ci: no docker instead install python deps

ci: more permission stuff
ci: play around with permissions
2026-06-05 03:10:04 +08:00 · 2024-08-14 10:47:49 -07:00 · 2024-08-14 10:45:04 -07:00 · 2024-08-14 10:41:11 -07:00 · 2024-08-14 10:35:59 -07:00 · 2024-08-14 10:32:45 -07:00
1216 changed files with 8090 additions and 78811 deletions
@@ -35,7 +35,6 @@ pipeline {

          def nuttx_builds_archive = [
            target: [
-                     "3dr_ctrl-zero-h7-oem-revg_default",
                     "airmind_mindpx-v2_default",
                     "ark_can-flow_canbootloader",
                     "ark_can-flow_default",
@@ -47,15 +46,12 @@ pipeline {
                     "ark_cannode_default",
                     "ark_fmu-v6x_bootloader",
                     "ark_fmu-v6x_default",
-                     "ark_fpv_bootloader",
-                     "ark_fpv_default",
                     "ark_pi6x_bootloader",
                     "ark_pi6x_default",
                     "atl_mantis-edu_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie21_default",
                     "bitcraze_crazyflie_default",
-                     "cuav_7-nano_default",
                     "cuav_can-gps-v1_canbootloader",
                     "cuav_can-gps-v1_default",
                     "cuav_nora_default",
@@ -80,7 +76,6 @@ pipeline {
                     "matek_h743-mini_default",
                     "matek_h743-slim_default",
                     "matek_h743_default",
-                     "micoair_h743_default",
                     "modalai_fc-v1_default",
                     "modalai_fc-v2_default",
                     "mro_ctrl-zero-classic_default",
@@ -133,9 +128,6 @@ pipeline {
                     "thepeach_k1_default",
                     "thepeach_r1_default",
                     "uvify_core_default",
-                     "x-mav_ap-h743v2_default",
-                     "zeroone_x6_bootloader",
-                     "zeroone_x6_default",
            ],
            image: docker_images.nuttx,
            archive: true
@@ -20,14 +20,14 @@ body:
          3. Took off '....'
          4. See error
    validations:
-      required: false
+      required: true

  - type: textarea
    attributes:
      label: Expected behavior
      description: A clear and concise description of what you expected to happen.
    validations:
-      required: false
+      required: true

  - type: textarea
    attributes:
@@ -45,7 +45,7 @@ body:
      placeholder: |
          # PASTE HERE THE LINK TO THE LOG
    validations:
-      required: false
+      required: true

  - type: markdown
    attributes:
@@ -60,14 +60,14 @@ body:
      placeholder: |
          # If you don't know the version, paste the output of `ver all` in the MAVLink Shell of QGC
    validations:
-      required: false
+      required: true

  - type: input
    attributes:
      label: Flight controller
      description: Specify your flight controller model (what type is it, where was it bought from, ...).
    validations:
-      required: false
+      required: true

  - type: dropdown
    attributes:
@@ -1,98 +1,70 @@
-# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
-# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
-#   and comment the "runs-on: [runs-on,runner=..." lines.
-# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
-
 name: Build all targets

 on:
-  workflow_dispatch:
-    inputs:
-      tag:
-        required: true
-        description: release version
  push:
-    tags:
-      - 'v*'
    branches:
-      - 'main'
-      - 'stable'
-      - 'beta'
-      - 'release/**'
-  pull_request:
-    branches:
-      - '*'
+    - 'mrpollo/ci_runner_groups'

 jobs:
  group_targets:
-    name: Scan for Board Targets
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
+    runs-on: [runs-on,runner=2cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
+    # container:
+    #   image: px4io/px4-dev-base-focal:2021-09-08
+      # options: --user 1001
    outputs:
      matrix: ${{ steps.set-matrix.outputs.matrix }}
      timestamp: ${{ steps.set-timestamp.outputs.timestamp }}
-      tagname: ${{ steps.set-tag.outputs.tagname }}
-      branchname: ${{ steps.set-branch.outputs.branchname }}
    steps:
-      - uses: actions/checkout@v4
-
-      - name: Install Python Dependencies
-        uses: py-actions/py-dependency-install@v4
-        with:
-          path: "./Tools/setup/requirements.txt"
-
-      - id: set-matrix
-        run: echo "::set-output name=matrix::$(./Tools/ci/generate_board_targets_json.py --group)"
-
-      - id: set-timestamp
-        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
-
-      # This job is also triggered with versioned tags
-      #   Creating a and pushing a tag starting with "v" just as "v1.0.0"
-      #   will trigger this workflow and when all builds are done create a Github Release
-      #   then it will upload all binaries built as assets
-      # Additionally, we can also trigger this step manually
-      #   From the Github Actions tab for this repository:
-      #   https://github.com/PX4/PX4-Autopilot/actions/workflows/build_all_targets.yml
-      #   You can now click a "Run Workflow" button that will prompt you for a tag name
-      #   This tag name has to match an existing tag otherwise the new release will be detached
-      #   Note: Only developers with "write" permission to the repository can use this feature
-      - id: set-tag
-        if: startsWith(github.ref, 'refs/tags/v') || github.event_name == 'workflow_dispatch'
-        run: echo "::set-output name=tagname::${{ github.event_name == 'workflow_dispatch' && inputs.tag || github.ref_name }}"
-
-      - id: set-branch
-        run: echo "::set-output name=branchname::${GITHUB_HEAD_REF:-${GITHUB_REF#refs/heads/}}"
-
-      - name: Debug Matrix Output
-        if: runner.debug == '1'
-        run: echo "$(./Tools/ci/generate_board_targets_json.py --group --verbose)"
+    - uses: actions/checkout@v4
+      #   token: ${{ secrets.ACCESS_TOKEN }}
+    - name: Install Python dependencies
+      uses: py-actions/py-dependency-install@v4
+      with:
+        path: "./Tools/setup/requirements.txt"
+    - id: set-matrix
+      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py --group)"
+    # - name: debug groups
+    #   run: |
+    #       echo "::group::DebugTargets"
+    #       ./Tools/generate_board_targets_json.py --group --verbose
+    #       echo "::endgroup::"
+    - id: set-timestamp
+      run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"

  setup:
-    name: Build Group [${{ matrix.group }}]
-    # runs-on: ubuntu-latest
+    name: ${{ matrix.group }}
    runs-on: [runs-on,runner=8cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
    needs: group_targets
    strategy:
-      matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
+      # matrix: ${{ fromJson(needs.group_targets.outputs.matrix) }}
+      matrix:
+        include:
+          - group: 'nuttx-px4'
+            targets: 'px4_fmu-v5x_default,px4_fmu-v6x_default'
+            container: 'px4io/px4-dev-nuttx-focal:2022-08-12'
+            arch: 'nuttx'
    container:
      image: ${{ matrix.container }}
+      # options: --user 1001
    steps:
      - uses: actions/checkout@v4
        with:
-          fetch-depth: 0
-
-      - name: Git ownership workaround
-        run: git config --system --add safe.directory '*'
-
-      - name: Setup ccache
+          submodules: true
+        #   token: ${{ secrets.ACCESS_TOKEN }}
+      - name: debug permissions
+        run: |
+          echo "::group::DebugPermissions"
+          echo $UID
+          echo $PATH
+          echo "::endgroup::"
+      - name: ccache setup keys
        uses: actions/cache@v4
        with:
          path: ~/.ccache
-          key: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
-          restore-keys: ${{ matrix.group }}-ccache-${{ needs.group_targets.outputs.timestamp }}
+          key: ${{ matrix.arch }}-ccache-${{ needs.group_targets.outputs.timestamp }}
+          restore-keys: ${{ matrix.arch }}-ccache-${{ needs.group_targets.outputs.timestamp }}

-      - name: Configure ccache
+      - name: setup ccache
        run: |
            mkdir -p ~/.ccache
            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
@@ -103,71 +75,15 @@ jobs:
            ccache -s
            ccache -z

-      - name: Building [${{ matrix.group }}]
-        run: |
-            ./Tools/ci/build_all_runner.sh ${{matrix.targets}}
-
-      - name: Arrange Build Artifacts
-        run: |
-          ./Tools/ci/package_build_artifacts.sh
-
-      - name: Upload Build Artifacts
-        uses: actions/upload-artifact@v4
+      - name: Debug with tmate session
+        uses: mxschmitt/action-tmate@v3
        with:
-          name: px4_${{matrix.group}}_build_artifacts
-          path: artifacts/
+          detached: true
+          # sudo: false

-      - name: Cache Save
+      - name: build target group
+        run: |
+            ./Tools/ci_build_all_runner.sh ${{matrix.targets}}
+
+      - name: ccache post-run
        run: ccache -s
-
-  artifacts:
-    name: Upload Artifacts to S3
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
-    needs: [setup, group_targets]
-    if: contains(fromJSON('["main", "stable", "beta"]'), needs.group_targets.outputs.branchname)
-    steps:
-      - name: Download Artifacts
-        uses: actions/download-artifact@v4
-        with:
-          path: artifacts/
-          merge-multiple: true
-
-      - name: Branch Name
-        run: |
-          echo "${{ needs.group_targets.outputs.branchname }}"
-
-      - name: Uploading Artifacts to S3 [${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}]
-        uses: jakejarvis/s3-sync-action@master
-        with:
-          args: --acl public-read
-        env:
-          AWS_S3_BUCKET: 'px4-travis'
-          AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
-          AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
-          AWS_REGION: 'us-west-1'
-          SOURCE_DIR: artifacts/
-          DEST_DIR: Firmware/${{ needs.group_targets.outputs.branchname == 'main' && 'master' || needs.group_targets.outputs.branchname }}/
-
-  release:
-    name: Create Release and Upload Artifacts
-    # runs-on: ubuntu-latest
-    runs-on: [runs-on,runner=1cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
-    needs: [setup, group_targets]
-    if: startsWith(github.ref, 'refs/tags/v') || github.event_name == 'workflow_dispatch'
-    steps:
-      - name: Download Artifacts
-        uses: actions/download-artifact@v4
-
-      - name: Arrange Binaries
-        run: |
-          mkdir artifacts
-          cp **/**/*.px4 artifacts/
-
-      - name: Upload Binaries to Release
-        uses: softprops/action-gh-release@v2
-        with:
-          name: ${{ needs.group_targets.outputs.tagname }}
-          tag_name: ${{ needs.group_targets.outputs.tagname }}
-          draft: true
-          files: artifacts/*.px4
@@ -0,0 +1,56 @@
+name: Deploy metadata for all targets
+
+on:
+  push:
+    branches:
+    - 'main'
+    - 'release/*'
+    - 'pr-metadata-test'
+
+jobs:
+  enumerate_targets:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+    - id: set-matrix
+      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
+  build:
+    runs-on: ubuntu-latest
+    needs: enumerate_targets
+    strategy:
+      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
+    container: ${{ matrix.container }}
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: ownership workaround
+      run: git config --system --add safe.directory '*'
+
+    - name: make ${{matrix.target}}
+      run: make ${{matrix.target}}
+
+    - name: parameter & events metadata
+      run: |
+        make ${{matrix.target}} ver_gen events_json actuators_json
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
+        cd build/${{ matrix.target }}
+        mkdir _metadata || true
+        cp parameters.* events/*.xz actuators.json* _metadata
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
+        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
@@ -88,7 +88,7 @@ jobs:
      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
    - name: Upload px4 coredump
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v2-preview
      with:
        name: coredump
        path: px4.core
@@ -103,21 +103,21 @@ jobs:

    - name: Upload px4 binary
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v2
      with:
        name: binary
        path: build/px4_sitl_default/bin/px4

    - name: Store PX4 log
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v2
      with:
        name: px4_log
        path: ~/.ros/log/*/*.ulg

    - name: Store ROS log
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v2
      with:
        name: ros_log
        path: ~/.ros/**/rostest-*.log
@@ -83,7 +83,7 @@ jobs:
      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
    - name: Upload px4 coredump
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v2-preview
      with:
        name: coredump
        path: px4.core
@@ -98,21 +98,21 @@ jobs:

    - name: Upload px4 binary
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v2
      with:
        name: binary
        path: build/px4_sitl_default/bin/px4

    - name: Store PX4 log
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v2
      with:
        name: px4_log
        path: ~/.ros/log/*/*.ulg

    - name: Store ROS log
      if: failure()
-      uses: actions/upload-artifact@v3
+      uses: actions/upload-artifact@v2
      with:
        name: ros_log
        path: ~/.ros/**/rostest-*.log
@@ -0,0 +1,133 @@
+name: Metadata
+
+on:
+  push:
+    branches:
+    - 'main'
+    - 'release/*'
+    - 'pr-metadata-test'
+
+jobs:
+
+  airframe:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: airframe metadata
+      run: |
+        make airframe_metadata
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+        cd build/px4_sitl_default/docs
+      # TODO: deploy to userguide gitbook
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/docs/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
+
+  module:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: module documentation
+      run: |
+        make module_documentation
+        cd build/px4_sitl_default/docs
+        ls -ls *
+      # TODO: deploy to userguide gitbook and s3
+
+  parameter:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: parameter metadata
+      run: |
+        make parameters_metadata
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/docs/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
+
+  events:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: events metadata
+      run: |
+        make extract_events
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+        cd build/px4_sitl_default
+        mkdir _events_full || true
+        cp events/all_events_full.json.xz _events_full/all_events.json.xz
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/_events_full/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'
+
+  uorb_graph:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-nuttx-focal:2022-08-12
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: uORB graph
+      run: |
+        make uorb_graphs
+        cd Tools/uorb_graph
+        ls -ls *
+      # TODO: deploy graph_px4_sitl.json to S3 px4-travis:Firmware/master/
+
+  ROS2_msgs:
+    runs-on: ubuntu-latest
+    container: px4io/px4-dev-base-focal:2021-09-08
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}
+
+    - name: PX4 ROS2 msgs
+      run: |
+        git clone https://github.com/PX4/px4_msgs.git
+        rm px4_msgs/msg/*.msg
+        rm px4_msgs/srv/*.srv
+        cp msg/*.msg px4_msgs/msg/
+        cp srv/*.srv px4_msgs/srv/
@@ -10,7 +10,7 @@ on:

 jobs:
  build:
-    runs-on: ubuntu-24.04
+    runs-on: ubuntu-latest
    steps:
    - uses: actions/checkout@v1
      with:
@@ -18,7 +18,7 @@ jobs:
    - name: Install Python3
      run: sudo apt-get install python3 python3-setuptools python3-pip -y
    - name: Install tools
-      run: python3 -m pip install mypy types-requests flake8 --break-system-packages
+      run: pip3 install --user mypy types-requests flake8
    - name: Check MAVSDK test scripts with mypy
      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
    - name: Check MAVSDK test scripts with flake8
@@ -1,8 +1,3 @@
-# NOTE: this workflow is now running on Dronecode / PX4 AWS account.
-# - If you want to keep the tests running in GitHub Actions you need to uncomment the "runs-on: ubuntu-latest" lines
-#   and comment the "runs-on: [runs-on,runner=..." lines.
-# - If you would like to duplicate this setup try setting up "RunsOn" on your own AWS account try https://runs-on.com
-
 name: SITL Tests

 on:
@@ -15,139 +10,126 @@ on:

 jobs:
  build:
-    name: Testing PX4 ${{ matrix.config.model }}
-    runs-on: [runs-on,runner=16cpu-linux-x64,image=ubuntu22-full-x64,"run-id=${{ github.run_id }}"]
-    container:
-      image: px4io/px4-dev-simulation-focal:2021-09-08
-      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
+    runs-on: ubuntu-latest
    strategy:
      fail-fast: false
      matrix:
        config:
          - {model: "iris",          latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo" } # Alaska
+          # - {model: "standard_vtol", latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer" } # Australia
          - {model: "tailsitter" ,   latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo" } # Florida
          - {model: "standard_vtol", latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage" } # Zurich

