parameters: new parameter server backend

- parameter backend is now running in a wq and accessible over pub/sub
 - parameters library can call into backend directly (with locking), but operations will gradually start moving to pub/sub
 - majority of parameters migrated as is, only small changes to parameter autosave and parameter notification that are now performed from the WQ thread

.ci/Jenkinsfile-hardware

@@ -61,9 +61,13 @@ pipeline {
                     sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
                     sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
                     sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                     checkStatus()
                     quickCalibrate()
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                   }
                 }
                 stage("print topics") {
@@ -132,8 +136,12 @@ pipeline {
                     sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "2000"'
                     sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
                     sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                     checkStatus()
                     quickCalibrate()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                   }
                 }
                 stage("print topics") {
@@ -152,76 +160,6 @@ pipeline {
           }
         }
 
-        stage("px4_fmu-v3_test") {
-          stages {
-            stage("build px4_fmu-v3_test") {
-              agent {
-                docker {
-                  image 'px4io/px4-dev-nuttx-focal:2021-09-08'
-                  args '--cpu-shares 512 -e CCACHE_BASEDIR=$WORKSPACE -v ${CCACHE_DIR}:${CCACHE_DIR}:rw'
-                }
-              }
-              steps {
-                checkoutSCM()
-                sh 'make px4_fmu-v3_test'
-                sh 'make px4_fmu-v3_test bootloader_elf'
-                sh 'ccache -s'
-                stash includes: 'build/*/*.elf, platforms/nuttx/Debug/*, platforms/nuttx/NuttX/nuttx/tools/nuttx-gdbinit, Tools/HIL/*', name: 'px4_fmu-v3_test'
-              }
-              post {
-                always {
-                  sh 'make distclean; git clean -ff -x -d .'
-                }
-              }
-            } // stage build
-            stage("hardware") {
-              agent {
-                label 'px4_fmu-v3'
-              }
-              stages {
-                stage("flash") {
-                  steps {
-                    sh 'export'
-                    sh 'find /dev/serial'
-                    unstash 'px4_fmu-v3_test'
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_bootloader.elf'
-                    // flash board and watch bootup
-                    sh './platforms/nuttx/Debug/upload_jlink_gdb.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf && ./Tools/HIL/monitor_firmware_upload.py --device `find /dev/serial -name *usb-*` --baudrate 57600'
-                    resetBoard()
-                  }
-                }
-                stage("tests") {
-                  steps {
-                    runTests()
-                  }
-                }
-                stage("status") {
-                  steps {
-                    // configure
-                    resetParameters()
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
-                    sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
-                    checkStatus()
-                    quickCalibrate()
-                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
-                  }
-                }
-                stage("print topics") {
-                  steps {
-                    printTopics()
-                  }
-                }
-              }
-              post {
-                always {
-                  sh 'cat /tmp/pyserial_spy_file.txt || true'
-                  sh './platforms/nuttx/Debug/jlink_gdb_backtrace_simple.sh build/px4_fmu-v3_test/px4_fmu-v3_test.elf || true'
-                }
-              }
-            } // stage test
-          }
-        }
-
         stage("px4_fmu-v4_test") {
           stages {
             stage("build px4_fmu-v4_test") {
@@ -271,8 +209,12 @@ pipeline {
                     resetParameters()
                     sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
                     sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                     checkStatus()
                     quickCalibrate()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                   }
                 }
                 stage("print topics") {
@@ -340,9 +282,13 @@ pipeline {
                     resetParameters()
                     sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "13000"'   // generic vtol standard
                     sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                     checkStatus()
                     quickCalibrate()
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status"'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                   }
                 }
                 stage("print topics") {
@@ -431,6 +377,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
                     checkStatus()
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                   }
@@ -513,6 +460,7 @@ pipeline {
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set IMU_GYRO_RATEMAX 200" || true' // limit cpu usage
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_0_CONFIG 0" || true'       // limit cpu usage
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param set MAV_1_CONFIG 0" || true'       // limit cpu usage
+                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
                     checkStatus()
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
                   }
@@ -582,9 +530,13 @@ pipeline {
                     resetParameters()
                     sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
                     sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                     checkStatus()
                     quickCalibrate()
                     sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "px4io status" || true'
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                   }
                 }
                 stage("print topics") {
@@ -653,8 +605,12 @@ pipeline {
                     sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "IMU_GYRO_RATEMAX" --value "400"'
                     sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_AUTOSTART" --value "4001"'    // generic quadcopter
                     sh './Tools/HIL/nsh_param_set.py --device `find /dev/serial -name *usb-*` --name "SYS_BL_UPDATE" --value "1"'       // update bootloader
+                    sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
+
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"' // run logger
                     checkStatus()
                     quickCalibrate()
+                    sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"' // stop logger
                   }
                 }
                 stage("print topics") {
@@ -728,14 +684,8 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param save"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot to apply
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show SYS*"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
 
