vehicle_status: Remove duplicate failure detector status

vehicle_status: reorder message definition
for readability. No functional changes.
2026-05-26 08:07:34 +08:00 · 2022-07-12 16:07:38 +02:00 · 2022-07-12 15:50:49 +02:00 · 2022-07-12 08:15:15 -04:00 · 2022-07-12 08:05:06 -04:00 · 2022-07-12 09:11:57 +02:00
461 changed files with 18348 additions and 7294 deletions
@@ -6,38 +6,38 @@

 [![Slack](/.github/slack.svg)](https://join.slack.com/t/px4/shared_invite/zt-si4xo5qs-R4baYFmMjlrT4rQK5yUnaA)

-This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/master/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.
+This repository holds the [PX4](http://px4.io) flight control solution for drones, with the main applications located in the [src/modules](https://github.com/PX4/PX4-Autopilot/tree/main/src/modules) directory. It also contains the PX4 Drone Middleware Platform, which provides drivers and middleware to run drones.

 PX4 is highly portable, OS-independent and supports Linux, NuttX and MacOS out of the box.

 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
-* [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
-  * [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
-  * [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
-  * [VTOL](https://docs.px4.io/master/en/frames_vtol/)
-  * [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
-  * [Rover](https://docs.px4.io/master/en/frames_rover/)
+* [Supported airframes](https://docs.px4.io/main/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
+  * [Multicopters](https://docs.px4.io/main/en/frames_multicopter/)
+  * [Fixed wing](https://docs.px4.io/main/en/frames_plane/)
+  * [VTOL](https://docs.px4.io/main/en/frames_vtol/)
+  * [Autogyro](https://docs.px4.io/main/en/frames_autogyro/)
+  * [Rover](https://docs.px4.io/main/en/frames_rover/)
  * many more experimental types (Blimps, Boats, Submarines, High altitude balloons, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)


 ## Building a PX4 based drone, rover, boat or robot

-The [PX4 User Guide](https://docs.px4.io/master/en/) explains how to assemble [supported vehicles](https://docs.px4.io/master/en/airframes/airframe_reference.html) and fly drones with PX4.
-See the [forum and chat](https://docs.px4.io/master/en/#support) if you need help!
+The [PX4 User Guide](https://docs.px4.io/main/en/) explains how to assemble [supported vehicles](https://docs.px4.io/main/en/airframes/airframe_reference.html) and fly drones with PX4.
+See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!


 ## Changing code and contributing

-This [Developer Guide](https://docs.px4.io/master/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.
+This [Developer Guide](https://docs.px4.io/main/en/development/development.html) is for software developers who want to modify the flight stack and middleware (e.g. to add new flight modes), hardware integrators who want to support new flight controller boards and peripherals, and anyone who wants to get PX4 working on a new (unsupported) airframe/vehicle.

-Developers should read the [Guide for Contributions](https://docs.px4.io/master/en/contribute/).
-See the [forum and chat](https://dev.px4.io/master/en/#support) if you need help!
+Developers should read the [Guide for Contributions](https://docs.px4.io/main/en/contribute/).
+See the [forum and chat](https://docs.px4.io/main/en/#getting-help) if you need help!


 ### Weekly Dev Call

-The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/contribute/#dev_call).
+The PX4 Dev Team syncs up on a [weekly dev call](https://docs.px4.io/main/en/contribute/).

 > **Note** The dev call is open to all interested developers (not just the core dev team). This is a great opportunity to meet the team and contribute to the ongoing development of the platform. It includes a QA session for newcomers. All regular calls are listed in the [Dronecode calendar](https://www.dronecode.org/calendar/).

@@ -88,34 +88,34 @@ This repository contains code supporting Pixhawk standard boards (best supported
  * FMUv6X and FMUv6U (STM32H7, 2021)
    * Various vendors will provide FMUv6X and FMUv6U based designs Q3/2021
  * FMUv5 and FMUv5X (STM32F7, 2019/20)
-    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
-    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
-    * [CUAV V5+ (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
-    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
-    * [Auterion Skynode (FMUv5X)](https://docs.px4.io/master/en/flight_controller/auterion_skynode.html)
+    * [Pixhawk 4 (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4.html)
+    * [Pixhawk 4 mini (FMUv5)](https://docs.px4.io/main/en/flight_controller/pixhawk4_mini.html)
+    * [CUAV V5+ (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_plus.html)
+    * [CUAV V5 nano (FMUv5)](https://docs.px4.io/main/en/flight_controller/cuav_v5_nano.html)
+    * [Auterion Skynode (FMUv5X)](https://docs.auterion.com/skynode)
  * FMUv4 (STM32F4, 2015)
-    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
-    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
+    * [Pixracer](https://docs.px4.io/main/en/flight_controller/pixracer.html)
+    * [Pixhawk 3 Pro](https://docs.px4.io/main/en/flight_controller/pixhawk3_pro.html)
  * FMUv3 (STM32F4, 2014)
-    * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
-    * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
-    * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
+    * [Pixhawk 2](https://docs.px4.io/main/en/flight_controller/pixhawk-2.html)
+    * [Pixhawk Mini](https://docs.px4.io/main/en/flight_controller/pixhawk_mini.html)
+    * [CUAV Pixhack v3](https://docs.px4.io/main/en/flight_controller/pixhack_v3.html)
  * FMUv2 (STM32F4, 2013)
-    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
-    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
+    * [Pixhawk](https://docs.px4.io/main/en/flight_controller/pixhawk.html)
+    * [Pixfalcon](https://docs.px4.io/main/en/flight_controller/pixfalcon.html)

 ### Manufacturer and Community supported
-  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
-  * [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
-  * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
+  * [Holybro Durandal](https://docs.px4.io/main/en/flight_controller/durandal.html)
+  * [Hex Cube Orange](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_orange.html)
+  * [Hex Cube Yellow](https://docs.px4.io/main/en/flight_controller/cubepilot_cube_yellow.html)
  * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
  * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
-  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/complete_vehicles/crazyflie2.html)
-  * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
-  * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
-  * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)
+  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
+  * [Omnibus F4 SD](https://docs.px4.io/main/en/flight_controller/omnibus_f4_sd.html)
+  * [Holybro Kakute F7](https://docs.px4.io/main/en/flight_controller/kakutef7.html)
+  * [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)

-Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/master/en/flight_controller/).
+Additional information about supported hardware can be found in [PX4 user Guide > Autopilot Hardware](https://docs.px4.io/main/en/flight_controller/).

 ## Project Roadmap

@@ -112,23 +112,17 @@ add_custom_command(
 		${PX4_SOURCE_DIR}/Tools/px4airframes/xmlout.py
 		${PX4_SOURCE_DIR}/Tools/serial/generate_config.py
 	)
-set(romfs_extract_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_extract.stamp)
-add_custom_command(
-	OUTPUT ${romfs_extract_stamp}
-	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
-	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
-	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_extract_stamp}
-	WORKING_DIRECTORY ${romfs_gen_root_dir}
-	DEPENDS ${romfs_tar_file}
-	VERBATIM
-	)

+
+set(romfs_copy_stamp ${CMAKE_CURRENT_BINARY_DIR}/romfs_copy.stamp)
 add_custom_command(
 	OUTPUT
 		${romfs_gen_root_dir}/init.d/rc.serial
 		${romfs_gen_root_dir}/init.d/rc.autostart
 		${romfs_gen_root_dir}/init.d/rc.autostart.post
-		romfs_copy.stamp
+		${romfs_copy_stamp}
+	COMMAND ${CMAKE_COMMAND} -E remove_directory ${romfs_gen_root_dir}/*
+	COMMAND ${CMAKE_COMMAND} -E tar xf ${romfs_tar_file}
 	COMMAND ${PYTHON_EXECUTABLE} ${PX4_SOURCE_DIR}/Tools/px_process_airframes.py
 		--airframes-path ${romfs_gen_root_dir}/init.d
 		--start-script ${romfs_gen_root_dir}/init.d/rc.autostart
@@ -137,9 +131,9 @@ add_custom_command(
 		--rc-dir ${romfs_gen_root_dir}/init.d
 		--serial-ports ${board_serial_ports} ${added_arguments}
 		--config-files ${module_config_files} #--verbose
-	COMMAND ${CMAKE_COMMAND} -E touch romfs_copy.stamp
-	DEPENDS
-		${romfs_extract_stamp}
+	COMMAND ${CMAKE_COMMAND} -E touch ${romfs_copy_stamp}
+	WORKING_DIRECTORY ${romfs_gen_root_dir}
+	DEPENDS ${romfs_tar_file}
 	COMMENT "ROMFS: copying, generating airframes"
 	)

@@ -311,7 +305,7 @@ add_custom_command(OUTPUT romfs_extras.stamp

 add_custom_target(romfs_gen_files_target
 	DEPENDS
-		${romfs_extract_stamp}
+		${romfs_copy_stamp}
 		${romfs_gen_root_dir}/init.d/rc.serial
 		romfs_extras.stamp
 	)
@@ -86,10 +86,28 @@ unset BOARD_RC_SENSORS
 . ${R}etc/init.d/rc.serial

 # Check for flow sensor
-if param compare SENS_EN_PX4FLOW 1
+if param compare -s SENS_EN_PX4FLOW 1
 then
 	px4flow start -X &
 fi

+if param compare -s IMU_GYRO_CAL_EN 1
+then
+	gyro_calibration start
+fi
+
+
+if param compare -s MBE_ENABLE 1
+then
+	# conservative mag bias estimation
+	param set-default MBE_LEARN_GAIN 5
+	param set-default IMU_GYRO_CUTOFF 20
+	mag_bias_estimator start
+fi
+
+param set-default SENS_MAG_RATE 100
+
+sensors start
+
 uavcannode start
 unset R
@@ -18,3 +18,7 @@ param set-default LPE_FAKE_ORIGIN 1

 param set-default MPC_ALT_MODE 2

+param set-default SENS_FLOW_ROT 6
+param set-default SENS_FLOW_MINHGT 0.7
+param set-default SENS_FLOW_MAXHGT 3.0
+param set-default SENS_FLOW_MAXR 2.5
@@ -9,7 +9,6 @@