+    container:
+      image: px4io/px4-dev-simulation-focal:2021-09-08
+      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
    steps:
-      - uses: actions/checkout@v4
-        with:
-          fetch-depth: 0
+    - uses: actions/checkout@v1
+      with:
+        token: ${{ secrets.ACCESS_TOKEN }}

-      - name: Git Ownership Workaround
-        run: git config --system --add safe.directory '*'
+    - name: Download MAVSDK
+      run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
+    - name: Install MAVSDK
+      run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"

-      - id: set-timestamp
-        name: Set timestamp for cache
-        run: echo "::set-output name=timestamp::$(date +"%Y%m%d%H%M%S")"
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: sitl_tests-${{matrix.config.build_type}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: sitl_tests-${{matrix.config.build_type}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 6" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          echo "hash_dir = false" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z

-      - name: Cache Key Config
-        uses: actions/cache@v4
-        with:
-          path: ~/.ccache
-          key: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
-          restore-keys: sitl-ccache-${{ steps.set-timestamp.outputs.timestamp }}
+    - name: check environment
+      env:
+        PX4_HOME_LAT: ${{matrix.config.latitude}}
+        PX4_HOME_LON: ${{matrix.config.longitude}}
+        PX4_HOME_ALT: ${{matrix.config.altitude}}
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: |
+          export
+          ulimit -a
+    - name: Build PX4
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: make px4_sitl_default
+    - name: ccache post-run px4/firmware
+      run: ccache -s
+    - name: Build SITL Gazebo
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: make px4_sitl_default sitl_gazebo-classic
+    - name: ccache post-run sitl_gazebo-classic
+      run: ccache -s
+    - name: Build MAVSDK tests
+      env:
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+        DONT_RUN: 1
+      run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
+    - name: ccache post-run mavsdk_tests
+      run: ccache -s

-      - name: Cache Conf Config
-        run: |
-            mkdir -p ~/.ccache
-            echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
-            echo "compression = true" >> ~/.ccache/ccache.conf
-            echo "compression_level = 6" >> ~/.ccache/ccache.conf
-            echo "max_size = 120M" >> ~/.ccache/ccache.conf
-            echo "hash_dir = false" >> ~/.ccache/ccache.conf
-            ccache -s
-            ccache -z
+    - name: Core dump settings
+      run: |
+          ulimit -c unlimited
+          echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern

-      - name: Build PX4
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: make px4_sitl_default
+    - name: Run SITL tests
+      env:
+        PX4_HOME_LAT: ${{matrix.config.latitude}}
+        PX4_HOME_LON: ${{matrix.config.longitude}}
+        PX4_HOME_ALT: ${{matrix.config.altitude}}
+        PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
+      run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 20 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
+      timeout-minutes: 45

-      - name: Cache Post-Run [px4_sitl_default]
-        run: ccache -s
+    - name: Look at core files
+      if: failure()
+      run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
+    - name: Upload px4 coredump
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: coredump
+        path: px4.core

-      - name: Build SITL Gazebo
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: make px4_sitl_default sitl_gazebo-classic
+    - name: Upload px4 binary
+      if: failure()
+      uses: actions/upload-artifact@v2-preview
+      with:
+        name: binary
+        path: build/px4_sitl_default/bin/px4

-      - name: Cache Post-Run [sitl_gazebo-classic]
-        run: ccache -s
-
-      - name: Download MAVSDK
-        run: wget "https://github.com/mavlink/MAVSDK/releases/download/v$(cat test/mavsdk_tests/MAVSDK_VERSION)/libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-
-      - name: Install MAVSDK
-        run: dpkg -i "libmavsdk-dev_$(cat test/mavsdk_tests/MAVSDK_VERSION)_ubuntu20.04_amd64.deb"
-
-      - name: Check PX4 Environment Variables
-        env:
-          PX4_HOME_LAT: ${{matrix.config.latitude}}
-          PX4_HOME_LON: ${{matrix.config.longitude}}
-          PX4_HOME_ALT: ${{matrix.config.altitude}}
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: |
-            export
-            ulimit -a
-
-      - name: Build PX4 / MAVSDK tests
-        env:
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-          DONT_RUN: 1
-        run: make px4_sitl_default sitl_gazebo-classic mavsdk_tests
-
-      - name: Cache Post-Run [px4_sitl_default sitl_gazebo-classic mavsdk_tests]
-        run: ccache -s
-
-      - name: Core Dump Settings
-        run: |
-            ulimit -c unlimited
-            echo "`pwd`/%e.core" > /proc/sys/kernel/core_pattern
-
-      - name: Run SITL / MAVSDK Tests
-        env:
-          PX4_HOME_LAT: ${{matrix.config.latitude}}
-          PX4_HOME_LON: ${{matrix.config.longitude}}
-          PX4_HOME_ALT: ${{matrix.config.altitude}}
-          PX4_CMAKE_BUILD_TYPE: ${{matrix.config.build_type}}
-        run: test/mavsdk_tests/mavsdk_test_runner.py --speed-factor 10 --abort-early --model ${{matrix.config.model}} --upload test/mavsdk_tests/configs/sitl.json --verbose
-        timeout-minutes: 45
-
-      - name: Upload failed logs
-        if: failure()
-        uses: actions/upload-artifact@v4
-        with:
-          name: failed-${{matrix.config.model}}-logs.zip
-          path: |
-            logs/**/**/**/*.log
-            logs/**/**/**/*.ulg
-            build/px4_sitl_default/tmp_mavsdk_tests/rootfs/*.ulg
-
-      - name: Look at Core files
-        if: failure() && ${{ hashFiles('px4.core') != '' }}
-        run: gdb build/px4_sitl_default/bin/px4 px4.core -ex "thread apply all bt" -ex "quit"
-
-      - name: Upload PX4 coredump
-        if: failure() && ${{ hashFiles('px4.core') != '' }}
-        uses: actions/upload-artifact@v4
-        with:
-          name: coredump
-          path: px4.core
-
-      - name: Setup & Generate Coverage Report
-        if: contains(matrix.config.build_type, 'Coverage')
-        run: |
-            git config --global credential.helper "" # disable the keychain credential helper
-            git config --global --add credential.helper store # enable the local store credential helper
-            echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
-            git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
-            mkdir -p coverage
-            lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
-
-      - name: Upload Coverage Information to Codecov
-        if: contains(matrix.config.build_type, 'Coverage')
-        uses: codecov/codecov-action@v4
-        with:
-          token: ${{ secrets.CODECOV_TOKEN }}
-          flags: mavsdk
-          file: coverage/lcov.info
+    # Report test coverage
+    - name: Upload coverage
+      if: contains(matrix.config.build_type, 'Coverage')
+      run: |
+          git config --global credential.helper "" # disable the keychain credential helper
+          git config --global --add credential.helper store # enable the local store credential helper
+          echo "https://x-access-token:${{ secrets.ACCESS_TOKEN }}@github.com" >> ~/.git-credentials # add credential
+          git config --global url."https://github.com/".insteadof git@github.com: # credentials add credential
+          mkdir -p coverage
+          lcov --directory build/px4_sitl_default --base-directory build/px4_sitl_default --gcov-tool gcov --capture -o coverage/lcov.info
+    - name: Upload coverage information to Codecov
+      if: contains(matrix.config.build_type, 'Coverage')
+      uses: codecov/codecov-action@v1
+      with:
+        token: ${{ secrets.CODECOV_TOKEN }}
+        flags: mavsdk
+        file: coverage/lcov.info
@@ -2,6 +2,10 @@
 	path = src/modules/mavlink/mavlink
 	url = https://github.com/mavlink/mavlink.git
 	branch = master
+[submodule "src/drivers/uavcan/libuavcan"]
+	path = src/drivers/uavcan/libuavcan
+	url = https://github.com/dronecan/libuavcan.git
+	branch = main
 [submodule "Tools/simulation/jmavsim/jMAVSim"]
 	path = Tools/simulation/jmavsim/jMAVSim
 	url = https://github.com/PX4/jMAVSim.git
@@ -79,13 +83,3 @@
 [submodule "boards/modalai/voxl2/libfc-sensor-api"]
 	path = boards/modalai/voxl2/libfc-sensor-api
 	url = https://gitlab.com/voxl-public/voxl-sdk/core-libs/libfc-sensor-api.git
-[submodule "src/drivers/actuators/vertiq_io/iq-module-communication-cpp"]
-	path = src/drivers/actuators/vertiq_io/iq-module-communication-cpp
-	url = https://github.com/PX4/iq-module-communication-cpp.git
-	branch = master
-[submodule "src/drivers/uavcan/libdronecan/dsdl"]
-	path = src/drivers/uavcan/libdronecan/dsdl
-	url = https://github.com/PX4/DSDL.git
-[submodule "src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan"]
-	path = src/drivers/uavcan/libdronecan/libuavcan/dsdl_compiler/pydronecan
-	url = https://github.com/dronecan/pydronecan
@@ -111,11 +111,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v6xrt_bootloader
-    3dr_ctrl-zero-h7-oem-revg_default:
-      short: 3dr_ctrl-zero-h7-oem-revg
-      buildType: MinSizeRel
-      settings:
-        CONFIG: 3dr_ctrl-zero-h7-oem-revg_default
    airmind_mindpx-v2_default:
      short: airmind_mindpx-v2
      buildType: MinSizeRel
@@ -186,16 +181,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: ark_fmu-v6x_default
-    ark_fpv_bootloader:
-      short: ark_fpv_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fpv_bootloader
-    ark_fpv_default:
-      short: ark_fpv_default
-      buildType: MinSizeRel
-      settings:
-        CONFIG: ark_fpv_default
    ark_pi6x_bootloader:
      short: ark_pi6x_bootloader
      buildType: MinSizeRel
@@ -241,11 +226,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: cuav_x7pro_default
-    cuav_7-nano_default:
-      short: cuav_7-nano
-      buildType: MinSizeRel
-      settings:
-        CONFIG: cuav_7-nano_default
    cubepilot_cubeorange_test:
      short: cubepilot_cubeorange
      buildType: MinSizeRel
@@ -301,11 +281,6 @@ CONFIG:
      buildType: MiniSizeRel
      settings:
        CONFIG: matek_gnss-m9n-f4_default
-    micoair_h743_default:
-      short: micoair_h743
-      buildType: MinSizeRel
-      settings:
-        CONFIG: micoair_h743_default
    modalai_fc-v1_default:
      short: modalai_fc-v1
      buildType: MinSizeRel
@@ -361,23 +336,3 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: raspberrypi_pico_default
-    zeroone_x6_default:
-      short: zeroone_x6
-      buildType: MinSizeRel
-      settings:
-        CONFIG: zeroone_x6_default
-    zeroone_x6_bootloader:
-      short: zeroone_x6_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: zeroone_x6_bootloader
-    x-mav_ap-h743v2_bootloader:
-      short: x-mav_ap-h743v2-boot
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743v2_bootloader
-    x-mav_ap-h743v2_default:
-      short: x-mav_ap-h743v2
-      buildType: MinSizeRel
-      settings:
-        CONFIG: x-mav_ap-h743v2_default
@@ -113,20 +113,12 @@ include(px4_parse_function_args)
 include(px4_git)

 execute_process(
-	COMMAND git describe --exclude ext/* --tags --match "v[0-9]*"
+	COMMAND git describe --exclude ext/* --always --tags
 	OUTPUT_VARIABLE PX4_GIT_TAG
 	OUTPUT_STRIP_TRAILING_WHITESPACE
-	RESULTS_VARIABLE GIT_DESCRIBE_RESULT
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
 	)

-# if proper git tag unavilable default to v0.0.0
-if(NOT ${GIT_DESCRIBE_RESULT} MATCHES "0")
-	set(PX4_GIT_TAG "v0.0.0")
-endif()
-
-message(STATUS "PX4_GIT_TAG: ${PX4_GIT_TAG}")
-
 # git describe to X.Y.Z version
 string(REPLACE "." ";" VERSION_LIST ${PX4_GIT_TAG})

@@ -828,7 +828,7 @@ RECURSIVE              = YES
 # Note that relative paths are relative to the directory from which doxygen is
 # run.

-EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libdronecan \
+EXCLUDE                = @CMAKE_SOURCE_DIR@/src/modules/uavcan/libuavcan \
                         @CMAKE_SOURCE_DIR@/src/examples \
                         @CMAKE_SOURCE_DIR@/src/templates

@@ -324,13 +324,10 @@ px4io_update:
 	git status

 bootloaders_update: \
-	3dr_ctrl-zero-h7-oem-revg_bootloader \
 	ark_fmu-v6x_bootloader \
-	ark_fpv_bootloader \
 	ark_pi6x_bootloader \
 	cuav_nora_bootloader \
 	cuav_x7pro_bootloader \
-	cuav_7-nano_bootloader \
 	cubepilot_cubeorange_bootloader \
 	cubepilot_cubeorangeplus_bootloader \
 	hkust_nxt-dual_bootloader \
@@ -342,7 +339,6 @@ bootloaders_update: \
 	matek_h743_bootloader \
 	matek_h743-mini_bootloader \
 	matek_h743-slim_bootloader \
-        micoair_h743_bootloader \
 	modalai_fc-v2_bootloader \
 	mro_ctrl-zero-classic_bootloader \
 	mro_ctrl-zero-h7_bootloader \
@@ -553,14 +549,14 @@ distclean:
 # All other targets are handled by PX4_MAKE. Add a rule here to avoid printing an error.
 %:
 	$(if $(filter $(FIRST_ARG),$@), \
-		$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) list_config_targets' to get a list of all possible [configuration] targets."),@#)
+		$(error "Make target $@ not found. It either does not exist or $@ cannot be the first argument. Use '$(MAKE) help|list_config_targets' to get a list of all possible [configuration] targets."),@#)

 # Print a list of non-config targets (based on http://stackoverflow.com/a/26339924/1487069)
 help:
 	@echo "Usage: $(MAKE) <target>"
 	@echo "Where <target> is one of:"
 	@$(MAKE) -pRrq -f $(lastword $(MAKEFILE_LIST)) : 2>/dev/null | \
-		awk -v RS= -F: '/(^|\n)# Files(\n|$$)/,/(^|\n)# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
+		awk -v RS= -F: '/^# File/,/^# Finished Make data base/ {if ($$1 !~ "^[#.]") {print $$1}}' | sort | \
 		egrep -v -e '^[^[:alnum:]]' -e '^($(subst $(space),|,$(ALL_CONFIG_TARGETS)))$$' -e '_default$$' -e '^(Makefile)'
 	@echo
 	@echo "Or, $(MAKE) <config_target> [<make_target(s)>]"
@@ -63,9 +63,8 @@ Note: This is the source of truth for the active maintainers of PX4 ecosystem.
 | Multirotor | [Matthias Grob](https://github.com/MaEtUgR) |
 | Fixed Wing | [Thomas Stastny](https://github.com/tstastny) |
 | Hybrid VTOL | [Silvan Fuhrer](https://github.com/sfuhrer) |
-| Rover | [Christian Friedrich](https://github.com/chfriedrich98) |
 | Boat | x |
-
+| Rover | x |

 See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and the [contributors list](https://github.com/PX4/PX4-Autopilot/graphs/contributors) (Github). However it may be not up to date.

