 metadata_targets = ['airframe_metadata', 'parameters_metadata', 'extract_events']
 grouped_targets['base'] = {}
-grouped_targets['base']['container'] = 'px4io/px4-dev-base-focal:2021-09-08'
+grouped_targets['base']['container'] = 'ghcr.io/px4/px4-dev:v1.16.0-ondemand'
 grouped_targets['base']['manufacturers'] = {}
 grouped_targets['base']['manufacturers']['px4'] = []
 grouped_targets['base']['manufacturers']['px4'] += metadata_targets
@@ -206,6 +202,7 @@ if (args.group):
    if(verbose):
        print(f'=:Architectures: [{grouped_targets.keys()}]')
    for arch in grouped_targets:
+        runner = 'x64' if arch == 'nuttx' else 'arm64'
        if(verbose):
            print(f'=:Processing: [{arch}]')
        temp_group = []
@@ -223,6 +220,7 @@ if (args.group):
                    "container": grouped_targets[arch]['container'],
                    "targets": targets,
                    "arch": arch,
+                    "runner": runner,
                    "group": group_name,
                    "len": len(grouped_targets[arch]['manufacturers'][man])
                })
@@ -240,6 +238,7 @@ if (args.group):
                        "container": grouped_targets[arch]['container'],
                        "targets": targets,
                        "arch": arch,
+                        "runner": runner,
                        "group": group_name,
                        "len": len(chunk),
                    })
@@ -260,6 +259,7 @@ if (args.group):
                "container": grouped_targets[arch]['container'],
                "targets": targets,
                "arch": arch,
+                "runner": runner,
                "group": group_name,
                "len": temp_len
            })
@@ -277,6 +277,7 @@ if (args.group):
                    "container": grouped_targets[arch]['container'],
                    "targets": targets,
                    "arch": arch,
+                    "runner": runner,
                    "group": group_name,
                    "len": len(chunk),
                })
@@ -4,8 +4,8 @@ mkdir artifacts
 cp **/**/*.px4 artifacts/
 cp **/**/*.elf artifacts/
 for build_dir_path in build/*/ ; do
+  build_dir_path=${build_dir_path::${#build_dir_path}-1}
  build_dir=${build_dir_path#*/}
-  build_dir=${build_dir::${#build_dir}-1}
  mkdir artifacts/$build_dir
  find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
  # Airframe
@@ -26,21 +26,23 @@ for build_dir_path in build/*/ ; do
  echo "----------"
 done

-# general metadata
-mkdir artifacts/_general/
-cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
-# Airframe
-cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
-# Parameters
-cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
-cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
-cp artifacts/px4_sitl_default/parameters.json.xz artifacts/_general/
-# Actuators
-cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
-cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
-# Events
-cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-# ROS 2 msgs
-cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
-# Module Docs
-ls -la artifacts/_general/
+if [ -d artifacts/px4_sitl_default ]; then
+  # general metadata
+  mkdir artifacts/_general/
+  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+  # Airframe
+  cp artifacts/px4_sitl_default/airframes.xml artifacts/_general/
+  # Parameters
+  cp artifacts/px4_sitl_default/parameters.xml artifacts/_general/
+  cp artifacts/px4_sitl_default/parameters.json artifacts/_general/
+  cp artifacts/px4_sitl_default/parameters.json.xz artifacts/_general/
+  # Actuators
+  cp artifacts/px4_sitl_default/actuators.json artifacts/_general/
+  cp artifacts/px4_sitl_default/actuators.json.xz artifacts/_general/
+  # Events
+  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+  # ROS 2 msgs
+  cp artifacts/px4_sitl_default/events/all_events.json.xz artifacts/_general/
+  # Module Docs
+  ls -la artifacts/_general/
+fi
@@ -33,10 +33,10 @@ fi
 # docker hygiene

 #Delete all stopped containers (including data-only containers)
-#docker rm $(docker ps -a -q)
+# docker container prune

 #Delete all 'untagged/dangling' (<none>) images
-#docker rmi $(docker images -q -f dangling=true)
+# docker image prune

 echo "PX4_DOCKER_REPO: $PX4_DOCKER_REPO";

@@ -8,22 +8,25 @@ ENV LC_ALL=C.UTF-8
 ENV DISPLAY=:99
 ENV TERM=xterm
 ENV TZ=UTC
+ENV RUNS_IN_DOCKER=true

 # SITL UDP PORTS
 EXPOSE 14556/udp
 EXPOSE 14557/udp

+# Install Shell Script Entrypoint
 COPY docker-entrypoint.sh /usr/local/bin/docker-entrypoint.sh

 # Install PX4 Requirements
 COPY requirements.txt /tmp/requirements.txt
 COPY ubuntu.sh /tmp/ubuntu.sh
-RUN touch /.dockerenv
+
 RUN bash /tmp/ubuntu.sh --no-sim-tools

+# Make sure git is ok with your local copy
 RUN git config --global --add safe.directory '*'

-# create user with id 1001 (jenkins docker workflow default)
+# Create user with id 1001 (jenkins docker workflow default)
 RUN useradd --shell /bin/bash -u 1001 -c "" -m user && usermod -a -G dialout user

 ENTRYPOINT ["/usr/local/bin/docker-entrypoint.sh"]
@@ -1,19 +1,27 @@
 #!/bin/bash

+GREEN='\033[0;32m'
+NO_COLOR='\033[0m' # No Color
+SCRIPTID="${GREEN}[docker-entrypoint.sh]${NO_COLOR}"
+
+echo -e "$SCRIPTID Starting"
+
 # Start virtual X server in the background
 # - DISPLAY default is :99, set in dockerfile
 # - Users can override with `-e DISPLAY=` in `docker run` command to avoid
 #   running Xvfb and attach their screen
 if [[ -x "$(command -v Xvfb)" && "$DISPLAY" == ":99" ]]; then
-	echo "[docker-entrypoint.sh] Starting Xvfb"
+	echo -e "$SCRIPTID Starting Xvfb"
 	Xvfb :99 -screen 0 1600x1200x24+32 &
 fi

 # Check if the ROS_DISTRO is passed and use it
 # to source the ROS environment
 if [ -n "${ROS_DISTRO}" ]; then
-	echo "[docker-entrypoint.sh] ROS: ${ROS_DISTRO}"
+	echo -e "$SCRIPTID ROS: ${ROS_DISTRO}"
 	source "/opt/ros/$ROS_DISTRO/setup.bash"
 fi

+echo -e "$SCRIPTID ($( uname -m ))"
+
 exec "$@"
@@ -42,8 +42,6 @@ else
 		echo "Installing PX4 general dependencies (homebrew px4-dev)"
 		brew tap PX4/px4
 		brew install px4-dev
-		# lock down gcc to v9 for v1.16 branch
-		brew install gcc-arm-none-eabi
 		brew install ncurses
 		brew install python-tk
 	fi
@@ -27,9 +27,12 @@ do
 	fi
 done

+echo "[ubuntu.sh] Starting..."
+echo "[ubuntu.sh] arch: $INSTALL_ARCH"
+
 # detect if running in docker
-if [ -f /.dockerenv ]; then
-	echo "Running within docker, installing initial dependencies";
+if [ "$RUNS_IN_DOCKER" = "true" ]; then
+	echo "[ubuntu.sh] Running within docker, installing initial dependencies";
 	apt-get --quiet -y update && DEBIAN_FRONTEND=noninteractive apt-get --quiet -y install \
 		ca-certificates \
 		gnupg \
@@ -47,7 +50,7 @@ DIR=$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )
 # check requirements.txt exists (script not run in source tree)
 REQUIREMENTS_FILE="requirements.txt"
 if [[ ! -f "${DIR}/${REQUIREMENTS_FILE}" ]]; then
-	echo "FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
+	echo "[ubuntu.sh] FAILED: ${REQUIREMENTS_FILE} needed in same directory as ubuntu.sh (${DIR})."
 	return 1
 fi

@@ -55,10 +58,14 @@ fi
 # check ubuntu version
 # otherwise warn and point to docker?
 UBUNTU_RELEASE="`lsb_release -rs`"
-echo "Ubuntu ${UBUNTU_RELEASE}"
+UBUNTU_RELEASE_NUMERIC=""

-echo
-echo "Installing PX4 general dependencies"
+if [[ "$UBUNTU_RELEASE" =~ ^[0-9]{2}\.[0-9]{2}$ ]]; then
+    UBUNTU_RELEASE_NUMERIC=$(echo "$UBUNTU_RELEASE" | awk -F. '{ printf("%02d%02d\n", $1, $2) }')
+fi
+
+echo "[ubuntu.sh] Ubuntu ${UBUNTU_RELEASE}"
+echo "[ubuntu.sh] Installing PX4 general dependencies"

 sudo apt-get update -y --quiet
 sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -91,7 +98,7 @@ sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends i

 # Python3 dependencies
 echo
-echo "Installing PX4 Python3 dependencies"
+echo "[ubuntu.sh] Installing PX4 Python3 dependencies"
 PYTHON_VERSION=$(python3 --version 2>&1 | awk '{print $2}')
 REQUIRED_VERSION="3.11"
 if [[ "$(printf '%s\n' "$REQUIRED_VERSION" "$PYTHON_VERSION" | sort -V | head -n1)" == "$REQUIRED_VERSION" ]]; then
@@ -109,18 +116,18 @@ fi
 if [[ $INSTALL_NUTTX == "true" ]]; then

 	echo
-	echo "Installing NuttX dependencies"
-
+	echo "[ubuntu.sh] NuttX Installing Dependencies ($INSTALL_ARCH)"
+	sudo apt-get update -y --quiet
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
 		automake \
 		binutils-dev \
 		bison \
 		build-essential \
 		curl \
+		clang \
+		clang-tidy \
+		clang-format \
 		flex \
-		g++-multilib \
-		gcc-arm-none-eabi \
-		gcc-multilib \
 		gdb-multiarch \
 		genromfs \
 		gettext \
@@ -139,6 +146,8 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		libstdc++-arm-none-eabi-newlib \
 		libtool \
 		libunwind-dev \
+		lldb \
+		lld \
 		pkg-config \
 		screen \
 		texinfo \
@@ -147,6 +156,44 @@ if [[ $INSTALL_NUTTX == "true" ]]; then
 		vim-common \
 		;

+	if [[ "${INSTALL_ARCH}" == "x86_64" ]]; then
+		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+			g++-multilib \
+			;
+
+		# Backwards compatibility with old ubuntu releases that contain older GCC versions
+		if [[ -n "$UBUNTU_RELEASE_NUMERIC" && "$UBUNTU_RELEASE_NUMERIC" -lt 2404 ]]; then
+			NUTTX_GCC_VERSION="13.2.rel1"
+
+			# download and extract GCC
+			echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
+			wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.xz https://developer.arm.com/-/media/Files/downloads/gnu/${NUTTX_GCC_VERSION}/binrel/arm-gnu-toolchain-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-arm-none-eabi.tar.xz && \
+				sudo mkdir -p /opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION} && \
+				sudo tar --strip-components=1 -xf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.xz -C /opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION};
+
+			# add arm-none-eabi-gcc to user's PATH
+			exportline="export PATH=/opt/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}/bin:\$PATH"
+
+			if grep -Fxq "$exportline" $HOME/.profile; then
+				echo "${NUTTX_GCC_VERSION} path already set.";
+			else
+				echo $exportline >> $HOME/.profile;
+			fi
+		else
+			sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+				gcc-arm-none-eabi \
+				gcc-multilib \
+				;
+		fi
+	fi
+
+	if [[ "${INSTALL_ARCH}" == "aarch64" ]]; then
+		sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
+			g++-aarch64-linux-gnu \
+			g++-arm-linux-gnueabihf \
+			;
+	fi
+
 	if [ -n "$USER" ]; then
 		# add user to dialout group (serial port access)
 		sudo usermod -aG dialout $USER
@@ -157,7 +204,7 @@ fi
 if [[ $INSTALL_SIM == "true" ]]; then

 	echo
-	echo "Installing PX4 simulation dependencies"
+	echo "[ubuntu.sh] Installing PX4 simulation dependencies"

 	# General simulation dependencies
 	sudo DEBIAN_FRONTEND=noninteractive apt-get -y --quiet --no-install-recommends install \
@@ -182,8 +229,8 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		fi
 	else
 		# Expects Ubuntu 22.04 > by default
-		echo "Gazebo (Harmonic) will be installed"
-		echo "Earlier versions will be removed"
+		echo "[ubuntu.sh] Gazebo (Harmonic) will be installed"
+		echo "[ubuntu.sh] Earlier versions will be removed"
 		# Add Gazebo binary repository
 		sudo wget https://packages.osrfoundation.org/gazebo.gpg -O /usr/share/keyrings/pkgs-osrf-archive-keyring.gpg
 		echo "deb [arch=$(dpkg --print-architecture) signed-by=/usr/share/keyrings/pkgs-osrf-archive-keyring.gpg] http://packages.osrfoundation.org/gazebo/ubuntu-stable $(lsb_release -cs) main" | sudo tee /etc/apt/sources.list.d/gazebo-stable.list > /dev/null
@@ -220,3 +267,11 @@ if [[ $INSTALL_SIM == "true" ]]; then
 	fi

 fi
+
+if [[ $INSTALL_NUTTX == "true" ]]; then
+	# Backwards compatibility with old ubuntu releases that contain older GCC versions
+	if [[ -n "$UBUNTU_RELEASE_NUMERIC" && "$UBUNTU_RELEASE_NUMERIC" -lt 2404 ]]; then
+		echo "To apply changes and be able to compile NuttX targets, run:"
+		echo "  source ~/.profile"
+	fi
+fi
@@ -76,7 +76,6 @@ CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
-CONFIG_MODULES_PAYLOAD_DELIVERER=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
@@ -6,8 +6,3 @@ CONFIG_DRIVERS_SW_CRYPTO=y
 # CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
 CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
 CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL=n
-CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
@@ -56,12 +56,9 @@ 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_PAYLOAD_DELIVERER=y
-CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 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
@@ -5,8 +5,3 @@ CONFIG_DRIVERS_SW_CRYPTO=y
 # CONFIG_EKF2_AUX_GLOBAL_POSITION is not set
 CONFIG_PUBLIC_KEY0="../../../Tools/test_keys/key0.pub"
 CONFIG_PUBLIC_KEY1="../../../Tools/test_keys/rsa2048.pub"
-CONFIG_MODULES_FW_ATT_CONTROL=n
-CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL=n
-CONFIG_MODULES_FW_RATE_CONTROL=n
-CONFIG_MODULES_VTOL_ATT_CONTROL=n
@@ -34,25 +34,75 @@
 #pragma once

 // DMAMUX1 Using at most 8 Channels on DMA1 --------   Assigned
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0     // 1 DMA1:37 IIM-42653
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0     // 2 DMA1:38 IIM-42653
-#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0   // 3 DMA1:41 GPS1
-#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0   // 4 DMA1:42 GPS1
-#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0   // 5 DMA1:71 RC
-#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0   // 6 DMA1:72 RC
-// Timer 4 (DMAMAP_DMA12_TIM4UP_0)                  // 7 DMA1:32 TIM4UP/TIM4CH1-4
-// Timer 5 (DMAMAP_DMA12_TIM5UP_0)                  // 8 DMA1:50 TIM5UP/TIM5CH1-4
+//                                                     V
+
+// Timer 4 Channel 1                               /* DMA1:29 TIM4CH1 */
+
+#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0   /* 1 DMA1:37 IIM-42653 */
+#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0   /* 2 DMA1:38 IIM-42653 */
+
+//#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_0  /* 3 DMA1:39 ICM-42688-P */
+//#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_0  /* 4 DMA1:40 ICM-42688-P */
+
+#define DMAMAP_USART1_RX  DMAMAP_DMA12_USART1RX_0 /*  DMA1:41  GPS1 */
+#define DMAMAP_USART1_TX  DMAMAP_DMA12_USART1TX_0 /*  DMA1:42  GPS1 */
+
+//#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_0 /*  DMA1:45 DEBUG */
+//#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_0 /*  DMA1:46 DEBUG */
+
+// Timer 8 Channel 1                               /* DMA1:47 TIM8CH1 */
+// Timer 8 Channel 2                               /* DMA1:48 TIM8CH2 */
+// Timer 8 Channel 3                               /* DMA1:49 TIM8CH3 */
+// Timer 8 Channel 4                               /* DMA1:50 TIM8CH4 */
+
+// Timer 5 Channel 1                               /* DMA1:55 TIM5CH1 */
+// Timer 5 Channel 2                               /* DMA1:56 TIM5CH2 */
+// Timer 5 Channel 3                               /* DMA1:57 TIM5CH3 */
+// Timer 5 Channel 4                               /* DMA1:58 TIM5CH4 */
+
+// #define DMAMAP_UART4_RX   DMAMAP_DMA12_UART4RX_0  /*  DMA1:63 UART4 */
+// #define DMAMAP_UART4_TX   DMAMAP_DMA12_UART4TX_0  /*  DMA1:64 UART4 */
+
+#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_0 /* 5 DMA1:71 RC */
+// #define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_0 /* 6 DMA1:72 RC */
+
+// Assigned in timer_config.cpp
+
+// Timer 4                                          /* 7 DMA1:32 TIM4UP */
+// Timer 5                                          /* 8 DMA1:50 TIM5UP */

 // DMAMUX2 Using at most 8 Channels on DMA2 --------   Assigned
-#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_1   // 1 DMA2:43 VTX
-#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    // 2 DMA2:65 VTX
-#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    // 3 DMA2:66 VTX
-#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    // 4 DMA2:79 TELEM1
-#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    // 5 DMA2:80 TELEM1
-#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   // 6 DMA2:45 DEBUG
-#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   // 7 DMA2:46 DEBUG
-// available
+//                                                     V
+
+// Timer 4 Channel 1                               /* DMA2:29 TIM4CH1 */
+
+#define DMAMAP_USART2_RX  DMAMAP_DMA12_USART2RX_1   /* 3 DMA2:43 TELEM3 */
+#define DMAMAP_USART2_TX  DMAMAP_DMA12_USART2TX_1   /* 4 DMA2:44 TELEM3 */
+
+#define DMAMAP_USART3_RX  DMAMAP_DMA12_USART3RX_1   /* 3 DMA2:45 DEBUG */
+#define DMAMAP_USART3_TX  DMAMAP_DMA12_USART3TX_1   /* 4 DMA2:46 DEBUG */
+
+// Timer 8 Channel 1                                 /* DMA2:47 TIM8CH1 */
+// Timer 8 Channel 2                                 /* DMA2:48 TIM8CH2 */
+// Timer 8 Channel 3                                 /* DMA2:49 TIM8CH3 */
+// Timer 8 Channel 4                                 /* DMA2:50 TIM8CH4 */
+
+// Timer 5 Channel 1                                 /* DMA2:55 TIM5CH1 */
+// Timer 5 Channel 2                                 /* DMA2:56 TIM5CH2 */
+// Timer 5 Channel 3                                 /* DMA2:57 TIM5CH3 */
+// Timer 5 Channel 4                                 /* DMA2:58 TIM5CH4 */
+
+//#define DMAMAP_SPI3_RX    DMAMAP_DMA12_SPI3RX_1     /* 1 DMA2:61 BMI088 */
+//#define DMAMAP_SPI3_TX    DMAMAP_DMA12_SPI3TX_1     /* 2 DMA2:62 BMI088 */
+
+#define DMAMAP_UART5_RX   DMAMAP_DMA12_UART5RX_1    /* 5 DMA2:65 TELEM2 */
+#define DMAMAP_UART5_TX   DMAMAP_DMA12_UART5TX_1    /* 6 DMA2:66 TELEM2 */
+
+#define DMAMAP_UART7_RX   DMAMAP_DMA12_UART7RX_1    /* 7 DMA1:79 TELEM1 */
+#define DMAMAP_UART7_TX   DMAMAP_DMA12_UART7TX_1    /* 8 DMA1:80 TELEM1 */