 # EKF2
 param set-default EKF2_AID_MASK 2
-param set-default SENS_FLOW_ROT 0

 # LPE: Flow-only mode
 param set-default LPE_FUSION 242
@@ -29,7 +29,7 @@ param set-default FW_SPOILERS_LND 0.4

 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
-param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_TRIM 0.25

 param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7
@@ -27,7 +27,7 @@ param set-default FW_RR_P 0.3

 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
-param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_TRIM 0.25

 param set-default FW_T_ALT_TC 2
 param set-default FW_T_CLMB_MAX 8
@@ -5,5 +5,5 @@

 . ${R}etc/init.d-posix/airframes/1030_plane

-param set-default FW_THR_CRUISE 0.0
+param set-default FW_THR_TRIM 0.0
 param set-default RWTO_TKOFF 0
@@ -57,7 +57,7 @@ param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
-param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_TRIM 0.25
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_CLMB_MAX 8
@@ -51,7 +51,7 @@ param set-default FW_PSP_OFF 2
 param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_P 0.2
-param set-default FW_THR_CRUISE 0.33
+param set-default FW_THR_TRIM 0.33
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_ALT_TC 2
@@ -27,7 +27,9 @@ param set-default CA_ROTOR3_PY 0.1875
 param set-default CA_ROTOR3_KM -0.05

 param set-default CA_ROTOR0_TILT 1
+param set-default CA_ROTOR1_TILT 2
 param set-default CA_ROTOR2_TILT 3
+param set-default CA_ROTOR3_TILT 4
 param set-default CA_SV_CS0_TRQ_R -0.5
 param set-default CA_SV_CS0_TYPE 1
 param set-default CA_SV_CS1_TRQ_R 0.5
@@ -62,7 +64,7 @@ param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
-param set-default FW_THR_CRUISE 0.38
+param set-default FW_THR_TRIM 0.38
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_CLMB_MAX 8
@@ -16,7 +16,7 @@ param set-default FW_P_LIM_MAX 32
 param set-default FW_P_LIM_MIN -15
 param set-default FW_RR_FF 0.1
 param set-default FW_RR_P 0.3
-param set-default FW_THR_CRUISE 0.25
+param set-default FW_THR_TRIM 0.25
 param set-default FW_THR_MAX 0.6
 param set-default FW_THR_MIN 0.05
 param set-default FW_T_ALT_TC 2
@@ -41,7 +41,7 @@ param set-default FW_R_LIM 30
 param set-default FW_MAN_P_MAX 30.0
 param set-default FW_MAN_R_MAX 30.0

-param set-default FW_THR_CRUISE 0.8
+param set-default FW_THR_TRIM 0.8
 param set-default FW_THR_IDLE 0
 param set-default COM_DISARM_PRFLT 0

@@ -43,7 +43,7 @@ param set-default MPC_YAWRAUTO_MAX 40
 param set-default FW_PR_I 0.02
 param set-default FW_RR_FF 0.6
 param set-default FW_RR_I 0.01
-param set-default FW_THR_CRUISE 0.75
+param set-default FW_THR_TRIM 0.75

 param set-default VT_ARSP_BLEND 6
 param set-default VT_ARSP_TRANS 12
@@ -14,7 +14,7 @@
 . ${R}etc/init.d/rc.vtol_defaults


-param set-default FW_THR_CRUISE 65
+param set-default FW_THR_TRIM 65
 param set-default FW_RR_FF 0.6

 param set-default MIS_YAW_TMT 10
@@ -53,7 +53,7 @@ param set-default FW_T_CLMB_MAX 3
 param set-default FW_T_SINK_MAX 3
 param set-default FW_T_SINK_MIN 1
 param set-default FW_T_VERT_ACC 6
-param set-default FW_THR_CRUISE 0.70
+param set-default FW_THR_TRIM 0.70
 param set-default FW_THR_SLEW_MAX 1
 param set-default FW_MAN_P_MAX 30
 param set-default FW_P_LIM_MAX 15
@@ -39,7 +39,7 @@ param set-default FW_RLL_TO_YAW_FF 0.1
 param set-default FW_RR_P 0.08
 param set-default FW_R_LIM 45
 param set-default FW_R_RMAX 50
-param set-default FW_THR_CRUISE 0.65
+param set-default FW_THR_TRIM 0.65
 param set-default FW_THR_MIN 0.3
 param set-default FW_THR_SLEW_MAX 0.6
 param set-default FW_T_HRATE_FF 0
@@ -62,7 +62,7 @@ param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
-param set-default MPC_SPOOLUP_TIME 1.5
+param set-default COM_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TKO_RAMP_T 1.8
@@ -37,7 +37,7 @@ param set-default SENS_BOARD_ROT 8
 param set-default FW_AIRSPD_MAX 20
 param set-default FW_AIRSPD_MIN 7
 param set-default FW_AIRSPD_TRIM 13
-param set-default FW_THR_CRUISE 0.8
+param set-default FW_THR_TRIM 0.8

 param set-default FW_MAN_P_MAX 25
 param set-default FW_MAN_R_MAX 25
@@ -32,7 +32,7 @@ param set-default SENS_BOARD_ROT 4
 param set-default FW_AIRSPD_MAX 20
 param set-default FW_AIRSPD_MIN 7
 param set-default FW_AIRSPD_TRIM 13
-param set-default FW_THR_CRUISE 0.8
+param set-default FW_THR_TRIM 0.8

 param set-default FW_MAN_P_MAX 25
 param set-default FW_MAN_R_MAX 25
@@ -40,7 +40,7 @@ param set-default FW_RR_P 0.013
 param set-default FW_P_RMAX_NEG 70
 param set-default FW_P_RMAX_POS 70
 param set-default FW_R_RMAX 70
-param set-default FW_THR_CRUISE 0.55
+param set-default FW_THR_TRIM 0.55

 param set-default LNDFW_AIRSPD_MAX 6
 param set-default LNDFW_XYACC_MAX 4
@@ -104,7 +104,6 @@ param set-default SDLOG_PROFILE 131
 param set-default SENS_CM8JL65_CFG 104
 param set-default SENS_FLOW_MAXHGT 25
 param set-default SENS_FLOW_MINHGT 0.5
-param set-default SENS_FLOW_ROT 0
 param set-default IMU_GYRO_CUTOFF 100
 param set-default SENS_EN_PMW3901 1

@@ -47,6 +47,7 @@ param set-default COM_RC_LOSS_T 3

 # ekf2
 param set-default EKF2_AID_MASK 33
+param set-default EKF2_TERR_MASK 1
 param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0

@@ -173,7 +174,7 @@ param set-default RC1_TRIM          1000
 param set-default SENS_FLOW_MAXR   7.4
 param set-default SENS_FLOW_MINHGT 0.15
 param set-default SENS_FLOW_MAXHGT 5.0
-param set-default SENS_FLOW_ROT    0
+param set-default SENS_FLOW_ROT 0

 # ignore the SD card errors and use normal startup sound
 set STARTUP_TUNE "1"
@@ -206,6 +206,26 @@ else
 	fi
 	unset BOARD_RC_DEFAULTS

+	#
+	# Set parameters and env variables for selected SYS_AUTOSTART.
+	#
+	set AUTOSTART_PATH etc/init.d/rc.autostart
+	if ! param compare SYS_AUTOSTART 0
+	then
+		if param greater SYS_AUTOSTART 1000000
+		then
+			# Use external startup file
+			if [ $SDCARD_AVAILABLE = yes ]
+			then
+				set AUTOSTART_PATH etc/init.d/rc.autostart_ext
+			else
+				echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
+			fi
+		fi
+		. ${R}$AUTOSTART_PATH
+	fi
+	unset AUTOSTART_PATH
+
 	#
 	# Start the tone_alarm driver.
 	# Needs to be started after the parameters are loaded (for CBRK_BUZZER).
@@ -243,26 +263,6 @@ else
 	rgbled start -X -q
 	rgbled_ncp5623c start -X -q