@@ -119,7 +118,7 @@ These boards don't fully comply industry standards, and thus is solely maintaine

 ### Experimental

-These boards are not maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.
+These boards are nor maintained by PX4 team nor Manufacturer, and is not guaranteed to be compatible with up to date PX4 releases.

 * [Raspberry PI with Navio 2](https://docs.px4.io/main/en/flight_controller/raspberry_pi_navio2.html)
 * [Bitcraze Crazyflie 2.0](https://docs.px4.io/main/en/complete_vehicles/crazyflie2.html)
@@ -19,6 +19,8 @@ param set-default SENS_EN_MAGSIM 1
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 # Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
@@ -21,6 +21,8 @@ param set-default SENS_EN_ARSPDSIM 1
 param set-default CBRK_USB_CHK 197848
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set-default SIH_T_MAX 6
 param set-default SIH_MASS 0.3
@@ -30,6 +30,8 @@ param set-default MAV_TYPE 19
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set-default SIH_T_MAX 2
 param set-default SIH_Q_MAX 0.0165
@@ -47,5 +47,5 @@ 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 15
+param set-default SENS_FLOW_MAXHGT 3
 param set-default SENS_FLOW_MAXR 2.5
@@ -5,7 +5,7 @@
 # @type Quadrotor Wide
 #

-. ${R}etc/init.d-posix/airframes/10015_gazebo-classic_iris
+. ${R}etc/init.d-posix/airframes/10016_gazebo-classic_iris

 # EKF2: Vision position and heading, no GPS
 param set-default EKF2_EV_DELAY 5
@@ -33,7 +33,7 @@ param set-default PWM_MAIN_FUNC3 103
 param set-default PWM_MAIN_FUNC4 104
 param set-default PWM_MAIN_FUNC5 0

-param set-default FD_FAIL_R 70
+parm set-default FD_FAIL_R 70

 param set-default FW_P_TC 0.6

@@ -97,6 +97,11 @@ param set-default IMU_GYRO_CUTOFF 100

 # Power Parameters
 param set-default BAT1_N_CELLS 4
+# param set-default BAT1_A_PER_V 36.364		Not found
+# param set-default BAT1_V_DIV 18.182		Not found
+
+# Circuit breakers
+param set-default CBRK_IO_SAFETY 22027

 param set-default THR_MDL_FAC 0.3

@@ -16,36 +16,39 @@ param set-default SENS_EN_MAGSIM 1
 param set-default SENS_EN_ARSPDSIM 1

 param set-default FW_LND_ANG 8
+param set-default NPFG_PERIOD 12

-param set-default FW_PR_FF 0.08
-param set-default FW_PR_I 0.3
-param set-default FW_PR_P 0.08
-
-param set-default FW_RR_FF 0.05
-param set-default FW_RR_I 0.2
-param set-default FW_RR_P 0.03
-
-param set-default FW_YR_FF 0.3
-param set-default FW_YR_I 0.4
-param set-default FW_YR_P 0.2
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_P 0.9
+param set-default FW_PR_FF 0.5
+param set-default FW_PR_I 0.5

 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_FF 0.5
+param set-default FW_RR_P 0.3
+param set-default FW_RR_I 0.5
+
+param set-default FW_YR_FF 0.5
+param set-default FW_YR_P 0.6
+param set-default FW_YR_I 0.5
+
 param set-default FW_SPOILERS_LND 0.4

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

-param set-default FW_T_CLMB_R_SP 5
-param set-default FW_T_CLMB_MAX 6
+param set-default FW_T_CLMB_MAX 8
 param set-default FW_T_SINK_MAX 2.7
 param set-default FW_T_SINK_MIN 2.2

 param set-default FW_W_EN 1

+param set-default MIS_TAKEOFF_ALT 30
+
+param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2

 param set-default RWTO_TKOFF 1
@@ -53,6 +56,7 @@ param set-default RWTO_TKOFF 1
 param set-default CA_AIRFRAME 1

 param set-default CA_ROTOR_COUNT 1
+param set-default CA_ROTOR0_PX 0.3

 param set-default CA_SV_CS_COUNT 6
 param set-default CA_SV_CS0_TRQ_R -0.5
@@ -6,40 +6,16 @@
 . ${R}etc/init.d/rc.rover_differential_defaults

 PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
+PX4_GZ_WORLD=${PX4_GZ_WORLD:=default}
 PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover}

 param set-default SIM_GZ_EN 1 # Gazebo bridge

-# Rover parameters
-param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAN_YAW_SCALE 0.1
-param set-default RD_MAX_ACCEL 6
-param set-default RD_MAX_JERK 30
-param set-default RD_MAX_THR_YAW_R 5
-param set-default RD_YAW_RATE_P 0.1
-param set-default RD_YAW_RATE_I 0
-param set-default RD_YAW_P 5
-param set-default RD_YAW_I 0
-param set-default RD_MAX_SPEED 5
-param set-default RD_MAX_THR_SPD 7
-param set-default RD_SPEED_P 1
-param set-default RD_SPEED_I 0
-param set-default RD_MAX_YAW_RATE 180
-param set-default RD_MISS_SPD_DEF 5
-param set-default RD_TRANS_DRV_TRN 0.349066
-param set-default RD_TRANS_TRN_DRV 0.174533
-
-# Pure pursuit parameters
-param set-default PP_LOOKAHD_MAX 30
-param set-default PP_LOOKAHD_MIN 2
-param set-default PP_LOOKAHD_GAIN 1
-
 # Simulated sensors
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
+param set-default SENS_EN_ARSPDSIM 1

 # Actuator mapping
 param set-default SIM_GZ_WH_FUNC1 101 # right wheel
@@ -15,29 +15,14 @@ param set-default SIM_GZ_EN 1 # Gazebo bridge
 param set-default SENS_EN_GPSSIM 1
 param set-default SENS_EN_BAROSIM 0
 param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
+param set-default SENS_EN_ARSPDSIM 1
 # We can arm and drive in manual mode when it slides and GPS check fails:
 param set-default COM_ARM_WO_GPS 1

-# Rover parameters
-param set-default RD_WHEEL_TRACK 0.9
-param set-default RD_MAN_YAW_SCALE 0.1
-param set-default RD_YAW_RATE_I 0.1
-param set-default RD_YAW_RATE_P 5
-param set-default RD_MAX_ACCEL 1
-param set-default RD_MAX_JERK 3
-param set-default RD_MAX_SPEED 8
-param set-default RD_YAW_P 5
-param set-default RD_YAW_I 0.1
-param set-default RD_MAX_YAW_RATE 30
-param set-default RD_MISS_SPD_DEF 8
-param set-default RD_TRANS_DRV_TRN 0.349066
-param set-default RD_TRANS_TRN_DRV 0.174533
-
-# Pure pursuit parameters
-param set-default PP_LOOKAHD_MAX 30
-param set-default PP_LOOKAHD_MIN 2
-param set-default PP_LOOKAHD_GAIN 1
+# Set Differential Drive Kinematics Library parameters:
+param set RDD_WHEEL_BASE 0.9
+param set RDD_WHEEL_RADIUS 0.22
+param set RDD_WHEEL_SPEED 10.0	# Maximum wheel speed rad/s, approx 8 km/h

 # Actuator mapping - set SITL motors/servos output parameters:

@@ -51,14 +36,14 @@ param set-default SIM_GZ_WH_FUNC1 101 # right wheel
 param set-default SIM_GZ_WH_FUNC2 102 # left wheel
 #param set-default SIM_GZ_WH_MIN2 0
 #param set-default SIM_GZ_WH_MAX2 200
-#param set-default SIM_GZ_WH_DIS2 100
+#aram set-default SIM_GZ_WH_DIS2 100
 #param set-default SIM_GZ_WH_FAIL2 100

 param set-default SIM_GZ_WH_REV 0 # no need to reverse any wheels

-# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation.
-# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate
-# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator
+# Note: The servo configurations ( SIM_GZ_SV_FUNC*) outlined below are intended for educational purposes in this simulation. 
+# They do not have physical effects in the simulated environment, except for actuating the joints. Their definitions are meant to demonstrate 
+# how actuators could be mapped and configured in a real-world application, providing a foundation for understanding and implementing actuator 
 # controls in practical scenarios.

 # Cutter deck blades clutch, PCA9685 servo channel 3,  "RC FLAPS" (406) - leftmost switch, or "Servo 3" (203):
@@ -1,10 +0,0 @@
-#!/bin/sh
-#
-# @name Gazebo x500 mono cam
-#
-# @type Quadrotor
-#
-
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=x500_mono_cam_down}
-
-. ${R}etc/init.d-posix/airframes/4001_gz_x500
@@ -1,64 +0,0 @@
-#!/bin/sh
-# @name Aion Robotics R1 Rover
-# @type Rover
-# @class Rover
-
-. ${R}etc/init.d/rc.rover_mecanum_defaults
-
-PX4_SIMULATOR=${PX4_SIMULATOR:=gz}
-PX4_GZ_WORLD=${PX4_GZ_WORLD:=rover}
-PX4_SIM_MODEL=${PX4_SIM_MODEL:=r1_rover_mecanum}
-
-param set-default SIM_GZ_EN 1 # Gazebo bridge
-
-# Rover parameters
-param set-default RM_WHEEL_TRACK 0.3
-param set-default RM_MAN_YAW_SCALE 0.1
-param set-default RM_YAW_RATE_I 0
-param set-default RM_YAW_RATE_P 0.01
-param set-default RM_MAX_ACCEL 3
-param set-default RM_MAX_JERK 5
-param set-default RM_MAX_SPEED 4
-param set-default RM_MAX_THR_SPD 7
-param set-default RM_MAX_THR_YAW_R 7.5
-param set-default RM_YAW_P 5
-param set-default RM_YAW_I 0.1
-param set-default RM_MAX_YAW_RATE 180
-param set-default RM_MISS_SPD_DEF 3
-param set-default RM_MISS_VEL_GAIN 1
-param set-default RM_SPEED_I 0.01
-param set-default RM_SPEED_P 0.1
-
-# Pure pursuit parameters
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
-param set-default PP_LOOKAHD_GAIN 0.5
-
-# Simulated sensors
-param set-default SENS_EN_GPSSIM 1
-param set-default SENS_EN_BAROSIM 0
-param set-default SENS_EN_MAGSIM 1
-param set-default SENS_EN_ARSPDSIM 0
-
-# Actuator mapping
-param set-default SIM_GZ_WH_FUNC1 102 # right wheel front
-param set-default SIM_GZ_WH_MIN1 0
-param set-default SIM_GZ_WH_MAX1 200
-param set-default SIM_GZ_WH_DIS1 100
-
-param set-default SIM_GZ_WH_FUNC2 101 # left wheel front
-param set-default SIM_GZ_WH_MIN2 0
-param set-default SIM_GZ_WH_MAX2 200
-param set-default SIM_GZ_WH_DIS2 100
-
-param set-default SIM_GZ_WH_FUNC3 104 # right wheel back
-param set-default SIM_GZ_WH_MIN3 0
-param set-default SIM_GZ_WH_MAX3 200
-param set-default SIM_GZ_WH_DIS3 100
-
-param set-default SIM_GZ_WH_FUNC4 103 # left wheel back
-param set-default SIM_GZ_WH_MIN4 0
-param set-default SIM_GZ_WH_MAX4 200
-param set-default SIM_GZ_WH_DIS4 100
-
-param set-default SIM_GZ_WH_REV 10
@@ -85,8 +85,6 @@ px4_add_romfs_files(
 	4011_gz_lawnmower
 	4012_gz_rover_ackermann
 	4013_gz_x500_lidar
-	4014_gz_x500_mono_cam_down
-	4015_gz_r1_rover_mecanum

 	6011_gazebo-classic_typhoon_h480
 	6011_gazebo-classic_typhoon_h480.post
@@ -29,7 +29,7 @@ mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_of
 mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote

 # Onboard link to gimbal
-mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -f -m gimbal -o $udp_onboard_gimbal_port_remote
+mavlink start -x -u $udp_onboard_gimbal_port_local -r 400000 -m gimbal -o $udp_onboard_gimbal_port_remote

 # To display for SIH sitl
 if [ "$PX4_SIMULATOR" = "sihsim" ]; then
@@ -181,7 +181,7 @@ param set-default TRIG_INTERFACE 3
 param set-default SYS_FAILURE_EN 1
 # Enable low-battery actions by default for (automated) testing. Battery sim
 # does not go below 50% by default, but failure injection can trigger failsafes.
-param set-default COM_LOW_BAT_ACT 3
+param set-default COM_LOW_BAT_ACT 2


 # Adapt timeout parameters if simulation runs faster or slower than realtime.
@@ -78,7 +78,7 @@ if(CONFIG_MODULES_ROVER_POS_CONTROL)
 	)
 endif()

-if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
+if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
 	px4_add_romfs_files(
 		rc.rover_differential_apps
 		rc.rover_differential_defaults
@@ -92,13 +92,6 @@ if(CONFIG_MODULES_ROVER_ACKERMANN)
 	)
 endif()

-if(CONFIG_MODULES_ROVER_MECANUM)
-	px4_add_romfs_files(
-		rc.rover_mecanum_apps
-		rc.rover_mecanum_defaults
-	)
-endif()
-
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		rc.uuv_apps
@@ -18,6 +18,8 @@ param set UAVCAN_ENABLE 0
 # disable some checks to allow to fly
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 # Square quadrotor X PX4 numbering
 param set-default CA_ROTOR_COUNT 4
@@ -96,5 +96,7 @@ param set UAVCAN_ENABLE 0
 # disable some checks to allow to fly
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set-default MAV_TYPE 22
@@ -20,6 +20,8 @@ param set SYS_HITL 2
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set SIH_VEHICLE_TYPE 0

@@ -41,6 +41,8 @@ param set-default SYS_HITL 2
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set SIH_T_MAX 6
 param set SIH_MASS 0.3
@@ -43,10 +43,6 @@ param set-default CA_SV_CS1_TRQ_P 0.3
 param set-default CA_SV_CS1_TRQ_Y -0.3
 param set-default CA_SV_CS1_TYPE 6