 // DMAMUX2 Using at most 8 Channels on BDMA --------   Assigned
-#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       // 1 BDMA:11 SPI J11
-#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       // 2 BDMA:12 SPI J11
+//                                                     V
+
+#define DMAMAP_SPI6_RX    DMAMAP_BDMA_SPI6_RX       /* 1 BDMA:11 SPI J11 */
+#define DMAMAP_SPI6_TX    DMAMAP_BDMA_SPI6_TX       /* 2 BDMA:12 SPI J11 */
@@ -260,6 +260,8 @@ CONFIG_USART1_TXDMA=y
 CONFIG_USART2_BAUD=57600
 CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART2_TXDMA=y
 CONFIG_USART3_BAUD=57600
 CONFIG_USART3_RXBUFSIZE=180
 CONFIG_USART3_RXDMA=y
@@ -270,7 +272,6 @@ CONFIG_USART6_BAUD=57600
 CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USART6_TXDMA=y
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
@@ -20,7 +20,6 @@ CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
-CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
@@ -12,17 +12,10 @@ else
 fi

 iim42652 -s -R 22 start
-
 bmi088 -A -R 29 -s start
-if ! bmi088 -G -R 29 -s start
-then
-	iim42653 -s -b 2 -R 22 start
-fi
+bmi088 -G -R 29 -s start

-if ! ist8310 -I -R 18 start
-then
-	iis2mdc -I -R 37 start
-fi
+ist8310 -I -R 18 start

 bmp581 -s start
 icp201xx -I start
@@ -42,7 +42,6 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI2, {
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortG, GPIO::Pin2}, SPI::DRDY{GPIO::PortG, GPIO::Pin3}),
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortH, GPIO::Pin5}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
-		initSPIDevice(DRV_IMU_DEVTYPE_IIM42653, SPI::CS{GPIO::PortD, GPIO::Pin12}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
 	}, {GPIO::PortI, GPIO::Pin11}),
 	// initSPIBus(SPI::Bus::SPI3,{
 	// 	// no devices
@@ -5,8 +5,6 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
-CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
-CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
 CONFIG_DRIVERS_BAROMETER_GOERTEK_SPA06=y
@@ -15,11 +13,13 @@ CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
+CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_OSD_ATXXXX=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_COMMON_TELEMETRY=y
@@ -57,16 +57,18 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
 CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -7,7 +7,7 @@
    "summary": "KAKUTEH7-WING",
    "version": "0.1",
    "image_size": 0,
-    "image_maxsize": 1703936,
+    "image_maxsize": 1835008,
    "git_identity": "",
    "board_revision": 0
 }
@@ -110,7 +110,7 @@
 MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1664K /* params in last two sectors */
+	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */

 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
@@ -114,6 +114,7 @@

 #define BOARD_NUMBER_BRICKS 2

+// TODO: fix
 #define GPIO_nVDD_BRICK1_VALID          (1) /* Brick 1 Is Chosen */
 #define GPIO_nVDD_BRICK2_VALID          (0) /* Brick 2 Is Chosen  */

@@ -128,20 +129,17 @@
 */
 #define UAVCAN_NUM_IFACES_RUNTIME  1

-#define GPIO_VDD_3V3_SENSORS_EN         /* PB2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN2)
-
-#define GPIO_VTX_9V_EN                  /* PE3  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN3)
-
-#define GPIO_CAM_SWITCH                 /* PC13 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN13)
+#define GPIO_VDD_5V_PERIPH_nEN          /* PE2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN2)
+#define GPIO_VDD_5V_PERIPH_nOC          /* PE3  */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTE|GPIO_PIN3)
+#define GPIO_VDD_5V_HIPOWER_nEN         /* PC10 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTC|GPIO_PIN10)
+#define GPIO_VDD_5V_HIPOWER_nOC         /* PC11 */ (GPIO_INPUT |GPIO_FLOAT|GPIO_PORTC|GPIO_PIN11)
+#define GPIO_VDD_3V3_SENSORS_EN         /* PB2  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTB|GPIO_PIN2)

 /* Define True logic Power Control in arch agnostic form */

-#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS_EN, (on_true))
-
-#define VTX_9V_EN(on_true)                px4_arch_gpiowrite(GPIO_VTX_9V_EN, (on_true))
-
-#define CAM_SWITCH_CAM1                   px4_arch_gpiowrite(GPIO_CAM_SWITCH, false) // low is CAM1
-#define CAM_SWITCH_CAM2                   px4_arch_gpiowrite(GPIO_CAM_SWITCH, true)  // high is CAM2
+#define VDD_5V_PERIPH_EN(on_true)          px4_arch_gpiowrite(GPIO_VDD_5V_PERIPH_nEN, !(on_true))
+#define VDD_5V_HIPOWER_EN(on_true)         px4_arch_gpiowrite(GPIO_VDD_5V_HIPOWER_nEN, !(on_true))
+#define VDD_3V3_SENSORS_EN(on_true)       px4_arch_gpiowrite(GPIO_VDD_3V3_SENSORS4_EN, (on_true))

 /* Tone alarm output */

@@ -198,10 +196,11 @@

 #define BOARD_ADC_SERVO_VALID     (1)

-#define BOARD_ADC_BRICK1_VALID  (1)
-#define BOARD_ADC_BRICK2_VALID  (1)
+#define BOARD_ADC_BRICK1_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK1_VALID))
+#define BOARD_ADC_BRICK2_VALID  (!px4_arch_gpioread(GPIO_nVDD_BRICK2_VALID))

-#define BOARD_ADC_SERVO_VALID   (1)
+#define BOARD_ADC_PERIPH_5V_OC  (!px4_arch_gpioread(GPIO_VDD_5V_PERIPH_nOC))
+#define BOARD_ADC_HIPOWER_5V_OC (!px4_arch_gpioread(GPIO_VDD_5V_HIPOWER_nOC))


 /* This board provides a DMA pool and APIs */
@@ -218,8 +217,6 @@
 		GPIO_VDD_3V3_SENSORS_EN,          \
 		GPIO_TONE_ALARM_IDLE,             \
 		GPIO_PPM_IN,                      \
-		GPIO_VTX_9V_EN,                   \
-		GPIO_CAM_SWITCH,                  \
 	}

 #define BOARD_ENABLE_CONSOLE_BUFFER
@@ -74,7 +74,7 @@
 #define BOARD_TYPE                     1105
 #define BOARD_FLASH_SECTORS            (14)
 #define BOARD_FLASH_SIZE               (16 * 128 * 1024)
-#define APP_RESERVATION_SIZE           (2 * 128 * 1024)
+#define APP_RESERVATION_SIZE           (1 * 128 * 1024)

 #define OSC_FREQ                       16

@@ -108,21 +108,21 @@ __END_DECLS
 ************************************************************************************/
 __EXPORT void board_peripheral_reset(int ms)
 {
-	/* off */
-	VTX_9V_EN(false);
-	VDD_3V3_SENSORS_EN(false);
+	/* set the peripheral rails off */

+	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);

+	/* wait for the peripheral rail to reach GND */
 	usleep(ms * 1000);
 	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);

 	/* re-enable power */
-	board_control_spi_sensors_power(true, 0xffff);
-	VDD_3V3_SENSORS_EN(true);
-	VTX_9V_EN(true);

-	CAM_SWITCH_CAM1;
+	/* switch the peripheral rail back on */
+	board_control_spi_sensors_power(true, 0xffff);
+	VDD_5V_PERIPH_EN(true);
+
 }

 /************************************************************************************
@@ -210,6 +210,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 {
 #if !defined(BOOTLOADER)

+	/* Power on Interfaces */
+	VDD_5V_PERIPH_EN(true);
+	VDD_5V_HIPOWER_EN(true);
+
 	/* Need hrt running before using the ADC */