-	#
-	# Set parameters and env variables for selected AUTOSTART.
-	#
-	set AUTOSTART_PATH etc/init.d/rc.autostart
-	if ! param compare SYS_AUTOSTART 0
-	then
-		if param greater SYS_AUTOSTART 1000000
-		then
-			# Use external startup file
-			if [ $SDCARD_AVAILABLE = yes ]
-			then
-				set AUTOSTART_PATH etc/init.d/rc.autostart_ext
-			else
-				echo "ERROR [init] SD card not mounted - trying to load airframe from ROMFS"
-			fi
-		fi
-		. ${R}$AUTOSTART_PATH
-	fi
-	unset AUTOSTART_PATH
-
 	#
 	# Override parameters from user configuration file.
 	#
@@ -303,7 +303,7 @@ else
 	then
 		# Check for the mini using build with px4io fw file
 		# but not a px4IO
-		if ver hwtypecmp V540 V560
+		if ver hwtypecmp V5004000 V5006000
 		then
 			param set SYS_USE_IO 0
 		else
@@ -1,72 +0,0 @@
-#!/bin/python3
-
-import parse_cmake.parsing as cmp
-import glob
-import pprint
-import re
-import os
-
-__location__ = os.path.realpath(
-    os.path.join(os.getcwd(), os.path.dirname(__file__)))
-
-serial_regex = r"(\D\D\D\d):(/dev/ttyS\d+)"
-io_regex = r"IO (.*)"
-romfs_regex = r"ROMFSROOT (.*)"
-arch_regex = r"ARCHITECTURE (.*)"
-toolchain_regex = r"TOOLCHAIN (.*)"
-
-
-
-def stripComments(code):
-    code = str(code)
-    return re.sub(r'(?m) *#.*\n?', '', code)
-
-lut = {}
-with open(os.path.join(__location__, "cmake_kconfig_lut.txt"),'r') as lookup:
-    for line in lookup:
-        if ',' in line:
-            key, value = line.strip().split(',')
-            lut[key] = value
-
-#for name in glob.glob('boards/*/*/*.cmake'):
-px4_dir = os.path.abspath(os.path.join(os.path.dirname(__file__), '../../'))
-
-for name in glob.glob(px4_dir + '/boards/*/*/*.cmake'):
-    print(name)
-    with open(name, 'r') as f:
-        romfs_set = False
-        w = open(name.replace(".cmake",".px4board"), "w")
-        for line in f:
-            clean_line = stripComments(line.strip())
-            value = lut.get(clean_line)
-            if value is not None:
-                print(value, file=w)
-                print(value)
-            else:
-                matches = re.finditer(serial_regex, clean_line, re.MULTILINE)
-                for matchNum, match in enumerate(matches, start=1):
-                    print("CONFIG_BOARD_SERIAL_" + match.groups()[0] + "=\"" + match.groups()[1] + "\"")
-                    print("CONFIG_BOARD_SERIAL_" + match.groups()[0] + "=\"" + match.groups()[1] + "\"", file=w)
-                matches = re.finditer(io_regex, clean_line, re.MULTILINE)
-                for matchNum, match in enumerate(matches, start=1):
-                    print("CONFIG_BOARD_IO=\"" + match.groups()[0] + "\"")
-                    print("CONFIG_BOARD_IO=\"" + match.groups()[0] + "\"", file=w)
-                matches = re.finditer(romfs_regex, clean_line, re.MULTILINE)
-                for matchNum, match in enumerate(matches, start=1):
-                    print("CONFIG_BOARD_ROMFSROOT=\"" + match.groups()[0] + "\"")
-                    print("CONFIG_BOARD_ROMFSROOT=\"" + match.groups()[0] + "\"", file=w)
-                    romfs_set = True
-                matches = re.finditer(arch_regex, clean_line, re.MULTILINE)
-                for matchNum, match in enumerate(matches, start=1):
-                    print("CONFIG_BOARD_ARCHITECTURE=\"" + match.groups()[0] + "\"")
-                    print("CONFIG_BOARD_ARCHITECTURE=\"" + match.groups()[0] + "\"", file=w)
-                matches = re.finditer(toolchain_regex, clean_line, re.MULTILINE)
-                for matchNum, match in enumerate(matches, start=1):
-                    print("CONFIG_BOARD_TOOLCHAIN=\"" + match.groups()[0] + "\"")
-                    print("CONFIG_BOARD_TOOLCHAIN=\"" + match.groups()[0] + "\"", file=w)
-
-    if(romfs_set == False):
-        print("CONFIG_BOARD_ROMFSROOT=\"\"", file=w)
-
-
-    w.close()
@@ -1,204 +0,0 @@
-PLATFORM nuttx,CONFIG_PLATFORM_NUTTX=y
-PLATFORM posix,CONFIG_PLATFORM_POSIX=y
-CONSTRAINED_MEMORY,CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONSTRAINED_FLASH,CONFIG_BOARD_CONSTRAINED_FLASH=y
-NO_HELP,CONFIG_BOARD_NO_HELP=y
-EXTERNAL_METADATA,CONFIG_BOARD_EXTERNAL_METADATA=y
-BUILD_BOOTLOADER,CONFIG_BOARD_BUILD_BOOTLOADER=y
-UAVCAN_INTERFACES 2,CONFIG_BOARD_UAVCAN_INTERFACES=2
-UAVCAN_INTERFACES 1,CONFIG_BOARD_UAVCAN_INTERFACES=1
-UAVCAN_TIMER_OVERRIDE 2,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
-UAVCAN_TIMER_OVERRIDE 1,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=1
-UAVCAN_TIMER_OVERRIDE 1,CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=0
-TESTING,CONFIG_BOARD_TESTING=y
-ETHERNET,CONFIG_BOARD_ETHERNET=y
-adc/ads1115,CONFIG_DRIVERS_ADC_ADS1115=y
-adc/board_adc,CONFIG_DRIVERS_ADC_BOARD_ADC=y
-barometer,CONFIG_COMMON_BAROMETERS=y
-barometer/bmp280,CONFIG_DRIVERS_BAROMETER_BMP280=y
-barometer/bmp388,CONFIG_DRIVERS_BAROMETER_BMP388=y
-barometer/dps310,CONFIG_DRIVERS_BAROMETER_DPS310=y
-barometer/lps22hb,CONFIG_DRIVERS_BAROMETER_LPS22HB=y
-barometer/lps25h,CONFIG_DRIVERS_BAROMETER_LPS25H=y
-barometer/lps33hw,CONFIG_DRIVERS_BAROMETER_LPS33HW=y
-barometer/mpl3115a2,CONFIG_DRIVERS_BAROMETER_MPL3115A2=y
-barometer/ms5611,CONFIG_DRIVERS_BAROMETER_MS5611=y
-barometer/tcbp001ta,CONFIG_DRIVERS_BAROMETER_TCBP001TA=y
-batt_smbus,CONFIG_DRIVERS_BATT_SMBUS=y
-bootloaders,CONFIG_DRIVERS_BOOTLOADERS=y
-camera_capture,CONFIG_DRIVERS_CAMERA_CAPTURE=y
-camera_trigger,CONFIG_DRIVERS_CAMERA_TRIGGER=y
-differential_pressure,CONFIG_DRIVERS_DIFFERENTIAL_PRESSURE=y
-distance_sensor,CONFIG_COMMON_DISTANCE_SENSOR=y
-distance_sensor/ll40ls,CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
-distance_sensor/lightware_laser_serial,CONFIG_DRIVERS_DISTANCE_SENSOR_LIGHTWARE_LASER_SERIAL=y
-distance_sensor/broadcom/afbrs50,CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
-distance_sensor/vl53l0x,CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
-distance_sensor/vl53l1x,CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
-distance_sensor/srf05,CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y
-dshot,CONFIG_DRIVERS_DSHOT=y
-gps,CONFIG_DRIVERS_GPS=y
-heater,CONFIG_DRIVERS_HEATER=y
-imu,CONFIG_COMMON_IMU=y
-imu/adis16477,CONFIG_DRIVERS_IMU_ADIS16477=y
-imu/adis16497,CONFIG_DRIVERS_IMU_ADIS16497=y
-imu/analog_devices/adis16448,CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
-imu/analog_devices/adis16470,CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16470=y
-imu/bosch/bmi055,CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
-imu/bosch/bmi088,CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
-imu/fxas21002c,CONFIG_DRIVERS_IMU_FXAS21002C=y
-imu/fxos8701cq,CONFIG_DRIVERS_IMU_FXOS8701CQ=y
-imu/invensense/icm20602,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-imu/invensense/icm20608g,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20608G=y
-imu/invensense/icm20649,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
-imu/invensense/icm20689,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
-imu/invensense/icm20948,CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-imu/invensense/icm40609d,CONFIG_DRIVERS_IMU_INVENSENSE_ICM40609D=y
-imu/invensense/icm42605,CONFIG_DRIVERS_IMU_INVENSENSE_ICM42605=y
-imu/invensense/icm42688p,CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
-imu/invensense/mpu6000,CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
-imu/invensense/mpu6500,CONFIG_DRIVERS_IMU_INVENSENSE_MPU6500=y
-imu/invensense/mpu9250,CONFIG_DRIVERS_IMU_INVENSENSE_MPU9250=y
-imu/l3gd20,CONFIG_DRIVERS_IMU_L3GD20=y
-imu/lsm303d,CONFIG_DRIVERS_IMU_LSM303D=y
-imu/st,CONFIG_DRIVERS_IMU_ST=y
-irlock,CONFIG_DRIVERS_IRLOCK=y
-lights,CONFIG_COMMON_LIGHT=y
-lights/neopixel,CONFIG_DRIVERS_LIGHTS_NEOPIXEL=y
-lights/rgbled,CONFIG_DRIVERS_LIGHTS_RGBLED=y
-lights/rgbled_ncp5623c,CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
-lights/rgbled_pwm,CONFIG_DRIVERS_LIGHTS_RGBLED_PWM=y
-magnetometer,CONFIG_COMMON_MAGNETOMETER=y
-magnetometer/akm/ak09916,CONFIG_DRIVERS_MAGNETOMETER_AKM_AK09916=y
-magnetometer/akm/ak8963,CONFIG_DRIVERS_MAGNETOMETER_AKM_AK8963=y
-magnetometer/bosch/bmm150,CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
-magnetometer/hmc5883,CONFIG_DRIVERS_MAGNETOMETER_HMC5883=y
-magnetometer/isentek/ist8308,CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8308=y
-magnetometer/isentek/ist8310,CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
-magnetometer/lis2mdl,CONFIG_DRIVERS_MAGNETOMETER_LIS2MDL=y
-magnetometer/lis3mdl,CONFIG_DRIVERS_MAGNETOMETER_LIS3MDL=y
-magnetometer/lsm303agr,CONFIG_DRIVERS_MAGNETOMETER_LSM303AGR=y
-magnetometer/lsm9ds1_mag,CONFIG_DRIVERS_MAGNETOMETER_LSM9DS1_MAG=y
-magnetometer/qmc5883l,CONFIG_DRIVERS_MAGNETOMETER_QMC5883L=y
-magnetometer/rm3100,CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
-magnetometer/vtrantech/vcm1193l,CONFIG_DRIVERS_MAGNETOMETER_VTRANTECH_VCM1193L=y
-optical_flow,CONFIG_COMMON_OPTICAL_FLOW=y
-optical_flow/paw3902,CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
-optical_flow/paw3901,CONFIG_DRIVERS_OPTICAL_FLOW_PMW3901=y
-optical_flow/px4flow,CONFIG_DRIVERS_OPTICAL_FLOW_PX4FLOW=y
-optical_flow/thoneflow,CONFIG_DRIVERS_OPTICAL_FLOW_THONEFLOW=y
-osd,CONFIG_DRIVERS_OSD=y
-pca9685,CONFIG_DRIVERS_PCA9685=y
-pca9685_pwm_out,CONFIG_DRIVERS_PCA9685_PWM_OUT=y
-power_monitor/ina226,CONFIG_DRIVERS_POWER_MONITOR_INA226=y
-power_monitor/voxlpm,CONFIG_DRIVERS_POWER_MONITOR_VOXLPM=y
-pps_capture,CONFIG_DRIVERS_PPS_CAPTURE=y
-protocol_splitter,CONFIG_DRIVERS_PROTOCOL_SPLITTER=y
-pwm_input,CONFIG_DRIVERS_PWM_INPUT=y
-pwm_out_sim,CONFIG_DRIVERS_PWM_OUT_SIM=y
-pwm_out,CONFIG_DRIVERS_PWM_OUT=y
-px4io,CONFIG_DRIVERS_PX4IO=y
-rc_input,CONFIG_DRIVERS_RC_INPUT=y
-roboclaw,CONFIG_DRIVERS_ROBOCLAW=y
-rpi_rc_in,CONFIG_DRIVERS_RPI_RC_IN=y
-rpm,CONFIG_DRIVERS_RPM=y
-safety_button,CONFIG_DRIVERS_SAFETY_BUTTON=y
-smart_battery/batmon,CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
-spektrum_rc,CONFIG_DRIVERS_SPEKTRUM_RC=y
-telemetry,CONFIG_DRIVERS_TELEMETRY=y
-test_ppm,CONFIG_DRIVERS_TEST_PPM=y
-tone_alarm,CONFIG_DRIVERS_TONE_ALARM=y
-uavcan,CONFIG_DRIVERS_UAVCAN=y
-uavcannode,CONFIG_DRIVERS_UAVCANNODE=y
-uavcannode_gps_demo,CONFIG_DRIVERS_UAVCANNODE_GPS_DEMO=y
-airship_att_control,CONFIG_MODULES_AIRSHIP_ATT_CONTROL=y
-airspeed_selector,CONFIG_MODULES_AIRSPEED_SELECTOR=y
-velocity_controller,CONFIG_MODULES_ANGULAR_VELOCITY_CONTROLLER=y
-attitude_estimator_q,CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
-battery_status,CONFIG_MODULES_BATTERY_STATUS=y
-camera_feedback,CONFIG_MODULES_CAMERA_FEEDBACK=y
-commander,CONFIG_MODULES_COMMANDER=y
-control_allocator,CONFIG_MODULES_CONTROL_ALLOCATOR=y
-dataman,CONFIG_MODULES_DATAMAN=y
-ekf2,CONFIG_MODULES_EKF2=y
-esc_battery,CONFIG_MODULES_ESC_BATTERY=y
-events,CONFIG_MODULES_EVENTS=y
-flight_mode_manager,CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
-fw_att_control,CONFIG_MODULES_FW_ATT_CONTROL=y
-fw_pos_control_l1,CONFIG_MODULES_FW_POS_CONTROL_L1=y
-gyro_calibration,CONFIG_MODULES_GYRO_CALIBRATION=y
-gyro_fft,CONFIG_MODULES_GYRO_FFT=y
-land_detector,CONFIG_MODULES_LAND_DETECTOR=y
-landing_target_estimator,CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=y
-load_mon,CONFIG_MODULES_LOAD_MON=y
-local_position_estimator,CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=y
-logger,CONFIG_MODULES_LOGGER=y
-mavlink,CONFIG_MODULES_MAVLINK=y
-mc_att_control,CONFIG_MODULES_MC_ATT_CONTROL=y
-mc_hover_thrust_estimator,CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
-mc_pos_control,CONFIG_MODULES_MC_POS_CONTROL=y
-mc_rate_control,CONFIG_MODULES_MC_RATE_CONTROL=y
-micrortps_bridge,CONFIG_MODULES_MICRORTPS_BRIDGE=y
-microdds_client,CONFIG_MODULES_MICRODDS_CLIENT=y
-navigator,CONFIG_MODULES_NAVIGATOR=y
-px4iofirmware,CONFIG_MODULES_PX4IOFIRMWARE=y
-rc_update,CONFIG_MODULES_RC_UPDATE=y
-replay,CONFIG_MODULES_REPLAY=y
-rover_pos_control,CONFIG_MODULES_ROVER_POS_CONTROL=y
-sensors,CONFIG_MODULES_SENSORS=y
-sih,CONFIG_MODULES_SIH=y
-simulator,CONFIG_MODULES_SIMULATOR=y
-temperature_compensation,CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-uuv_att_control,CONFIG_MODULES_UUV_ATT_CONTROL=y
-uuv_pos_control,CONFIG_MODULES_UUV_POS_CONTROL=y
-gimbal,CONFIG_MODULES_GIMBAL=y
-vtol_att_control,CONFIG_MODULES_VTOL_ATT_CONTROL=y
-bl_update,CONFIG_SYSTEMCMDS_BL_UPDATE=y
-dmesg,CONFIG_SYSTEMCMDS_DMESG=y
-dumpfile,CONFIG_SYSTEMCMDS_DUMPFILE=y
-dyn,CONFIG_SYSTEMCMDS_DYN=y
-failure,CONFIG_SYSTEMCMDS_FAILURE=y
-gpio,CONFIG_SYSTEMCMDS_GPIO=y
-hardfault_log,CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-i2cdetect,CONFIG_SYSTEMCMDS_I2CDETECT=y
-led_control,CONFIG_SYSTEMCMDS_LED_CONTROL=y
-mft,CONFIG_SYSTEMCMDS_MFT=y
-microbench,CONFIG_SYSTEMCMDS_MICROBENCH=y
-mixer,CONFIG_SYSTEMCMDS_MIXER=y
-motor_test,CONFIG_SYSTEMCMDS_MOTOR_TEST=y
-mtd,CONFIG_SYSTEMCMDS_MTD=y
-netman,CONFIG_SYSTEMCMDS_NETMAN=y
-nshterm,CONFIG_SYSTEMCMDS_NSHTERM=y
-param,CONFIG_SYSTEMCMDS_PARAM=y
-perf,CONFIG_SYSTEMCMDS_PERF=y
-pwm,CONFIG_SYSTEMCMDS_PWM=y
-reboot,CONFIG_SYSTEMCMDS_REBOOT=y
-reflect,CONFIG_SYSTEMCMDS_REFLECT=y
-sd_bench,CONFIG_SYSTEMCMDS_SD_BENCH=y
-serial_tet,CONFIG_SYSTEMCMDS_SERIAL_TEST=y
-shutdown,CONFIG_SYSTEMCMDS_SHUTDOWN=y
-system_time,CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
-tests,CONFIG_SYSTEMCMDS_TESTS=y
-top,CONFIG_SYSTEMCMDS_TOP=y
-topic_listener,CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
-tune_control,CONFIG_SYSTEMCMDS_TUNE_CONTROL=y
-uorb,CONFIG_SYSTEMCMDS_UORB=y
-usb_connected,CONFIG_SYSTEMCMDS_USB_CONNECTED=y
-ver,CONFIG_SYSTEMCMDS_VER=y
-work_queue,CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-dyn_hello,CONFIG_EXAMPLES_DYN_HELLO=y
-fake_gps,CONFIG_EXAMPLES_FAKE_GPS=y
-fake_gyro,CONFIG_EXAMPLES_FAKE_GYRO=y
-fake_imu,CONFIG_EXAMPLES_FAKE_IMU=y
-fake_magnetometer,CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
-fixedwing_control,CONFIG_EXAMPLES_FIXEDWING_CONTROL=y
-hello,CONFIG_EXAMPLES_HELLO=y
-hwtest,CONFIG_EXAMPLES_HWTEST=y
-matlab_csv_serial,CONFIG_EXAMPLES_MATLAB_CSV_SERIAL=y
-px4_mavlink_debug,CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
-px4_simple_app,CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
-rover_steering_control,CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
-uuv_example_app,CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
-work_item,CONFIG_EXAMPLES_WORK_ITEM=y
-add_compile_options(-Wno-narrowing),CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
-D__PX4_LINUX,CONFIG_BOARD_LINUX=y
@@ -16,7 +16,7 @@ class ModuleDocumentation(object):
    valid_categories = ['driver', 'estimator', 'controller', 'system',
                        'communication', 'command', 'template', 'simulation', 'autotune']
    valid_subcategories = ['', 'distance_sensor', 'imu', 'airspeed_sensor',
-                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor']
+                           'magnetometer', 'baro', 'optical_flow', 'rpm_sensor', 'transponder']