-  // run logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger on"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sleep 1"' // sleep before continuing
   // status commands
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/blocks"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "cat /proc/fs/mount"'
@@ -765,7 +715,7 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mavlink status" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mount"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd status"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param show" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param status"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "perf latency"'
@@ -779,8 +729,6 @@ void checkStatus() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
-  // stop logger
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "logger off"'
 }
 
 void resetParameters() {
@@ -819,13 +767,13 @@ void runTests() {
 
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "tests file" || true'
 
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd readtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd rwtest"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "mtd erase"'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "param dump /fs/mtd_params"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "bsondump /fs/mtd_params"'
 
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench"'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "sd_bench -v"'
@@ -920,7 +868,6 @@ void printTopics() {
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener tune_control" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_acceleration" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_air_data" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_acceleration" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_angular_velocity" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude" || true'
   sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener vehicle_attitude_setpoint" || true'

.github/ISSUE_TEMPLATE/2_Feature_request.md

@@ -5,7 +5,7 @@ labels: feature-request
 
 ---
 
-For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Slack (you can find an invite link on this project README).
+For general questions please use [PX4 Discuss](http://discuss.px4.io/) or Discord (you can find an invite link on this project README).
 
 ## Describe problem solved by the proposed feature
 A clear and concise description of the problem, if any, this feature will solve. E.g. I'm always frustrated when ...

.github/PULL_REQUEST_TEMPLATE.md

@@ -1,17 +1,29 @@
-Please use [PX4 Discuss](http://discuss.px4.io/) or [Slack](http://slack.px4.io/) to align on pull requests if necessary. You can then open draft pull requests to get early feedback.
+<!--
 
-## Describe problem solved by this pull request
-A clear and concise description of the problem this proposed change will solve. Or, what it will improve.
-E.g. For this use case I ran into...
+Thank you for your contribution!
 
-## Describe your solution
-A clear and concise description of what you have implemented.
+Get early feedback through
+- Dronecode Discord: https://discord.gg/dronecode
+- PX4 Discuss: http://discuss.px4.io/
+- opening a draft pr and sharing the link
 
-## Describe possible alternatives
-A clear and concise description of alternative solutions or features you've considered.
+-->
 
-## Test data / coverage
-How was it tested? What cases were covered? Logs uploaded to https://review.px4.io/ and screenshots of the important plot parts.
+### Solved Problem
+When ... I found that ...
 
-## Additional context
-Add any other related context or media.
+Fixes #{Github issue ID}
+
+### Solution
+- Add ... for ...
+- Refactor ...
+
+### Alternatives
+We could also ...
+
+### Test coverage
+- Unit/integration test: ...
+- Simulation/hardware testing logs: https://review.px4.io/
+
+### Context
+Related links, screenshot before/after, video

.github/workflows/sitl_tests.yml

@@ -16,7 +16,7 @@ jobs:
       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: "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
 