 	px4_platform_init();
@@ -250,7 +254,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #if defined(FLASH_BASED_PARAMS)
 	static sector_descriptor_t params_sector_map[] = {
-		{14, 128 * 1024, 0x081C0000},
 		{15, 128 * 1024, 0x081E0000},
 		{0, 0, 0},
 	};
@@ -0,0 +1,3 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_ROMFSROOT=""
@@ -0,0 +1,92 @@
+CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
+CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
+CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
+CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS2"
+CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS5"
+CONFIG_DRIVERS_ADC_BOARD_ADC=y
+CONFIG_DRIVERS_BATT_SMBUS=y
+CONFIG_DRIVERS_BAROMETER_INVENSENSE_ICP201XX=y
+CONFIG_DRIVERS_CAMERA_CAPTURE=y
+CONFIG_DRIVERS_CAMERA_TRIGGER=y
+CONFIG_DRIVERS_CDCACM_AUTOSTART=y
+CONFIG_DRIVERS_OSD_ATXXXX=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_DRIVERS_IMU_INVENSENSE_ICM45686=y
+CONFIG_COMMON_LIGHT=y
+CONFIG_COMMON_MAGNETOMETER=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_DRIVERS_UAVCAN=y
+CONFIG_BOARD_UAVCAN_INTERFACES=1
+CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=6
+CONFIG_MODULES_AIRSPEED_SELECTOR=y
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
+CONFIG_MODULES_BATTERY_STATUS=y
+CONFIG_MODULES_CAMERA_FEEDBACK=y
+CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
+CONFIG_MODULES_DATAMAN=y
+CONFIG_MODULES_EKF2=y
+# CONFIG_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_ESC_BATTERY=y
+CONFIG_MODULES_EVENTS=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
+CONFIG_MODULES_FW_ATT_CONTROL=y
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_FW_POS_CONTROL=y
+CONFIG_MODULES_FW_RATE_CONTROL=y
+CONFIG_MODULES_GIMBAL=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_GYRO_FFT=y
+CONFIG_MODULES_LAND_DETECTOR=y
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
+CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_LOGGER=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_MANUAL_CONTROL=y
+CONFIG_MODULES_MAVLINK=y
+CONFIG_MODULES_MC_ATT_CONTROL=y
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
+CONFIG_MODULES_MC_POS_CONTROL=y
+CONFIG_MODULES_MC_RATE_CONTROL=y
+CONFIG_MODULES_NAVIGATOR=y
+CONFIG_NUM_MISSION_ITMES_SUPPORTED=1000
+CONFIG_MODULES_RC_UPDATE=y
+CONFIG_MODULES_SENSORS=y
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
+CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
+CONFIG_SYSTEMCMDS_DMESG=y
+CONFIG_SYSTEMCMDS_DUMPFILE=y
+CONFIG_SYSTEMCMDS_GPIO=y
+CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
+CONFIG_SYSTEMCMDS_LED_CONTROL=y
+CONFIG_SYSTEMCMDS_MFT=y
+CONFIG_SYSTEMCMDS_NSHTERM=y
+CONFIG_SYSTEMCMDS_PARAM=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
@@ -0,0 +1,13 @@
+{
+    "board_id": 5409,
+    "magic": "PX4FWv1",
+    "description": "Firmware for the KakuteH7 board",
+    "image": "",
+    "build_time": 0,
+    "summary": "KAKUTEH7",
+    "version": "0.1",
+    "image_size": 0,
+    "image_maxsize": 1835008,
+    "git_identity": "",
+    "board_revision": 0
+}
@@ -0,0 +1,30 @@
+#!/bin/sh
+#
+# board specific defaults
+#------------------------------------------------------------------------------
+
+# transision from params file to flash-based params (2022-08)
+if [ -f $PARAM_FILE ]
+then
+	param load $PARAM_FILE
+	param save
+	# create a backup
+	mv $PARAM_FILE ${PARAM_FILE}.bak
+	reboot
+fi
+
+param set-default BAT1_V_DIV 11.2
+param set-default BAT1_A_PER_V 59.5
+
+# system_power unavailable
+param set-default CBRK_SUPPLY_CHK 894281
+
+# Select the Generic 250 Racer by default
+param set-default SYS_AUTOSTART 4050
+
+# use EKF2 without mag
+param set-default SYS_HAS_MAG 0
+# and enable gravity fusion
+param set-default EKF2_IMU_CTRL 7
+
+param set-default IMU_GYRO_RATEMAX 2000
@@ -0,0 +1,12 @@
+#!/bin/sh
+#
+# KakuteH7 specific board extras init
+#------------------------------------------------------------------------------
+
+if ! param compare OSD_ATXXXX_CFG 0
+then
+	atxxxx start -s
+fi
+
+# DShot telemetry is always on UART7
+dshot telemetry /dev/ttyS5
@@ -0,0 +1,13 @@
+#!/bin/sh
+#
+# Holybro KakuteH7 dual IMU specific board sensors init
+#------------------------------------------------------------------------------
+board_adc start
+
+# The KakuteH7 dual IMU comes by default with an ICM2688P and ICM45686.
+# We start the ICM45686 first to have it as the primary by default.
+icm45686 -R 0 -s start
+icm42688p -R 0 -s start
+
+# ICP20100 baro on external I2C1
+icp201xx -X -a 0x64 start
@@ -0,0 +1,90 @@
+#
+# 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/holybro/kakuteh7dualimu/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_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x0050
+CONFIG_CDCACM_PRODUCTSTR="PX4 BL Holybro KakuteH7"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3162
+CONFIG_CDCACM_VENDORSTR="Holybro"
+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_USART3=y
+CONFIG_SYSTEMTICK_HOOK=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGINT_CHAR=0x03
+CONFIG_TTY_SIGTSTP=y
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_TXBUFSIZE=300
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
@@ -0,0 +1,433 @@
+/************************************************************************************
+ *
+ *   Copyright (C) 2016-2019 Gregory Nutt. 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.
+ *
+ ************************************************************************************/
+#pragma once
+
+/************************************************************************************
+ * 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 holybro KakuteH7  board provides the following clock sources:
+ *
+ *   X1: 8 MHz crystal for HSE
+ *
+ * So we have these clock source available within the STM32
+ *
+ *   HSI: 16 MHz RC factory-trimmed
+ *   HSE:  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
+ * Subject to:
+ *
+ *     1 <= PLLM <= 63
+ *     4 <= PLLN <= 512
+ *   150 MHz <= PLL_VCOL <= 420MHz
+ *   192 MHz <= PLL_VCOH <= 836MHz
+ *
+ * SYSCLK  = PLL_VCO / PLLP
+ * CPUCLK  = SYSCLK / D1CPRE
+ * Subject to
+ *
+ *   PLLP1   = {2, 4, 6, 8, ..., 128}
+ *   PLLP2,3 = {2, 3, 4, ..., 128}
+ *   CPUCLK <= 480 MHz
+ */
+
+#define STM32_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(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 / 4)
+#define STM32_PLL1R_FREQUENCY    (STM32_VCO1_FREQUENCY / 8)
+
+/* PLL2 */
+
+#define STM32_PLLCFG_PLL2CFG     (RCC_PLLCFGR_PLL2VCOSEL_WIDE | \
+				  RCC_PLLCFGR_PLL2RGE_4_8_MHZ | \
+				  RCC_PLLCFGR_DIVP2EN | \
+				  RCC_PLLCFGR_DIVQ2EN | \
+				  RCC_PLLCFGR_DIVR2EN)
+#define STM32_PLLCFG_PLL2M       RCC_PLLCKSELR_DIVM2(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/4 (120 MHz) */
+
+#define STM32_RCC_D3CFGR_D3PPRE   RCC_D3CFGR_D3PPRE_HCLKd2       /* PCLK4 = HCLK / 2 */
+#define STM32_PCLK4_FREQUENCY     (STM32_HCLK_FREQUENCY/2)
+
+/* Timer clock frequencies */
+
+/* Timers driven from APB1 will be twice PCLK1 */
+
+#define STM32_APB1_TIM2_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM3_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM4_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM5_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM6_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM7_CLKIN   (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM12_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM13_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+#define STM32_APB1_TIM14_CLKIN  (2*STM32_PCLK1_FREQUENCY)
+
+/* Timers driven from APB2 will be twice PCLK2 */
+
+#define STM32_APB2_TIM1_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM8_CLKIN   (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM15_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM16_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+#define STM32_APB2_TIM17_CLKIN  (2*STM32_PCLK2_FREQUENCY)
+
+/* Kernel Clock Configuration
+ *
+ * Note: look at Table 54 in ST Manual
+ */
+
+/* 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 2 clock source */
+
+#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
+
+#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
+
+/* FLASH wait states
+ *
+ *  ------------ ---------- -----------
+ *  Vcore        MAX ACLK   WAIT STATES
+ *  ------------ ---------- -----------
+ *  1.15-1.26 V     70 MHz    0
+ *  (VOS1 level)   140 MHz    1
+ *                 210 MHz    2
+ *  1.05-1.15 V     55 MHz    0
+ *  (VOS2 level)   110 MHz    1
+ *                 165 MHz    2
+ *                 220 MHz    3
+ *  0.95-1.05 V     45 MHz    0
+ *  (VOS3 level)    90 MHz    1
+ *                 135 MHz    2
+ *                 180 MHz    3
+ *                 225 MHz    4
+ *  ------------ ---------- -----------
+ */
+
+#define BOARD_FLASH_WAITSTATES 2
+
+/* SDMMC definitions ********************************************************/
+
+/* Init 400kHz, freq = PLL1Q/(2*div)  div =  PLL1Q/(2*freq) */
+
+#define STM32_SDMMC_INIT_CLKDIV     (300 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+
+/* 25 MHz Max for now, 25 mHZ = PLL1Q/(2*div), div =  PLL1Q/(2*freq)
+ * div = 4.8 = 240 / 50, So round up to 5 for default speed 24 MB/s
+ */
+
+#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_MMCXFR_CLKDIV   (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+#if defined(CONFIG_STM32H7_SDMMC_XDMA) || defined(CONFIG_STM32H7_SDMMC_IDMA)
+#  define STM32_SDMMC_SDXFR_CLKDIV    (5 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#else
+#  define STM32_SDMMC_SDXFR_CLKDIV    (100 << STM32_SDMMC_CLKCR_CLKDIV_SHIFT)
+#endif
+
+#define STM32_SDMMC_CLKCR_EDGE      STM32_SDMMC_CLKCR_NEGEDGE
+
+/* LED definitions ******************************************************************/
+/* The holybro KakuteH7 board has three, LED_GREEN a Green LED, LED_BLUE
+ * a Blue LED and LED_RED a Red LED, that can be controlled by software.
+ *
+ * If CONFIG_ARCH_LEDS is not defined, then the user can control the LEDs in any way.
+ * The following definitions are used to access individual LEDs.
+ */
+
+/* LED index values for use with board_userled() */
+
+#define BOARD_LED1        0
+#define BOARD_LED2        1
+#define BOARD_NLEDS       2
+
+#define BOARD_LED_RED     BOARD_LED1
+#define BOARD_LED_BLUE    BOARD_LED2
+
+/* LED bits for use with board_userled_all() */
+
+#define BOARD_LED1_BIT    (1 << BOARD_LED1)
+#define BOARD_LED2_BIT    (1 << BOARD_LED2)
+
+/* If CONFIG_ARCH_LEDS is defined, the usage by the board port is defined in
+ * include/board.h and src/stm32_leds.c. The LEDs are used to encode OS-related
+ * events as follows:
+ *
+ *
+ *   SYMBOL                     Meaning                      LED state
+ *                                                        Red   Green Blue
+ *   ----------------------  --------------------------  ------ ------ ----*/
+
+#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  */
+
+/* Thus if the Green LED is statically on, NuttX has successfully booted and
+ * is, apparently, running normally.  If the Red LED is flashing at
+ * approximately 2Hz, then a fatal error has been detected and the system
+ * has halted.
+ */
+
+/* Alternate function pin selections ************************************************/
+
+
+#define GPIO_USART1_RX   GPIO_USART1_RX_2    /* PA10 */
+#define GPIO_USART1_TX   GPIO_USART1_TX_2    /* PA9 */
+
+#define GPIO_USART2_RX   GPIO_USART2_RX_2   /* PD6 */
+#define GPIO_USART2_TX   GPIO_USART2_TX_2   /* PD5 */
+
+#define GPIO_USART3_RX   GPIO_USART3_RX_3   /* PD9  */
+#define GPIO_USART3_TX   GPIO_USART3_TX_3   /* PD8  */
+
+#define GPIO_UART4_RX    GPIO_UART4_RX_5    /* PD0 */
+#define GPIO_UART4_TX    GPIO_UART4_TX_5    /* PD1 */
+
+#define GPIO_USART6_RX   GPIO_USART6_RX_1   /* PC7  */
+#define GPIO_USART6_TX   GPIO_USART6_TX_1   /* PC6 */
+
+#define GPIO_UART7_RX    GPIO_UART7_RX_3    /* PE7 */
+#define GPIO_UART7_TX    GPIO_UART7_TX_3    /* PE8 -> not connected */
+
+/* CAN
+ *
+ * CAN1 is routed to transceiver.
+ */
+#define GPIO_CAN1_RX     GPIO_CAN1_RX_2     /* PB8  */
+#define GPIO_CAN1_TX     GPIO_CAN1_TX_2     /* PB9  */
+
+/* SPI
+ * SPI1 ICM45686
+ * SPI2 is OSD AT7456E
+ * SPI4 ICM42688P
+ */
+
+#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_2   /* PC1 */
+#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_4    /* PB13 */
+
+#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_2    /* PE2 */
+
+/* I2C
+ */
+
+#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)
+
+/* SDMMC1
+ *
+ *      VDD 3.3
+ *      GND
+ *      SDMMC1_CK                           PC12
+ *      SDMMC1_CMD                          PD2
+ *      SDMMC1_D0                           PC8
+ *      SDMMC1_D1                           PC9
+ *      SDMMC1_D2                           PC10
+ *      SDMMC1_D3                           PC11
+ */
+// GPIO_SDMMC1_CK // no remap
+// GPIO_SDMMC1_CMD // no remap
+// GPIO_SDMMC1_D0 // no remap
+// GPIO_SDMMC1_D1 // no remap
+// GPIO_SDMMC1_D2 // no remap
+// GPIO_SDMMC1_D3 // no remap
+
+/* USB
+ *
+ *      OTG_FS_DM                           PA11
+ *      OTG_FS_DP                           PA12
+ *      VBUS                                PA9
+ */
+
+
+/* Board provides GPIO or other Hardware for signaling to timing analyzer */
+
+# define PROBE_INIT(mask)
+# define PROBE(n,s)
+# define PROBE_MARK(n)
@@ -0,0 +1,46 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#pragma once
+
+#define DMAMAP_SPI2_RX    DMAMAP_DMA12_SPI2RX_1 /* DMA2 */
+#define DMAMAP_SPI2_TX    DMAMAP_DMA12_SPI2TX_1 /* DMA2 */
+
+#define DMAMAP_SPI4_RX    DMAMAP_DMA12_SPI4RX_1 /* DMA2 */
+#define DMAMAP_SPI4_TX    DMAMAP_DMA12_SPI4TX_1 /* DMA2 */
+
+#define DMAMAP_USART1_RX   DMAMAP_DMA12_USART1RX_1 /* DMA2 */
+#define DMAMAP_USART1_TX   DMAMAP_DMA12_USART1TX_1 /* DMA2 */
+
+#define DMAMAP_USART2_RX   DMAMAP_DMA12_USART2RX_1 /* DMA2 */
+#define DMAMAP_USART2_TX   DMAMAP_DMA12_USART2TX_1 /* DMA2 */
@@ -0,0 +1,252 @@
+#
+# 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/holybro/kakuteh7dualimu/nuttx-config"
+CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
+CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
+CONFIG_ARCH_CHIP="stm32h7"
+CONFIG_ARCH_CHIP_STM32H743II=y
+CONFIG_ARCH_CHIP_STM32H7=y
+CONFIG_ARCH_INTERRUPTSTACK=768
+CONFIG_ARCH_STACKDUMP=y
+CONFIG_ARMV7M_BASEPRI_WAR=y
+CONFIG_ARMV7M_DCACHE=y
+CONFIG_ARMV7M_DTCM=y
+CONFIG_ARMV7M_ICACHE=y
+CONFIG_ARMV7M_MEMCPY=y
+CONFIG_ARMV7M_USEBASEPRI=y
+CONFIG_ARM_MPU_EARLY_RESET=y
+CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
+CONFIG_BOARD_CRASHDUMP=y
+CONFIG_BOARD_LOOPSPERMSEC=95150
+CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BUILTIN=y
+CONFIG_CDCACM=y
+CONFIG_CDCACM_IFLOWCONTROL=y
+CONFIG_CDCACM_PRODUCTID=0x0050
+CONFIG_CDCACM_PRODUCTSTR="PX4 KakuteH7"
+CONFIG_CDCACM_RXBUFSIZE=600
+CONFIG_CDCACM_TXBUFSIZE=12000
+CONFIG_CDCACM_VENDORID=0x3162
+CONFIG_CDCACM_VENDORSTR="Holybro"
+CONFIG_DEBUG_FULLOPT=y
+CONFIG_DEBUG_HARDFAULT_ALERT=y
+CONFIG_DEBUG_MEMFAULT=y
+CONFIG_DEBUG_SYMBOLS=y
+CONFIG_DEBUG_TCBINFO=y
+CONFIG_DEFAULT_SMALL=y
+CONFIG_DEV_FIFO_SIZE=0
+CONFIG_DEV_PIPE_MAXSIZE=1024
+CONFIG_DEV_PIPE_SIZE=70
+CONFIG_EXPERIMENTAL=y
+CONFIG_FAT_DMAMEMORY=y
+CONFIG_FAT_LCNAMES=y
+CONFIG_FAT_LFN=y
+CONFIG_FAT_LFN_ALIAS_HASH=y
+CONFIG_FDCLONE_STDIO=y
+CONFIG_FS_BINFS=y
+CONFIG_FS_CROMFS=y
+CONFIG_FS_FAT=y
+CONFIG_FS_FATTIME=y
+CONFIG_FS_PROCFS=y
+CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
+CONFIG_FS_PROCFS_MAX_TASKS=64
+CONFIG_FS_PROCFS_REGISTER=y
+CONFIG_FS_ROMFS=y
+CONFIG_GRAN=y
+CONFIG_GRAN_INTR=y
+CONFIG_HAVE_CXX=y
+CONFIG_HAVE_CXXINITIALIZE=y
+CONFIG_I2C=y
+CONFIG_I2C_RESET=y
+CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=3194
+CONFIG_LIBC_FLOATINGPOINT=y
+CONFIG_LIBC_LONG_LONG=y
+CONFIG_LIBC_MAX_EXITFUNS=1
+CONFIG_LIBC_STRERROR=y
+CONFIG_MEMSET_64BIT=y
+CONFIG_MEMSET_OPTSPEED=y
+CONFIG_MMCSD=y
+CONFIG_MMCSD_SDIO=y
+CONFIG_MM_REGIONS=4
+CONFIG_MTD=y
+CONFIG_MTD_BYTE_WRITE=y
+CONFIG_MTD_PARTITION=y
+CONFIG_MTD_PROGMEM=y
+CONFIG_NAME_MAX=40
+CONFIG_NSH_ARCHINIT=y
+CONFIG_NSH_ARGCAT=y
+CONFIG_NSH_BUILTIN_APPS=y
+CONFIG_NSH_CMDPARMS=y
+CONFIG_NSH_CROMFSETC=y
+CONFIG_NSH_LINELEN=128
+CONFIG_NSH_MAXARGUMENTS=15
+CONFIG_NSH_NESTDEPTH=8
+CONFIG_NSH_QUOTE=y
+CONFIG_NSH_ROMFSETC=y
+CONFIG_NSH_ROMFSSECTSIZE=128
+CONFIG_NSH_STRERROR=y
+CONFIG_NSH_VARS=y
+CONFIG_OTG_ID_GPIO_DISABLE=y
+CONFIG_PIPES=y
+CONFIG_PREALLOC_TIMERS=50
+CONFIG_PRIORITY_INHERITANCE=y
+CONFIG_PTHREAD_MUTEX_ROBUST=y
+CONFIG_PTHREAD_STACK_MIN=512
+CONFIG_RAMTRON_EMULATE_PAGE_SHIFT=5
+CONFIG_RAMTRON_EMULATE_SECTOR_SHIFT=5
+CONFIG_RAMTRON_SETSPEED=y
+CONFIG_RAM_SIZE=245760
+CONFIG_RAM_START=0x20010000
+CONFIG_RAW_BINARY=y
+CONFIG_READLINE_CMD_HISTORY=y
+CONFIG_READLINE_TABCOMPLETION=y
+CONFIG_RTC_DATETIME=y
+CONFIG_SCHED_HPWORK=y
+CONFIG_SCHED_HPWORKPRIORITY=249
+CONFIG_SCHED_HPWORKSTACKSIZE=1280
+CONFIG_SCHED_INSTRUMENTATION=y
+CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
+CONFIG_SCHED_INSTRUMENTATION_SWITCH=y
+CONFIG_SCHED_LPWORK=y
+CONFIG_SCHED_LPWORKPRIORITY=50
+CONFIG_SCHED_LPWORKSTACKSIZE=1632
+CONFIG_SCHED_WAITPID=y
+CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
+CONFIG_SERIAL_TERMIOS=y
+CONFIG_SIG_DEFAULT=y
+CONFIG_SIG_SIGALRM_ACTION=y
+CONFIG_SIG_SIGUSR1_ACTION=y
+CONFIG_SIG_SIGUSR2_ACTION=y
+CONFIG_SIG_SIGWORK=4
+CONFIG_STACK_COLORATION=y
+CONFIG_START_DAY=30
+CONFIG_START_MONTH=11
+CONFIG_STDIO_BUFFER_SIZE=256
+CONFIG_STM32H7_ADC1=y
+CONFIG_STM32H7_ADC3=y
+CONFIG_STM32H7_BBSRAM=y
+CONFIG_STM32H7_BBSRAM_FILES=5
+CONFIG_STM32H7_BDMA=y
+CONFIG_STM32H7_BKPSRAM=y
+CONFIG_STM32H7_DMA1=y
+CONFIG_STM32H7_DMA2=y
+CONFIG_STM32H7_DMACAPABLE=y
+CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
+CONFIG_STM32H7_I2C1=y
+CONFIG_STM32H7_I2C_DYNTIMEO=y
+CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
+CONFIG_STM32H7_OTGFS=y
+CONFIG_STM32H7_PROGMEM=y
+CONFIG_STM32H7_RTC=y
+CONFIG_STM32H7_RTC_HSECLOCK=y
+CONFIG_STM32H7_RTC_MAGIC_REG=1
+CONFIG_STM32H7_SAVE_CRASHDUMP=y
+CONFIG_STM32H7_SDMMC1=y
+CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
+CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
+CONFIG_STM32H7_SPI1=y
+CONFIG_STM32H7_SPI2=y
+CONFIG_STM32H7_SPI2_DMA=y
+CONFIG_STM32H7_SPI2_DMA_BUFFER=1024
+CONFIG_STM32H7_SPI4=y
+CONFIG_STM32H7_SPI4_DMA=y
+CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
+CONFIG_STM32H7_UART4=y
+CONFIG_STM32H7_UART7=y
+CONFIG_STM32H7_USART1=y
+CONFIG_STM32H7_USART2=y
+CONFIG_STM32H7_USART3=y
+CONFIG_STM32H7_USART6=y
+CONFIG_STM32H7_USART_BREAKS=y
+CONFIG_STM32H7_USART_INVERT=y
+CONFIG_STM32H7_USART_SINGLEWIRE=y
+CONFIG_STM32H7_USART_SWAP=y
+CONFIG_SYSTEM_CDCACM=y
+CONFIG_SYSTEM_NSH=y
+CONFIG_TASK_NAME_SIZE=24
+CONFIG_TTY_SIGINT=y
+CONFIG_TTY_SIGTSTP=y
+CONFIG_UART4_BAUD=57600
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART7_BAUD=57600
+CONFIG_UART7_RXBUFSIZE=600
+CONFIG_UART7_TXBUFSIZE=1500
+CONFIG_USART1_BAUD=57600
+CONFIG_USART1_RXBUFSIZE=600
+CONFIG_USART1_TXBUFSIZE=1500
+CONFIG_USART1_RXDMA=y
+CONFIG_USART1_TXDMA=y
+CONFIG_USART2_BAUD=57600
+CONFIG_USART2_RXBUFSIZE=600
+CONFIG_USART2_RXDMA=y
+CONFIG_USART2_TXDMA=y
+CONFIG_USART2_TXBUFSIZE=1500
+CONFIG_USART3_BAUD=57600
+CONFIG_USART3_RXBUFSIZE=600
+CONFIG_USART3_SERIAL_CONSOLE=y
+CONFIG_USART3_TXBUFSIZE=1500
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=600
+CONFIG_USART6_TXBUFSIZE=1500
+CONFIG_USBDEV=y
+CONFIG_USBDEV_BUSPOWERED=y
+CONFIG_USBDEV_MAXPOWER=500
+CONFIG_USEC_PER_TICK=1000
+CONFIG_WATCHDOG=y
@@ -0,0 +1,215 @@
+/****************************************************************************
+ * 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 KakuteH7 uses an STM32H743VI 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 STM32H743VI, 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 KakuteH7 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 switch is
+ * depressed, then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743VI 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.
+ *
+ * The bootloader uses the first sector of the flash, which is 128K in length.
+ */
+
+MEMORY
+{
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08000000, LENGTH =  128K
+	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) }
+}
@@ -0,0 +1,228 @@
+/****************************************************************************
+ * 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 KakuteH7 uses an STM32H743VI 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 STM32H743VI, 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 KakuteH7 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 switch is
+ * depressed, then the boot will be from 0x1FF0:0000
+ *
+ * The STM32H743VI 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) }
+}
@@ -0,0 +1,68 @@
+############################################################################
+#
+#   Copyright (c) 2016 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 # sdio
+			nuttx_drivers # sdio
+			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
+		sdio.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 # drv_led_start
+			nuttx_arch # sdio
+			nuttx_drivers # sdio
+			px4_layer
+	)
+endif()
@@ -0,0 +1,225 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019 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
+ *
+ * holybro KakuteH7 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
+ ****************************************************************************************************/
+
+/* Configuration ************************************************************************************/
+
+#  define BOARD_HAS_USB_VALID           1
+#  define BOARD_HAS_NBAT_V              1
+#  define BOARD_HAS_NBAT_I              1
+
+/* Holybro KakuteH7 GPIOs ************************************************************************/
+
+/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
+
+#define GPIO_LED_RED        /* PE9 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN9)
+#define GPIO_nLED_BLUE        /* PC2 */  (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTC|GPIO_PIN2)
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS      1
+#define BOARD_OVERLOAD_LED     LED_RED
+#define BOARD_ARMED_STATE_LED  LED_BLUE
+
+/*
+ * 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 SYSTEM_ADC_BASE STM32_ADC1_BASE
+
+#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, \
+	/* PC0 */  GPIO_ADC123_INP10
+
+/* Define Channel numbers must match above GPIO pin IN(n)*/
+
+#define ADC_BATTERY_CURRENT_CHANNEL        /* PC4 */  ADC1_CH(4)
+#define ADC_BATTERY_VOLTAGE_CHANNEL        /* PC5 */  ADC1_CH(8)
+#define ADC_RC_RSSI_CHANNEL                /* PC0 */  ADC1_CH(10)
+
+
+#define ADC_CHANNELS \
+	((1 << ADC_BATTERY_VOLTAGE_CHANNEL)       | \
+	 (1 << ADC_BATTERY_CURRENT_CHANNEL)       | \
+	 (1 << ADC_RC_RSSI_CHANNEL))
+
+#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
+
+
+
+/* PWM
+ */
+#define DIRECT_PWM_OUTPUT_CHANNELS  8
+
+#define BOARD_NUM_IO_TIMERS 4
+
+
+/* Tone alarm output */
+
+#define TONE_ALARM_TIMER        15  /* timer 15 */
+#define TONE_ALARM_CHANNEL      2  /* PA3 TIM15_CH2 */
+
+#define GPIO_BUZZER_1           /* PA3 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN3)
+
+#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
+#define GPIO_TONE_ALARM         GPIO_TIM15_CH2OUT_1
+
+/* USB OTG FS
+ *
+ * PA9  OTG_FS_VBUS VBUS sensing
+ */
+#define GPIO_OTGFS_VBUS         /* PA8 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN8)
+
+/* High-resolution timer */
+#define HRT_TIMER               8  /* use timer8 for the HRT */
+#define HRT_TIMER_CHANNEL       1  /* use capture/compare channel 1 */
+
+/* RC Serial port */
+
+/* PWM input driver. Untested */
+
+//#define PWMIN_TIMER                       5
+//#define PWMIN_TIMER_CHANNEL    /* T5C1 */ 1
+//#define GPIO_PWM_IN            /* PA0  */ GPIO_TIM5_CH1IN
+
+// PPM in on Serial Rx (R6)
+#define HRT_PPM_CHANNEL         /* TIM8CH2 */  2  /* use capture/compare channel 2 */
+#define GPIO_PPM_IN             /* PC7 */ GPIO_TIM8_CH2IN_1
+
+#define RC_SERIAL_PORT                     "/dev/ttyS4" // USART6
+#define RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX             GPIO_USART6_RX
+
+/* Power switch controls ******************************************************/
+
+#define SDIO_SLOTNO                    0  /* Only one slot */
+#define SDIO_MINOR                     0
+
+/* SD card bringup does not work if performed on the IDLE thread because it
+ * will cause waiting.  Use either:
+ *
+ *  CONFIG_BOARDCTL=y, OR
+ *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
+ */
+
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
+   !defined(CONFIG_BOARD_INITTHREAD)
+#  warning SDIO initialization cannot be perfomed on the IDLE thread
+#endif
+
+/* By Providing BOARD_ADC_USB_CONNECTED (using the px4_arch abstraction)
+ * this board support the ADC system_power interface, and therefore
+ * provides the true logic GPIO BOARD_ADC_xxxx macros.
+ */