    max_line_length = 80 # wrap lines that are longer than this

@@ -2,6 +2,7 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
@@ -10,7 +11,16 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_OPTICAL_FLOW_PAW3902=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
+# CONFIG_SENSORS_VEHICLE_MAGNETOMETER is not set
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -3,6 +3,8 @@
 # board sensors init
 #------------------------------------------------------------------------------

+param set-default IMU_GYRO_RATEMAX 1000
+
 # Internal SPI
 paw3902 -s start -Y 180

@@ -4,7 +4,6 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
@@ -14,5 +13,18 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -4,6 +4,7 @@
 #------------------------------------------------------------------------------

 param set-default CBRK_IO_SAFETY 0
+param set-default MBE_ENABLE 1

 safety_button start
 tone_alarm start
@@ -4,7 +4,6 @@ CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
-CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
@@ -14,5 +13,18 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
+CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -5,6 +5,7 @@

 param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_GPS_RTCM 1
+param set-default MBE_ENABLE 1

 safety_button start
 tone_alarm start
@@ -115,9 +115,7 @@
 #define GPIO_HW_REV_SENSE    /* PC3   */ ADC1_GPIO(13)
 #define GPIO_HW_VER_DRIVE    /* PG0   */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_VER_SENSE    /* PC2   */ ADC1_GPIO(12)
-#define HW_INFO_INIT         {'V','5','x', 'x',0}
-#define HW_INFO_INIT_VER     2
-#define HW_INFO_INIT_REV     3
+#define HW_INFO_INIT_PREFIX    "VAM"