.gitignore

@@ -47,6 +47,8 @@ GTAGS
 *.files
 *.includes
 
+Tools/jlink-nuttx.so
+
 # CLion ignores
 .idea
 cmake-build-*/

.gitmodules

@@ -21,11 +21,11 @@
 [submodule "platforms/nuttx/NuttX/nuttx"]
 	path = platforms/nuttx/NuttX/nuttx
 	url = https://github.com/PX4/NuttX.git
-	branch = px4_firmware_nuttx-10.1.0+
+	branch = px4_firmware_nuttx-10.3.0+
 [submodule "platforms/nuttx/NuttX/apps"]
 	path = platforms/nuttx/NuttX/apps
 	url = https://github.com/PX4/NuttX-apps.git
-	branch = px4_firmware_nuttx-10.1.0+
+	branch = px4_firmware_nuttx-10.3.0+
 [submodule "Tools/flightgear_bridge"]
 	path = Tools/simulation/flightgear/flightgear_bridge
 	url = https://github.com/PX4/PX4-FlightGear-Bridge.git

.vscode/settings.json

@@ -133,6 +133,5 @@
         "workbench.settings.enableNaturalLanguageSearch": false,
         "yaml.schemas": {
                 "${workspaceFolder}/validation/module_schema.yaml": "${workspaceFolder}/src/modules/*/module.yaml"
-        },
-        "cortex-debug.openocdPath": "${env:PICO_SDK_PATH}/../openocd/src/openocd"       // Added for rp2040
+        }
 }

CMakeLists.txt

@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2019 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -143,25 +143,17 @@ define_property(GLOBAL PROPERTY PX4_SRC_FILES
 # configuration
 #
 
-set(CONFIG "px4_sitl_default" CACHE STRING "desired configuration")
-
 include(px4_add_module)
 set(config_module_list)
 set(config_kernel_list)
 
 # Find Python
-# If using catkin, Python 2 is found since it points
-# to the Python libs installed with the ROS distro
-if (NOT CATKIN_DEVEL_PREFIX)
-	find_package(PythonInterp 3)
-	# We have a custom error message to tell users how to install python3.
-	if (NOT PYTHONINTERP_FOUND)
-		message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
-			"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
-			"    macOS: brew install python")
-	endif()
-else()
-	find_package(PythonInterp REQUIRED)
+find_package(PythonInterp 3)
+# We have a custom error message to tell users how to install python3.
+if(NOT PYTHONINTERP_FOUND)
+	message(FATAL_ERROR "Python 3 not found. Please install Python 3:\n"
+		"    Ubuntu: sudo apt install python3 python3-dev python3-pip\n"
+		"    macOS: brew install python")
 endif()
 
 option(PYTHON_COVERAGE "Python code coverage" OFF)
@@ -207,6 +199,11 @@ if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/init.cmake")
 	include(init)
 endif()
 
+#=============================================================================
+# project definition
+#
+project(px4 CXX C ASM)
+
 # CMake build type (Debug Release RelWithDebInfo MinSizeRel Coverage)
 if(NOT CMAKE_BUILD_TYPE)
 	if(${PX4_PLATFORM} STREQUAL "nuttx")
@@ -235,11 +232,6 @@ endif()
 set_property(CACHE CMAKE_BUILD_TYPE PROPERTY STRINGS "Debug;Release;RelWithDebInfo;MinSizeRel;Coverage;AddressSanitizer;UndefinedBehaviorSanitizer")
 message(STATUS "cmake build type: ${CMAKE_BUILD_TYPE}")
 
-#=============================================================================
-# project definition
-#
-project(px4 CXX C ASM)
-
 # Check if LTO option and check if toolchain supports it
 if(LTO)
     include(CheckIPOSupported)
@@ -256,15 +248,9 @@ set(CMAKE_C_STANDARD 11)
 set(CMAKE_C_STANDARD_REQUIRED ON)
 set(CMAKE_EXPORT_COMPILE_COMMANDS ON)
 