-param set-default FW_AIRSPD_MAX 12
-param set-default FW_AIRSPD_MIN 7
-param set-default FW_AIRSPD_TRIM 10
-
 param set-default HIL_ACT_FUNC1 101
 param set-default HIL_ACT_FUNC2 102
 param set-default HIL_ACT_FUNC5 202
@@ -63,8 +59,8 @@ param set-default SYS_HITL 2
 # disable some checks to allow to fly:
 # - without real battery
 param set-default CBRK_SUPPLY_CHK 894281
-
-param set-default SENS_DPRES_OFF 0.001
+# - without safety switch
+param set-default CBRK_IO_SAFETY 22027

 param set SIH_T_MAX 2.0
 param set SIH_Q_MAX 0.0165
@@ -79,5 +75,3 @@ param set SIH_L_ROLL 0.145

 # sih as tailsitter
 param set SIH_VEHICLE_TYPE 2
-
-param set-default VT_ARSP_TRANS 6
@@ -29,6 +29,7 @@ param set-default BAT1_N_CELLS 4
 param set-default BAT1_R_INTERNAL 0.0025

 param set-default SYS_HAS_NUM_ASPD 0
+param set-default CBRK_IO_SAFETY 22027

 param set-default EKF2_GPS_POS_X -0.12
 param set-default EKF2_IMU_POS_X -0.12
@@ -16,6 +16,7 @@
 . ${R}etc/init.d/rc.balloon_defaults

 param set-default COM_PREARM_MODE 2  # always in prearm state
+param set-default CBRK_IO_SAFETY 22027
 param set-default SDLOG_PROFILE 17
 param set-default SDLOG_MODE 2
 param set-default MAV_0_MODE 1
@@ -16,6 +16,7 @@
 . ${R}etc/init.d/rc.airship_defaults

 param set-default COM_PREARM_MODE 2
+param set-default CBRK_IO_SAFETY 22027

 param set-default CA_AIRFRAME 9

@@ -92,6 +92,9 @@ param set-default BAT1_N_CELLS 4
 param set-default BAT1_A_PER_V 36.364
 param set-default BAT1_V_DIV 18.182

+# Circuit breakers
+param set-default CBRK_IO_SAFETY 22027
+
 param set-default THR_MDL_FAC 0.3

 # Square quadrotor X PX4 numbering
@@ -93,6 +93,9 @@ param set-default BAT1_N_CELLS 4
 param set-default BAT1_A_PER_V 36.364
 param set-default BAT1_V_DIV 18.182

+# Circuit breakers
+param set-default CBRK_IO_SAFETY 22027
+
 param set-default THR_MDL_FAC 0.3

 # Square quadrotor X PX4 numbering
@@ -42,16 +42,12 @@ param set-default CA_ROTOR3_PX -0.0762
 param set-default CA_ROTOR3_PY 0.09525
 param set-default CA_ROTOR3_KM -0.05

-param set-default PWM_MAIN_TIM0 -3
-param set-default DSHOT_TEL_CFG 104
-
 param set-default EKF2_MIN_RNG 0.01
 param set-default EKF2_OF_POS_X 0.043
 param set-default EKF2_OF_POS_Y 0.011
 param set-default EKF2_OF_QMIN_GND 1
 param set-default EKF2_RNG_POS_X 0.043
 param set-default EKF2_RNG_POS_Y 0.0
-param set-default EKF2_RNG_A_HMAX 25.0

 param set-default IMU_GYRO_DNF_EN 2

@@ -82,9 +78,3 @@ param set-default SENS_FLOW_MINHGT 0.0
 param set-default SER_TEL2_BAUD 3000000

 param set-default UXRCE_DDS_CFG 102
-
-param set-default EKF2_HGT_REF 2
-
-# I saw a very sketchy extreme yaw setpoint that I cant explain
-# https://review.px4.io/plot_app?log=4b69399f-b001-4dc2-acd5-e779fe266799
-param set-default MC_YAWRATE_MAX 100
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name Generic Ground Vehicle (Deprecated)
+# @name Generic Ground Vehicle (Ackermann)
 #
 # @type Rover
 # @class Rover
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Rover Differential
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_differential_defaults
@@ -1,46 +0,0 @@
-#!/bin/sh
-#
-# @name Aion Robotics R1 UGV
-#
-# @url https://www.aionrobotics.com/r1
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_differential_defaults
-
-param set-default BAT1_N_CELLS 4
-
-# Set geometry & output configration
-param set-default RBCLW_ADDRESS 128
-param set-default RBCLW_FUNC1 101
-param set-default RBCLW_FUNC2 102
-param set-default RBCLW_REV 1 # reverse right wheels
-
-# Rover parameters
-param set-default RD_WHEEL_TRACK 0.3
-param set-default RD_MAN_YAW_SCALE 1
-param set-default RD_MAX_ACCEL 5
-param set-default RD_MAX_JERK 10
-param set-default RD_MAX_THR_YAW_R 4
-param set-default RD_YAW_RATE_P 0.1
-param set-default RD_YAW_RATE_I 0
-param set-default RD_YAW_P 5
-param set-default RD_YAW_I 0
-param set-default RD_MAX_SPEED 1.8
-param set-default RD_MAX_THR_SPD 2
-param set-default RD_SPEED_P 0.5
-param set-default RD_SPEED_I 0.1
-param set-default RD_MAX_YAW_RATE 300
-param set-default RD_MISS_SPD_DEF 1.8
-param set-default RD_TRANS_DRV_TRN 0.349066
-param set-default RD_TRANS_TRN_DRV 0.174533
-
-# Pure pursuit parameters
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1
-param set-default PP_LOOKAHD_GAIN 1
@@ -0,0 +1,25 @@
+#!/bin/sh
+#
+# @name Aion Robotics R1 UGV
+#
+# @url https://www.aionrobotics.com/r1
+#
+# @type Rover
+# @class Rover
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.rover_differential_defaults
+
+param set-default BAT1_N_CELLS 4
+
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_ANGERR_INIT 0.01
+
+# Set geometry & output configration
+param set-default RBCLW_ADDRESS 128
+param set-default RBCLW_FUNC1 101
+param set-default RBCLW_FUNC2 102
+param set-default RBCLW_REV 1 # reverse right wheels
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name NXP Cup car: DF Robot GPX (Deprecated)
+# @name NXP Cup car: DF Robot GPX

 #
 # @type Rover
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# @name Generic Rover Ackermann
+# @name Generic ackermann rover
 #
 # @type Rover
 # @class Rover
@@ -1,37 +0,0 @@
-#!/bin/sh
-#
-# @name Axial SCX10 2 Trail Honcho
-#
-# @url https://www.axialadventure.com/product/1-10-scx10-ii-trail-honcho-4wd-rock-crawler-brushed-rtr/AXID9059.html
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_ackermann_defaults
-
-param set-default BAT1_N_CELLS 3
-
-# Rover parameters
-param set-default NAV_ACC_RAD 0.5
-param set-default RA_ACC_RAD_GAIN 2
-param set-default RA_ACC_RAD_MAX 3
-param set-default RA_MAX_ACCEL 0.5
-param set-default RA_MAX_JERK 10
-param set-default RA_MAX_SPEED 2.7
-param set-default RA_MAX_STR_ANG 0.5236
-param set-default RA_MAX_STR_RATE 270
-param set-default RA_MISS_VEL_DEF 2.7
-param set-default RA_MISS_VEL_GAIN 3.5
-param set-default RA_MISS_VEL_MIN 1
-param set-default RA_SPEED_I 0.1
-param set-default RA_SPEED_P 0.5
-param set-default RA_WHEEL_BASE 0.321
-
-# Pure pursuit parameters
-param set-default PP_LOOKAHD_GAIN 1
-param set-default PP_LOOKAHD_MAX 10
-param set-default PP_LOOKAHD_MIN 1.5
@@ -1,12 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Rover Mecanum
-#
-# @type Rover
-# @class Rover
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.rover_mecanum_defaults
@@ -23,6 +23,9 @@
 . ${R}etc/init.d/rc.uuv_defaults


+# companion computer is connected via USB permanently
+param set-default CBRK_IO_SAFETY 22027
+
 param set-default MAV_1_CONFIG 102

 param set-default BAT1_A_PER_V 37.8798
@@ -73,6 +73,8 @@ param set-default SENS_EN_PX4FLOW 1
 param set-default SENS_EN_LL40LS 2
 param set-default SENS_FLOW_ROT 2

+#
+param set-default CBRK_IO_SAFETY 22027
 param set-default COM_DISARM_LAND 3

 # Battery
@@ -136,34 +136,22 @@ if(CONFIG_MODULES_VTOL_ATT_CONTROL)
 	)
 endif()

-if(CONFIG_MODULES_ROVER_DIFFERENTIAL)
+if(CONFIG_MODULES_ROVER_POS_CONTROL)
 	px4_add_romfs_files(
-		# [50000, 50999] Differential rovers
-		50000_generic_rover_differential
-		50001_aion_robotics_r1_rover
+		50000_generic_ground_vehicle
+		50004_nxpcup_car_dfrobot_gpx
+	)
+endif()
+
+if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
+	px4_add_romfs_files(
+		50003_aion_robotics_r1_rover
 	)
 endif()

 if(CONFIG_MODULES_ROVER_ACKERMANN)
 	px4_add_romfs_files(
-		# [51000, 51999] Ackermann rovers
-		51000_generic_rover_ackermann
-		51001_axial_scx10_2_trail_honcho
-	)
-endif()
-
-if(CONFIG_MODULES_ROVER_MECANUM)
-	px4_add_romfs_files(
-		# [52000, 52999] Mecanum rovers
-		52000_generic_rover_mecanum
-	)
-endif()
-
-if(CONFIG_MODULES_ROVER_POS_CONTROL)
-	px4_add_romfs_files(
-		# [59000, 59999] Rover position control (deprecated)
-		59000_generic_ground_vehicle
-		59001_nxpcup_car_dfrobot_gpx
+		50010_ackermann_rover_generic
 	)
 endif()

@@ -1,7 +1,7 @@
 #!/bin/sh
-# Standard apps for an ackermann rover.
+# Standard apps for a ackermann drive rover.

-# Start rover ackermann module.
+# Start rover ackermann drive controller.
 rover_ackermann start

 # Start Land Detector.
@@ -2,10 +2,12 @@
 # Ackermann rover parameters.

 set VEHICLE_TYPE rover_ackermann
-param set-default MAV_TYPE 10           # MAV_TYPE_GROUND_ROVER
-param set-default CA_AIRFRAME 5         # Rover (Ackermann)
-param set-default CA_R_REV 1            # Motor is assumed to be reversible
-param set-default EKF2_MAG_TYPE 1       # Make sure magnetometer is fused even when not flying
-param set-default NAV_ACC_RAD 0.5       # Waypoint acceptance radius
+param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
+param set-default CA_AIRFRAME 5 # Rover (Ackermann)
+param set-default CA_R_REV 1 # Motor is assumed to be reversible
+param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
 param set-default EKF2_GBIAS_INIT 0.01
 param set-default EKF2_ANGERR_INIT 0.01
+param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
+param set-default NAV_RCL_ACT 6 # Disarm on manual control loss
+param set-default COM_FAIL_ACT_T 1 # Delay before failsafe after rc loss
@@ -1,8 +1,8 @@
 #!/bin/sh
-# Standard apps for a differential rover.
+# Standard apps for a differential drive rover.

-# Start rover differential module.
-rover_differential start
+# Start rover differential drive controller.
+differential_drive start

 # Start Land Detector.
 land_detector start rover
@@ -2,10 +2,10 @@
 # Differential rover parameters.

 set VEHICLE_TYPE rover_differential
-param set-default MAV_TYPE 10           # MAV_TYPE_GROUND_ROVER
-param set-default CA_AIRFRAME 6         # Rover (Differential)
-param set-default CA_R_REV 3            # Right and left motors reversible
-param set-default EKF2_MAG_TYPE 1       # Make sure magnetometer is fused even when not flying
-param set-default NAV_ACC_RAD 0.5       # Waypoint acceptance radius
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_ANGERR_INIT 0.01
+
+param set-default MAV_TYPE 10 # MAV_TYPE_GROUND_ROVER
+
+param set-default CA_AIRFRAME 6 # Rover (Differential)
+param set-default CA_R_REV 3 # Right and left motors reversible
+
+param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
@@ -1,8 +0,0 @@
-#!/bin/sh
-# Standard apps for a mecanum drive rover.
-
-# Start rover mecanum drive controller.
-rover_mecanum start
-
-# Start Land Detector.
-land_detector start rover
@@ -1,11 +0,0 @@
-#!/bin/sh
-# Mecanum rover parameters.
-
-set VEHICLE_TYPE rover_mecanum
-param set-default MAV_TYPE 10     # MAV_TYPE_GROUND_ROVER
-param set-default CA_AIRFRAME 13  # Rover (Mecanum)
-param set-default CA_R_REV 15     # Right and left motors reversible
-param set-default EKF2_MAG_TYPE 1 # make sure magnetometer is fused even when not flying
-param set-default NAV_ACC_RAD 0.5 # Waypoint acceptance radius
-param set-default EKF2_GBIAS_INIT 0.01
-param set-default EKF2_ANGERR_INIT 0.01
@@ -184,13 +184,6 @@ then
 	asp5033 start -X
 fi

-# AUAV absolute/differential pressure sensor external I2C
-if param greater -s SENS_EN_AUAVX 0
-then
-	auav start -D -X
-	auav start -A -X
-fi
-
 # SHT3x temperature and hygrometer sensor, external I2C
 if param compare -s SENS_EN_SHT3X 1
 then
@@ -50,15 +50,6 @@ then
 	. ${R}etc/init.d/rc.rover_ackermann_apps
 fi

-#
-# Mecanum Rover setup.
-#
-if [ $VEHICLE_TYPE = rover_mecanum ]
-then
-	# Start mecanum drive rover apps.
-	. ${R}etc/init.d/rc.rover_mecanum_apps
-fi
-
 #
 # VTOL setup.
 #
@@ -30,7 +30,7 @@ set LOGGER_BUF 8
 set PARAM_FILE ""
 set PARAM_BACKUP_FILE ""
 set RC_INPUT_ARGS ""
-set STORAGE_AVAILABLE no
+set SDCARD_AVAILABLE no
 set SDCARD_EXT_PATH /fs/microsd/ext_autostart
 set SDCARD_FORMAT no
 set STARTUP_TUNE 1
@@ -62,11 +62,11 @@ then
 			umount /fs/microsd

 		else
-			set STORAGE_AVAILABLE yes
+			set SDCARD_AVAILABLE yes
 		fi
 	fi

-	if [ $STORAGE_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
+	if [ $SDCARD_AVAILABLE = no -o $SDCARD_FORMAT = yes ]
 	then
 		echo "INFO [init] formatting /dev/mmcsd0"
 		set STARTUP_TUNE 15 # tune 15 = SD_ERROR (overridden to SD_INIT if format + mount succeeds)
@@ -77,7 +77,7 @@ then

 			if mount -t vfat /dev/mmcsd0 /fs/microsd
 			then
-				set STORAGE_AVAILABLE yes
+				set SDCARD_AVAILABLE yes
 				set STARTUP_TUNE 14 # tune 14 = SD_INIT
 			else
 				echo "ERROR [init] card mount failed"
@@ -86,22 +86,16 @@ then
 			echo "ERROR [init] format failed"
 		fi
 	fi
-else
-	# Is there a device mounted for storage
-	if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/microsd
-	then
-		set STORAGE_AVAILABLE yes
-	fi
-fi