 #define BOARD_TAP_ESC_MODE 2 // select closed-loop control mode for the esc
 // #define BOARD_USE_ESC_CURRENT_REPORT
@@ -30,6 +30,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MFT=y
@@ -141,6 +141,7 @@
 #define PX4_PWM_ALTERNATE_RANGES
 #define PWM_LOWEST_MIN 0
 #define PWM_MOTOR_OFF	0
+#define PWM_SERVO_STOP	0
 #define PWM_DEFAULT_MIN 20
 #define PWM_HIGHEST_MIN 0
 #define PWM_HIGHEST_MAX 255
@@ -72,7 +72,9 @@ static const px4_mft_entry_s mtd_mft = {

 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };

 const px4_mft_s *board_get_manifest(void)
@@ -30,6 +30,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y
@@ -142,6 +142,7 @@
 #define PX4_PWM_ALTERNATE_RANGES
 #define PWM_LOWEST_MIN 0
 #define PWM_MOTOR_OFF	0
+#define PWM_SERVO_STOP	0
 #define PWM_DEFAULT_MIN 20
 #define PWM_HIGHEST_MIN 0
 #define PWM_HIGHEST_MAX 255
@@ -1,6 +1,8 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_COMPILE_DEFINITIONS="-DUSE_S_RGB_LED_DMA"
 CONFIG_DRIVERS_BAROMETER_MS5611=y
@@ -12,5 +14,16 @@ CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -118,8 +118,8 @@
 #define GPIO_nPOWER_IN_CAN              /* PG2  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN2)
 #define GPIO_nPOWER_IN_C                /* PG0  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTG|GPIO_PIN0)

-#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_CAN /* Brick 1 is Chosen */
-#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_ADC /* Brick 2 is Chosen  */
+#define GPIO_nVDD_BRICK1_VALID          GPIO_nPOWER_IN_ADC /* Brick 1 is Chosen */
+#define GPIO_nVDD_BRICK2_VALID          GPIO_nPOWER_IN_CAN /* Brick 2 is Chosen  */
 #define GPIO_nVDD_USB_VALID             GPIO_nPOWER_IN_C   /* USB     is Chosen */

 #define GPIO_VDD_5V_HIPOWER_EN          /* PD11 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTD|GPIO_PIN11)
@@ -106,3 +106,4 @@ CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
 CONFIG_EXAMPLES_FAKE_GPS=y
+#CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
@@ -7,7 +7,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_COMMON_BAROMETERS=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
@@ -24,14 +24,13 @@ CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_OSD=y
-CONFIG_DRIVERS_PCA9685=y
 CONFIG_DRIVERS_PCA9685_PWM_OUT=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_INPUT=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT_SIM=y
 CONFIG_DRIVERS_PX4IO=y
-CONFIG_DRIVERS_ROBOCLAW=y
+#CONFIG_DRIVERS_ROBOCLAW=y
 CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
@@ -42,6 +41,7 @@ CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_BATTERY_STATUS=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -50,6 +50,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -65,17 +66,15 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -93,7 +92,6 @@ CONFIG_SYSTEMCMDS_PWM=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_REFLECT=y
 CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
@@ -102,4 +100,4 @@ CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_USB_CONNECTED=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
-CONFIG_EXAMPLES_FAKE_GPS=y
+CONFIG_DRIVERS_TRANSPONDER_SAGETECH_MXS=y
@@ -5,7 +5,6 @@ CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_RPM=n
 CONFIG_DRIVERS_UAVCAN=n
-CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
@@ -13,3 +12,4 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_BOARD_TESTING=y
 CONFIG_DRIVERS_TEST_PPM=y
 CONFIG_SYSTEMCMDS_MICROBENCH=y
+CONFIG_SYSTEMCMDS_SD_STRESS=y
@@ -175,8 +175,8 @@ CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=300
-CONFIG_UART4_TXBUFSIZE=900
+CONFIG_UART4_RXBUFSIZE=600
+CONFIG_UART4_TXBUFSIZE=600
 CONFIG_USART1_RXBUFSIZE=300
 CONFIG_USART1_RXDMA=y
 CONFIG_USART1_TXBUFSIZE=300
@@ -1,16 +1,22 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_NO_HELP=y
+CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_ST=y
 CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
-CONFIG_MODULES_LOAD_MON=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_MFT=y
 CONFIG_SYSTEMCMDS_MTD=y
@@ -19,5 +25,7 @@ CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
+CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
 CONFIG_SYSTEMCMDS_VER=y
 CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -2,6 +2,7 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
@@ -12,6 +13,18 @@ CONFIG_DRIVERS_LIGHTS_RGBLED_NCP5623C=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
+CONFIG_SYSTEMCMDS_REBOOT=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
+CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
+CONFIG_SYSTEMCMDS_UORB=y
+CONFIG_SYSTEMCMDS_VER=y
+CONFIG_SYSTEMCMDS_WORK_QUEUE=y
@@ -83,9 +83,9 @@
 #define GPIO_HW_VER_REV_DRIVE /* PB1 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
 #define GPIO_HW_REV_SENSE     /* PA0 */ ADC1_GPIO(0)
 #define GPIO_HW_VER_SENSE     /* PA1 */ ADC1_GPIO(1)
-#define HW_INFO_INIT         {'C','A','N','G','P','S','x', 'x',0}
-#define HW_INFO_INIT_VER     6
-#define HW_INFO_INIT_REV     7
+#define HW_INFO_INIT_PREFIX         "CANGPS"
+
+#define CANGPS00   HW_VER_REV(0x0,0x0) // CANGPS

 #define FLASH_BASED_PARAMS

@@ -104,7 +104,7 @@ static const px4_hw_mft_item_t hw_mft_list_v0000[] = {

 static px4_hw_mft_list_entry_t mft_lists[] = {
 // ver/rev
-	{0x0000, hw_mft_list_v0000,        arraySize(hw_mft_list_v0000)},
+	{CANGPS00, hw_mft_list_v0000,        arraySize(hw_mft_list_v0000)},
 };

 /************************************************************************************
@@ -127,7 +127,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -138,7 +138,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -11,13 +11,13 @@ icm20689 -R 2 -s start
 bmi088 -A -R 2 -s start
 bmi088 -G -R 2 -s start

-if ver hwtypecmp  VD00
+if ver hwtypecmp  VD000000
 then
 	# Internal SPI BMI088
 	bmi088 -A -R 2 -s start
 	bmi088 -G -R 2 -s start
 fi
-if ver hwtypecmp  VD01
+if ver hwtypecmp  VD000001
 then
 	# Internal SPI ICM-20602
 	icm20602 -R 2 -s start
@@ -152,9 +152,7 @@
 #define GPIO_HW_REV_SENSE    /* PC3   */ GPIO_ADC12_INP13
 #define GPIO_HW_VER_DRIVE    /* PG0   */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_VER_SENSE    /* PC2   */ GPIO_ADC123_INP12
-#define HW_INFO_INIT         {'V','D','x', 'x',0}
-#define HW_INFO_INIT_VER     2
-#define HW_INFO_INIT_REV     3
+#define HW_INFO_INIT_PREFIX         "VD"

 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 2

@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2012-2019 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2019, 2022 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -206,7 +206,6 @@ stm32_boardinitialize(void)
 *
 ****************************************************************************/

-
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Power on Interfaces */
@@ -219,6 +218,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 	px4_platform_init();

+	// Use the default HW_VER_REV(0x0,0x0) for Ramtron
+
+	stm32_spiinitialize();
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();

 	if (OK == board_determine_hw_info()) {
 		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
@@ -228,7 +234,7 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
 	}

-	/* configure SPI interfaces (after we determined the HW version) */
+	/* Configure the actual SPI interfaces (after we determined the HW version) */

 	stm32_spiinitialize();

@@ -268,9 +274,5 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif /* CONFIG_MMCSD */

-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
 	return OK;
 }
@@ -107,7 +107,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -118,7 +118,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -1,5 +1,6 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_EXTERNAL_METADATA=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS3"
@@ -31,6 +32,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_MIXER=y
 CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PWM=y
@@ -15,10 +15,10 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
-CONFIG_DRIVERS_OSD=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
 CONFIG_COMMON_OPTICAL_FLOW=y
+CONFIG_DRIVERS_OSD=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_PWM_OUT=y
 CONFIG_DRIVERS_PWM_OUT_SIM=y
@@ -28,8 +28,8 @@ CONFIG_DRIVERS_RPM=y
 CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
 CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 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
@@ -42,6 +42,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -60,12 +61,12 @@ CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -185,9 +185,11 @@
 #define GPIO_HW_REV_SENSE    /* PC3   */ ADC1_GPIO(13)
 #define GPIO_HW_VER_DRIVE    /* PG0   */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_VER_SENSE    /* PC2   */ ADC1_GPIO(12)
-#define HW_INFO_INIT         {'V','5','x', 'x',0}
-#define HW_INFO_INIT_VER     2
-#define HW_INFO_INIT_REV     3
+#define HW_INFO_INIT_PREFIX         "VPIX32V5"
+
+#define VPIX32V500   HW_VER_REV(0x0,0x0) // PIX32V5           Rev 0
+#define VPIX32V540   HW_VER_REV(0x4,0x0) // HolyBro mini no can 2,3
+
 /* CAN Silence
 *
 * Silent mode control \ ESC Mux select
@@ -129,8 +129,8 @@ static const px4_hw_mft_item_t hw_mft_list_v0540[] = {
 };

 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{0x0000, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},
-	{0x0400, hw_mft_list_v0540,        arraySize(hw_mft_list_v0540)},  // HolyBro mini no can 2,3
+	{VPIX32V500, hw_mft_list_v0500,        arraySize(hw_mft_list_v0500)},
+	{VPIX32V540, hw_mft_list_v0540,        arraySize(hw_mft_list_v0540)},  // HolyBro mini no can 2,3
 };