-# For the catkin build process, unset build of dynamically-linked binaries
-# and do not change CMAKE_RUNTIME_OUTPUT_DIRECTORY
-if (NOT CATKIN_DEVEL_PREFIX)
-	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
-	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
-	set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
-else()
-	SET(BUILD_SHARED_LIBS OFF)
-endif()
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${PX4_BINARY_DIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_DEBUG ${PX4_BINARY_DIR})
+set(CMAKE_RUNTIME_OUTPUT_DIRECTORY_RELEASE ${PX4_BINARY_DIR})
 
 #=============================================================================
 
@@ -309,21 +295,6 @@ endif()
 
 include(ccache)
 
-#=============================================================================
-# find programs and packages
-#
-
-# see if catkin was invoked to build this
-if (CATKIN_DEVEL_PREFIX)
-	message(STATUS "catkin ENABLED")
-	find_package(catkin REQUIRED)
-	if (catkin_FOUND)
-		catkin_package()
-	else()
-		message(FATAL_ERROR "catkin not found")
-	endif()
-endif()
-
 #=============================================================================
 # get chip and chip manufacturer
 #
@@ -410,7 +381,7 @@ if(BUILD_TESTING)
 	include(gtest)
 
 	add_custom_target(test_results
-			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R \"${TESTFILTER}\" USES_TERMINAL
+			COMMAND GTEST_COLOR=1 ${CMAKE_CTEST_COMMAND} --output-on-failure -T Test -R ${TESTFILTER} USES_TERMINAL
 			DEPENDS
 				px4
 				examples__dyn_hello
@@ -450,10 +421,10 @@ add_subdirectory(src/lib/metadata EXCLUDE_FROM_ALL)
 add_subdirectory(src/lib/parameters EXCLUDE_FROM_ALL)
 
 if(${PX4_PLATFORM} STREQUAL "nuttx" AND NOT CONFIG_BUILD_FLAT)
-target_link_libraries(parameters_interface INTERFACE usr_parameters)
-target_link_libraries(kernel_parameters_interface INTERFACE parameters)
+	target_link_libraries(parameters_interface INTERFACE usr_parameters)
+	target_link_libraries(kernel_parameters_interface INTERFACE parameters)
 else()
-target_link_libraries(parameters_interface INTERFACE parameters)
+	target_link_libraries(parameters_interface INTERFACE parameters)
 endif()
 
 # firmware added last to generate the builtin for included modules
@@ -486,17 +457,13 @@ include(doxygen)
 include(metadata)
 include(package)
 
-# print size
-add_custom_target(size
-	COMMAND size $<TARGET_FILE:px4>
-	DEPENDS px4
-	WORKING_DIRECTORY ${PX4_BINARY_DIR}
-	USES_TERMINAL
-	)
-
 # install python requirements using configured python
 add_custom_target(install_python_requirements
 	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
 	USES_TERMINAL
 )
+
+if(EXISTS "${PX4_SOURCE_DIR}/platforms/${PX4_PLATFORM}/cmake/finalize.cmake")
+	include(finalize)
+endif()

Jenkinsfile

@@ -94,21 +94,22 @@ pipeline {
 
         stage('failsafe docs') {
           agent {
-            docker { image 'px4io/px4-dev-base-focal:2021-08-18' }
+            docker { image 'px4io/px4-dev-nuttx-focal:2021-08-18' }
           }
           steps {
             sh '''#!/bin/bash -l
-			echo $0;
+            echo $0;
             git clone https://github.com/emscripten-core/emsdk.git _emscripten_sdk;
             cd _emscripten_sdk;
             ./emsdk install latest;
             ./emsdk activate latest;
+            cd ..;
             . ./_emscripten_sdk/emsdk_env.sh;
-			make failsafe_web;
-			cd build/px4_sitl_default_failsafe_web;
-			mkdir -p failsafe_sim;
-			cp index.* parameters.json failsafe_sim;
-			'''
+            make failsafe_web;
+            cd build/px4_sitl_default_failsafe_web;
+            mkdir -p failsafe_sim;
+            cp index.* parameters.json failsafe_sim;
+            '''
             dir('build/px4_sitl_default_failsafe_web') {
               archiveArtifacts(artifacts: 'failsafe_sim/*')
               stash includes: 'failsafe_sim/*', name: 'failsafe_sim'