-if [ $STORAGE_AVAILABLE = yes ]
-then
-	if hardfault_log check
+	if [ $SDCARD_AVAILABLE = yes ]
 	then
-		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
-		if hardfault_log commit
+		if hardfault_log check
 		then
-			hardfault_log reset
+			set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
+			if hardfault_log commit
+			then
+				hardfault_log reset
+			fi
 		fi
 	fi

@@ -178,7 +172,7 @@ else
 		fi
 	fi

-	if [ $STORAGE_AVAILABLE = yes ]
+	if [ $SDCARD_AVAILABLE = yes ]
 	then
 		param select-backup $PARAM_BACKUP_FILE
 	fi
@@ -226,8 +220,8 @@ else

 		if [ ${VEHICLE_TYPE} == none ]
 		then
-			# Use external startup file
-			if [ $STORAGE_AVAILABLE = yes ]
+			# Look for airframe on SD card
+			if [ $SDCARD_AVAILABLE = yes ]
 			then
 				. ${R}etc/init.d/rc.autostart_ext
 			else
@@ -621,7 +615,7 @@ unset PARAM_FILE
 unset PARAM_BACKUP_FILE
 unset PARAM_DEFAULTS_VER
 unset RC_INPUT_ARGS
-unset STORAGE_AVAILABLE
+unset SDCARD_AVAILABLE
 unset SDCARD_EXT_PATH
 unset SDCARD_FORMAT
 unset STARTUP_TUNE
@@ -11,7 +11,7 @@ exec find boards msg src platforms test \
    -path platforms/nuttx/NuttX -prune -o \
    -path platforms/qurt/dspal -prune -o \
    -path src/drivers/ins/vectornav/libvnc -prune -o \
-    -path src/drivers/uavcan/libdronecan -prune -o \
+    -path src/drivers/uavcan/libuavcan -prune -o \
    -path src/drivers/uavcan/uavcan_drivers/kinetis/driver/include/uavcan_kinetis -prune -o \
    -path src/drivers/cyphal/libcanard -prune -o \
    -path src/lib/crypto/monocypher -prune -o \
@@ -1,19 +0,0 @@
-#!/bin/bash
-# This script is meant to be used by the build_all.yml workflow in a github runner
-# Please only modify if you know what you are doing
-set -e
-
-echo "### :clock1: Build Times" >> $GITHUB_STEP_SUMMARY
-targets=$1
-for target in ${targets//,/ }
-do
-    echo "::group::Building: [${target}]"
-    start=$(date +%s)
-    make $target
-    stop=$(date +%s)
-    diff=$(($stop-$start))
-    build_time="$(($diff /60/60))h $(($diff /60))m $(($diff % 60))s elapsed"
-    echo -e "\033[0;32mBuild Time: [$build_time]"
-    echo "* **$target** - $build_time" >> $GITHUB_STEP_SUMMARY
-    echo "::endgroup::"
-done
@@ -1,46 +0,0 @@
-#!/bin/bash
-
-mkdir artifacts
-cp **/**/*.px4 artifacts/
-cp **/**/*.elf artifacts/
-for build_dir_path in build/*/ ; do
-  build_dir=${build_dir_path#*/}
-  build_dir=${build_dir::${#build_dir}-1}
-  mkdir artifacts/$build_dir
-  find artifacts/ -maxdepth 1 -type f -name "*$build_dir*"
-  # Airframe
-  cp $build_dir_path/airframes.xml artifacts/$build_dir/
-  # Parameters
-  cp $build_dir_path/parameters.xml artifacts/$build_dir/
-  cp $build_dir_path/parameters.json artifacts/$build_dir/
-  cp $build_dir_path/parameters.json.xz artifacts/$build_dir/
-  # Actuators
-  cp $build_dir_path/actuators.json artifacts/$build_dir/
-  cp $build_dir_path/actuators.json.xz artifacts/$build_dir/
-  # Events
-  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
-  # ROS 2 msgs
-  cp $build_dir_path/events/all_events.json.xz artifacts/$build_dir/
-  # Module Docs
-  ls -la artifacts/$build_dir
-  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/
@@ -0,0 +1,12 @@
+#!/bin/bash
+# This script is meant to be used by the build_all.yml workflow in a github runner
+# Please only modify if you know what you are doing
+set -e
+
+targets=$1
+for target in ${targets//,/ }
+do
+    echo "::group::Building: [${target}]"
+    make $target
+    echo "::endgroup::"
+done
@@ -40,23 +40,7 @@ excluded_labels = [
    'uavcanv1', # TODO: fix and enable
    ]

-github_action_config = { 'include': build_configs }
-extra_args = {}
-if args.pretty:
-    extra_args['indent'] = 2
-
-def chunks(arr, size):
-    # splits array into parts
-    for i in range(0, len(arr), size):
-        yield arr[i:i + size]
-
-def comma_targets(targets):
-    # turns array of targets into a comma split string
-    return ",".join(targets)
-
 def process_target(px4board_file, target_name):
-    # reads through the board file and grabs
-    # useful information for building
    ret = None
    platform = None
    toolchain = None
@@ -105,25 +89,7 @@ def process_target(px4board_file, target_name):

    return ret

-# Look for board targets in the ./boards directory
-if(verbose):
-    print("=======================")
-    print("= scanning for boards =")
-    print("=======================")
-
-# We also need to build metadata
-# includes:
-# - Airframe
-# - Parameters
-# - 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']['manufacturers'] = {}
-grouped_targets['base']['manufacturers']['px4'] = []
-grouped_targets['base']['manufacturers']['px4'] += metadata_targets
-
-for manufacturer in os.scandir(os.path.join(source_dir, '../boards')):
+for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
    if not manufacturer.is_dir():
        continue
    if manufacturer.name in excluded_manufacturers:
@@ -149,149 +115,103 @@ for manufacturer in os.scandir(os.path.join(source_dir, '../boards')):
                    if verbose: print(f'excluding label {label} ({target_name})')
                    continue
                target = process_target(files.path, target_name)
+
                if (args.group and target is not None):
                    if (target['arch'] not in grouped_targets):
                        grouped_targets[target['arch']] = {}
                        grouped_targets[target['arch']]['container'] = target['container']
                        grouped_targets[target['arch']]['manufacturers'] = {}
                    if(manufacturer.name not in grouped_targets[target['arch']]['manufacturers']):
+                        grouped_targets[target['arch']]['manufacturers'][manufacturer.name] = {}
                        grouped_targets[target['arch']]['manufacturers'][manufacturer.name] = []
                    grouped_targets[target['arch']]['manufacturers'][manufacturer.name].append(target_name)
                if target is not None:
                    build_configs.append(target)

-if(verbose):
-    import pprint
-    print("============================")
-    print("= Boards found in ./boards =")
-    print("============================")
-    pprint.pp(grouped_targets)
+def comma_targets(targets):
+    return ",".join(targets)

-if(verbose):
-    print("===================")
-    print("= Generating JSON =")
-    print("===================")
+github_action_config = { 'include': build_configs }
+extra_args = {}
+if args.pretty:
+    extra_args['indent'] = 2

 if (args.group):
-    # if we are using this script for grouping builds
-    # we loop trough the manufacturers list and split their targets
-    # if a manufacturer has more than a LIMIT of boards then we split that
-    # into sub groups such as "arch-manufacturer name-index"
-    # example:
-    #   nuttx-px4-0
-    #   nuttx-px4-1
-    #   nuttx-px4-2
-    #   nuttx-ark-0
-    #   nuttx-ark-1
-    # if the manufacturer doesn't have more targets than LIMIT then we add
-    # them to a generic group with the following structure "arch-index"
-    # example:
-    #   nuttx-0
-    #   nuttx-1
+    if(verbose):
+        import pprint
+        pprint.pp(grouped_targets)
    final_groups = []
    temp_group = []
    group_number = {}
    last_man = ''
    last_arch = ''
-    SPLIT_LIMIT = 10
-    LOWER_LIMIT = 5
-    if(verbose):
-        print(f'=:Architectures: [{grouped_targets.keys()}]')
    for arch in grouped_targets:
-        if(verbose):
-            print(f'=:Processing: [{arch}] Last: [{last_arch}]')
-
        if(last_arch == ''):
            last_arch = arch
        if(arch not in group_number):
                group_number[arch] = 0

+        if verbose: print('arch:', arch, ' - last_arch:', last_arch)
        if(last_arch != arch and len(temp_group) > 0):
-
            group_name = last_arch + "-" + str(group_number[last_arch])
            group_number[last_arch] += 1
            targets = comma_targets(temp_group)
-            if(verbose):
-                print(f'=:Orphan: [{arch}][{last_arch}][{targets}]')
+            if verbose: print("Append-1: [", group_name, "]", targets)
            final_groups.append({
                "container": grouped_targets[last_arch]['container'],
                "targets": targets,
                "arch": last_arch,
-                "group": group_name,
-                "len": len(temp_group)
+                "group": group_name
            })
            last_arch = arch
            temp_group = []
-
        for man in grouped_targets[arch]['manufacturers']:
-            if(verbose):
-                print(f'=:Processing: [{arch}][{man}]')
            for tar in grouped_targets[arch]['manufacturers'][man]:
-                man_len = len(grouped_targets[arch]['manufacturers'][man])
-                if(verbose):
-                    print(f'=:Processing: [{arch}][{man}][{man_len}][{tar}]')
                if(last_man != man):
-                    # if(verbose):
-                    #     print(f'=:Processing: [{arch}][{man}][{tar}][{man_len}]')
-                    if(man_len > LOWER_LIMIT and man_len < (SPLIT_LIMIT + 1)):
-                        # Manufacturers can have their own group
-                        if(verbose):
-                            print(f'=:Processing: ==Manufacturers can have their own group')
-                            print(f'=:Processing: Limits[{LOWER_LIMIT}][{SPLIT_LIMIT}]')
+                    if(len(grouped_targets[arch]['manufacturers'][man]) > 5):
                        group_name = arch + "-" + man
                        targets = comma_targets(grouped_targets[arch]['manufacturers'][man])
                        last_man = man
+                        if verbose: print("Append-2: [", group_name , "]", " - ", targets)
                        final_groups.append({
                            "container": grouped_targets[arch]['container'],
                            "targets": targets,
                            "arch": arch,
-                            "group": group_name,
-                            "len": len(grouped_targets[arch]['manufacturers'][man])
+                            "group": group_name
                        })
-                    elif(man_len >= (SPLIT_LIMIT + 1)):
-                        # Split big man groups into subgroups
-                        # example: Pixhawk
-                        chunk_limit = SPLIT_LIMIT
-                        chunk_counter = 0
-                        for chunk in chunks(grouped_targets[arch]['manufacturers'][man], chunk_limit):
-                            group_name = arch + "-" + man + "-" + str(chunk_counter)
-                            targets = comma_targets(chunk)
-                            last_man = man
-                            final_groups.append({
-                                "container": grouped_targets[arch]['container'],
-                                "targets": targets,
-                                "arch": arch,
-                                "group": group_name,
-                                "len": len(chunk),
-                            })
-                            chunk_counter += 1
                    else:
                        temp_group.append(tar)
+                        if verbose: print('Temp(', len(temp_group), '):[', man, '][', arch, ':', last_arch, ']: ', tar)

-            if(len(temp_group) > (LOWER_LIMIT - 1)):
+            if(last_arch != arch and len(temp_group) > 0):
+                group_name = last_arch + "-" + str(group_number[last_arch])
+                group_number[last_arch] += 1
+                targets = comma_targets(temp_group)
+                if verbose: print("Append-4: [", group_name, "]", targets)
+                final_groups.append({
+                    "container": grouped_targets[last_arch]['container'],
+                    "targets": targets,
+                    "arch": last_arch,
+                    "group": group_name
+                })
+                last_arch = arch
+                temp_group = []
+            if(len(temp_group) > 4):
                group_name = arch + "-" + str(group_number[arch])
                last_arch = arch
                group_number[arch] += 1
                targets = comma_targets(temp_group)
+                if verbose: print("Append-3: [", group_name, "]", " - ", targets)
                final_groups.append({
                    "container": grouped_targets[arch]['container'],
                    "targets": targets,
                    "arch": arch,
-                    "group": group_name,
-                    "len": len(temp_group)
+                    "group": group_name
                })
                temp_group = []
    if(verbose):
        import pprint
-        print("================")
-        print("= final_groups =")
-        print("================")
        pprint.pp(final_groups)
-
-        print("===============")
-        print("= JSON output =")
-        print("===============")
-
    print(json.dumps({ "include": final_groups }, **extra_args))
 else:
    print(json.dumps(github_action_config, **extra_args))
@@ -442,7 +442,7 @@ class SourceParser(object):
                   re.findall(r"\bstrcmp\b.*\bverb\b.*\"(.+)\"", contents)

        doc_commands = module_doc.all_commands() + \
-                [x for value in module_doc.all_values() for x in value.replace(' ', '|').split('|')]
+                [x for value in module_doc.all_values() for x in value.split('|')]

        for command in commands:
            if len(command) == 2 and command[0] == '-':
@@ -428,8 +428,7 @@ class uploader:

        percent = (float(progress) / float(maxVal)) * 100.0

-        redraw = "\r" if sys.stdout.isatty() else "\n"
-        sys.stdout.write("%s%s: [%-20s] %.1f%%" % (redraw, label, '='*int(percent/5.0), percent))
+        sys.stdout.write("\r%s: [%-20s] %.1f%%" % (label, '='*int(percent/5.0), percent))
        sys.stdout.flush()

    # send the CHIP_ERASE command and wait for the bootloader to become ready
@@ -225,7 +225,7 @@ if [[ $INSTALL_SIM == "true" ]]; then

 	# Gazebo / Gazebo classic installation
 	if [[ "${UBUNTU_RELEASE}" == "22.04" ]]; then
-		echo "Gazebo (Harmonic) will be installed"
+		echo "Gazebo (Garden) will be installed"
 		echo "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
@@ -233,7 +233,7 @@ if [[ $INSTALL_SIM == "true" ]]; then
 		sudo apt-get update -y --quiet