+#define BOARD_ADC_USB_CONNECTED (px4_arch_gpioread(GPIO_OTGFS_VBUS))
+
+
+
+
+/* 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_LED_RED,                     \
+		GPIO_nLED_BLUE,                     \
+		GPIO_BUZZER_1,             \
+		GPIO_CAN1_TX,                     \
+		GPIO_CAN1_RX,                     \
+	}
+
+#define BOARD_ENABLE_CONSOLE_BUFFER
+
+#define FLASH_BASED_PARAMS
+
+__BEGIN_DECLS
+
+/****************************************************************************************************
+ * Public Types
+ ****************************************************************************************************/
+
+/****************************************************************************************************
+ * Public data
+ ****************************************************************************************************/
+
+#ifndef __ASSEMBLY__
+
+/****************************************************************************************************
+ * Public Functions
+ ****************************************************************************************************/
+
+int stm32_sdio_initialize(void);
+
+extern void stm32_spiinitialize(void);
+
+extern void stm32_usbinitialize(void);
+
+extern void board_peripheral_reset(int ms);
+
+#include <px4_platform_common/board_common.h>
+
+#endif /* __ASSEMBLY__ */
+
+__END_DECLS
@@ -0,0 +1,75 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2019-2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file bootloader_main.c
+ *
+ * FMU-specific early startup code for bootloader
+*/
+
+#include "board_config.h"
+#include "bl.h"
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <chip.h>
+#include <stm32_uart.h>
+#include <arch/board/board.h>
+#include "arm_internal.h"
+#include <px4_platform_common/init.h>
+
+extern int sercon_main(int c, char **argv);
+
+__EXPORT void board_on_reset(int status) {}
+
+__EXPORT void stm32_boardinitialize(void)
+{
+	/* configure USB interfaces */
+	stm32_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();
+}
@@ -0,0 +1,125 @@
+/*
+ * hw_config.h
+ *
+ *  Created on: May 17, 2015
+ *      Author: david_s5
+ */
+
+#ifndef HW_CONFIG_H_
+#define HW_CONFIG_H_
+
+/****************************************************************************
+ * 10-8--2016:
+ *  To simplify the ripple effect on the tools, we will be using
+ *  /dev/serial/by-id/<asterisk>PX4<asterisk> to locate PX4 devices. Therefore
+ *  moving forward all Bootloaders must contain the prefix "PX4 BL "
+ *  in the USBDEVICESTRING
+ *  This Change will be made in an upcoming BL release
+ ****************************************************************************/
+/*
+ * Define usage to configure a bootloader
+ *
+ *
+ * Constant                example          Usage
+ * APP_LOAD_ADDRESS     0x08004000            - The address in Linker Script, where the app fw is org-ed
+ * BOOTLOADER_DELAY     5000                  - Ms to wait while under USB pwr or bootloader request
+ * BOARD_FMUV2
+ * INTERFACE_USB        1                     - (Optional) Scan and use the USB interface for bootloading
+ * INTERFACE_USART      1                     - (Optional) Scan and use the Serial interface for bootloading
+ * USBDEVICESTRING      "PX4 BL FMU v2.x"     - USB id string
+ * USBPRODUCTID         0x0011                - PID Should match defconfig
+ * BOOT_DELAY_ADDRESS   0x000001a0            - (Optional) From the linker script from Linker Script to get a custom
+ *                                               delay provided by an APP FW
+ * BOARD_TYPE           9                     - Must match .prototype boad_id
+ * _FLASH_KBYTES        (*(uint16_t *)0x1fff7a22) - Run time flash size detection
+ * BOARD_FLASH_SECTORS  ((_FLASH_KBYTES == 0x400) ? 11 : 23) - Run time determine the physical last sector
+ * BOARD_FLASH_SECTORS   11                   - Hard coded zero based last sector
+ * BOARD_FLASH_SIZE     (_FLASH_KBYTES*1024)-   Total Flash size of device, determined at run time.
+ *                         (1024 * 1024)      - Hard coded Total Flash of device - The bootloader and app reserved will be deducted
+ *                                              programmatically
+ *
+ * BOARD_FIRST_FLASH_SECTOR_TO_ERASE  2        - Optional sectors index in the flash_sectors table  (F4 only), to begin erasing.
+ *                                               This is to allow sectors to be reserved for app fw usage. That will NOT be erased
+ *                                               during a FW upgrade.
+ *                                               The default is 0, and selects the first sector to be erased, as the 0th entry in the
+ *                                               flash_sectors table. Which is the second physical sector of FLASH in the device.
+ *                                               The first physical sector of FLASH is used by the bootloader, and is not defined
+ *                                               in the table.
+ *
+ * APP_RESERVATION_SIZE (BOARD_FIRST_FLASH_SECTOR_TO_ERASE * 16 * 1024) - Number of bytes reserved by the APP FW. This number plus
+ *                                                                        BOOTLOADER_RESERVATION_SIZE  will be deducted from
+ *                                                                        BOARD_FLASH_SIZE to determine the size of the App FW
+ *                                                                        and hence the address space of FLASH to erase and program.
+ * USBMFGSTRING            "PX4 AP"            - Optional USB MFG string (default is '3D Robotics' if not defined.)
+ * SERIAL_BREAK_DETECT_DISABLED                -  Optional prevent break selection on Serial port from entering or staying in BL
+ *
+ * * Other defines are somewhat self explanatory.
+ */
+
+/* Boot device selection list*/
+#define USB0_DEV       0x01
+#define SERIAL0_DEV    0x02
+#define SERIAL1_DEV    0x04
+
+#define APP_LOAD_ADDRESS               0x08020000
+#define BOOTLOADER_DELAY               3000
+#define INTERFACE_USB                  1
+#define INTERFACE_USB_CONFIG           "/dev/ttyACM0"
+#define BOARD_VBUS                     MK_GPIO_INPUT(GPIO_OTGFS_VBUS)
+
+//#define USE_VBUS_PULL_DOWN
+#define BOOT_DELAY_ADDRESS             0x000001a0
+#define BOARD_TYPE                     5409
+#define BOARD_FLASH_SECTORS            (14)
+#define BOARD_FLASH_SIZE               (16 * 128 * 1024)
+#define APP_RESERVATION_SIZE           (1 * 128 * 1024)
+
+#define OSC_FREQ                       8
+
+#define BOARD_PIN_LED_ACTIVITY         GPIO_LED_RED
+#define BOARD_LED_ON                   0
+#define BOARD_LED_OFF                  1
+
+#define SERIAL_BREAK_DETECT_DISABLED   1
+
+/*
+ * Uncommenting this allows to force the bootloader through
+ * a PWM output pin. As this can accidentally initialize
+ * an ESC prematurely, it is not recommended. This feature
+ * has not been used and hence defaults now to off.
+ *
+ * # define BOARD_FORCE_BL_PIN_OUT         (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN14)
+ * # define BOARD_FORCE_BL_PIN_IN          (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTE|GPIO_PIN11)
+ *
+ * # define BOARD_POWER_PIN_OUT           (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN4)
+ * # define BOARD_POWER_ON                 1
+ * # define BOARD_POWER_OFF                0
+ * # undef  BOARD_POWER_PIN_RELEASE        // Leave pin enabling Power - un comment to release (disable power)
+ *
+*/
+
+#if !defined(ARCH_SN_MAX_LENGTH)
+# define ARCH_SN_MAX_LENGTH 12
+#endif
+
+#if !defined(APP_RESERVATION_SIZE)
+#  define APP_RESERVATION_SIZE 0
+#endif
+
+#if !defined(BOARD_FIRST_FLASH_SECTOR_TO_ERASE)
+#  define BOARD_FIRST_FLASH_SECTOR_TO_ERASE 1
+#endif
+
+#if !defined(USB_DATA_ALIGN)
+# define USB_DATA_ALIGN
+#endif
+
+#ifndef BOOT_DEVICES_SELECTION
+#  define BOOT_DEVICES_SELECTION USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+#ifndef BOOT_DEVICES_FILTER_ONUSB
+#  define BOOT_DEVICES_FILTER_ONUSB USB0_DEV|SERIAL0_DEV|SERIAL1_DEV
+#endif
+
+#endif /* HW_CONFIG_H_ */
@@ -0,0 +1,38 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/i2c_hw_description.h>
+
+constexpr px4_i2c_bus_t px4_i2c_buses[I2C_BUS_MAX_BUS_ITEMS] = {
+	initI2CBusExternal(1),
+};
@@ -0,0 +1,266 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2012-2019 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
+ *
+ * PX4FMU-specific early startup code.  This file implements the
+ * board_app_initialize() function that is called early by nsh during startup.
+ *
+ * Code here is run before the rcS script is invoked; it should start required
+ * subsystems and perform board-specific initialisation.
+ */
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include "board_config.h"
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <string.h>
+#include <debug.h>
+#include <errno.h>
+#include <syslog.h>
+
+#include <nuttx/config.h>
+#include <nuttx/board.h>
+#include <nuttx/spi/spi.h>
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+#include <nuttx/analog/adc.h>
+#include <nuttx/mm/gran.h>
+#include <chip.h>
+#include <stm32_uart.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_determine_hw_info.h>
+#include <px4_platform/board_dma_alloc.h>
+
+#include <mpu.h>
+
+# if defined(FLASH_BASED_PARAMS)
+#  include <parameters/flashparams/flashfs.h>
+#endif
+
+
+/****************************************************************************
+ * Pre-Processor Definitions
+ ****************************************************************************/
+
+/* Configuration ************************************************************/
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
+
+/************************************************************************************
+ * Name: board_peripheral_reset
+ *
+ * Description:
+ *
+ ************************************************************************************/
+__EXPORT void board_peripheral_reset(int 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)));
+	}
+
+	/*
+	 * On resets invoked from system (not boot) ensure we establish a low
+	 * output state on PWM pins to disarm the ESC and prevent the reset from potentially
+	 * spinning up the motors.
+	 */
+	if (status >= 0) {
+		up_mdelay(100);
+	}
+}
+
+/************************************************************************************
+ * Name: stm32_boardinitialize
+ *
+ * Description:
+ *   All STM32 architectures must provide the following entry point.  This entry point
+ *   is called early in the initialization -- after all memory has been configured
+ *   and mapped but before any devices have been initialized.
+ *
+ ************************************************************************************/
+
+__EXPORT void
+stm32_boardinitialize(void)
+{
+	board_on_reset(-1); /* Reset PWM first thing */
+
+	/* configure LEDs */
+
+	board_autoled_initialize();
+
+	/* configure pins */
+
+	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
+	px4_gpio_init(gpio, arraySize(gpio));
+
+	board_control_spi_sensors_power_configgpio();
+
+	/* configure USB interfaces */
+
+	stm32_usbinitialize();
+
+}
+
+/****************************************************************************
+ * Name: board_app_initialize
+ *
+ * Description:
+ *   Perform application specific initialization.  This function is never
+ *   called directly from application code, but only indirectly via the
+ *   (non-standard) boardctl() interface using the command BOARDIOC_INIT.
+ *
+ * Input Parameters:
+ *   arg - The boardctl() argument is passed to the board_app_initialize()
+ *         implementation without modification.  The argument has no
+ *         meaning to NuttX; the meaning of the argument is a contract
+ *         between the board-specific initalization logic and the the
+ *         matching application logic.  The value cold be such things as a
+ *         mode enumeration value, a set of DIP switch switch settings, a
+ *         pointer to configuration data read from a file or serial FLASH,
+ *         or whatever you would like to do with it.  Every implementation
+ *         should accept zero/NULL as a default configuration.
+ *
+ * Returned Value:
+ *   Zero (OK) is returned on success; a negated errno value is returned on
+ *   any failure to indicate the nature of the failure.
+ *
+ ****************************************************************************/
+
+
+__EXPORT int board_app_initialize(uintptr_t arg)
+{
+	/* Power on Interfaces */
+	board_control_spi_sensors_power(true, 0xffff);
+
+	/* 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");
+	}
+
+#if defined(SERIAL_HAVE_RXDMA)
+	// set up the serial DMA polling at 1ms intervals for received bytes that have not triggered a DMA event.
+	static struct hrt_call serial_dma_call;
+	hrt_call_every(&serial_dma_call, 1000, 1000, (hrt_callout)stm32_serial_dma_poll, NULL);
+#endif
+
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+
+	if (board_hardfault_init(2, true) != 0) {
+		led_on(LED_RED);
+	}
+
+#  ifdef CONFIG_MMCSD
+	int ret = stm32_sdio_initialize();
+
+	if (ret != OK) {
+		led_on(LED_RED);
+	}
+
+#  endif /* CONFIG_MMCSD */
+
+	up_udelay(20);
+
+
+#if defined(FLASH_BASED_PARAMS)
+	static sector_descriptor_t params_sector_map[] = {
+		{15, 128 * 1024, 0x081E0000},
+		{0, 0, 0},
+	};
+
+	/* Initialize the flashfs layer to use heap allocated memory */
+	ret = parameter_flashfs_init(params_sector_map, NULL, 0);
+
+	if (ret != OK) {
+		syslog(LOG_ERR, "[boot] FAILED to init params in FLASH %d\n", ret);
+		led_on(LED_AMBER);
+	}
+
+#endif
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();
+
+	return OK;
+}
@@ -0,0 +1,218 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <stdbool.h>
+
+#include "chip.h"
+#include "stm32_gpio.h"
+#include "board_config.h"
+
+#include <nuttx/board.h>
+#include <arch/board/board.h>
+
+/*
+ * Ideally we'd be able to get these from arm_internal.h,
+ * but since we want to be able to disable the NuttX use
+ * of leds for system indication at will and there is no
+ * separate switch, we need to build independent of the
+ * CONFIG_ARCH_LEDS configuration switch.
+ */
+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+extern void led_toggle(int led);
+__END_DECLS
+
+
+#define xlat(p) (p)
+static uint32_t g_ledmap[] = {
+	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
+	GPIO_LED_RED,                      // Indexed by LED_RED
+};
+
+static bool g_led_inverted[] = {
+	true, // LED blue is active low
+	false, // LED_RED is active high
+};
+
+
+__EXPORT void led_init(void)
+{
+	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
+		if (g_ledmap[l] != 0) {
+			stm32_configgpio(g_ledmap[l]);
+		}
+	}
+}
+
+static void phy_set_led(int led, bool state)
+{
+	/* Drive Low to switch on */
+
+	if (g_ledmap[led] != 0) {
+		stm32_gpiowrite(g_ledmap[led], g_led_inverted[led] ? !state : state);
+	}
+}
+
+static bool phy_get_led(int led)
+{
+	/* If Low it is on */
+	if (g_ledmap[led] != 0) {
+		bool value = stm32_gpioread(g_ledmap[led]);
+		return g_led_inverted[led] ? !value : value;
+	}
+
+	return false;
+}
+
+__EXPORT void led_on(int led)
+{
+	phy_set_led(xlat(led), true);
+}
+
+__EXPORT void led_off(int led)
+{
+	phy_set_led(xlat(led), false);
+}
+
+__EXPORT void led_toggle(int led)
+{
+	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
+}
+
+#ifdef CONFIG_ARCH_LEDS
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: board_autoled_initialize
+ ****************************************************************************/
+
+void board_autoled_initialize(void)
+{
+	led_init();
+}
+
+/****************************************************************************
+ * Name: board_autoled_on
+ ****************************************************************************/
+
+void board_autoled_on(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_HEAPALLOCATE:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_IRQSENABLED:
+		phy_set_led(BOARD_LED_BLUE, false);
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_STACKCREATED:
+		phy_set_led(BOARD_LED_GREEN, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, true);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, true);
+		phy_set_led(BOARD_LED_BLUE, true);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+
+	case LED_IDLE : /* IDLE */
+		phy_set_led(BOARD_LED_RED, true);
+		break;
+	}
+}
+
+/****************************************************************************
+ * Name: board_autoled_off
+ ****************************************************************************/
+
+void board_autoled_off(int led)
+{
+	if (!nuttx_owns_leds) {
+		return;
+	}
+
+	switch (led) {
+	default:
+		break;
+
+	case LED_SIGNAL:
+		phy_set_led(BOARD_LED_GREEN, false);
+		break;
+
+	case LED_INIRQ:
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_ASSERTION:
+		phy_set_led(BOARD_LED_RED, false);
+		phy_set_led(BOARD_LED_BLUE, false);
+		break;
+
+	case LED_PANIC:
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+
+	case LED_IDLE : /* IDLE */
+		phy_set_led(BOARD_LED_RED, false);
+		break;
+	}
+}
+
+#endif /* CONFIG_ARCH_LEDS */
@@ -0,0 +1,177 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2014, 2016 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.
+ *
+ ****************************************************************************/
+
+/****************************************************************************
+ * Included Files
+ ****************************************************************************/
+
+#include <nuttx/config.h>
+#include <board_config.h>
+
+#include <stdbool.h>
+#include <stdio.h>
+#include <debug.h>
+#include <errno.h>
+
+#include <nuttx/sdio.h>
+#include <nuttx/mmcsd.h>
+
+#include "chip.h"
+#include "board_config.h"
+#include "stm32_gpio.h"
+#include "stm32_sdmmc.h"
+
+#ifdef CONFIG_MMCSD
+
+
+/****************************************************************************
+ * Pre-processor Definitions
+ ****************************************************************************/
+
+/* Card detections requires card support and a card detection GPIO */
+
+#define HAVE_NCD   1
+#if !defined(GPIO_SDMMC1_NCD)
+#  undef HAVE_NCD
+#endif
+
+/****************************************************************************
+ * Private Data
+ ****************************************************************************/
+
+static FAR struct sdio_dev_s *sdio_dev;
+#ifdef HAVE_NCD
+static bool g_sd_inserted = 0xff; /* Impossible value */
+#endif
+
+/****************************************************************************
+ * Private Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_ncd_interrupt
+ *
+ * Description:
+ *   Card detect interrupt handler.
+ *
+ ****************************************************************************/
+
+#ifdef HAVE_NCD
+static int stm32_ncd_interrupt(int irq, FAR void *context)
+{
+	bool present;
+
+	present = !stm32_gpioread(GPIO_SDMMC1_NCD);
+
+	if (sdio_dev && present != g_sd_inserted) {
+		sdio_mediachange(sdio_dev, present);
+		g_sd_inserted = present;
+	}
+
+	return OK;
+}
+#endif
+
+/****************************************************************************
+ * Public Functions
+ ****************************************************************************/
+
+/****************************************************************************
+ * Name: stm32_sdio_initialize
+ *
+ * Description:
+ *   Initialize SDIO-based MMC/SD card support
+ *
+ ****************************************************************************/
+
+int stm32_sdio_initialize(void)
+{
+	int ret;
+
+#ifdef HAVE_NCD
+	/* Card detect */
+
+	bool cd_status;
+
+	/* Configure the card detect GPIO */
+
+	stm32_configgpio(GPIO_SDMMC1_NCD);
+
+	/* Register an interrupt handler for the card detect pin */
+
+	stm32_gpiosetevent(GPIO_SDMMC1_NCD, true, true, true, stm32_ncd_interrupt);
+#endif
+
+	/* Mount the SDIO-based MMC/SD block driver */
+	/* First, get an instance of the SDIO interface */
+
+	finfo("Initializing SDIO slot %d\n", SDIO_SLOTNO);
+
+	sdio_dev = sdio_initialize(SDIO_SLOTNO);
+
+	if (!sdio_dev) {
+		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", SDIO_SLOTNO);
+		return -ENODEV;
+	}
+
+	/* Now bind the SDIO interface to the MMC/SD driver */
+
+	finfo("Bind SDIO to the MMC/SD driver, minor=%d\n", SDIO_MINOR);
+
+	ret = mmcsd_slotinitialize(SDIO_MINOR, sdio_dev);
+
+	if (ret != OK) {
+		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver: %d\n", ret);
+		return ret;
+	}
+
+	finfo("Successfully bound SDIO to the MMC/SD driver\n");
+
+#ifdef HAVE_NCD
+	/* Use SD card detect pin to check if a card is g_sd_inserted */
+
+	cd_status = !stm32_gpioread(GPIO_SDMMC1_NCD);
+	finfo("Card detect : %d\n", cd_status);
+
+	sdio_mediachange(sdio_dev, cd_status);
+#else
+	/* Assume that the SD card is inserted.  What choice do we have? */
+
+	sdio_mediachange(sdio_dev, true);
+#endif
+
+	return OK;
+}
+
+#endif /* CONFIG_MMCSD */
@@ -0,0 +1,50 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2020-2021 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/spi_hw_description.h>
+#include <drivers/drv_sensor.h>
+#include <nuttx/spi/spi.h>
+
+constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
+	initSPIBus(SPI::Bus::SPI1, {
+		initSPIDevice(DRV_OSD_DEVTYPE_ATXXXX, SPI::CS{GPIO::PortA, GPIO::Pin4}),
+	}),
+	initSPIBus(SPI::Bus::SPI2, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortB, GPIO::Pin12}, SPI::DRDY{GPIO::PortE, GPIO::Pin13}),
+	}),
+	initSPIBus(SPI::Bus::SPI4, {
+		initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::PortE, GPIO::Pin4}, SPI::DRDY{GPIO::PortE, GPIO::Pin1}),
+	}),
+};
+
+static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -0,0 +1,55 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+#include <px4_arch/io_timer_hw_description.h>
+
+constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
+	initIOTimer(Timer::Timer3, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer2, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer5, DMA{DMA::Index1}),
+	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
+};
+
+constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel3}, {GPIO::PortB, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer3, Timer::Channel4}, {GPIO::PortB, GPIO::Pin1}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel3}, {GPIO::PortB, GPIO::Pin10}),
+	initIOTimerChannel(io_timers, {Timer::Timer2, Timer::Channel4}, {GPIO::PortB, GPIO::Pin11}),
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
+	initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel3}, {GPIO::PortA, GPIO::Pin2}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel1}, {GPIO::PortD, GPIO::Pin12}),
+	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
+};
+
+constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
+	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -0,0 +1,105 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2016 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.
+ */
+
+/************************************************************************************
+ * Included Files
+ ************************************************************************************/
+
+#include <px4_platform_common/px4_config.h>
+
+#include <sys/types.h>
+#include <stdint.h>
+#include <stdbool.h>
+#include <debug.h>
+
+#include <nuttx/usb/usbdev.h>
+#include <nuttx/usb/usbdev_trace.h>
+
+#include <arm_internal.h>
+#include <chip.h>
+#include <stm32_gpio.h>
+#include <stm32_otg.h>
+#include "board_config.h"
+
+/************************************************************************************
+ * Definitions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Private Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Public Functions
+ ************************************************************************************/
+
+/************************************************************************************
+ * Name: stm32_usbinitialize
+ *
+ * Description:
+ *   Called to setup USB-related GPIO pins for the PX4FMU board.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbinitialize(void)
+{
+	/* The OTG FS has an internal soft pull-up */
+
+	/* Configure the OTG FS VBUS sensing GPIO, Power On, and Overcurrent GPIOs */
+
+#ifdef CONFIG_STM32H7_OTGFS
+	stm32_configgpio(GPIO_OTGFS_VBUS);
+#endif
+}
+
+/************************************************************************************
+ * Name:  stm32_usbsuspend
+ *
+ * Description:
+ *   Board logic must provide the stm32_usbsuspend logic if the USBDEV driver is
+ *   used.  This function is called whenever the USB enters or leaves suspend mode.
+ *   This is an opportunity for the board logic to shutdown clocks, power, etc.
+ *   while the USB is suspended.
+ *
+ ************************************************************************************/
+
+__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
+{
+	uinfo("resume: %d\n", resume);
+}
@@ -59,19 +59,12 @@ fi