Kconfig

@@ -17,6 +17,8 @@ menu "Toolchain"
             bool "posix"
         config PLATFORM_QURT
             bool "qurt"
+        config PLATFORM_ROS2
+            bool "ros2"
     endchoice
 
     config BOARD_PLATFORM
@@ -24,6 +26,7 @@ menu "Toolchain"
         default "nuttx" if PLATFORM_NUTTX
         default "posix" if PLATFORM_POSIX
         default "qurt" if PLATFORM_QURT
+        default "ros2" if PLATFORM_ROS2
 
     config BOARD_LOCKSTEP
         bool "Force enable lockstep"
@@ -37,8 +40,8 @@ menu "Toolchain"
         help
             forces nolockstep behaviour, despite REPLAY env variable
 
-    config BOARD_LINUX
-        bool "Linux OS"
+    config BOARD_LINUX_TARGET
+        bool "Linux OS Target"
         depends on PLATFORM_POSIX
         help
             Board Platform is running the Linux operating system
@@ -190,3 +193,7 @@ endmenu
 menu "examples"
 source "src/examples/Kconfig"
 endmenu
+
+menu "platforms"
+source "platforms/common/Kconfig"
+endmenu

Makefile

@@ -324,6 +324,10 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status
 
+jlink-nuttx:
+	$(CC) -shared -fPIC platforms/nuttx/NuttX/nuttx/tools/jlink-nuttx.c -o Tools/jlink-nuttx.so
+
+
 bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status
 
@@ -386,8 +390,6 @@ tests_coverage:
 	@mkdir -p coverage
 	@lcov --directory build/px4_sitl_test --base-directory build/px4_sitl_test --gcov-tool gcov --capture -o coverage/lcov.info
 
-test_unit:
-	@$(MAKE) tests TESTFILTER="unit\|functional"
 
 rostest: px4_sitl_default
 	@$(MAKE) --no-print-directory px4_sitl_default sitl_gazebo

ROMFS/cannode/init.d/rcS

@@ -31,6 +31,11 @@ then
 	set PARAM_FILE /dev/eeeprom0
 fi
 
+if mft query -q -k MTD -s MTD_PARAMETERS -v /mnt/qspi/params
+then
+	set PARAM_FILE /mnt/qspi/params
+fi
+
 #
 # Load parameters.
 #

ROMFS/px4fmu_common/init.d-posix/airframes/10042_xvert

@@ -14,7 +14,7 @@ PX4_SIM_MODEL=${PX4_SIM_MODEL:=xvert}
 param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_TYPE 0
 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.3
+param set-default VT_FW_DIFTHR_S_Y 0.3
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5
 

ROMFS/px4fmu_common/init.d-posix/airframes/1013_iris_vision

@@ -10,6 +10,7 @@
 # EKF2: Vision position and heading
 param set-default EKF2_AID_MASK 24
 param set-default EKF2_EV_DELAY 5
+param set-default EKF2_EV_CTRL 15
 param set-default EKF2_GPS_CTRL 0
 
 # LPE: Vision + baro

ROMFS/px4fmu_common/init.d-posix/airframes/1030_plane

@@ -8,7 +8,6 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0
 
-param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
 
 param set-default FW_L1_PERIOD 12
@@ -41,7 +40,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