 /************************************************************************************
@@ -153,7 +153,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -164,7 +164,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -1,6 +1,8 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
+CONFIG_BOARD_CONSTRAINED_FLASH=y
+CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
 CONFIG_DRIVERS_BAROMETER_DPS310=y
@@ -10,13 +12,20 @@ CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_MAGNETOMETER_RM3100=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
 CONFIG_DRIVERS_UAVCANNODE=y
+CONFIG_MODULES_GYRO_CALIBRATION=y
+CONFIG_MODULES_MAG_BIAS_ESTIMATOR=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
+# CONFIG_SENSORS_VEHICLE_AIR_DATA is not set
+# CONFIG_SENSORS_VEHICLE_GPS_POSITION is not set
 CONFIG_SYSTEMCMDS_I2CDETECT=y
 CONFIG_SYSTEMCMDS_NSHTERM=y
 CONFIG_SYSTEMCMDS_PARAM=y
+CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=y
 CONFIG_SYSTEMCMDS_SERIAL_PASSTHRU=y
 CONFIG_SERIAL_PASSTHRU_UBLOX=y
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=y
 CONFIG_SYSTEMCMDS_TOP=y
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=y
 CONFIG_SYSTEMCMDS_UORB=y
@@ -5,6 +5,7 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
+CONFIG_DRIVERS_ACTUATORS_MODALAI_ESC=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -42,6 +43,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -50,6 +52,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -65,7 +68,6 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
@@ -74,10 +76,9 @@ CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
@@ -142,9 +142,10 @@
 #define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_REV_SENSE      /* PF5 */  ADC3_GPIO(15)
 #define GPIO_HW_VER_SENSE      /* PF4 */  ADC3_GPIO(14)
-#define HW_INFO_INIT           {'V','1','x', 'x',0}
-#define HW_INFO_INIT_VER       2 /* Offset in above string of the VER */
-#define HW_INFO_INIT_REV       3 /* Offset in above string of the REV */
+#define HW_INFO_INIT_PREFIX           "V1"
+#define V10006   HW_VER_REV(0x0,0x6) // V1006              Rev 6
+#define V10100   HW_VER_REV(0x1,0x0) // V1010              Rev 0
+

 /* PWM
 */
@@ -90,8 +90,8 @@ static const px4_hw_mft_item_t hw_mft_list_fc0100[] = {
 };

 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{0x0006, hw_mft_list_fc0006, arraySize(hw_mft_list_fc0006)},
-	{0x0100, hw_mft_list_fc0100, arraySize(hw_mft_list_fc0100)}
+	{V10006, hw_mft_list_fc0006, arraySize(hw_mft_list_fc0006)},
+	{V10100, hw_mft_list_fc0100, arraySize(hw_mft_list_fc0100)}
 };

 /************************************************************************************
@@ -114,7 +114,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -125,7 +125,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -3,6 +3,7 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS0"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
+CONFIG_DRIVERS_ACTUATORS_MODALAI_ESC=y
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
@@ -40,6 +41,7 @@ CONFIG_MODULES_AIRSPEED_SELECTOR=y
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=y
 CONFIG_MODULES_CAMERA_FEEDBACK=y
 CONFIG_MODULES_COMMANDER=y
+CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_DATAMAN=y
 CONFIG_MODULES_EKF2=y
 CONFIG_MODULES_ESC_BATTERY=y
@@ -48,6 +50,7 @@ CONFIG_MODULES_FLIGHT_MODE_MANAGER=y
 CONFIG_MODULES_FW_ATT_CONTROL=y
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_FW_POS_CONTROL_L1=y
+CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_GYRO_CALIBRATION=y
 CONFIG_MODULES_GYRO_FFT=y
 CONFIG_MODULES_LAND_DETECTOR=y
@@ -63,17 +66,15 @@ CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=y
 CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=y
 CONFIG_MODULES_MC_POS_CONTROL=y
 CONFIG_MODULES_MC_RATE_CONTROL=y
-CONFIG_MODULES_CONTROL_ALLOCATOR=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_ROVER_POS_CONTROL=y
 CONFIG_MODULES_SENSORS=y
 CONFIG_MODULES_SIH=y
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
@@ -182,9 +182,8 @@
 #define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_REV_SENSE      /* PH4 */  GPIO_ADC3_INP15
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
-#define HW_INFO_INIT           {'V','2','x', 'x',0}
-#define HW_INFO_INIT_VER       3 /* Offset in above string of the VER */
-#define HW_INFO_INIT_REV       4 /* Offset in above string of the REV */
+#define HW_INFO_INIT_PREFIX           "V2"
+#define V20300   HW_VER_REV(0x3,0x0)

 /* PE6 is nARMED --> FCv2 this goes to TP13
 *  The GPIO will be set as input while not armed HW will have external HW Pull UP.
@@ -83,7 +83,7 @@ static const px4_hw_mft_item_t hw_mft_list_fc0200[] = {
 };

 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{0x0300, hw_mft_list_fc0200, arraySize(hw_mft_list_fc0200)},
+	{V20300, hw_mft_list_fc0200, arraySize(hw_mft_list_fc0200)},
 };

 /************************************************************************************
@@ -106,7 +106,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -117,7 +117,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -71,7 +71,9 @@ static const px4_mft_entry_s mtd_mft = {

 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };

 const px4_mft_s *board_get_manifest(void)
@@ -198,9 +198,9 @@ CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
 CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=1500
+CONFIG_UART4_RXBUFSIZE=1200
+CONFIG_UART4_RXDMA=n
+CONFIG_UART4_TXBUFSIZE=1200
 CONFIG_UART7_BAUD=57600
 CONFIG_UART7_RXBUFSIZE=600
 CONFIG_UART7_SERIAL_CONSOLE=y
@@ -225,10 +225,10 @@ CONFIG_USART3_RXBUFSIZE=600
 CONFIG_USART3_RXDMA=y
 CONFIG_USART3_TXBUFSIZE=3000
 CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_RXDMA=y
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USART6_TXDMA=y
+CONFIG_USART6_RXBUFSIZE=1200
+CONFIG_USART6_RXDMA=n
+CONFIG_USART6_TXBUFSIZE=1200
+CONFIG_USART6_TXDMA=n
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
@@ -192,9 +192,10 @@
 #define GPIO_HW_VER_REV_DRIVE /* GPIO_AD_B0_01 GPIO1_IO01   */  (GPIO_PORT1 | GPIO_PIN1 | GPIO_OUTPUT | GPIO_OUTPUT_ONE | HW_IOMUX)
 #define GPIO_HW_REV_SENSE     /* GPIO_AD_B1_08 GPIO1 Pin 24 */  ADC1_GPIO(13, 24)
 #define GPIO_HW_VER_SENSE     /* GPIO_AD_B1_04 GPIO1 Pin 20 */  ADC1_GPIO(9,  20)
-#define HW_INFO_INIT          {'V','5','x', 'x',0}
-#define HW_INFO_INIT_VER      2
-#define HW_INFO_INIT_REV      3
+#define HW_INFO_INIT_PREFIX   "V5"
+#define V500   HW_VER_REV(0x0,0x0) // FMUV5,                    Rev 0
+#define V540   HW_VER_REV(0x4,0x0) // mini no can 2,3,          Rev 0
+
 /* CAN Silence
 *
 * Silent mode control \ ESC Mux select
@@ -88,8 +88,8 @@ static const px4_hw_mft_item_t hw_mft_list_v0540[] = {
 };

 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{0x0000, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)},
-	{0x0400, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)},
+	{V500, hw_mft_list_v0500, arraySize(hw_mft_list_v0500)},
+	{V540, hw_mft_list_v0540, arraySize(hw_mft_list_v0540)},
 };

 /************************************************************************************
@@ -66,7 +66,9 @@ static const px4_mft_entry_s mtd_mft = {

 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };

 const px4_mft_s *board_get_manifest(void)
@@ -32,6 +32,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_MIXER=y
 CONFIG_SYSTEMCMDS_PARAM=y
@@ -65,7 +65,9 @@ static const px4_mft_entry_s mtd_mft = {

 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };

 const px4_mft_s *board_get_manifest(void)
@@ -9,7 +9,7 @@ param set-default BAT2_V_DIV 18.1
 param set-default BAT1_A_PER_V 36.367515152
 param set-default BAT2_A_PER_V 36.367515152

-if ver hwtypecmp V550 V552 V560 V562
+if ver hwtypecmp V5005000 V5005002 V5006000 V5006002
 then
 	# CUAV V5+ (V550/V552) and V5nano (V560/V562) have 3 IMUs
 	# Multi-EKF (IMUs only)
@@ -5,7 +5,7 @@