 param select /data/px4/param/parameters

-# Change defaults before loading in updated parameters from the file
+# Load in all of the parameters that have been saved in the file
+param load

 # This was the default pre-v1.16.0 and for folks relying on that
 # we set it up here
 param set-default EKF2_EV_CTRL 15
-# Shouldn't need to do it separately with qshell but set-default
-# implementation needs to be updated to set it on DSP as well. Until
-# then need to do it as a separate step.
-qshell param set-default EKF2_EV_CTRL 15
-
-# Load in all of the parameters that have been saved in the file
-# after updating any default values
-param load

 # IMU (accelerometer / gyroscope)
 if [ "$PLATFORM" == "M0104" ]; then
@@ -75,6 +75,8 @@ then
 	# Auto start power monitors
 	pm_selector_auterion start

+	# Auterion's INA238 uses a shunt value of 0.0003 instead of 0.0005.
+	param set-default INA238_SHUNT 0.0003
 else
 	#FMUv5Xbase board orientation

@@ -59,6 +59,9 @@ fi
 if ver hwbasecmp 009 010 011
 then
 	pm_selector_auterion start
+
+	# Auterion's INA238 uses a shunt value of 0.0003 instead of 0.0005.
+	param set-default INA238_SHUNT 0.0003
 else
 	if [ $INA_CONFIGURED = no ]
 	then
@@ -32,8 +32,6 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42652=y
 CONFIG_COMMON_INS=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM350=y
-CONFIG_DRIVERS_MAGNETOMETER_LIS2MDL=y
 CONFIG_DRIVERS_OSD_MSP_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
@@ -85,43 +85,19 @@ else
 	fi
 fi

-if ver hwtypecmp V6XRT000 V6XRT001
-then
-	# Internal SPI bus ICM42686p (hard-mounted)
-	icm42688p -6 -R 12 -b 1 -s start
+# Internal SPI bus ICM42686p (hard-mounted)
+icm42688p -6 -R 12 -b 1 -s start

-	# Internal on IMU SPI BMI088
-	bmi088 -A -R 4 -s start
-	bmi088 -G -R 4 -s start
+# Internal on IMU SPI BMI088
+bmi088 -A -R 4 -s start
+bmi088 -G -R 4 -s start

-	# Internal on IMU SPI bus ICM42688p
-	icm42688p -R 6 -b 2 -s start
-fi
+# Internal on IMU SPI bus ICM42688p
+icm42688p -R 6 -b 2 -s start

-if ver hwtypecmp V6XRT002
-then
-	# Internal SPI bus icm45686 (hard-mounted)
-	icm45686 -R 12 -b 1 -s start
+# Internal magnetometer on I2c
+bmm150 -I start

-	# Internal on IMU SPI BMI088
-	bmi088 -A -R 4 -s start
-	bmi088 -G -R 4 -s start
-
-	# Internal on IMU SPI bus icm45686
-	icm45686 -R 6 -b 2 -s start
-fi
-
-if ver hwtypecmp V6XRT000
-then
-	# Internal magnetometer on I2c
-	bmm150 -I start
-fi
-
-if ver hwtypecmp V6XRT001 V6XRT002
-then
-	# Internal magnetometer on I2c
-	bmm350 -I start
-fi

 # External compass on GPS1/I2C1 (the 3rd external bus): standard Holybro Pixhawk 4 or CUAV V5 GPS/compass puck (with lights, safety button, and buzzer)
 ist8310 -X -b 1 -R 10 start
@@ -297,10 +297,9 @@
 #define GPIO_HW_VER_SENSE     /* GPIO_AD_23 GPIO9 Pin 22 */  ADC_GPIO(5, 22)
 #define HW_INFO_INIT_PREFIX   "V6XRT"

-#define BOARD_NUM_SPI_CFG_HW_VERSIONS 3 // Rev 0, 1 & 2
+#define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0 & 1
 #define V6XRT_0             HW_FMUM_ID(0x0)  // First Release
 #define V6XRT_1             HW_FMUM_ID(0x1)  // Next Release
-#define V6XRT_2             HW_FMUM_ID(0x2)  // Next Release

 #define BOARD_I2C_LATEINIT 1 /* See Note about SE550 Eanable */

@@ -81,26 +81,6 @@ constexpr px4_spi_bus_all_hw_t px4_spi_buses_all_hw[BOARD_NUM_SPI_CFG_HW_VERSION
 			initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin8}, SPI::DRDY{GPIO::Port1, GPIO::Pin7}), /* GPIO_LPSR_08 GPIO6_IO08  GPIO_EMC_B1_07  GPIO1_IO07*/
 		}),
 	}),
-
-	initSPIFmumID(V6XRT_2, {
-		initSPIBus(SPI::Bus::LPSPI1, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::Port2, GPIO::Pin11}, SPI::DRDY{GPIO::Port3, GPIO::Pin19}), /* GPIO_EMC_B2_01 GPIO2_IO11, GPIO_AD_20, GPIO3_IO19 */
-		}, {GPIO::Port2, GPIO::Pin1}), // Power GPIO_EMC_B1_33  GPIO2_IO01
-
-		initSPIBus(SPI::Bus::LPSPI2, {
-			initSPIDevice(DRV_IMU_DEVTYPE_ICM45686, SPI::CS{GPIO::Port3, GPIO::Pin24}, SPI::DRDY{GPIO::Port2, GPIO::Pin7}), /* GPIO_AD_25 GPIO3_IO24, GPIO_EMC_B1_39 GPIO2_IO07 */
-		}, {GPIO::Port1, GPIO::Pin22}), // Power GPIO_EMC_B1_22  GPIO1_IO22
-
-		initSPIBus(SPI::Bus::LPSPI3, {
-			initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin18}, SPI::DRDY{GPIO::Port2, GPIO::Pin28}), /* GPIO_EMC_B2_08 GPIO2_IO18, GPIO_EMC_B2_18 GPIO2_IO28 */
-			initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::Port2, GPIO::Pin15}),                                      /* GPIO_EMC_B2_05 GPIO2_IO15 */
-		}, {GPIO::Port1, GPIO::Pin14}), // Power GPIO_EMC_B1_14  GPIO1_IO14
-
-		initSPIBusExternal(SPI::Bus::LPSPI6, {
-			initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin9}, SPI::DRDY{GPIO::Port1, GPIO::Pin5}), /* GPIO_LPSR_09 GPIO6_IO09 GPIO_EMC_B1_05 GPIO1_IO05*/
-			initSPIConfigExternal(SPI::CS{GPIO::Port6, GPIO::Pin8}, SPI::DRDY{GPIO::Port1, GPIO::Pin7}), /* GPIO_LPSR_08 GPIO6_IO08  GPIO_EMC_B1_07  GPIO1_IO07*/
-		}),
-	}),
 };

 static constexpr bool unused = validateSPIConfig(px4_spi_buses_all_hw);
@@ -8,7 +8,7 @@ import tabsPlugin from "@red-asuka/vitepress-plugin-tabs";

 // https://vitepress.dev/reference/site-config
 export default defineConfig({
-  title: "PX4 Guide (v1.16)",
+  title: "PX4 Guide (main)",
  description: "PX4 User and Developer Guide",
  base: process.env.BRANCH_NAME
    ? "/" + process.env.BRANCH_NAME + "/"
@@ -31,7 +31,6 @@ export default defineConfig({
      tabsPlugin(md); //https://github.com/Red-Asuka/vitepress-plugin-tabs
    },
  },
-  cleanUrls: true,

  vite: {
    plugins: [
@@ -198,14 +197,11 @@ export default defineConfig({
        text: "Version",
        items: [
          { text: "main", link: "https://docs.px4.io/main/en/" },
-          {
-            text: "v1.16 (stable)",
-            link: "https://docs.px4.io/v1.16/en/",
-          },
-          { text: "v1.15", link: "https://docs.px4.io/v1.15/en/" },
+          { text: "v1.15 (stable)", link: "https://docs.px4.io/v1.15/en/" },
          { text: "v1.14", link: "https://docs.px4.io/v1.14/en/" },
          { text: "v1.13", link: "https://docs.px4.io/v1.13/en/" },
          { text: "v1.12", link: "https://docs.px4.io/v1.12/en/" },
+          { text: "v1.11", link: "https://docs.px4.io/v1.11/en/" },
        ],
      },
    ],
@@ -1,5 +1,5 @@
 param set-default ASPD_DO_CHECKS 19
-param set-default ASPD_FALLBACK_GW 1
+param set-default ASPD_FALLBACK 1
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_CHARGED 4.2000
 param set-default BAT1_V_EMPTY 2.9000
@@ -61,4 +61,4 @@ param set-default PWM_AUX_TIM3 100
 param set-default SDLOG_PROFILE 17
 param set-default SENS_EN_MS4525DO 1
 param set-default TRIM_PITCH 0.1000
-# Make sure to add all params from the current airframe (ID=2100) as well
+# Make sure to add all params from the current airframe (ID=2100) as well
@@ -1,5 +1,5 @@
 param set-default ASPD_DO_CHECKS 19
-param set-default ASPD_FALLBACK_GW 1
+param set-default ASPD_FALLBACK 1
 param set-default BAT1_N_CELLS 4
 param set-default BAT1_V_CHARGED 4.2000
 param set-default BAT1_V_EMPTY 2.5000
@@ -80,4 +80,4 @@ param set-default SENS_EN_MS4525DO 1
 param set-default SER_TEL1_BAUD 115200
 param set-default TRIM_PITCH -0.4000
 param set-default UAVCAN_ENABLE 0
-# Make sure to add all params from the current airframe (ID=2100) as well
+# Make sure to add all params from the current airframe (ID=2100) as well
@@ -2,40 +2,48 @@
 # Vehicle: VTOL
 # Vehicle-Id Component-Id Name Value Type

-1	1	BAT1_CAPACITY	4000.0	9
 1	1	BAT1_N_CELLS	4	6

+1	1	CA_ROTOR0_KM	-0.05	9
+1	1	CA_ROTOR0_PX	1.0	9
 1	1	CA_ROTOR0_PY	-1.0	9
 1	1	CA_ROTOR0_TILT	1	6
+1	1	CA_ROTOR1_KM	0.05	9
 1	1	CA_ROTOR1_PX	1.0	9
 1	1	CA_ROTOR1_PY	1.0	9
 1	1	CA_ROTOR1_TILT	2	6
+1	1	CA_ROTOR2_KM	0.05	9
 1	1	CA_ROTOR2_PX	-1.8	9
-1	1	CA_ROTOR_COUNT	3	6
-
 1	1	CA_ROTOR2_PY	0.0	9
 1	1	CA_ROTOR2_TILT	0.0	9
+1	1	CA_ROTOR3_KM	0.0	9
 1	1	CA_ROTOR3_PX	0.0	9
 1	1	CA_ROTOR3_PY	0.0	9
-1	1	CA_ROTOR4_AZ	0.0	9
+
+1	1	CA_ROTOR_COUNT	3	6

 1	1	COM_PREARM_MODE	2	6

-1	1	FW_AIRSPD_MIN	13.0	9
+1	1	FD_FAIL_R	70	6
+
+1	1	FW_AIRSPD_MAX	30.0	9
+1	1	FW_AIRSPD_MIN	12.0	9
 1	1	FW_AIRSPD_STALL	10.0	9
 1	1	FW_BAT_SCALE_EN	1	6
 1	1	FW_PR_FF	0.2	9
 1	1	FW_PR_I	0.3	9
-1	1	FW_PR_P	0.5	9
+1	1	FW_PR_P	0.3	9
 1	1	FW_PSP_OFF	2.0	9
 1	1	FW_RR_FF	0.15	9
 1	1	FW_RR_I	0.2	9
 1	1	FW_RR_P	0.14	9
+1	1	FW_R_LIM	60.0	9
+1	1	FW_THR_ASPD_MAX	0.85	9
+1	1	FW_THR_ASPD_MIN	0.34	9
 1	1	FW_THR_TRIM	0.45	9
 1	1	FW_T_ALT_TC	10.0	9
 1	1	FW_T_CLMB_MAX	17.0	9
 1	1	FW_T_CLMB_R_SP	5.0	9
-1	1	FW_T_THR_INTEG	0.03	9
 1	1	FW_T_PTCH_DAMP	0.3	9
 1	1	FW_T_RLL2THR	10.0	9
 1	1	FW_T_SINK_MAX	7.0	9
@@ -43,6 +51,7 @@
 1	1	FW_T_SINK_R_SP	2.5	9
 1	1	FW_T_STE_R_TC	0.1	9
 1	1	FW_T_THR_DAMPING	0.05	9
+1	1	FW_T_THR_INTEG	0.05	9
 1	1	FW_YR_FF	0.13	9
 1	1	FW_YR_P	0.1	9

@@ -50,22 +59,24 @@
 1	1	MC_PITCHRATE_I	0.3	9
 1	1	MC_PITCHRATE_MAX	120.0	9
 1	1	MC_PITCHRATE_P	0.25	9
-1	1	MC_PITCH_P	4.5	9
+1	1	MC_PITCH_P	6.5	9
 1	1	MC_ROLLRATE_I	0.3	9
-1	1	MC_ROLLRATE_P	0.28	9
-1	1	MC_ROLL_P	4.0	9
-1	1	MC_YAWRATE_I	0.4	9
-1	1	MC_YAWRATE_P	0.6	9
-1	1	MC_YAW_P	2.8	9
+1	1	MC_ROLLRATE_P	0.25	9
+1	1	MC_ROLL_P	5.0	9
+1	1	MC_YAWRATE_D	0.01	9
+1	1	MC_YAWRATE_I	0.1	9
+1	1	MC_YAWRATE_P	0.2	9
+1	1	MC_YAW_P	1.7	9

-1	1	MPC_ACC_HOR_MAX	5.0	9
-1	1	MPC_JERK_MAX	8.0	9
 1	1	MPC_LAND_RC_HELP	1	6
+1	1	MPC_LAND_SPEED	1.2	9
 1	1	MPC_THR_HOVER	0.7	9
 1	1	MPC_VEL_MANUAL	8.0	9
 1	1	MPC_VEL_MAN_SIDE	5.0	9
 1	1	MPC_XY_CRUISE	6.0	9
 1	1	MPC_XY_VEL_MAX	10.0	9
+1	1	MPC_Z_VEL_MAX_DN	2.0	9
+1	1	MPC_Z_V_AUTO_DN	2.0	9