 		# Install Gazebo
-		gazebo_packages="gz-harmonic"
+		gazebo_packages="gz-garden"
 	elif [[ "${UBUNTU_RELEASE}" == "21.3" ]]; then
 		echo "Gazebo (Garden) will be installed"
 		echo "Earlier versions will be removed"
@@ -15,7 +15,7 @@ SERIAL_PORTS="/dev/tty.usbmodemPX*,/dev/tty.usbmodem*"
 fi

 if [ $SYSTYPE = "Linux" ]; then
-SERIAL_PORTS="/dev/serial/by-id/*_PX4_*,/dev/serial/by-id/usb-3D_Robotics*,/dev/serial/by-id/usb-The_Autopilot*,/dev/serial/by-id/usb-Bitcraze*,/dev/serial/by-id/pci-Bitcraze*,/dev/serial/by-id/usb-Gumstix*,/dev/serial/by-id/usb-UVify*,/dev/serial/by-id/usb-ArduPilot*,/dev/serial/by-id/usb-ARK*,"
+SERIAL_PORTS="/dev/serial/by-id/*_PX4_*,/dev/serial/by-id/usb-3D_Robotics*,/dev/serial/by-id/usb-The_Autopilot*,/dev/serial/by-id/usb-Bitcraze*,/dev/serial/by-id/pci-Bitcraze*,/dev/serial/by-id/usb-Gumstix*,/dev/serial/by-id/usb-UVify*,/dev/serial/by-id/usb-ArduPilot*,/dev/serial/by-id/ARK*,"
 fi