 board_adc start

-if ver hwtypecmp V552 V562
+if ver hwtypecmp V5005002 V5006002
 then
 	# Internal SPI bus ICM-42688-P
 	icm42688p -s -R 2 -q start
@@ -1,11 +1,9 @@
-CONFIG_BOARD_PROTECTED=y
+# CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
 CONFIG_COMMON_BAROMETERS=n
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
 CONFIG_COMMON_DISTANCE_SENSOR=n
 CONFIG_COMMON_OPTICAL_FLOW=n
 CONFIG_COMMON_TELEMETRY=n
-CONFIG_DRIVERS_BAROMETER_MS5611=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
 CONFIG_DRIVERS_OSD=n
 CONFIG_DRIVERS_ROBOCLAW=n
 CONFIG_DRIVERS_RPM=n
@@ -17,8 +15,8 @@ CONFIG_MODULES_CAMERA_FEEDBACK=n
 CONFIG_MODULES_ESC_BATTERY=n
 CONFIG_MODULES_FW_ATT_CONTROL=n
 CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
-CONFIG_MODULES_FW_POS_CONTROL=n
 CONFIG_MODULES_FW_POS_CONTROL_L1=n
+CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_SIH=n
 CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
@@ -29,11 +27,9 @@ CONFIG_SYSTEMCMDS_ACTUATOR_TEST=n
 CONFIG_SYSTEMCMDS_BL_UPDATE=n
 CONFIG_SYSTEMCMDS_DMESG=n
 CONFIG_SYSTEMCMDS_DUMPFILE=n
-CONFIG_SYSTEMCMDS_ESC_CALIB=n
 CONFIG_SYSTEMCMDS_GPIO=n
 CONFIG_SYSTEMCMDS_I2CDETECT=n
 CONFIG_SYSTEMCMDS_LED_CONTROL=n
-CONFIG_SYSTEMCMDS_MOTOR_RAMP=n
 CONFIG_SYSTEMCMDS_MOTOR_TEST=n
 CONFIG_SYSTEMCMDS_MTD=n
 CONFIG_SYSTEMCMDS_NSHTERM=n
@@ -43,3 +39,6 @@ CONFIG_SYSTEMCMDS_SD_STRESS=n
 CONFIG_SYSTEMCMDS_SERIAL_TEST=n
 CONFIG_SYSTEMCMDS_SYSTEM_TIME=n
 CONFIG_SYSTEMCMDS_USB_CONNECTED=n
+CONFIG_BOARD_PROTECTED=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
+CONFIG_DRIVERS_DISTANCE_SENSOR_LL40LS=y
@@ -188,9 +188,8 @@
 #define GPIO_HW_REV_SENSE    /* PC3   */ ADC1_GPIO(13)
 #define GPIO_HW_VER_DRIVE    /* PG0   */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_VER_SENSE    /* PC2   */ ADC1_GPIO(12)
-#define HW_INFO_INIT         {'V','5','x', 'x',0}
-#define HW_INFO_INIT_VER     2
-#define HW_INFO_INIT_REV     3
+
+#define HW_INFO_INIT_PREFIX         "V5"
 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 3
 #define V500   HW_VER_REV(0x0,0x0) // FMUV5,                    Rev 0
 #define V515   HW_VER_REV(0x1,0x5) // CUAV V5,                  Rev 5
@@ -186,7 +186,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -197,7 +197,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -4,7 +4,9 @@ CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_RPM=n
+CONFIG_EXAMPLES_FAKE_GPS=n
 CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_BOARD_TESTING=y
@@ -1,4 +1,5 @@
 # CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE is not set
+CONFIG_COMMON_BAROMETERS=n
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=n
 CONFIG_COMMON_HYGROMETERS=n
 CONFIG_COMMON_TELEMETRY=n
@@ -21,6 +22,7 @@ CONFIG_MODULES_GYRO_FFT=n
 CONFIG_MODULES_LOCAL_POSITION_ESTIMATOR=n
 CONFIG_MODULES_ROVER_POS_CONTROL=n
 CONFIG_MODULES_SIH=n
+CONFIG_MODULES_TEMPERATURE_COMPENSATION=n
 CONFIG_MODULES_UUV_ATT_CONTROL=n
 CONFIG_MODULES_UUV_POS_CONTROL=n
 CONFIG_SYSTEMCMDS_BL_UPDATE=n
@@ -30,5 +32,7 @@ CONFIG_SYSTEMCMDS_REFLECT=n
 CONFIG_SYSTEMCMDS_SD_BENCH=n
 CONFIG_SYSTEMCMDS_SD_STRESS=n
 CONFIG_SYSTEMCMDS_SERIAL_TEST=n
+CONFIG_SYSTEMCMDS_SYSTEM_TIME=n
 CONFIG_SYSTEMCMDS_TOPIC_LISTENER=n
 CONFIG_BOARD_UAVCAN_PERIPHERALS="cuav_can-gps-v1_default"
+CONFIG_DRIVERS_BAROMETER_MS5611=y
@@ -3,7 +3,7 @@
 # board specific MAVLink startup script.
 #------------------------------------------------------------------------------

-if ver hwtypecmp V5X90 V5X91 V5Xa0 V5Xa1 V5X80 V5X81
+if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
 then
 	# Start MAVLink on the UART connected to the mission computer
 	mavlink start -d /dev/ttyS4 -b 3000000 -r 290000 -m onboard_low_bandwidth -x -z
@@ -5,7 +5,7 @@

 set HAVE_PM2 yes

-if ver hwtypecmp V5X50 V5X51 V5X52
+if ver hwtypecmp V5X005000 V5X005001 V5X005002
 then
 	set HAVE_PM2 no
 fi
@@ -48,33 +48,11 @@ then
 	fi
 fi

-if ver hwtypecmp V5X90 V5X91 V5X92 V5Xa0 V5Xa1 V5Xa2
+if ver hwtypecmp V5X000000 V5X000001 V5X000002 V5X001000
 then
-	#SKYNODE base fmu board orientation
-
-	if ver hwtypecmp V5X90 V5X91 V5Xa0 V5Xa1
-	then
-		# Internal SPI BMI088
-		bmi088 -A -R 2 -s start
-		bmi088 -G -R 2 -s start
-	else
-		# Internal SPI bus ICM20649
-		icm20649 -s -R 4 start
-	fi
-
-	# Internal SPI bus ICM42688p
-	icm42688p -R 4 -s start
-
-	# Internal SPI bus ICM-20602 (hard-mounted)
-	icm20602 -R 8 -s start
-
-	# Internal magnetometer on I2c
-	bmm150 -I -R 6 start
-
-else
 	#FMUv5Xbase board orientation

-	if ver hwtypecmp V5X00 V5X01
+	if ver hwtypecmp V5X000000 V5X000001
 	then
 		# Internal SPI BMI088
 		bmi088 -A -R 4 -s start
@@ -93,6 +71,28 @@ else
 	# Internal magnetometer on I2c
 	bmm150 -I start

+else
+	#SKYNODE base fmu board orientation
+
+	if ver hwtypecmp V5X009000 V5X009001 V5X00a000 V5X00a001 V5X008000 V5X008001 V5X010001
+	then
+		# Internal SPI BMI088
+		bmi088 -A -R 2 -s start
+		bmi088 -G -R 2 -s start
+	else
+		# Internal SPI bus ICM20649
+		icm20649 -s -R 4 start
+	fi
+
+	# Internal SPI bus ICM42688p
+	icm42688p -R 4 -s start
+
+	# Internal SPI bus ICM-20602 (hard-mounted)
+	icm20602 -R 8 -s start
+
+	# Internal magnetometer on I2c
+	bmm150 -I -R 6 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)
@@ -104,7 +104,7 @@ ist8310 -X -b 1 -R 10 start
 if param compare SENS_INT_BARO_EN 1
 then
 	bmp388 -I -a 0x77 start
-	if ver hwtypecmp V5X00 V5X90 V5Xa0
+	if ver hwtypecmp V5X000000 V5X001000 V5X008000 V5X009000 V5X00a000
 	then
 		bmp388 -I start
 	else
@@ -1,3 +1,4 @@
+CONFIG_COMMON_BAROMETERS=n
 CONFIG_COMMON_TELEMETRY=n
 CONFIG_DRIVERS_OSD=n
 CONFIG_EXAMPLES_FAKE_GPS=n
@@ -8,5 +9,7 @@ CONFIG_SYSTEMCMDS_REFLECT=n
 CONFIG_SYSTEMCMDS_SD_BENCH=n
 CONFIG_SYSTEMCMDS_SD_STRESS=n
 CONFIG_SYSTEMCMDS_SERIAL_TEST=n
+CONFIG_DRIVERS_BAROMETER_BMP388=y
+CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_MODULES_MICRODDS_CLIENT=y
 CONFIG_MODULES_MICRORTPS_BRIDGE=y
@@ -111,6 +111,8 @@
 *
 * Note that these are unshifted addresses.
 */
+
+#define BOARD_MTD_NUM_EEPROM        2 /* MTD: base_eeprom, imu_eeprom*/
 #define PX4_I2C_OBDEV_SE050         0x48

 #define GPIO_I2C4_DRDY1_BMP388      /* PG5  */  (GPIO_INPUT|GPIO_FLOAT|GPIO_EXTI|GPIO_PORTG|GPIO_PIN5)
@@ -182,9 +184,7 @@
 #define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_REV_SENSE      /* PF5 */  ADC3_GPIO(15)
 #define GPIO_HW_VER_SENSE      /* PF4 */  ADC3_GPIO(14)
-#define HW_INFO_INIT           {'V','5','X','x', 'x',0}
-#define HW_INFO_INIT_VER       3 /* Offset in above string of the VER */
-#define HW_INFO_INIT_REV       4 /* Offset in above string of the REV */
+#define HW_INFO_INIT_PREFIX           "V5X"
 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 6
 // Base                   FMUM
 #define V5X00   HW_VER_REV(0x0,0x0) // FMUV5X,                         Rev 0
@@ -200,6 +200,7 @@
 #define V5Xa0   HW_VER_REV(0xa,0x0) // NO USB (Q),                     Rev 0
 #define V5Xa1   HW_VER_REV(0xa,0x1) // NO USB (Q) I2C2 BMP388,         Rev 1
 #define V5Xa2   HW_VER_REV(0xa,0x2) // NO USB (Q) I2C2 BMP388,         Rev 2
+#define V5X101   HW_VER_REV(0x10,0x1) // NO USB (Q) I2C2 BMP388,        Rev 1

 #define UAVCAN_NUM_IFACES_RUNTIME 1

@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2012-2020 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2012-2022 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -54,9 +54,7 @@
 #include <errno.h>

 #include <nuttx/config.h>
-extern "C" {
 #include <nuttx/board.h>
-}
 #include <nuttx/spi/spi.h>
 #include <nuttx/sdio.h>
 #include <nuttx/mmcsd.h>
@@ -72,6 +70,7 @@ extern "C" {
 #include <systemlib/px4_macros.h>
 #include <px4_arch/io_timer.h>
 #include <px4_platform_common/init.h>
+#include <px4_platform_common/px4_manifest.h>
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>
@@ -221,6 +220,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 	px4_platform_init();

+	// Use the default HW_VER_REV(0x0,0x0) for Ramtron
+
+	stm32_spiinitialize();
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();

 	if (OK == board_determine_hw_info()) {
 		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
@@ -230,11 +236,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
 	}