 1	1	PWM_AUX_FUNC1	101	6
 1	1	PWM_AUX_FUNC2	102	6
@@ -74,23 +85,28 @@
 1	1	PWM_MAIN_DIS2	1500	6
 1	1	PWM_MAIN_DIS3	1500	6
 1	1	PWM_MAIN_DIS4	1500	6
-1	1	PWM_MAIN_DIS5	2000	6
-1	1	PWM_MAIN_DIS6	2000	6
+1	1	PWM_MAIN_DIS5	1850	6
+1	1	PWM_MAIN_DIS6	1900	6
 1	1	PWM_MAIN_FUNC1	201	6
 1	1	PWM_MAIN_FUNC2	202	6
 1	1	PWM_MAIN_FUNC3	203	6
 1	1	PWM_MAIN_FUNC4	204	6
 1	1	PWM_MAIN_FUNC5	205	6
 1	1	PWM_MAIN_FUNC6	206	6
+1	1	PWM_MAIN_MIN5	900	6
+1	1	PWM_MAIN_MIN6	930	6
 1	1	PWM_MAIN_REV	58	6
 1	1	PWM_MAIN_TIM0	50	6
 1	1	PWM_MAIN_TIM1	50	6
 1	1	PWM_MAIN_TIM2	50	6

+1	1	VT_B_DEC_MSS	1.5	9
 1	1	VT_FWD_THRUST_EN	4	6
 1	1	VT_FWD_THRUST_SC	0.8	9
 1	1	VT_FW_QC_P	70	6
 1	1	VT_FW_QC_R	70	6
+1	1	VT_TILT_MC	0.15	9
 1	1	VT_TILT_TRANS	0.5	9
-
-1	1	SENS_EN_SF1XX	0	6
+1	1	VT_TRANS_MIN_TM	3.0	9
+1	1	VT_TRANS_P2_DUR	1.0	9
+1	1	VT_TRANS_TIMEOUT	10.0	9
@@ -7,7 +7,7 @@
 "files": [
  {
    "source": "docs/en/**/*.md",
-    "ignore": ["/docs/en/_sidebar.md"],
+    "ignore": ["/docs/en/_sidebar.md","docs/en/advanced_config/parameter_reference.md"],
    "translation": "docs/%two_letters_code%/**/%original_file_name%"
  }
 ]
@@ -1,7 +1,9 @@
 - [Introduction](index.md)
+
  - [Basic Concepts](getting_started/px4_basic_concepts.md)

 - [Multicopters](frames_multicopter/index.md)
+
  - [Features](features_mc/index.md)
    - [Flight Modes](flight_modes_mc/index.md)
      - [Position Mode (MC)](flight_modes_mc/position.md)
@@ -39,8 +41,9 @@
    - [MindRacer BNF & RTF](complete_vehicles_mc/mindracer_BNF_RTF.md)
      - [MindRacer 210](complete_vehicles_mc/mindracer210.md)
      - [NanoMind 110](complete_vehicles_mc/nanomind110.md)
-    - [Holybro Kopis 2](complete_vehicles_mc/holybro_kopis2.md)
    - [Bitcraze Crazyflie 2.1](complete_vehicles_mc/crazyflie21.md)
+    - [Holybro Kopis 2](complete_vehicles_mc/holybro_kopis2.md)
+    - [Amov F410 Drone](complete_vehicles_mc/amov_F410_drone.md)
  - [Kits](frames_multicopter/kits.md)
    - [X500 v2 (Pixhawk 6C)](frames_multicopter/holybro_x500v2_pixhawk6c.md)
    - [X500 v2 (Pixhawk 5X)](frames_multicopter/holybro_x500V2_pixhawk5x.md)
@@ -54,6 +57,7 @@
    - [DJI F450 (CUAV v5 nano)](frames_multicopter/dji_f450_cuav_5nano.md)

 - [Planes (Fixed-Wing)](frames_plane/index.md)
+
  - [Assembly](assembly/assembly_fw.md)
  - [Config/Tuning](config_fw/index.md)
    - [Auto-tune](config/autotune_fw.md)
@@ -81,6 +85,7 @@
    - [Wing Wing Z84 (Pixracer)](frames_plane/wing_wing_z84.md)

 - [VTOL](frames_vtol/index.md)
+
  - [Assembly](assembly/assembly_vtol.md)
  - [VTOL Config/Tuning](config_vtol/index.md)
    - [Auto-tune](config/autotune_vtol.md)
@@ -105,6 +110,7 @@
  - [Complete Vehicles](complete_vehicles_vtol/index.md)

 - [Operations](config/operations.md)
+
  - [Safety](config/safety_intro.md)
    - [Safety Configuration (Failsafes)](config/safety.md)
    - [Failsafe Simulation](config/safety_simulation.md)
@@ -125,6 +131,7 @@
    - [QGroundControl Flight-Readiness Status](flying/pre_flight_checks.md)

 - [Hardware Selection & Setup](hardware/drone_parts.md)
+
  - [Flight Controllers (Autopilots)](flight_controller/index.md)
    - [Flight Controller Selection](getting_started/flight_controller_selection.md)
    - [Pixhawk Series](flight_controller/pixhawk_series.md)
@@ -327,7 +334,6 @@
    - [FrSky Telemetry](peripherals/frsky_telemetry.md)
    - [TBS Crossfire (CRSF) Telemetry](telemetry/crsf_telemetry.md)
    - [Satellite Comms (Iridium/RockBlock)](advanced_features/satcom_roadblock.md)
-
  - [Power Systems](power_systems/index.md)
    - [Battery Estimation Tuning](config/battery.md)
    - [Battery Chemistry Overview](power_systems/battery_chemistry.md)
@@ -394,6 +400,7 @@
    - [Full Parameter Reference](advanced_config/parameter_reference.md)

 - [Other Vehicles](airframes/index.md)
+
  - [Airships (experimental)](frames_airship/index.md)
  - [Autogyros (experimental)](frames_autogyro/index.md)
    - [ThunderFly Auto-G2 (Holybro pix32)](frames_autogyro/thunderfly_auto_g2.md)
@@ -800,8 +807,10 @@
      - [Test MC_05 - Indoor Flight (Manual Modes)](test_cards/mc_05_indoor_flight_manual_modes.md)
    - [Unit Tests](test_and_ci/unit_tests.md)
    - [Continuous Integration](test_and_ci/continous_integration.md)
-    - [MAVSDK Integration Testing](test_and_ci/integration_testing_mavsdk.md)
-    - [ROS Integration Testing](test_and_ci/integration_testing.md)
+    - [Integration Testing](test_and_ci/integration_testing.md)
+      - [MAVSDK Integration Testing](test_and_ci/integration_testing_mavsdk.md)
+      - [PX4 ROS2 Interface Library Integration Testing](test_and_ci/integration_testing_px4_ros2_interface.md)
+      - [ROS 1 Integration Testing](test_and_ci/integration_testing_ros1_mavros.md)
    - [Docker Containers](test_and_ci/docker.md)
    - [Maintenance](test_and_ci/maintenance.md)
 - [Drone Apps & APIs](robotics/index.md)
@@ -835,9 +844,8 @@
  - [Terminology/Notation](contribute/notation.md)
  - [Licenses](contribute/licenses.md)
 - [Releases](releases/index.md)
-  - [main (alpha)](https://docs.px4.io/main/en/releases/main.html)
-  - [1.16 (stable)](releases/1.15.md)
-  - [1.15](releases/1.15.md)
+  - [main (alpha)](releases/main.md)
+  - [1.15 (stable)](releases/1.15.md)
  - [1.14](releases/1.14.md)
  - [1.13](releases/1.13.md)
  - [1.12](releases/1.12.md)
@@ -1,8 +1,10 @@
 <!-- GENERATED CONTENT: DO NOT EDIT -->
 - [Introduction](/index.md)
+
  - [Basic Concepts](/getting_started/px4_basic_concepts.md)

 - [Multicopters](/frames_multicopter/index.md)
+
  - [Features](/features_mc/index.md)
    - [Flight Modes](/flight_modes_mc/index.md)
      - [Position Mode (MC)](/flight_modes_mc/position.md)
@@ -55,6 +57,7 @@
    - [DJI F450 (CUAV v5 nano)](/frames_multicopter/dji_f450_cuav_5nano.md)

 - [Planes (Fixed-Wing)](/frames_plane/index.md)
+
  - [Assembly](/assembly/assembly_fw.md)
  - [Config/Tuning](/config_fw/index.md)
    - [Auto-tune](/config/autotune_fw.md)
@@ -82,6 +85,7 @@
    - [Wing Wing Z84 (Pixracer)](/frames_plane/wing_wing_z84.md)

 - [VTOL](/frames_vtol/index.md)
+
  - [Assembly](/assembly/assembly_vtol.md)
  - [VTOL Config/Tuning](/config_vtol/index.md)
    - [Auto-tune](/config/autotune_vtol.md)
@@ -106,6 +110,7 @@
  - [Complete Vehicles](/complete_vehicles_vtol/index.md)

 - [Operations](/config/operations.md)
+
  - [Safety](/config/safety_intro.md)
    - [Safety Configuration (Failsafes)](/config/safety.md)
    - [Failsafe Simulation](/config/safety_simulation.md)
@@ -126,6 +131,7 @@
    - [QGroundControl Flight-Readiness Status](/flying/pre_flight_checks.md)

 - [Hardware Selection & Setup](/hardware/drone_parts.md)
+
  - [Flight Controllers (Autopilots)](/flight_controller/index.md)
    - [Flight Controller Selection](/getting_started/flight_controller_selection.md)
    - [Pixhawk Series](/flight_controller/pixhawk_series.md)
@@ -160,7 +166,7 @@
      - [AirMind MindPX](/flight_controller/mindpx.md)
      - [AirMind MindRacer](/flight_controller/mindracer.md)
      - [ARK Electronics ARKV6X](/flight_controller/ark_v6x.md)
-      - [ARK FPV Flight Controller](/flight_controller/ark_fpv.md)
+      - [ARK FPV Flight Controller](/flight_controller/ark_fpv.md) 
      - [ARK Pi6X Flow Flight Controller](/flight_controller/ark_pi6x.md)
      - [CUAV X7](/flight_controller/cuav_x7.md)
      - [CUAV Nora](/flight_controller/cuav_nora.md)
@@ -176,7 +182,7 @@
      - [Holybro Kakute H7v2](/flight_controller/kakuteh7v2.md)
      - [Holybro Kakute H7mini](/flight_controller/kakuteh7mini.md)
      - [Holybro Kakute H7](/flight_controller/kakuteh7.md)
-      - [Holybro Kakute H7 Wing](/flight_controller/kakuteh7-wing.md)
+      - [Holybro Kakute H7 Wing](flight_controller/kakuteh7-wing.md)
      - [Holybro Durandal](/flight_controller/durandal.md)
        - [Wiring Quickstart](/assembly/quick_start_durandal.md)
      - [Holybro Pix32 v5](/flight_controller/holybro_pix32_v5.md)
@@ -249,7 +255,7 @@
    - [GNSS (GPS)](/gps_compass/index.md)
      - [ARK GPS (CAN)](/dronecan/ark_gps.md)
      - [ARK SAM GPS](/gps_compass/ark_sam_gps.md)
-      - [ARK TESEO GPS](/dronecan/ark_teseo_gps.md)
+      - [ARK TESEO GPS](/dronecan/ark_teseo_gps.md) 
      - [CUAV NEO 3 GPS](/gps_compass/gps_cuav_neo_3.md)
      - [CUAV NEO 3 Pro GPS (CAN)](/gps_compass/gps_cuav_neo_3pro.md)
      - [CUAV NEO 3X GPS (CAN)](/gps_compass/gps_cuav_neo_3x.md)
@@ -322,13 +328,10 @@
        - [ARK Electron Microhard Serial Telemetry Radio](/telemetry/ark_microhard_serial.md)
        - [Holybro Microhard P900 Telemetry Radio](/telemetry/holybro_microhard_p900_radio.md)
      - [CUAV P8 Telemetry Radio](/telemetry/cuav_p8_radio.md)
-      - [J.Fi Wireless Telemetry Module](/telemetry/jfi_telemetry.md)
      - [HolyBro XBP9X - Discontinued](/telemetry/holybro_xbp9x_radio.md)
-
    - [FrSky Telemetry](/peripherals/frsky_telemetry.md)
    - [TBS Crossfire (CRSF) Telemetry](/telemetry/crsf_telemetry.md)
    - [Satellite Comms (Iridium/RockBlock)](/advanced_features/satcom_roadblock.md)
-
  - [Power Systems](/power_systems/index.md)
    - [Battery Estimation Tuning](/config/battery.md)
    - [Battery Chemistry Overview](/power_systems/battery_chemistry.md)
@@ -395,6 +398,7 @@
    - [Full Parameter Reference](/advanced_config/parameter_reference.md)

 - [Other Vehicles](/airframes/index.md)
+
  - [Airships (experimental)](/frames_airship/index.md)
  - [Autogyros (experimental)](/frames_autogyro/index.md)
    - [ThunderFly Auto-G2 (Holybro pix32)](/frames_autogyro/thunderfly_auto_g2.md)
@@ -709,10 +713,6 @@
        - [YawEstimatorStatus](/msg_docs/YawEstimatorStatus.md)
        - [VehicleStatusV0](/msg_docs/VehicleStatusV0.md)
    - [MAVLink Messaging](/middleware/mavlink.md)
-      - [Adding Messages](/mavlink/adding_messages.md)
-      - [Streaming Messages](/mavlink/streaming_messages.md)
-      - [Receiving Messages](/mavlink/receiving_messages.md)
-      - [Custom MAVLink Messages](/mavlink/custom_messages.md)
      - [Standard Modes Protocol](/mavlink/standard_modes.md)
    - [uXRCE-DDS (PX4-ROS 2/DDS Bridge)](/middleware/uxrce_dds.md)
  - [Modules & Commands](/modules/modules_main.md)
@@ -836,9 +836,8 @@
  - [Terminology/Notation](/contribute/notation.md)
  - [Licenses](/contribute/licenses.md)
 - [Releases](/releases/index.md)
-  - [main (alpha)](/https://docs.px4.io/main/en/releases/main.html)
-  - [1.16 (stable)](/releases/1.15.md)
-  - [1.15](/releases/1.15.md)
+  - [main (alpha)](/releases/main.md)
+  - [1.15 (stable)](/releases/1.15.md)
  - [1.14](/releases/1.14.md)
  - [1.13](/releases/1.13.md)
-  - [1.12](/releases/1.12.md)
+  - [1.12](/releases/1.12.md)
@@ -3,9 +3,10 @@
 This section contains topics about the core actuators used for flight control (ESC/motors, and servos), and how they are assigned to the flight controller outputs, configured, and calibrated.

 - [Actuator Allocation](../config/actuators.md) — Configure flight controller outputs for specific functions and ESC/servo types.
+
 - [ESCs & Motors](../peripherals/esc_motors.md) — ESCs such as [DShot](../peripherals/dshot.md) (recommended) and DroneCAN.
 - [ESC Calibration](../advanced_config/esc_calibration.md) — Calibration for PWM ESC (not required for DShot/CAN ESC/servos).

 ## See Also

- [Peripherals](../peripherals/index.md) - includes non-core actuators such as grippers, parachutes, etc.
+- [Peripherals](../peripherals/index.md) - includes non-core actuators such as grippers, parachutes, etc. 
@@ -13171,21 +13171,20 @@ Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
 &nbsp; | 0 | 31 |  | 7 |  

-### ASPD_FALLBACK_GW (`INT32`) {#ASPD_FALLBACK_GW}
+### ASPD_FALLBACK (`INT32`) {#ASPD_FALLBACK}

-Enable fallback to sensor-less airspeed estimation.
-
-If set to true and airspeed checks are enabled, it will use a sensor-less airspeed estimation based on groundspeed minus windspeed if no other airspeed sensor available to fall back to.
+Fallback options.

 **Values:**

- `0`: Disable fallback to sensor-less estimation
- `1`: Enable fallback to sensor-less estimation
+- `0`: Fallback only to other airspeed sensors
+- `1`: Fallback to groundspeed-minus-windspeed airspeed estimation
+- `2`: Fallback to thrust based airspeed estimation


 Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
-&nbsp; |  |  |  | Disabled (0) |  
+&nbsp; |  |  |  | 0 |  

 ### ASPD_FP_T_WINDOW (`FLOAT`) {#ASPD_FP_T_WINDOW}

@@ -13247,6 +13246,7 @@ Index or primary airspeed measurement source.
 - `1`: First airspeed sensor
 - `2`: Second airspeed sensor
 - `3`: Third airspeed sensor
+- `4`: Thrust based airspeed


 Reboot | minValue | maxValue | increment | default | unit
@@ -14582,6 +14582,23 @@ Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
 &nbsp; |  |  | 0.1 | 10.0 | s 

+### COM_DLL_EXCEPT (`INT32`) {#COM_DLL_EXCEPT}
+
+Datalink loss exceptions.
+
+Specify modes in which datalink loss is ignored and the failsafe action not triggered.
+
+**Bitmask:**
+
+- `0`: Mission
+- `1`: Hold
+- `2`: Offboard
+
+
+Reboot | minValue | maxValue | increment | default | unit
+--- | --- | --- | --- | --- | ---
+&nbsp; | 0 | 7 |  | 0 |  
+
 ### COM_DL_LOSS_T (`INT32`) {#COM_DL_LOSS_T}

 GCS connection loss time threshold.
@@ -15254,7 +15271,7 @@ Specify modes in which RC loss is ignored and the failsafe action not triggered.

 Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
-&nbsp; | 0 | 31 |  | 0 |  
+&nbsp; | 0 | 7 |  | 0 |  

 ### COM_RC_ARM_HYST (`INT32`) {#COM_RC_ARM_HYST}

@@ -18930,9 +18947,9 @@ Reboot | minValue | maxValue | increment | default | unit

 ### PPS_CAP_ENABLE (`INT32`) {#PPS_CAP_ENABLE}

-PPS Capture Enable.
+PPS capture enable.

-Enables the PPS capture module. This switches mode of FMU channel 7 to be the PPS input channel.
+Enables the PPS capture module to refine the GPS time from pulses detected on a PWM pin configured as "PPS Input".

 Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
@@ -19238,7 +19255,7 @@ Reboot | minValue | maxValue | increment | default | unit

 Control allocation method.

-Selects the algorithm and desaturation method. If set to Automtic, the selection is based on the airframe (CA_AIRFRAME).
+Selects the algorithm and desaturation method. If set to Automatic, the selection is based on the airframe (CA_AIRFRAME).

 **Values:**

@@ -22010,13 +22027,13 @@ Maximum airspeed allowed in the landed state

 Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
-&nbsp; | 2 | 20 |  | 6.00 | m/s 
+&nbsp; | 2 | 30 |  | 6.00 | m/s 

 ### LNDFW_ROT_MAX (`FLOAT`) {#LNDFW_ROT_MAX}

 Fixed-wing land detector: max rotational speed.

-Maximum allowed norm of the angular velocity in the landed state.
+Maximum allowed norm of the angular velocity in the landed state. Only used if neither airspeed nor groundspeed can be used for landing detection.

 Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
@@ -22040,7 +22057,7 @@ Maximum horizontal velocity allowed in the landed state. A factor of 0.7 is appl

 Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
-&nbsp; | 0.5 | 10 |  | 5.0 | m/s 
+&nbsp; | 0.5 | 20 |  | 5.0 | m/s 

 ### LNDFW_VEL_Z_MAX (`FLOAT`) {#LNDFW_VEL_Z_MAX}

@@ -22060,7 +22077,7 @@ Maximum horizontal (x,y body axes) acceleration allowed in the landed state

 Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
-&nbsp; | 2 | 15 |  | 8.0 | m/s^2 
+&nbsp; | 2 | 30 |  | 8.0 | m/s^2 

 ### LNDMC_ALT_GND (`FLOAT`) {#LNDMC_ALT_GND}

@@ -22710,6 +22727,7 @@ The MAVLink Mode defines the set of streamed messages (for example the vehicle's
 - `10`: Gimbal
 - `11`: Onboard Low Bandwidth
 - `12`: uAvionix
+- `13`: Low Bandwidth


 Reboot | minValue | maxValue | increment | default | unit
@@ -22856,6 +22874,7 @@ The MAVLink Mode defines the set of streamed messages (for example the vehicle's
 - `10`: Gimbal
 - `11`: Onboard Low Bandwidth
 - `12`: uAvionix
+- `13`: Low Bandwidth


 Reboot | minValue | maxValue | increment | default | unit
@@ -23002,6 +23021,7 @@ The MAVLink Mode defines the set of streamed messages (for example the vehicle's
 - `10`: Gimbal
 - `11`: Onboard Low Bandwidth
 - `12`: uAvionix
+- `13`: Low Bandwidth


 Reboot | minValue | maxValue | increment | default | unit
@@ -24138,7 +24158,7 @@ Reboot | minValue | maxValue | increment | default | unit

 Altitude for 3. step of slow landing.

-Below this altitude descending velocity gets limited to "MPC_LAND_CRWL", if LIDAR available. No effect if LIDAR not available
+If a valid distance sensor measurement to the ground is available, limit descending velocity to "MPC_LAND_CRWL" below this altitude.

 Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
@@ -24337,9 +24357,9 @@ Reboot | minValue | maxValue | increment | default | unit

 ### MPC_USE_HTE (`INT32`) {#MPC_USE_HTE}

-Hover thrust estimator.
+Use hover thrust estimate for altitude control.

-Disable to use the fixed parameter MPC_THR_HOVER. Enable to use the hover thrust estimator. This parameter does not influence Stabilized mode throttle curve (see MPC_THR_CURVE).
+Disable to use the fixed parameter MPC_THR_HOVER instead of the hover thrust estimate in the position controller. This parameter does not influence Stabilized mode throttle curve (see MPC_THR_CURVE).

 Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
@@ -27477,6 +27497,7 @@ Return mode destination and flight path (home location, rally point, mission lan
 - `1`: Return to closest safe point other than home (mission landing pattern or rally point), via direct path. If no mission landing or rally points are defined return home via direct path. Always chose closest safe landing point if vehicle is a VTOL in hover mode.
 - `2`: Return to a planned mission landing, if available, using the mission path, else return to home via the reverse mission path. Do not consider rally points.
 - `3`: Return via direct path to closest destination: home, start of mission landing pattern or safe point. If the destination is a mission landing pattern, follow the pattern to land.
+- `4`: Return to the planned mission landing, or to home via the reverse mission path, whichever is closer by counting waypoints. Do not consider rally points.


 Reboot | minValue | maxValue | increment | default | unit
@@ -30335,6 +30356,16 @@ Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
 &nbsp; |  |  |  | 0.0 |  

+### SENS_DPRES_REV (`INT32`) {#SENS_DPRES_REV}
+
+Reverse differential pressure sensor readings.
+
+Reverse the raw measurements of all differential pressure sensors. This can be enabled if the sensors have static and dynamic ports swapped.
+
+Reboot | minValue | maxValue | increment | default | unit
+--- | --- | --- | --- | --- | ---
+&nbsp; |  |  |  | Disabled (0) |  
+
 ### SENS_FLOW_MAXHGT (`FLOAT`) {#SENS_FLOW_MAXHGT}

 Maximum height above ground when reliant on optical flow.
@@ -30486,7 +30517,7 @@ The cutoff frequency for the 2nd order butterworth filter used on the time deriv

 Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
-&check; | 0 | 1000 |  | 30.0 | Hz 
+&check; | 0 | 1000 | 0.1 | 30.0 | Hz 

 ### IMU_GYRO_CAL_EN (`INT32`) {#IMU_GYRO_CAL_EN}

@@ -30504,7 +30535,7 @@ The cutoff frequency for the 2nd order butterworth filter on the primary gyro. T

 Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
-&check; | 0 | 1000 |  | 40.0 | Hz 
+&check; | 0 | 1000 | 0.1 | 40.0 | Hz 

 ### IMU_GYRO_DNF_BW (`FLOAT`) {#IMU_GYRO_DNF_BW}

@@ -30514,7 +30545,7 @@ Bandwidth per notch filter when using dynamic notch filtering with ESC RPM.

 Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
-&nbsp; | 5 | 30 |  | 15. | Hz 
+&nbsp; | 5 | 30 | 0.1 | 15. | Hz 

 ### IMU_GYRO_DNF_EN (`INT32`) {#IMU_GYRO_DNF_EN}

@@ -30550,7 +30581,7 @@ Minimum notch filter frequency in Hz.

 Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
-&nbsp; |  |  |  | 25. | Hz 
+&nbsp; |  |  | 0.1 | 25. | Hz 

 ### IMU_GYRO_FFT_EN (`INT32`) {#IMU_GYRO_FFT_EN}

@@ -30608,7 +30639,7 @@ The frequency width of the stop band for the 2nd order notch filter on the prima

 Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
-&check; | 0 | 100 |  | 20.0 | Hz 
+&check; | 0 | 100 | 0.1 | 20.0 | Hz 

 ### IMU_GYRO_NF0_FRQ (`FLOAT`) {#IMU_GYRO_NF0_FRQ}

@@ -30618,7 +30649,7 @@ The center frequency for the 2nd order notch filter on the primary gyro. This fi

 Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
-&check; | 0 | 1000 |  | 0.0 | Hz 
+&check; | 0 | 1000 | 0.1 | 0.0 | Hz 

 ### IMU_GYRO_NF1_BW (`FLOAT`) {#IMU_GYRO_NF1_BW}

@@ -30628,7 +30659,7 @@ The frequency width of the stop band for the 2nd order notch filter on the prima

 Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
-&check; | 0 | 100 |  | 20.0 | Hz 
+&check; | 0 | 100 | 0.1 | 20.0 | Hz 

 ### IMU_GYRO_NF1_FRQ (`FLOAT`) {#IMU_GYRO_NF1_FRQ}

@@ -30638,7 +30669,7 @@ The center frequency for the 2nd order notch filter on the primary gyro. This fi

 Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
-&check; | 0 | 1000 |  | 0.0 | Hz 
+&check; | 0 | 1000 | 0.1 | 0.0 | Hz 

 ### IMU_GYRO_RATEMAX (`INT32`) {#IMU_GYRO_RATEMAX}

@@ -31402,7 +31433,7 @@ Configure on which serial port to run Lightware SF45 Rangefinder (serial).

 Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
-&check; |  |  |  | 102 |  
+&check; |  |  |  | 0 |  

 ### SENS_EN_SHT3X (`INT32`) {#SENS_EN_SHT3X}

@@ -32397,6 +32428,23 @@ Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
 &check; |  |  |  | 0 |  

+### SENS_TFMINI_HW (`INT32`) {#SENS_TFMINI_HW}
+
+Hardware Model.
+
+Models differ in range and FoV.
+
+**Values:**
+
+- `1`: TFMINI
+- `2`: ISTRA24
+- `3`: ISTRA24_100m
+
+
+Reboot | minValue | maxValue | increment | default | unit
+--- | --- | --- | --- | --- | ---
+&check; | 1 | 3 |  | 1 |  
+
 ### SENS_ULAND_CFG (`INT32`) {#SENS_ULAND_CFG}

 Serial Configuration for uLanding Radar.
@@ -33792,11 +33840,13 @@ Reboot | minValue | maxValue | increment | default | unit

 Dataman storage backend.

+If the board supports persistent storage (i.e., the KConfig variable DATAMAN_PERSISTENT_STORAGE is set), the 'Default storage' backend uses a file on persistent storage. If not supported, this backend uses non-persistent storage in RAM.
+
 **Values:**

- `-1`: Disabled
- `0`: default (SD card)
- `1`: RAM (not persistent)
+- `-1`: Dataman disabled
+- `0`: Default storage
+- `1`: RAM storage


 Reboot | minValue | maxValue | increment | default | unit
@@ -36119,6 +36169,14 @@ Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
 &nbsp; | 20000 | 1000000 |  | 1000000 |  

+### CANNODE_PUB_IMU (`INT32`) {#CANNODE_PUB_IMU}
+
+Enable RawIMU pub.
+
+Reboot | minValue | maxValue | increment | default | unit
+--- | --- | --- | --- | --- | ---
+&nbsp; |  | 1 |  | Disabled (0) |  
+
 ### CANNODE_PUB_MBD (`INT32`) {#CANNODE_PUB_MBD}

 Enable MovingBaselineData publication.
@@ -37271,17 +37329,17 @@ Reboot | minValue | maxValue | increment | default | unit

 Use fixed-wing actuation in hover to accelerate forward.

-This feature can be used to avoid the plane having to pitch nose down in order to move forward. Prevents large, negative lift from pitching nose down into wind. Fixed-wing forward actuators refers to puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL). Only active if demanded down pitch is below VT_PITCH_MIN. Use VT_FWD_THRUST_SC to tune it. Descend mode is treated as Landing too. Only active (if enabled) in Altitude, Position and Auto modes, not in Stabilized.
+Prevents downforce from pitching the body down when facing wind. Uses puller/pusher (standard VTOL), or forward-tilt (tiltrotor VTOL) to accelerate forward instead. Only active if demanded pitch  is below VT_PITCH_MIN. Use VT_FWD_THRUST_SC to tune it. Descend mode is treated as Landing too. Only active (if enabled) in height-rate controlled modes.

 **Values:**

 - `0`: Disabled
 - `1`: Enabled (except LANDING)
- `2`: Enabled if distance to ground above MPC_LAND_ALT1
- `3`: Enabled if distance to ground above MPC_LAND_ALT2
+- `2`: Enabled if above MPC_LAND_ALT1
+- `3`: Enabled if above MPC_LAND_ALT2
 - `4`: Enabled constantly
- `5`: Enabled if distance to ground above MPC_LAND_ALT1 (except LANDING)
- `6`: Enabled if distance to ground above MPC_LAND_ALT2 (except LANDING)
+- `5`: Enabled if above MPC_LAND_ALT1 (except LANDING)
+- `6`: Enabled if above MPC_LAND_ALT2 (except LANDING)


 Reboot | minValue | maxValue | increment | default | unit
@@ -37290,13 +37348,13 @@ Reboot | minValue | maxValue | increment | default | unit

 ### VT_FWD_THRUST_SC (`FLOAT`) {#VT_FWD_THRUST_SC}

-Fixed-wing actuation thrust scale for hover forward flight.
+Fixed-wing actuation thrust scale in hover.

-Scale applied to the demanded down-pitch to get the fixed-wing forward actuation in hover mode. Enabled via VT_FWD_THRUST_EN.
+Scale applied to the demanded pitch (below VT_PITCH_MIN) to get the fixed-wing forward actuation in hover mode. Enabled via VT_FWD_THRUST_EN.

 Reboot | minValue | maxValue | increment | default | unit
 --- | --- | --- | --- | --- | ---
-&nbsp; | 0.0 | 2.0 | 0.01 | 0.7 |  
+&nbsp; | 0.0 | 5.0 | 0.01 | 0.7 |  

 ### VT_FW_DIFTHR_EN (`INT32`) {#VT_FW_DIFTHR_EN}

@@ -0,0 +1,120 @@
+# Amovlab F410 Drone
+
+The [Amovlab F410](https://amovlab.com/product/detail?pid=32) is a medium-small drone platform with a 410mm wheelbase, equipped with Pixhawk 6c open-source flight controller, M8N-GPS, brushless motors, customized hard-case battery, Minihomer data link, optical flow ranging module, camera and other devices.
+It can be used immediately after receiving, capable of meeting indoor/outdoor stable flight and teaching development requirements.
+
+![Amovlab f410 Hero Image](../../assets/airframes/multicopter/amovlab_f410/hero.jpg)
+
+::: info
+The vehicle comes with everything needed to fly, including the battery and a remote control.
+It is pre-installed with PX4 v1.15.4 at time of writing (a more recent version may be used in future).
+:::
+
+## Overview
+
+1. Can serve as a basic flight platform, paired with Pixhawk 6C flight controller to achieve optical flow and GPS fusion positioning, enabling stable flight both indoors and outdoors.
+   It is one of the most stable basic flight platforms on the market.
+2. Sturdy and reliable structure, with key parts made of aluminium alloy and carbon fibre, high strength and not easily damaged.
+3. High stability, providing industrial-grade stability assurance, friendly to beginners, offering simplified version of interactive PC to enhance flight experience, can be initially used for outdoor aerial photography and image collection.
+4. Has rich open-source code support, and can be used with PX4, FMT, and ArduPilot.
+5. Video can be streamed from the UAV webcam to QGroundControl.
+6. The drone has a lot of room and support for expansion, including for adding on-board computers, range sensors, and other payloads.
+   - Compatibility with many different components, providing platform for loading other user sensors, preparing for functional model development.
+   - Abundant power supply making it perfect for installing additional sensors and onboard computers (including 5 external output voltages, 3 channels of 5V, 2 channels of 12V).
+   - Pc-SDK support.
+     This is a PC-based Python SDK Library based on MAVSDK that significantly simplifies UAV development compared to other approaches, such as using ROS or using C++. All you need is a basic understanding of Python programming and some simple coordinate system principles!
+   - The [documentation](https://docs.amovlab.com/f450-v6c-wiki/#/en/) shows many of the options.
+7. Quasi-smart battery. The battery has a hard housing design that makes easy to install and remove.
+   It provides accurate power estimates, but does not have some more advanced "smart battery" features.
+
+## Where to Buy
+
+- [Amovlab F410 Drone](https://amovlab.com/product/detail?pid=32)
+
+## Datasheet
+
+### Specifications
+
+|           Specification           |                         F410_V6C Flight Platform                         |
+| :-------------------------------: | :----------------------------------------------------------------------: |
+|           **Aircraft**            |                                                                          |
+|            Dimensions             |       Length 290mm × Width 290mm × Height 240mm (Wheelbase 410mm)        |
+|           Empty Weight            |                                  1056g                                   |
+|        Max Takeoff Weight         |                                  2200g                                   |
+|         Max Ascent Speed          |                                  1.5m/s                                  |
+|         Max Descent Speed         |                                  0.7m/s                                  |
+|       Max Horizontal Speed        |                                  10m/s                                   |
+|         Max Hovering Time         |                                  21min                                   |
+|          Max Tilt Angle           |                                   30°                                    |
+|       Operating Temperature       |                                  6℃-40℃                                  |
+|         Hovering Accuracy         |             M8N GPS Vertical ±0.5m M8N GPS Horizontal ±0.8m              |
+|         Hovering Accuracy         |                 RTK Vertical ±0.1m RTK Horizontal ±0.15m                 |
+|     **Flight Control System**     |                                                                          |
+|             Processor             |                 FMU: STM32H743; IO Processor: STM32F103                  |
+|           Accelerometer           |                            BMI055/ICM-42688-P                            |
+|             Gyroscope             |                            BMI055/ICM-42688-P                            |
+|           Magnetometer            |                                 IST8310                                  |
+|             Barometer             |                                  MS5611                                  |
+|              Weight               |                                  59.3g                                   |
+|            Dimensions             |                Length 84.8mm × Width 44mm × Height 12.4mm                |
+|          **Perception**           |                                                                          |
+| Optical Flow & Rangefinder Module |                                                                          |
+|              Weight               |                                   5.0g                                   |
+|            Dimensions             |                 Length 29mm × Width 16.5mm × Height 15mm                 |
+|         Range Measurement         |                                 0.01-8m                                  |
+|            Ranging FOV            |                                    6°                                    |
+|         Optical Flow FOV          |                                   42°                                    |
+|         Power Consumption         |                                  500mW                                   |
+|         Operating Voltage         |                                 4.0-5.5V                                 |
+|   Optical Flow Working Distance   |                                  >80mm                                   |
+|         Output Interface          |                                   UART                                   |
+|           **Data Link**           |                                                                          |
+|        Data Link Solution         |                                MINI HOMER                                |
+|          Frequency Band           |                               Sub 1G Band                                |
+|         Operating Voltage         |                                   12V                                    |
+|        Max Effective Range        |                                  1200m                                   |
+|            **Camera**             |                                                                          |
+|               Model               |                                  IVG-G4                                  |
+|         Video Processing          |                H.265+ Encoding, Dual Streams, AVI Format                 |
+|           Video Output            | Main Stream: 2560×1440@18fps, 2304×1296@20fps；Sub Stream: 800×448@25fps |
+|         Operating Voltage         |                                   12V                                    |
+|            Dimensions             |                         Length 38mm × Width 38mm                         |
+|            **Battery**            |                                                                          |
+|               Model               |                                   FB45                                   |
+|        Dimensions (L×W×H)         |                 Length 130mm × Width 65mm × Height 40mm                  |
+|              Weight               |                                   470g                                   |
+|       Charge Limit Voltage        |                                  16.8V                                   |
+|          Nominal Voltage          |                                  14.8V                                   |
+|          Rated Capacity           |                                 5000mAh                                  |
+|           Rated Energy            |                                   74Wh                                   |
+|           Configuration           |                                  4s 1P                                   |
+|            **Charger**            |                                                                          |
+|           Input Voltage           |                                DC:9V-12V                                 |
+|         Max Output Power          |                                   25W                                    |
+|        Max Output Current         |                                  1500mA                                  |
+|         Display Accuracy          |                                  ±10mV                                   |
+|            Dimensions             |                  Length 81mm × Width 50mm × Height 20mm                  |
+|              Weight               |                                   76g                                    |
+|       **Remote Controller**       |                                                                          |
+|         Operating Voltage         |                                 4.5V-9V                                  |
+|             Channels              |                                    8                                     |
+|          Transmit Power           |                                 ＜ 10mW                                  |
+|              Weight               |                                   310g                                   |
+|        Dimensions (L×W×H)         |                 Length 179mm × Width 81mm × Height 161mm                 |
+
+## Tutorials
+
+- Tutorials [English](https://docs.amovlab.com/f450-v6c-wiki/#/en/)/[Chinese](https://docs.amovlab.com/F450-V6C-wiki/#/src/%E8%A7%84%E6%A0%BC%E5%8F%82%E6%95%B0/%E8%A7%84%E6%A0%BC%E5%8F%82%E6%95%B0) (docs.amovlab.com/)
+
+## Upgrading
+
+Amovlab previously supplied this vehicle with PX4 v1.13.
+
+In order to upgrade to PX4 v1.15, you should select the [X500 airframe](../config/airframe.md) and import [this parameter file](https://github.com/PX4/PX4-Autopilot/blob/main/docs/assets/airframes/multicopter/amovlab_f410/amovlabf410_drone_v1.15.4.params) to apply the new [actuator output configuration](../config/actuators.md) (used from PX4 v1.14).
+Then retune as necessary.
+
+Contact Amovlab for information about upgrading to other versions.
+
+## Videos
+
+<lite-youtube videoid="RzmI1d5093I" title="F410 Mid-Axis UAVs"/>
@@ -15,7 +15,6 @@ They may come either fully assembled or in parts.
 - [ModalAI VOXL 2 Starling PX4 Development Drone](../complete_vehicles_mc/modalai_starling.md) - SLAM development drone supercharged by VOXL 2 and PX4.
 - [PX4 Vision DevKit](../complete_vehicles_mc/px4_vision_kit.md) - Multicopter used for PX4 computer vision development