 if [[ $SYSTYPE = *"CYGWIN"* ]]; then
@@ -1,3 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_ROMFSROOT=""
@@ -1,96 +0,0 @@
-CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
-CONFIG_BOARD_ARCHITECTURE="cortex-m7"
-CONFIG_BOARD_SERIAL_GPS1="/dev/ttyS2"
-CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS0"
-CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
-CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS4"
-CONFIG_DRIVERS_ADC_ADS1115=y
-CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_BAROMETER_DPS310=y
-CONFIG_DRIVERS_BATT_SMBUS=y
-CONFIG_DRIVERS_CAMERA_CAPTURE=y
-CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GPS=y
-CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
-CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
-CONFIG_DRIVERS_IRLOCK=y
-CONFIG_COMMON_LIGHT=y
-CONFIG_COMMON_MAGNETOMETER=y
-CONFIG_COMMON_OPTICAL_FLOW=y
-CONFIG_DRIVERS_PCA9685_PWM_OUT=y
-CONFIG_DRIVERS_POWER_MONITOR_INA226=y
-CONFIG_DRIVERS_PWM_OUT=y
-CONFIG_DRIVERS_RC_INPUT=y
-CONFIG_DRIVERS_SMART_BATTERY_BATMON=y
-CONFIG_COMMON_TELEMETRY=y
-CONFIG_DRIVERS_TONE_ALARM=y
-CONFIG_DRIVERS_UAVCAN=y
-CONFIG_MODULES_AIRSPEED_SELECTOR=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
-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_MODULES_RC_UPDATE=y
-CONFIG_MODULES_ROVER_POS_CONTROL=y
-CONFIG_MODULES_SENSORS=y
-CONFIG_MODULES_SIMULATION_SIMULATOR_SIH=y
-CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
-CONFIG_MODULES_UUV_ATT_CONTROL=y
-CONFIG_MODULES_UUV_POS_CONTROL=y
-CONFIG_MODULES_UXRCE_DDS_CLIENT=y
-CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
-CONFIG_SYSTEMCMDS_BSONDUMP=y
-CONFIG_SYSTEMCMDS_DMESG=y
-CONFIG_SYSTEMCMDS_DUMPFILE=y
-CONFIG_SYSTEMCMDS_GPIO=y
-CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
-CONFIG_SYSTEMCMDS_I2CDETECT=y
-CONFIG_SYSTEMCMDS_LED_CONTROL=y
-CONFIG_SYSTEMCMDS_MFT=y
-CONFIG_SYSTEMCMDS_MTD=y
-CONFIG_SYSTEMCMDS_NSHTERM=y
-CONFIG_SYSTEMCMDS_PARAM=y
-CONFIG_SYSTEMCMDS_PERF=y
-CONFIG_SYSTEMCMDS_REBOOT=y
-CONFIG_SYSTEMCMDS_REFLECT=y
-CONFIG_SYSTEMCMDS_SD_BENCH=y
-CONFIG_SYSTEMCMDS_SD_STRESS=y
-CONFIG_SYSTEMCMDS_SERIAL_TEST=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
@@ -1,13 +0,0 @@
-{
-    "board_id": 1124,
-    "magic": "3dr-ctrl-zero-h7-oem-revg",
-    "description": "Firmware for the 3dr-ctrl-zero-h7-oem-revg board",
-    "image": "",
-    "build_time": 0,
-    "summary": "3dr-ctrl-zero-h7-oem-revg",
-    "version": "0.1",
-    "image_size": 0,
-    "image_maxsize": 1966080,
-    "git_identity": "",
-    "board_revision": 0
-}
@@ -1,9 +0,0 @@
-#!/bin/sh
-#
-# board specific defaults
-#------------------------------------------------------------------------------
-
-param set-default BAT1_V_DIV 10.1
-param set-default BAT1_A_PER_V 17
-
-safety_button start
@@ -1,19 +0,0 @@
-#!/bin/sh
-#
-# board specific sensors init
-#------------------------------------------------------------------------------
-
-board_adc start
-
-# Internal ICM-20602
-icm20602 -s -b 1 -R 8 start
-
-# Internal SPI bus BMI088 accel & gyro
-bmi088 -A -s -b 5 -R 8 start
-bmi088 -G -s -b 5 -R 8 start
-
-# Internal ICM-20948 (with magnetometer)
-icm20948 -s -b 1 -R 8 -M start
-
-# Interal DPS310 (barometer)
-dps310 -s -b 2 start
@@ -1,91 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DEV_CONSOLE is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_SPI_EXCHANGE is not set
-# CONFIG_STM32H7_SYSCFG is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/3dr/ctrl-zero-h7-oem-revg/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_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=95150
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x1124
-CONFIG_CDCACM_PRODUCTSTR="PX4 BL 3DR ControlZeroH7 OEM"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_VENDORSTR="3DR"
-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_PWR_EXTERNAL_SOURCE_SUPPLY=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
@@ -1,288 +0,0 @@
-/************************************************************************************
- * nuttx-config/include/board.h
- *
- *   Copyright (C) 2020 Gregory Nutt. All rights reserved.
- *   Authors: David Sidrane <david.sidrane@nscdg.com>
- *
- * 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
-
-#include "board_dma_map.h"
-
-#include <nuttx/config.h>
-
-#ifndef __ASSEMBLY__
-# include <stdint.h>
-#endif
-
-#include "stm32_rcc.h"
-#include "stm32_sdmmc.h"
-
-/* Clocking *************************************************************************/
-/* The board provides the following clock sources:
- *
- *   X1: 24 MHz crystal for HSE
- *
- * So we have these clock source available within the STM32
- *
- *   HSI: 16 MHz RC factory-trimmed internal oscillator
- *   HSE: 24 MHz crystal for HSE
- */
-#define STM32_BOARD_XTAL        24000000ul
-
-#define STM32_HSI_FREQUENCY     16000000ul
-#define STM32_LSI_FREQUENCY     32000
-#define STM32_HSE_FREQUENCY     STM32_BOARD_XTAL
-#define STM32_LSE_FREQUENCY     0
-
-#define STM32_HSEBYP_ENABLE	1
-
-/* Main PLL Configuration.
- *
- * PLL source is HSE = 24,000,000
- *
- * 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_PLLCFG_PLLSRC      RCC_PLLCKSELR_PLLSRC_HSE
-
-/* PLL1, wide 4 - 8 MHz input, enable DIVP, DIVQ, DIVR
- *
- *   PLL1_VCO = (24,000,000 / 2) * 80 = 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(2)
-#define STM32_PLLCFG_PLL1N       RCC_PLL1DIVR_N1(80)
-#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 / 2) * 80)
-#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(4)
-#define STM32_PLLCFG_PLL2N       RCC_PLL2DIVR_N2(32)
-#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 / 4) * 32)
-#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(4)
-#define STM32_PLLCFG_PLL3N      RCC_PLL3DIVR_N3(32)
-#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 / 4) * 32)
-#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
- */
-#define STM32_RCC_D2CCIP2R_I2C123SRC RCC_D2CCIP2R_I2C123SEL_HSI  /* I2C123 clock source */
-#define STM32_RCC_D3CCIPR_I2C4SRC	   RCC_D3CCIPR_I2C4SEL_HSI	 /* I2C4 clock source */
-#define STM32_RCC_D2CCIP1R_SPI123SRC RCC_D2CCIP1R_SPI123SEL_PLL2 /* SPI123 clock source */
-#define STM32_RCC_D2CCIP1R_SPI45SRC  RCC_D2CCIP1R_SPI45SEL_PLL2  /* SPI45 clock source */
-#define STM32_RCC_D3CCIPR_SPI6SRC    RCC_D3CCIPR_SPI6SEL_PLL2    /* SPI6 clock source */
-#define STM32_RCC_D2CCIP2R_USBSRC    RCC_D2CCIP2R_USBSEL_PLL3    /* USB 1 and 2 clock source */
-#define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */
-#define STM32_RCC_D2CCIP1R_FDCANSEL  RCC_D2CCIP1R_FDCANSEL_HSE   /* FDCAN 1 2 clock source */
-
-#define STM32_FDCANCLK               STM32_HSE_FREQUENCY
-
-/* UART clock selection */
-/* reset to default to overwrite any changes done by any bootloader */
-
-#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
-#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
-
-/* FLASH wait states */
-#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
-
-
-/* UART/USART */
-#define GPIO_USART2_TX   GPIO_USART2_TX_2      /* PD5  */
-#define GPIO_USART2_RX   GPIO_USART2_RX_2      /* PD6  */
-#define GPIO_USART2_CTS  GPIO_USART2_CTS_NSS_2 /* PD3  */
-#define GPIO_USART2_RTS  GPIO_USART2_RTS_2     /* PD4  */
-
-#define GPIO_USART3_TX   GPIO_USART3_TX_3      /* PD8  */
-#define GPIO_USART3_RX   GPIO_USART3_RX_3      /* PD9  */
-#define GPIO_USART3_CTS  GPIO_USART3_CTS_NSS_2 /* PD11 */
-#define GPIO_USART3_RTS  GPIO_USART3_RTS_2     /* PD12 */
-
-#define GPIO_UART4_TX    GPIO_UART4_TX_2       /* PA0  */
-#define GPIO_UART4_RX    GPIO_UART4_RX_2       /* PA1  */
-
-#define GPIO_USART6_TX   0                     /* USART6 is RX-only */
-#define GPIO_USART6_RX   GPIO_USART6_RX_1      /* PC7  */
-
-#define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
-#define GPIO_UART7_RX    GPIO_UART7_RX_3       /* PE7  */
-
-#define GPIO_UART8_TX    GPIO_UART8_TX_1       /* PE1  */
-#define GPIO_UART8_RX    GPIO_UART8_RX_1       /* PE0  */
-
-
-/* CAN */
-#define GPIO_CAN1_RX     GPIO_CAN1_RX_3        /* PD0  */
-#define GPIO_CAN1_TX     GPIO_CAN1_TX_3        /* PD1  */
-
-#define GPIO_CAN2_RX     GPIO_CAN2_RX_1        /* PB12 */
-#define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */
-
-
-/* SPI */
-#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))
-
-#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_1) /* PA5  */
-#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_1               /* PA7  */
-
-#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_3) /* PB10 */
-#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_1               /* PB14 */
-#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_1               /* PB15 */
-
-#define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
-#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
-#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
-
-
-/* I2C */
-#define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
-#define GPIO_I2C1_SDA GPIO_I2C1_SDA_2       /* PB9  */
-
-#define GPIO_I2C3_SCL GPIO_I2C3_SCL_2       /* PH7 */
-#define GPIO_I2C3_SDA GPIO_I2C3_SDA_2       /* PH8 */
-
-#define GPIO_I2C4_SCL GPIO_I2C4_SCL_4       /* PB6 */
-#define GPIO_I2C4_SDA GPIO_I2C4_SDA_4       /* PB7 */
@@ -1,44 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 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.
- *
- ****************************************************************************/
-
-#pragma once
-
-// DMAMUX1
-#define DMAMAP_SPI1_RX    DMAMAP_DMA12_SPI1RX_0 /* DMA1:37 */
-#define DMAMAP_SPI1_TX    DMAMAP_DMA12_SPI1TX_0 /* DMA1:38 */
-
-#define DMAMAP_USART6_RX  DMAMAP_DMA12_USART6RX_1 /* DMA1:71 */
-#define DMAMAP_USART6_TX  DMAMAP_DMA12_USART6TX_1 /* DMA1:72 */
-
-#define DMAMAP_SPI5_RX    DMAMAP_DMA12_SPI5RX_0 /* DMA1:83 */
-#define DMAMAP_SPI5_TX    DMAMAP_DMA12_SPI5TX_0 /* DMA1:84 */
@@ -1,260 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_DISABLE_PTHREAD is not set
-# CONFIG_MMCSD_HAVE_CARDDETECT is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI 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_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_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_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/3dr/ctrl-zero-h7-oem-revg/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=0x1124
-CONFIG_CDCACM_PRODUCTSTR="3DRControlZeroH7OEM_revG"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_VENDORSTR="3DR"
-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_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=4
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_RAMTRON=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_SDMMC1_SDIO_PULLUP=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_I2C3=y
-CONFIG_STM32H7_I2C4=y
-CONFIG_STM32H7_I2C_DYNTIMEO=y
-CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_PWR_EXTERNAL_SOURCE_SUPPLY=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_SPI1_DMA=y
-CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI2=y
-CONFIG_STM32H7_SPI5=y
-CONFIG_STM32H7_SPI5_DMA=y
-CONFIG_STM32H7_SPI5_DMA_BUFFER=1024
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_TIM2=y
-CONFIG_STM32H7_TIM3=y
-CONFIG_STM32H7_TIM4=y
-CONFIG_STM32H7_TIM8=y
-CONFIG_STM32H7_UART4=y
-CONFIG_STM32H7_UART7=y
-CONFIG_STM32H7_UART8=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_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_SERIAL_CONSOLE=y
-CONFIG_UART8_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_IFLOWCONTROL=y
-CONFIG_USART3_OFLOWCONTROL=y
-CONFIG_USART3_RXBUFSIZE=600
-CONFIG_USART3_TXBUFSIZE=3000
-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
@@ -1,221 +0,0 @@
-/****************************************************************************
- * scripts/script.ld
- *
- *   Copyright (C) 2020 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The board uses an STM32H743II has 2048Kb of main FLASH memory.
- * The flash memory is partitioned into a User Flash memory and a System
- * Flash memory. Each of these memories has two banks:
- *
- *   1) User Flash memory:
- *
- *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
- *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
- *
- *   2) System Flash memory:
- *
- *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
- *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
- *
- *   3) User option bytes for user configuration, only in Bank 1.
- *
- * In the STM32H743II, two different boot spaces can be selected through
- * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
- * BOOT_ADD1 option bytes:
- *
- *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
- *      ST programmed value: Flash memory at 0x0800:0000
- *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
- *      ST programmed value: System bootloader at 0x1FF0:0000
- *
- * There's a switch on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
- * drepresed, then the boot will be from 0x1FF0:0000
- *
- * The STM32H743ZI also has 1024Kb of data SRAM.
- * SRAM is split up into several blocks and into three power domains:
- *
- *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
- *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
- *
- *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
- *
- *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
- *           DTCM ports. The DTCM-RAM could be used for critical real-time
- *           data, such as interrupt service routines or stack / heap memory.
- *           Both DTCM-RAMs can be used in parallel (for load/store operations)
- *           thanks to the Cortex-M7 dual issue capability.
- *
- *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
- *
- *           This RAM is connected to ITCM 64-bit interface designed for
- *           execution of critical real-times routines by the CPU.
- *
- *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
- *      through D1 domain AXI bus matrix
- *
- *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
- *
- *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
- *      through D2 domain AHB bus matrix
- *
- *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
- *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
- *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
- *
- *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
- *
- *   4) AHB SRAM (D3 domain) accessible by most of system masters
- *      through D3 domain AHB bus matrix
- *
- *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
- *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- */
-
-MEMORY
-{
-	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08000000, LENGTH =  128K
-	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(.);
-	} > AXI_SRAM AT > FLASH
-
-	.bss : {
-		_sbss = ABSOLUTE(.);
-		*(.bss .bss.*)
-		*(.gnu.linkonce.b.*)
-		*(COMMON)
-		. = ALIGN(4);
-		_ebss = ABSOLUTE(.);
-	} > AXI_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) }
-
-	.ramfunc : {
-		_sramfuncs = .;
-		*(.ramfunc  .ramfunc.*)
-		. = ALIGN(4);
-		_eramfuncs = .;
-	} > ITCM_RAM AT > FLASH
-
-	_framfuncs = LOADADDR(.ramfunc);
-}
@@ -1,228 +0,0 @@
-/****************************************************************************
- * scripts/script.ld
- *
- *   Copyright (C) 2021 Gregory Nutt. All rights reserved.
- *   Author: Gregory Nutt <gnutt@nuttx.org>
- *
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name NuttX nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/* The board uses an STM32H743XIH6 and has 2048Kb of main FLASH memory.
- * The flash memory is partitioned into a User Flash memory and a System
- * Flash memory. Each of these memories has two banks:
- *
- *   1) User Flash memory:
- *
- *      Bank 1: Start address 0x0800:0000 to 0x080F:FFFF with 8 sectors, 128Kb each
- *      Bank 2: Start address 0x0810:0000 to 0x081F:FFFF with 8 sectors, 128Kb each
- *
- *   2) System Flash memory:
- *
- *      Bank 1: Start address 0x1FF0:0000 to 0x1FF1:FFFF with 1 x 128Kb sector
- *      Bank 1: Start address 0x1FF4:0000 to 0x1FF5:FFFF with 1 x 128Kb sector
- *
- *   3) User option bytes for user configuration, only in Bank 1.
- *
- * In the STM32H743II, two different boot spaces can be selected through
- * the BOOT pin and the boot base address programmed in the BOOT_ADD0 and
- * BOOT_ADD1 option bytes:
- *
- *   1) BOOT=0: Boot address defined by user option byte BOOT_ADD0[15:0].
- *      ST programmed value: Flash memory at 0x0800:0000
- *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
- *      ST programmed value: System bootloader at 0x1FF0:0000
- *
- * There's a switch on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
- * drepresed, then the boot will be from 0x1FF0:0000
- *
- * The STM32H743ZI also has 1024Kb of data SRAM.
- * SRAM is split up into several blocks and into three power domains:
- *
- *   1) TCM SRAMs are dedicated to the Cortex-M7 and are accessible with
- *      0 wait states by the Cortex-M7 and by MDMA through AHBS slave bus
- *
- *      1.1) 128Kb of DTCM-RAM beginning at address 0x2000:0000
- *
- *           The DTCM-RAM is organized as 2 x 64Kb DTCM-RAMs on 2 x 32 bit
- *           DTCM ports. The DTCM-RAM could be used for critical real-time
- *           data, such as interrupt service routines or stack / heap memory.
- *           Both DTCM-RAMs can be used in parallel (for load/store operations)
- *           thanks to the Cortex-M7 dual issue capability.
- *
- *      1.2)  64Kb of ITCM-RAM beginning at address 0x0000:0000
- *
- *           This RAM is connected to ITCM 64-bit interface designed for
- *           execution of critical real-times routines by the CPU.
- *
- *   2) AXI SRAM (D1 domain) accessible by all system masters except BDMA
- *      through D1 domain AXI bus matrix
- *
- *      2.1) 512Kb of SRAM beginning at address 0x2400:0000
- *
- *   3) AHB SRAM (D2 domain) accessible by all system masters except BDMA
- *      through D2 domain AHB bus matrix
- *
- *      3.1) 128Kb of SRAM1 beginning at address 0x3000:0000
- *      3.2) 128Kb of SRAM2 beginning at address 0x3002:0000
- *      3.3)  32Kb of SRAM3 beginning at address 0x3004:0000
- *
- *      SRAM1 - SRAM3 are one contiguous block: 288Kb at address 0x3000:0000
- *
- *   4) AHB SRAM (D3 domain) accessible by most of system masters
- *      through D3 domain AHB bus matrix
- *
- *      4.1)  64Kb of SRAM4 beginning at address 0x3800:0000
- *      4.1)   4Kb of backup RAM beginning at address 0x3880:0000
- *
- * When booting from FLASH, FLASH memory is aliased to address 0x0000:0000
- * where the code expects to begin execution by jumping to the entry point in
- * the 0x0800:0000 address range.
- */
-
-MEMORY
-{
-	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
-
-	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) }
-}
@@ -1,65 +0,0 @@
-############################################################################
-#
-#   Copyright (c) 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.
-#
-############################################################################
-if("${PX4_BOARD_LABEL}" STREQUAL  "bootloader")
-	add_library(drivers_board
-		bootloader_main.c
-		usb.c
-	)
-	target_link_libraries(drivers_board
-		PRIVATE
-			nuttx_arch
-			nuttx_drivers
-			bootloader
-	)
-	target_include_directories(drivers_board PRIVATE ${PX4_SOURCE_DIR}/platforms/nuttx/src/bootloader/common)
-
-else()
-	add_library(drivers_board
-		i2c.cpp
-		init.c
-		led.c
-		spi.cpp
-		timer_config.cpp
-		usb.c
-	)
-
-	target_link_libraries(drivers_board
-		PRIVATE
-			arch_io_pins
-			arch_spi
-			drivers__led
-			nuttx_arch
-			nuttx_drivers
-			px4_layer
-	)
-endif()
@@ -1,187 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 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 board_config.h
- *
- * Board internal definitions
- */
-
-#pragma once
-
-#include <px4_platform_common/px4_config.h>
-#include <nuttx/compiler.h>
-#include <stdint.h>
-#include <stm32_gpio.h>
-
-/* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
-#define GPIO_nLED_RED   /* PB11 */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN11)
-#define GPIO_nLED_GREEN /* PB1  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN1)
-#define GPIO_nLED_BLUE  /* PB3  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
-
-#define BOARD_HAS_CONTROL_STATUS_LEDS      1
-#define BOARD_OVERLOAD_LED     LED_RED
-#define BOARD_ARMED_STATE_LED  LED_BLUE
-
-/* ADC channels */
-#define PX4_ADC_GPIO  \
-	/* PA2 */  GPIO_ADC12_INP14,  \
-	/* PA3 */  GPIO_ADC12_INP15,  \
-	/* PA4 */  GPIO_ADC12_INP18,  \
-	/* PC1 */  GPIO_ADC123_INP11
-
-/* Define Channel numbers must match above GPIO pins */
-#define ADC_BATTERY_VOLTAGE_CHANNEL       14 /* PA2 BATT_VOLT_SENS */
-#define ADC_BATTERY_CURRENT_CHANNEL       15 /* PA3 BATT_CURRENT_SENS */
-#define ADC_SCALED_V5_CHANNEL             18 /* PA4 VDD_5V_SENS */
-#define ADC_RC_RSSI_CHANNEL               11 /* PC1 */
-
-#define ADC_CHANNELS \
-	((1 << ADC_BATTERY_VOLTAGE_CHANNEL)       | \
-	 (1 << ADC_BATTERY_CURRENT_CHANNEL)       | \
-	 (1 << ADC_SCALED_V5_CHANNEL)             | \
-	 (1 << ADC_RC_RSSI_CHANNEL))
-
-/* HW has to large of R termination on ADC todo:change when HW value is chosen */
-#define BOARD_ADC_OPEN_CIRCUIT_V     (5.6f)
-
-/* CAN Silence: Silent mode control */
-#define GPIO_CAN1_SILENT_S0  /* PF5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTF|GPIO_PIN5)
-
-/* PWM */
-#define DIRECT_PWM_OUTPUT_CHANNELS  8
-
-/* Power supply control and monitoring GPIOs */
-#define GPIO_nPOWER_IN_A                /* PB5 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN5)
-
-#define GPIO_VDD_BRICK1_VALID          GPIO_nPOWER_IN_A /* Brick 1 Is Chosen */
-#define BOARD_NUMBER_BRICKS             1
-
-#define GPIO_VDD_3V3_SPEKTRUM_POWER_EN  /* PE4  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTE|GPIO_PIN4)
-#define GPIO_VDD_1V2_CORE_POWER_EN  	/* PH5  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTH|GPIO_PIN5)
-
-/* Define True logic Power Control in arch agnostic form */
-#define VDD_3V3_SPEKTRUM_POWER_EN(on_true) px4_arch_gpiowrite(GPIO_VDD_3V3_SPEKTRUM_POWER_EN, (!on_true))
-#define READ_VDD_3V3_SPEKTRUM_POWER_EN()   (px4_arch_gpioread(GPIO_VDD_3V3_SPEKTRUM_POWER_EN) == 0)
-
-/* Tone alarm output */
-#define TONE_ALARM_TIMER        2  /* timer 2 */
-#define TONE_ALARM_CHANNEL      1  /* PA15 TIM2_CH1 */
-
-#define GPIO_BUZZER_1           /* PA15 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_CLEAR|GPIO_PORTA|GPIO_PIN15)
-
-#define GPIO_TONE_ALARM_IDLE    GPIO_BUZZER_1
-#define GPIO_TONE_ALARM         GPIO_TIM2_CH1OUT_2
-
-/* USB OTG FS */
-#define GPIO_OTGFS_VBUS         /* PA9 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_SPEED_100MHz|GPIO_PORTA|GPIO_PIN9)
-
-/* High-resolution timer */
-#define HRT_TIMER               3  /* use timer3 for the HRT */
-#define HRT_TIMER_CHANNEL       1 /* use capture/compare channel 1 */
-
-#define HRT_PPM_CHANNEL         /* T3C3 */  3  /* use capture/compare channel 3 */
-#define GPIO_PPM_IN             /* PB0 T3C3 */ GPIO_TIM3_CH3IN_1
-
-/* RC Serial port */
-#define RC_SERIAL_PORT          "/dev/ttyS3"
-
-#define GPIO_RSSI_IN            /* PC1  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN1)
-
-/* Safety Switch: Enable the FMU to control it if there is no px4io fixme:This should be BOARD_SAFETY_LED(__ontrue) */
-#define GPIO_SAFETY_SWITCH_IN              /* PC4 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN4)
-/* Enable the FMU to use the switch it if there is no px4io fixme:This should be BOARD_SAFTY_BUTTON() */
-#define GPIO_BTN_SAFETY GPIO_SAFETY_SWITCH_IN /* Enable the FMU to control it if there is no px4io */
-
-/* Power switch controls ******************************************************/
-#define SPEKTRUM_POWER(_on_true)           VDD_3V3_SPEKTRUM_POWER_EN(_on_true)
-
-/*
- * Board has a separate RC_IN
- *
- * GPIO PPM_IN on PB0 T3CH3
- * SPEKTRUM_RX (it's TX or RX in Bind) on UART6 PC7
- *   Inversion is possible in the UART and can drive GPIO_PPM_IN as an output
- */
-#define GPIO_PPM_IN_AS_OUT             (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN0)
-#define SPEKTRUM_RX_AS_GPIO_OUTPUT()   px4_arch_configgpio(GPIO_PPM_IN_AS_OUT)
-#define SPEKTRUM_RX_AS_UART()          /* Can be left as uart */
-#define SPEKTRUM_OUT(_one_true)        px4_arch_gpiowrite(GPIO_PPM_IN_AS_OUT, (_one_true))
-
-/* 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))
-#define BOARD_ADC_USB_VALID     BOARD_ADC_USB_CONNECTED
-#define BOARD_ADC_SERVO_VALID   (1) /* never powers off the Servo rail */
-#define BOARD_ADC_BRICK_VALID   (px4_arch_gpioread(GPIO_VDD_BRICK1_VALID))
-
-/* 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 BOARD_HAS_STATIC_MANIFEST 1
-
-
-#define BOARD_NUM_IO_TIMERS 3
-
-
-#define BOARD_ENABLE_CONSOLE_BUFFER
-
-#define PX4_GPIO_INIT_LIST { \
-		PX4_ADC_GPIO,                     \
-		GPIO_CAN1_TX,                     \
-		GPIO_CAN1_RX,                     \
-		GPIO_CAN2_TX,                     \
-		GPIO_CAN2_RX,                     \
-		GPIO_CAN1_SILENT_S0,              \
-		GPIO_nPOWER_IN_A,                 \
-		GPIO_VDD_3V3_SPEKTRUM_POWER_EN,   \
-		GPIO_VDD_1V2_CORE_POWER_EN,	  \
-		GPIO_TONE_ALARM_IDLE,             \
-		GPIO_SAFETY_SWITCH_IN,            \
-		GPIO_OTGFS_VBUS,                  \
-	}
-
-__BEGIN_DECLS
-#ifndef __ASSEMBLY__
-
-extern void stm32_spiinitialize(void);
-extern void board_peripheral_reset(int ms);
-
-#include <px4_platform_common/board_common.h>
-#endif /* __ASSEMBLY__ */
-__END_DECLS
@@ -1,75 +0,0 @@
-/****************************************************************************
- *
- *   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.
- *
- ****************************************************************************/
-
-/**
- * @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_configgpio(GPIO_OTGFS_VBUS);
-}
-
-__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();
-}
@@ -1,135 +0,0 @@
-/****************************************************************************
- *
- *   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
-
-/****************************************************************************
- * 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               5000
-#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 INTERFACE_USART                1
-#define INTERFACE_USART_CONFIG         "/dev/ttyS0,115200"
-#define BOOT_DELAY_ADDRESS             0x000001a0
-#define BOARD_TYPE                     1124
-#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
-#define BOARD_FLASH_SECTORS            (15)
-#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)
-
-#define OSC_FREQ                       24
-
-#define BOARD_PIN_LED_ACTIVITY         GPIO_nLED_RED
-#define BOARD_PIN_LED_BOOTLOADER       GPIO_nLED_RED
-#define BOARD_LED_ON                   0
-#define BOARD_LED_OFF                  1
-
-#define SERIAL_BREAK_DETECT_DISABLED   1
-
-#if !defined(ARCH_SN_MAX_LENGTH)
-# define ARCH_SN_MAX_LENGTH 12
-#endif
-
-#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
@@ -1,40 +0,0 @@
-/****************************************************************************
- *
- *   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),
-	initI2CBusExternal(3),
-	initI2CBusExternal(4),
-};
@@ -1,204 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 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 init.c
- *
- * board-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.
- */
-
-#include "board_config.h"
-
-#include <syslog.h>
-
-#include <nuttx/config.h>
-#include <nuttx/board.h>
-#include <nuttx/sdio.h>
-#include <nuttx/mmcsd.h>
-#include <arch/board/board.h>
-#include "arm_internal.h"
-
-#include <drivers/drv_hrt.h>
-#include <drivers/drv_board_led.h>
-#include <systemlib/px4_macros.h>
-#include <px4_arch/io_timer.h>
-#include <px4_platform_common/init.h>
-#include <px4_platform/gpio.h>
-#include <px4_platform/board_dma_alloc.h>
-
-#include <mpu.h>
-
-__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)
-{
-	bool last = READ_VDD_3V3_SPEKTRUM_POWER_EN();
-	/* Keep Spektum on to discharge rail*/
-	VDD_3V3_SPEKTRUM_POWER_EN(false);
-
-	/* wait for the peripheral rail to reach GND */
-	usleep(ms * 1000);
-	syslog(LOG_DEBUG, "reset done, %d ms\n", ms);
-
-	/* re-enable power */
-
-	/* switch the peripheral rail back on */
-	VDD_3V3_SPEKTRUM_POWER_EN(last);
-}
-
-/************************************************************************************
- * Name: board_on_reset
- *
- * Description:
- * Optionally provided function called on entry to board_system_reset
- * It should perform any house keeping prior to the rest.
- *
- * status - 1 if resetting to boot loader
- *          0 if just resetting
- *
- ************************************************************************************/
-__EXPORT void board_on_reset(int status)
-{
-	for (int i = 0; i < DIRECT_PWM_OUTPUT_CHANNELS; ++i) {
-		px4_arch_configgpio(PX4_MAKE_GPIO_INPUT(io_timer_channel_get_as_pwm_input(i)));
-	}
-
-	if (status >= 0) {
-		up_mdelay(6);
-	}
-}
-
-/************************************************************************************
- * 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)
-{
-	/* Reset PWM first thing */
-	board_on_reset(-1);
-
-	/* configure pins */
-	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
-	px4_gpio_init(gpio, arraySize(gpio));
-	board_control_spi_sensors_power_configgpio();
-
-	/* configure LEDs */
-	board_autoled_initialize();
-}
-
-/****************************************************************************
- * 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;
- *
- * 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);
-	VDD_3V3_SPEKTRUM_POWER_EN(true);
-
-	px4_platform_init();
-
-	stm32_spiinitialize();
-
-	/* configure the DMA allocator */
-	if (board_dma_alloc_init() < 0) {
-		syslog(LOG_ERR, "[boot] DMA alloc FAILED\n");
-	}
-
-
-	/* initial LED state */
-	drv_led_start();
-	led_off(LED_RED);
-	led_on(LED_GREEN); // Indicate Power.
-	led_off(LED_BLUE);
-
-	if (board_hardfault_init(2, true) != 0) {
-		led_on(LED_RED);
-	}
-
-#ifdef CONFIG_MMCSD
-	/* Mount the SDIO-based MMC/SD block driver */
-	/* First, get an instance of the SDIO interface */
-	struct sdio_dev_s *sdio_dev = sdio_initialize(0); // SDIO_SLOTNO 0 Only one slot
-
-	if (!sdio_dev) {
-		syslog(LOG_ERR, "[boot] Failed to initialize SDIO slot %d\n", 0);
-	}
-
-	if (mmcsd_slotinitialize(0, sdio_dev) != OK) {
-		syslog(LOG_ERR, "[boot] Failed to bind SDIO to the MMC/SD driver\n");
-	}
-
-	/* Assume that the SD card is inserted.  What choice do we have? */
-	sdio_mediachange(sdio_dev, true);
-#endif /* CONFIG_MMCSD */
-
-	/* Configure the HW based on the manifest */
-
-	px4_platform_configure();
-
-	return OK;
-}
@@ -1,111 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 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 led.c
- *
- * LED backend.
- */
-
-#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
-
-static uint32_t g_ledmap[] = {
-	GPIO_nLED_BLUE,                     // Indexed by LED_BLUE
-	GPIO_nLED_RED,                      // Indexed by LED_RED
-	GPIO_nLED_GREEN,                    // Indexed by LED_GREEN
-};
-
-__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], !state);
-	}
-}
-
-static bool phy_get_led(int led)
-{
-	/* If Low it is on */
-	if (g_ledmap[led] != 0) {
-		return !stm32_gpioread(g_ledmap[led]);
-	}
-
-	return false;
-}
-
-__EXPORT void led_on(int led)
-{
-	phy_set_led(led, true);
-}
-
-__EXPORT void led_off(int led)
-{
-	phy_set_led(led, false);
-}
-
-__EXPORT void led_toggle(int led)
-{
-	phy_set_led(led, !phy_get_led(led));
-}
@@ -1,53 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 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_IMU_DEVTYPE_ICM20602, SPI::CS{GPIO::PortC, GPIO::Pin2}, SPI::DRDY{GPIO::PortD, GPIO::Pin15}),
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM20948, SPI::CS{GPIO::PortE, GPIO::Pin15}, SPI::DRDY{GPIO::PortE, GPIO::Pin12}),
-	}, {GPIO::PortE, GPIO::Pin3}),
-	initSPIBus(SPI::Bus::SPI2, {
-		initSPIDevice(SPIDEV_FLASH(0), SPI::CS{GPIO::PortD, GPIO::Pin10}),
-		initSPIDevice(DRV_BARO_DEVTYPE_DPS310, SPI::CS{GPIO::PortD, GPIO::Pin7}),
-	}),
-	initSPIBus(SPI::Bus::SPI5, {
-		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortF, GPIO::Pin3}),
-		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortF, GPIO::Pin6}, SPI::DRDY{GPIO::PortF, GPIO::Pin1}),
-	}),
-};
-
-static constexpr bool unused = validateSPIConfig(px4_spi_buses);
@@ -1,54 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 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/io_timer_hw_description.h>
-
-constexpr io_timers_t io_timers[MAX_IO_TIMERS] = {
-	initIOTimer(Timer::Timer1, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer4, DMA{DMA::Index1}),
-	initIOTimer(Timer::Timer8, DMA{DMA::Index1}),
-};
-
-constexpr timer_io_channels_t timer_io_channels[MAX_TIMER_IO_CHANNELS] = {
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel4}, {GPIO::PortE, GPIO::Pin14}),
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel3}, {GPIO::PortE, GPIO::Pin13}),
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel2}, {GPIO::PortE, GPIO::Pin11}),
-	initIOTimerChannel(io_timers, {Timer::Timer1, Timer::Channel1}, {GPIO::PortE, GPIO::Pin9}),
-	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel2}, {GPIO::PortD, GPIO::Pin13}),
-	initIOTimerChannel(io_timers, {Timer::Timer4, Timer::Channel3}, {GPIO::PortD, GPIO::Pin14}),
-	initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel1}, {GPIO::PortI, GPIO::Pin5}),
-	initIOTimerChannel(io_timers, {Timer::Timer8, Timer::Channel2}, {GPIO::PortI, GPIO::Pin6}),
-};
-
-constexpr io_timers_channel_mapping_t io_timers_channel_mapping =
-	initIOTimerChannelMapping(io_timers, timer_io_channels);
@@ -1,82 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (C) 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 usb.c
- *
- * Board-specific USB functions.
- */
-
-#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"
-
-/************************************************************************************
- * 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_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
-}
-
-
-
-__EXPORT void stm32_usbsuspend(FAR struct usbdev_s *dev, bool resume)
-{
-	uinfo("resume: %d\n", resume);
-}
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file can.c
+ * @file mindpx_can.c
 *
 * Board-specific CAN functions.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file init.c
+ * @file mindpx2_init.c
 *
 * MINDPX-specific early startup code.  This file implements the
 * board_app_initialize() function that is called early by nsh during startup.
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file led.c
+ * @file mindpx2_led.c
 *
 * PX4FMU LED backend.
 */
@@ -32,7 +32,7 @@
 ****************************************************************************/