+	/* Configure the Actual SPI interfaces (after we determined the HW version)  */
+
 	stm32_spiinitialize();

 	board_spi_reset(10, 0xffff);

-	/* configure the DMA allocator */
+	/* Configure the DMA allocator */

 	if (board_dma_alloc_init() < 0) {
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
@@ -266,10 +274,6 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif /* CONFIG_MMCSD */

-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
 	int hw_version = board_get_hw_version();

 	if (hw_version == 0x9 || hw_version == 0xa) {
@@ -172,6 +172,7 @@ static px4_hw_mft_list_entry_t mft_lists[] = {
 	{V5Xa0, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q),             Rev 0
 	{V5Xa1, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q) I2C2 BMP388, Rev 1
 	{V5Xa2, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB (Q) I2C2 BMP388, Rev 2
+	{V5X101, hw_mft_list_v0509, arraySize(hw_mft_list_v0509)}, // NO USB I2C2 BMP388,     Rev 1
 };

 /************************************************************************************
@@ -194,7 +195,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -205,7 +206,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -117,7 +117,9 @@ static const px4_mft_entry_s mtd_mft = {

 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };

 const px4_mft_s *board_get_manifest(void)
@@ -139,9 +139,7 @@
 #define GPIO_HW_VER_REV_DRIVE  /* PE12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTE|GPIO_PIN12)
 #define GPIO_HW_REV_SENSE      /* PC0 */  GPIO_ADC123_INP10
 #define GPIO_HW_VER_SENSE      /* PC1 */  GPIO_ADC123_INP11
-#define HW_INFO_INIT           {'V','6','C','x', 'x',0}
-#define HW_INFO_INIT_VER       3 /* Offset in above string of the VER */
-#define HW_INFO_INIT_REV       4 /* Offset in above string of the REV */
+#define HW_INFO_INIT_PREFIX    "V6C"

 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 2 // Rev 0, 10 Sensor sets
 //                 Base/FMUM
@@ -121,7 +121,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -132,7 +132,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4" PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -95,7 +95,9 @@ static const px4_mft_entry_s mtd_mft = {

 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };

 const px4_mft_s *board_get_manifest(void)
@@ -173,9 +173,8 @@
 #define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_REV_SENSE      /* PH4 */  GPIO_ADC3_INP15
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
-#define HW_INFO_INIT           {'V','6','U','x', 'x',0}
-#define HW_INFO_INIT_VER       3 /* Offset in above string of the VER */
-#define HW_INFO_INIT_REV       4 /* Offset in above string of the REV */
+#define HW_INFO_INIT_PREFIX   "V6U"
+#define V6U00                 HW_VER_REV(0x0,0x0)

 /* HEATER
 * PWM in future
@@ -82,7 +82,7 @@ static const px4_hw_mft_item_t hw_mft_list_v0600[] = {
 };

 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{0x0000, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
+	{V6U00, hw_mft_list_v0600, arraySize(hw_mft_list_v0600)},
 };

 /************************************************************************************
@@ -105,7 +105,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -116,7 +116,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -71,7 +71,9 @@ static const px4_mft_entry_s mtd_mft = {

 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };

 const px4_mft_s *board_get_manifest(void)
@@ -34,7 +34,6 @@ CONFIG_DRIVERS_PWM_OUT_SIM=y
 CONFIG_DRIVERS_PX4IO=y
 CONFIG_DRIVERS_RC_INPUT=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
-CONFIG_COMMON_TELEMETRY=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_DRIVERS_UAVCAN=y
 CONFIG_BOARD_UAVCAN_TIMER_OVERRIDE=2
@@ -4,7 +4,7 @@
 #------------------------------------------------------------------------------
 set HAVE_PM2 yes

-if ver hwtypecmp V6X50 V6X51 V6X53 V6X54
+if ver hwtypecmp V6X005000 V6X005001 V6X005003 V6X005004
 then
 	set HAVE_PM2 no
 fi
@@ -47,7 +47,7 @@ then
 	fi
 fi

-if ver hwtypecmp V6X04 V6X14 V6X54
+if ver hwtypecmp V6X000004 V6X001004 V6X005004
 then
 	# Internal SPI bus ICM20649
 	icm20649 -s -R 6 start
@@ -60,7 +60,7 @@ fi
 # Internal SPI bus ICM42688p
 icm42688p -R 6 -s start

-if ver hwtypecmp V6X03 V6X13 V6X04 V6X14 V6X53 V6X54
+if ver hwtypecmp V6X000003 V6X001003 V6X000004 V6X001004 V6X005003 V6X005004
 then
 	# Internal SPI bus ICM-42670-P (hard-mounted)
 	icm42670p -R 10 -s start
@@ -78,7 +78,7 @@ ist8310 -X -b 1 -R 10 start
 # Possible internal Baro
 bmp388 -I -a 0x77 start

-if ver hwtypecmp V6X00 V6X10
+if ver hwtypecmp V6X000000 V6X001000
 then
 	bmp388 -I start
 else
@@ -211,9 +211,7 @@
 #define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_REV_SENSE      /* PH4 */  GPIO_ADC3_INP15
 #define GPIO_HW_VER_SENSE      /* PH3 */  GPIO_ADC3_INP14
-#define HW_INFO_INIT           {'V','6','X','x', 'x',0}
-#define HW_INFO_INIT_VER       3 /* Offset in above string of the VER */
-#define HW_INFO_INIT_REV       4 /* Offset in above string of the REV */
+#define HW_INFO_INIT_PREFIX    "V6X"

 #define BOARD_NUM_SPI_CFG_HW_VERSIONS 6 // Rev 0 and Rev 3,4 Sensor sets
 //                 Base/FMUM
@@ -52,7 +52,6 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
-#include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
@@ -71,6 +70,7 @@
 #include <systemlib/px4_macros.h>
 #include <px4_arch/io_timer.h>
 #include <px4_platform_common/init.h>
+#include <px4_platform_common/px4_manifest.h>
 #include <px4_platform/gpio.h>
 #include <px4_platform/board_determine_hw_info.h>
 #include <px4_platform/board_dma_alloc.h>
@@ -219,6 +219,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 	px4_platform_init();

+	// Use the default HW_VER_REV(0x0,0x0) for Ramtron
+
+	stm32_spiinitialize();
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();

 	if (OK == board_determine_hw_info()) {
 		syslog(LOG_INFO, "[boot] Rev 0x%1x : Ver 0x%1x %s\n", board_get_hw_revision(), board_get_hw_version(),
@@ -228,11 +235,13 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 		syslog(LOG_ERR, "[boot] Failed to read HW revision and version\n");
 	}

+	/* Configure the Actual SPI interfaces (after we determined the HW version)  */
+
 	stm32_spiinitialize();

 	board_spi_reset(10, 0xffff);

-	/* configure the DMA allocator */
+	/* Configure the DMA allocator */

 	if (board_dma_alloc_init() < 0) {
 		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
@@ -264,13 +273,10 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 	if (ret != OK) {
 		led_on(LED_RED);
+		return ret;
 	}

 #endif /* CONFIG_MMCSD */

-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
 	return OK;
 }
@@ -172,7 +172,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -183,7 +183,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4" PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08" PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -117,7 +117,9 @@ static const px4_mft_entry_s mtd_mft = {

 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };

 const px4_mft_s *board_get_manifest(void)
@@ -173,10 +173,8 @@
 #define GPIO_HW_VER_REV_DRIVE  /* PG0 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTG|GPIO_PIN0)
 #define GPIO_HW_REV_SENSE      /* PF5 */  ADC3_GPIO(15)
 #define GPIO_HW_VER_SENSE      /* PF4 */  ADC3_GPIO(14)
-#define HW_INFO_INIT           {'V','5','X','x', 'x',0}
-#define HW_INFO_INIT_VER       3 /* Offset in above string of the VER */
-#define HW_INFO_INIT_REV       4 /* Offset in above string of the REV */
-
+#define HW_INFO_INIT_PREFIX     "SDSA"
+#define SDSA0501                 HW_VER_REV(0x05,0x01)
 /* HEATER
 * PWM in future
 */
@@ -88,7 +88,7 @@ static const px4_hw_mft_item_t hw_mft_list_v0501[] = {


 static px4_hw_mft_list_entry_t mft_lists[] = {
-	{0x0501, hw_mft_list_v0501, arraySize(hw_mft_list_v0501)},
+	{SDSA0501, hw_mft_list_v0501, arraySize(hw_mft_list_v0501)},
 };


@@ -112,7 +112,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 	static px4_hw_mft_list_entry boards_manifest = px4_hw_mft_list_uninitialized;

 	if (boards_manifest == px4_hw_mft_list_uninitialized) {
-		uint32_t ver_rev = board_get_hw_version() << 8;
+		uint32_t ver_rev = board_get_hw_version() << 16;
 		ver_rev |= board_get_hw_revision();

 		for (unsigned i = 0; i < arraySize(mft_lists); i++) {
@@ -123,7 +123,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

 		if (boards_manifest == px4_hw_mft_list_uninitialized) {
-			syslog(LOG_ERR, "[boot] Board %4"  PRIx32 " is not supported!\n", ver_rev);
+			syslog(LOG_ERR, "[boot] Board %08"  PRIx32 " is not supported!\n", ver_rev);
 		}
 	}

@@ -95,7 +95,9 @@ static const px4_mft_entry_s mtd_mft = {

 static const px4_mft_s mft = {
 	.nmft = 1,
-	.mfts = &mtd_mft
+	.mfts = {
+		&mtd_mft
+	}
 };

 const px4_mft_s *board_get_manifest(void)
@@ -41,6 +41,7 @@ CONFIG_MODULES_MC_RATE_CONTROL=y
 CONFIG_MODULES_NAVIGATOR=y
 CONFIG_MODULES_RC_UPDATE=y
 CONFIG_MODULES_SENSORS=y
+# CONFIG_SENSORS_VEHICLE_AIRSPEED is not set
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
--- a/Show More
+++ b/Show More