-
 ## PX4 Preinstalled

 This section lists vehicles that are sold fully assembled and ready to fly (RTF), with PX4 installed.
@@ -25,6 +24,7 @@ This section lists vehicles that are sold fully assembled and ready to fly (RTF)
 - [ModalAI Sentinel](https://www.modalai.com/sentinel)
 - [MindRacer 210](../complete_vehicles_mc/mindracer210.md)
 - [NanoMind 110](../complete_vehicles_mc/nanomind110.md)
+- [Amovlab F410](../complete_vehicles_mc/amov_F410_drone.md)

 ## PX4 Compatible

@@ -34,7 +34,6 @@ This section lists vehicles where you can update the software to run PX4.
 - [Bitcraze Crazyflie 2.1](../complete_vehicles_mc/crazyflie21.md)
 - [BetaFPV Beta75X 2S Brushless Whoop](../complete_vehicles_mc/betafpv_beta75x.md) (discontinued)

-
 ## Custom PX4

 This section contains consumer vehicles that run a _custom_ version of PX4 (supported by their vendors).
@@ -45,7 +44,6 @@ These may or may not be updatable to run "vanilla" PX4.
 - [Yuneec H520](https://px4.io/portfolio/yuneec-h520-hexacopter/)
 - [AeroSense Aerobo (AS-MC02-P)](https://px4.io/portfolio/aerosense-aerobo/)

-
 ## See Also

 - [Kits (MC)](../frames_multicopter/kits.md)
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Alexander Lerach	3e8b869477	tools: enable GCC update for older ubuntu versions	2025-05-19 14:36:16 +02:00
PX4 Build Bot	e50d5d8567	New Crowdin translations - zh-CN (#24875 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-05-18 10:57:05 +10:00
PX4 Build Bot	98a37d8e5d	New Crowdin translations - ko (#24873 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-05-18 10:56:53 +10:00
PX4 Build Bot	740cd2e40d	New Crowdin translations - uk (#24874 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-05-18 10:56:18 +10:00
Li-Tianming	815a339684	MSP_OSD code changes to support OpenIPC, DJI O3/O4 OSD rendering (#24695 ) * Change MSP_OSD message content and rendering process * Finish MSP_OSD battery message construct * Finish MSP_OSD `display message` construct HOL\|DSAM\|N * Finish MSP_FC_VARIANT(0x02) message BTFL * Finish MSP_OSD RSSI message 📶10% * Finish MSP_OSD GPS message 🛰 10 🌐000.000000 🌐00.000000 * Finish MSP_OSD PITCH ROLL message 🔃-10.5 🔁13.2 * Change struct filed name * Change OSD message postion * Finish MSP_OSD PITCH Altitude message 🔝15.2 * Finish MSP_OSD distanceToHome message 🏠5000 * Add Hide/Show option for ALT and homeDist * Format the code by `make format` * Clean up stray text * Remove other commented out dead code * Change `sprintf()` to `snprintf()` * Add msg field comment in `display_message` construct * Init str buffer to 0, Change refresh rate back to 100ms * Explicit conversion float to double --------- Co-authored-by: Li.Tianming <Li.Tianming@example.com> Co-authored-by: Li.Tianming <Li.Tianming>	2025-05-16 11:33:40 -08:00
Ramon Roche	38548ded12	ci: build all with px4-dev container pull from github registry ghcr.io Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-05-16 09:54:49 -07:00
Ramon Roche	4c369be95e	ci: make sure we run when we need to Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-05-16 09:54:49 -07:00
Ramon Roche	e6433d443c	ci: use native arch builders Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-05-16 09:54:49 -07:00
alexcekay	ab6c6ac769	ci: fix failsafe_sim for newer GCC versions	2025-05-16 09:54:49 -07:00
alexcekay	01c23f635f	ci: fix flash analysis for newer GCC versions	2025-05-16 09:54:49 -07:00
alexcekay	c1ffdc8e3e	ci: use dev-container for nuttx targets	2025-05-16 09:54:49 -07:00
Hamish Willee	d1ff1a4c1d	Docs: uorb graph gen for 5x and 6x (#24856 ) Co-authored-by: PX4BuildBot <bot@pixhawk.org>	2025-05-16 08:44:37 +10:00
Matthias Grob	df65e5bced	docs events_interface: fix entire paragraph being declared code by accident (#24860 )	2025-05-16 08:40:21 +10:00
Ramon Roche	4e8760097d	ci: build px4-dev containers on demand Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-05-15 21:24:35 +02:00
PX4 Build Bot	cadf69f73c	New Crowdin translations - zh-CN (#24854 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-05-15 12:27:25 +10:00
PX4 Build Bot	9b8fe45e04	New Crowdin translations - ko (#24852 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-05-15 12:27:10 +10:00
PX4 Build Bot	524a10512b	New Crowdin translations - uk (#24853 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-05-15 12:25:46 +10:00
Julian Oes	36bfcf5ec2	boards: keep INA238 shunt value for Skynode This is an attempt to keep backwards compatible with Auterion's power monitor which uses a shunt value of 0.0003 and not 0.0005.	2025-05-15 11:04:21 +12:00
Vincent Poon	5a76868cff	Change INA238_SHUNT Default Value for Consistency Change INA238_SHUNT Default Value from 0.0003 to 0.0005 for Consistency with INA226 & INA228.	2025-05-15 11:04:21 +12:00
Hamish Willee	fa2b8cbd49	RC driver config Kconfig -typo (#24848 )	2025-05-14 10:10:44 -08:00
Julian Oes	47cb1133c3	boards: add new target for Kakute H7 with dual IMU	2025-05-14 08:00:17 -07:00
Julian Oes	bf9167da50	ina238: actually run it Without this the driver would not run when started from the i2c_launcher.	2025-05-14 07:34:02 -07:00
Julian Oes	abf903a851	ina2xx: params require reboot	2025-05-14 07:34:02 -07:00
Julian Oes	117f198891	ina228/ina238: correctly set ADC range It turns out that we set the ADC range incorrectly leading to the measured current being capped at a certain level as the ADC on the sensor saturates. Instead, we need to set the range according to the formula given in the interface datasheet.	2025-05-14 07:34:02 -07:00
Hamish Willee	3af9a3f76e	Add Niklas Debugging Video to GDB and hard fault sections (#24845 )	2025-05-14 17:52:59 +10:00
Hamish Willee	79660d0a39	Amov f410 (#24841 ) * add amov_F410_drone * add amov f410 drone [200~catalogue * Basic subedit * Further subediting * Add parameter file * Update local param file --------- Co-authored-by: lgf <1969354053@qq.com>	2025-05-14 13:44:41 +10:00
Hamish Willee	a426d27ff8	Fixup multi vehicle sim (gazebo) plus intro page images for linux/dronecode (#24840 ) * Fix up site logos on front page * Fix up rendering mult-vehicle sim	2025-05-14 12:05:12 +10:00
maksimdrachov	c79fe7292a	Grippers: added electro-magnetic gripper (#24833 ) * Grippers: added electro-magnetic gripper * Update docs/en/peripherals/gripper_servo.md * Update docs/en/peripherals/gripper_servo.md --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-05-14 11:20:23 +10:00
Hamish Willee	db10fe6a97	Docs update metadata (#24839 ) * Docs: Failsafe simulator update * docs: update module reference metadata * docs: update parameter reference metadata * git commit -m 'docs: metadata: update uORB graph JSONs' --------- Co-authored-by: PX4BuildBot <bot@pixhawk.org>	2025-05-14 10:53:40 +10:00
PX4 Build Bot	8adb439b58	New Crowdin translations - zh-CN (#24829 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-05-14 09:22:33 +10:00
PX4 Build Bot	2b7710122e	New Crowdin translations - ko (#24827 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-05-14 09:22:19 +10:00
Jacob Dahl	7ac85d8f99	adis16507: enhance driver to handle and recover from all failure modes (#24691 ) * adis16507: enhance driver to handle and recover from all failure modes - Clean up driver - Add optional hardware reset - Fix scale and range for 125 deg/s variant - Handle communication errors when read returns zeroes - Improved perf counters * change prints to PX4_DEBUG, define BURST_READ_CMD, do both soft and hard reset, use ScheduleNow instead of 1ms delay, change read/write stall period to SPI_STALL value	2025-05-13 09:42:19 -06:00
chfriedrich98	ce9dd237a9	rover: handle invalid bearing setpoint	2025-05-13 10:23:35 +02:00
chfriedrich98	1857920a5f	rover: clean up velocity setpoint	2025-05-13 10:23:35 +02:00
chfriedrich98	b727ce86a0	rover: clean up speed terminology	2025-05-13 10:23:35 +02:00
Jacob Dahl	1d5e58b948	mavlink: set system clock from SYSTEM_TIME (#24807 ) * mavlink: set system clock from SYSTEM_TIME message if behind by more than 60 seconds	2025-05-12 16:11:16 -08:00
Balduin	f01aade729	ZMO airframe: update parameters (#24803 ) * ZMO airframe: update parameters Including some parameters we found useful during the tests over the previous months: - various controller & transition tuning refinements - remove battery capacity (not reliable enough w battery degradation) - airspeed scale - rotor configs: - remove everything related to rotors 3 and 4 (which don't exist) - set moment coefficients explicitly even if at default - Increase roll limit (FW_R_LIM, FD_FAIL_R) - min and max airspeeds - tilt servo min and default PWM values * ZMO airframe: address review - explicitly set CA_ROTOR3_* to 0 (as these are set in the parent 13100 which describes a quadrotor) - remove ASPD_SCALE_1 (close enough to default, and better to have slightly low reading) - remove MPC_ACC_HOR_MAX (= default) - remove MPC_TILTMAX_AIR (was temporary) - remove SENS_EN_SF1XX (= default) * ZMO airframe: update tilt setup to describe a setup where tilt servos can provide yaw torque in both directions in multicopter mode. * ZMO airframe: wording	2025-05-12 12:13:35 +02:00
PX4 Build Bot	d04d6af696	New Crowdin translations - uk (#24828 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-05-11 12:24:56 +10:00
Jacob Dahl	a8618691f0	docs: gz: update docs for multi vehicle simulation (#24822 )	2025-05-10 20:20:14 +01:00
Matthias Grob	406f0bb470	Fix cellular_status message definition (#24662 ) * msg: fix cellular_status definition 12 * Update msg/CellularStatus.msg * cellular_status: remove confusing reference to roaming Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-05-08 15:07:11 +02:00
Hamish Willee	6bca750ab3	crowdin_docs.yml - ignore the param reference	2025-05-07 19:29:57 -07:00
Jacob Dahl	050425af25	gz: specify custom world coordinates (#24813 ) gz: allow custom world coordinates with environment variables and update the docs	2025-05-07 20:36:40 +02:00
Ramon Roche	688e6aafae	ci: introduce px4-dev container with multi arch support (#24022 )	2025-05-07 12:12:27 -04:00
chfriedrich98	2d23fda77d	rtl_direct: fix function naming	2025-05-07 17:42:07 +02:00
chfriedrich98	4e436cc64e	rover: update land detector	2025-05-07 17:42:07 +02:00
chfriedrich98	771d09b968	navigator: reset next WP in mission fast reverse	2025-05-07 17:42:07 +02:00
chfriedrich98	b78b063fd8	rover: skip to LAND on direct RTL activation	2025-05-07 17:42:07 +02:00
chfriedrich98	f13f9b2240	rover: update rtl time estimator	2025-05-07 17:42:07 +02:00
Beat Küng	fee575f944	docs: update integration tests (#24671 ) * docs: update integration tests Updates for https://github.com/PX4/PX4-Autopilot/pull/22494. Transferred from https://github.com/PX4/PX4-user_guide/pull/2970. * Apply suggestions from code review * Update docs/en/test_and_ci/integration_testing_ros1_mavros.md --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-05-07 13:52:03 +10:00
Matthias Grob	87db286a88	pps_capture_params: clarify description (#24641 )	2025-05-07 11:15:20 +10:00
Ramon Roche	b851c3728c	ci: avoid multiple builds with concurrency checks Signed-off-by: Ramon Roche <mrpollo@gmail.com>	2025-05-06 20:59:26 -04:00
Hamish Willee	93408cc4e2	Update main.md release to indicate may be out of date on a branch (#24810 )	2025-05-07 10:57:46 +10:00
Seungbin Lee	881d58b79f	[Doc] Update JFI Telemetry v1.1 Changes (#24747 ) * update jfi image * Update jfi_telemetry.md * update images * File size compression --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-05-07 10:37:32 +10:00
PX4 Build Bot	76a772354c	New Crowdin translations - ko (#24797 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-05-07 10:07:34 +10:00
PX4 Build Bot	3eaba5f9eb	New Crowdin translations - uk (#24798 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-05-07 10:07:02 +10:00
PX4 Build Bot	2d30a010f4	New Crowdin translations - zh-CN (#24799 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-05-07 10:06:44 +10:00
Roman Shtylman	fed1b338c0	Update ulog_file_format.md (#24809 ) * Update ulog_file_format.md Update Known Parser Implementations with updated information for Foxglove and the typescript parser * Update docs/en/dev_log/ulog_file_format.md	2025-05-07 08:59:22 +10:00
bresch	6b8bf80423	ekf2-mag: never skip post-takeoff mag yaw reset	2025-05-06 11:24:31 -04:00
chfriedrich98	4e17c5496c	mecanum: streamline flow of information	2025-05-05 11:38:17 +02:00
chfriedrich98	04512ee91f	mecanum: separate velocity control	2025-05-05 11:38:17 +02:00
Julian Oes	3c39095271	[Sponsored by Holybro] Support for Kakute H743-Wing (#24669 ) * hrt: Fix PPM input on channel 2 The CCMR1_PPM define for PPM input on channel 2 was incorrectly set to 2, which was setting bits for channel 1 instead of channel 2. This prevented PPM input from functioning properly on channel 2. Changed CCMR1_PPM for channel 2 from 2 to (1 << 8), which correctly configures the CC2S bits for input capture mode on TI2. This fixes an issue noted in the existing code comment: "FIXME! There is an interaction in the CCMR registers that prevents using Chan 1 as the timer and chan 2 as the PPM" Tested on STM32H743 with PPM input on PC7 (TIM8_CH2). * rc_input: enable sharing serial and PPM pin By setting RC_SERIAL_PORT_SHARED_PPM_PIN_GPIO_RX it is now possible to use the same pin on the STM32 for PPM input as well as serial input. * boards: Add support for Holybro KakuteH7-Wing	2025-05-04 14:44:11 -08:00
Jacob Dahl	2fece23c64	gz small improvements (#24761 ) * gz: print version number in init, remove gst plugin spam, rename function * fix 0 timestamp issue by waiting for clock callback before subscribing to other topics. Refactor to cleanup topic subscriptions * format * change gzerr to gzwarn	2025-05-04 14:41:19 -08:00
Silvan	918848095a	ROMFS: exclude 4020_holybro_px4vision_v1_5 from v6x builds to save flash Signed-off-by: Silvan <silvan@auterion.com>	2025-05-02 13:37:18 +02:00
Marco Hauswirth	f0fdf0b53b	EKF2: distinguish airspeed source and use synthetic for wind Enable wind-dead-reckoning with airspeed source to synthetic airspeed	2025-05-02 13:37:18 +02:00
Silvan	6d12b04bb0	VTOL: do central handling of airspeed measurement - only use data from airspeed_validated topic if source is SENSOR - add 1s timeout (set to NAN if older) - use FW_USE_AIRSPD consitently (treat the same as CAS=NAN) Signed-off-by: Silvan <silvan@auterion.com>	2025-05-02 13:37:18 +02:00
Silvan	f7bb5d13f7	At every consumation of AirspeedValidated, check for SOURCE Signed-off-by: Silvan <silvan@auterion.com>	2025-05-02 13:37:18 +02:00
Marco Hauswirth	5842c991ec	AirspeedSelector: add synthetic airspeed option Synthetic airspeed is calculated based on the thrust setpoint and the thrust<->airpseed model as configured in the parameters.	2025-05-02 13:37:18 +02:00
Marco Hauswirth	c3c863ad95	AirspeedSelector: clean up in preparation of synthetic airspeed	2025-05-02 13:37:18 +02:00
bresch	e7250bc8d5	ekf2: do not let mag heading and declination update xy gyro biases This can destabilize the tilt estimate when the mag field is disturbed	2025-05-02 10:23:43 +02:00
bresch	a40377e544	ekf2: always update IMU filters	2025-05-02 10:23:43 +02:00
bresch	6a105bcbdb	ekf2-grav: accelerate tilt alignment	2025-05-02 10:23:43 +02:00
bresch	c59101e8ed	ekf2-gravity: do not estimate accel bias when gravity fusion is active Gravity fusion uses the bias corrected accelerometer data to correct the tilt estimate. We should not continue to estimate the accel bias when this is active as it creates an unwanted feedback loop.	2025-05-02 10:23:43 +02:00
bresch	ee30b70a3c	ekf2-gravity: start based on accel LPF instead of peak hold This prevent rapid switching in presence of noise and the innovation filter is good at rejecting spikes	2025-05-02 10:23:43 +02:00
bresch	6ec6f1b297	ekf2-decl: do not always update tilt	2025-05-02 10:23:43 +02:00
PX4 Build Bot	ef0f0884f0	New Crowdin translations - uk (#24714 ) Co-authored-by: Crowdin Bot <support+bot@crowdin.com>	2025-05-02 09:33:50 +10:00
Balduin	ea93019b62	Docs: gazebo moving platform (#24720 ) * Docs: add moving platform documenting the addition in #24471 * Moving platform docs: address review - Release note, write release in docs - Describe configuration also in main gazebo sim docs, syntax section - Tip that plugin can be used in other worlds, linking to plugin readme * Update docs/en/sim_gazebo_gz/index.md Co-authored-by: Hamish Willee <hamishwillee@gmail.com> --------- Co-authored-by: Hamish Willee <hamishwillee@gmail.com>	2025-05-02 08:51:21 +10:00
Hamish Willee	9cf3e83197	VehicleCommand.msg - takeoff & global position (#24574 ) * VehicleCommand.msg - takeoff & global position * Apply suggestions from code review * Update msg/versioned/VehicleCommand.msg * Update msg/versioned/VehicleCommand.msg * Update msg/versioned/VehicleCommand.msg * Update msg/versioned/VehicleCommand.msg * Update msg/versioned/VehicleCommand.msg * Update msg/versioned/VehicleCommand.msg	2025-05-01 18:37:46 +10:00
Hamish Willee	9e6e2df15c	docs_bug_report.yml - fix errors (#24790 )	2025-05-01 13:56:07 +10:00
Hamish Willee	1a4a44a223	Add docs issue template (#24788 )	2025-05-01 13:36:17 +10:00