 /**
- * @file usb.c
+ * @file mindpx_usb.c
 *
 * Board-specific USB functions.
 */
@@ -26,6 +26,7 @@ CONFIG_DRIVERS_IMU_INVENSENSE_IIM42653=y
 CONFIG_DRIVERS_IMU_MURATA_SCH16T=y
 CONFIG_COMMON_LIGHT=y
 CONFIG_COMMON_MAGNETOMETER=y
+CONFIG_COMMON_OPTICAL_FLOW=y
 CONFIG_DRIVERS_POWER_MONITOR_INA226=y
 CONFIG_DRIVERS_POWER_MONITOR_INA228=y
 CONFIG_DRIVERS_POWER_MONITOR_INA238=y
@@ -85,6 +86,7 @@ CONFIG_SYSTEMCMDS_PARAM=y
 CONFIG_SYSTEMCMDS_PERF=y
 CONFIG_SYSTEMCMDS_REBOOT=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
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Ramon Roche	094849511f	ci: no docker instead install python deps	2024-08-14 10:47:49 -07:00
Ramon Roche	2e5c3d9e2e	ci: more permission stuff	2024-08-14 10:45:04 -07:00
Ramon Roche	96853557a9	ci: play around with permissions	2024-08-14 10:41:11 -07:00
Ramon Roche	ca6649e27f	ci: tmate v3	2024-08-14 10:35:59 -07:00
Ramon Roche	b68001685d	ci: no sudo debug	2024-08-14 10:32:45 -07:00
Ramon Roche	809d63bbf5	ci: debug on a single matrix element	2024-08-14 10:23:13 -07:00
Ramon Roche	ae6fdde07a	ci: try with uid 1001	2024-08-14 07:57:56 -07:00
Ramon Roche	54d7c9cbbe	ci: move debug up	2024-08-13 11:28:27 -07:00
Ramon Roche	871befd148	ci: fix yaml	2024-08-13 11:24:10 -07:00
Ramon Roche	7a6301a9d7	ci: debug container ownership	2024-08-13 11:23:02 -07:00
Ramon Roche	2181e0eb8a	ci: turns out we do need the container	2024-08-13 11:14:12 -07:00
Ramon Roche	7b6db68974	tools: stranded group	2024-08-13 11:08:41 -07:00
Ramon Roche	23d36fdbd8	ci: we dont need container for first step	2024-08-13 11:04:00 -07:00
Ramon Roche	722f084a5b	Tools: verbose debugging	2024-08-13 11:02:11 -07:00
Ramon Roche	8fef52c473	ci: add debug step with tmate	2024-08-13 10:56:02 -07:00
Ramon Roche	b00a8de83a	tools: debug grouping py script	2024-08-13 09:35:18 -07:00
Ramon Roche	746c3994d3	ci: debug target tool	2024-08-13 09:29:20 -07:00
Ramon Roche	81da3c0931	ci: i dont know anymore	2024-08-13 07:38:54 -07:00
Ramon Roche	3c3bf192b9	ci: dont specify token use default	2024-08-13 07:21:56 -07:00
Ramon Roche	abafd089fd	ci: rollback checkout to v3	2024-08-13 07:19:39 -07:00
Ramon Roche	385d38d566	ci: fix user id shenanigans	2024-08-13 07:16:48 -07:00
Ramon Roche	d5ef958740	ci: roll back checkout v3 with user 1001	2024-08-13 07:14:49 -07:00
Ramon Roche	7c90d5ffb8	ci: comment user id	2024-08-13 07:12:42 -07:00
Ramon Roche	b24db4d516	tools: update grouping lenghts	2024-08-13 07:06:50 -07:00
Ramon Roche	c1c923d663	ci: update action versions	2024-08-13 07:06:33 -07:00
Ramon Roche	f4e0abc700	ci: swap user to 1001	2024-08-13 06:36:25 -07:00
Ramon Roche	e89e67b3bc	ci: fix runs-on label	2024-08-12 14:30:54 -07:00
Ramon Roche	b006a913c2	ci: test new infra	2024-08-12 14:28:06 -07:00
Ramon Roche	fa570974a7	ci: go back to self hosted only	2024-08-09 12:57:28 -07:00
Ramon Roche	9b2be5c287	ci: update cache action and also use ubuntu runner	2024-08-09 12:52:50 -07:00
Ramon Roche	c39c6898cd	ci: fix target to platform map in groups	2024-08-09 10:43:12 -07:00
Ramon Roche	7d578aefe7	ci: shared cache key	2024-08-09 10:17:40 -07:00
Ramon Roche	4ebd4e75ad	ci: use the proper containers and job names	2024-08-09 10:08:16 -07:00
Ramon Roche	8b758efa44	tools: build tool fail	2024-08-09 09:12:02 -07:00
Ramon Roche	4d5c4b53ee	Toosls: fix aarch	2024-08-09 09:06:00 -07:00
Ramon Roche	2f31c07abe	ci: silence fix	2024-08-09 09:03:33 -07:00
Ramon Roche	21e882eefc	ci: set container user	2024-08-09 09:00:14 -07:00
Ramon Roche	01666ae613	ci: grouped output	2024-08-09 08:34:20 -07:00
Ramon Roche	fa8c4ff7c9	ci: run make on external script	2024-08-09 08:26:53 -07:00
Ramon Roche	166bf22cb7	ci: fix runs-on	2024-08-09 08:04:34 -07:00
Ramon Roche	5d2968c582	ci: fix substitution	2024-08-09 07:50:27 -07:00
Ramon Roche	be63f06fd3	ci: runs on self hosted	2024-08-08 11:42:20 -07:00
Ramon Roche	c15a2a03be	ci: fix run make build	2024-08-08 10:34:11 -07:00
Ramon Roche	43481ccc77	ci: build all action fix output	2024-08-07 18:50:19 -07:00
Ramon Roche	602657b72f	ci: remove manual compile actions in favor of new build all	2024-08-07 18:49:53 -07:00
Ramon Roche	226bde5925	ci: build groups workflow	2024-08-07 10:13:18 -07:00
Ramon Roche	8f7345f6e2	ci: stop nuttx compile for now	2024-08-07 10:12:50 -07:00
Ramon Roche	1fb2992f17	Tools: boards group targets as trings	2024-08-07 10:09:25 -07:00
Ramon Roche	7c9217921c	Tools: generate build groups for CI	2024-08-06 12:01:33 -07:00
Ramon Roche	d51556dec4	editorconfig: yaml, yml settings	2024-08-06 07:16:22 -07:00