ROMFS/px4fmu_common/init.d-posix/airframes/1033_rascal

@@ -5,7 +5,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
@@ -24,7 +23,6 @@ param set-default FW_RR_P 0.085
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000
@@ -33,11 +31,7 @@ param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
-
-param set-default RWTO_MAX_PITCH 20
-
 param set-default RWTO_PSP 8
-param set-default RWTO_AIRSPD_SCL 1.8
 
 param set-default CA_AIRFRAME 1
 

ROMFS/px4fmu_common/init.d-posix/airframes/1034_rascal-electric

@@ -5,7 +5,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
@@ -24,7 +23,6 @@ param set-default FW_RR_P 0.085
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000
@@ -33,11 +31,7 @@ param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
-
-param set-default RWTO_MAX_PITCH 20
-
 param set-default RWTO_PSP 8
-param set-default RWTO_AIRSPD_SCL 1.8
 
 param set-default CA_AIRFRAME 1
 

ROMFS/px4fmu_common/init.d-posix/airframes/1035_techpod

@@ -8,7 +8,6 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0
 
-param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
 
 param set-default FW_L1_PERIOD 15
@@ -27,7 +26,6 @@ param set-default FW_L1_PERIOD 12
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

ROMFS/px4fmu_common/init.d-posix/airframes/1036_malolo

@@ -5,7 +5,6 @@
 
 . ${R}etc/init.d/rc.fw_defaults
 
-param set-default FW_LND_AIRSPD_SC 1.1
 param set-default FW_LND_ANG 5
 param set-default FW_LND_FL_PMIN 9.5
 param set-default FW_LND_FL_PMAX 20
@@ -24,7 +23,6 @@ param set-default FW_RR_P 0.085
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 20
 param set-default MIS_DIST_1WP 2500
 param set-default MIS_DIST_WPS 10000
@@ -33,9 +31,7 @@ param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
 param set-default RWTO_TKOFF 1
-param set-default RWTO_MAX_PITCH 20
 param set-default RWTO_PSP 8
-param set-default RWTO_AIRSPD_SCL 1.8
 
 param set-default CA_AIRFRAME 1
 

ROMFS/px4fmu_common/init.d-posix/airframes/1037_believer

@@ -8,7 +8,6 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0
 
-param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
 
 param set-default FW_L1_PERIOD 12
@@ -34,14 +33,11 @@ param set-default FW_T_TAS_TC 2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15
 param set-default NAV_DLL_ACT 2
 
-param set-default FW_USE_NPFG 1
-
 param set-default RWTO_TKOFF 1
 
 param set-default CA_AIRFRAME 1

ROMFS/px4fmu_common/init.d-posix/airframes/1039_advanced_plane

@@ -8,7 +8,6 @@
 param set-default EKF2_MAG_ACCLIM 0
 param set-default EKF2_MAG_YAWLIM 0
 
-param set-default FW_LND_AIRSPD_SC 1
 param set-default FW_LND_ANG 8
 param set-default FW_THR_LND_MAX 0
 
@@ -31,7 +30,6 @@ param set-default FW_T_SINK_MIN 2.2
 
 param set-default FW_W_EN 1
 
-param set-default MIS_LTRMIN_ALT 30
 param set-default MIS_TAKEOFF_ALT 30
 
 param set-default NAV_ACC_RAD 15

ROMFS/px4fmu_common/init.d-posix/airframes/1041_tailsitter

@@ -70,7 +70,7 @@ param set-default MPC_XY_VEL_D_ACC 0.1
 param set-default NAV_ACC_RAD 5
 
 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.5
+param set-default VT_FW_DIFTHR_S_Y 0.5
 param set-default VT_F_TRANS_DUR 1.5
 param set-default VT_F_TRANS_THR 0.7
 param set-default VT_TYPE 0

ROMFS/px4fmu_common/init.d-posix/airframes/1060_rover

@@ -18,7 +18,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

ROMFS/px4fmu_common/init.d-posix/airframes/1061_r1_rover

@@ -18,7 +18,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

ROMFS/px4fmu_common/init.d-posix/airframes/1062_tf-r1

@@ -25,7 +25,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

ROMFS/px4fmu_common/init.d-posix/airframes/1070_boat

@@ -18,7 +18,6 @@ param set-default GND_THR_CRUISE 0.85
 param set-default GND_THR_MAX 1
 param set-default GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 param set-default NAV_ACC_RAD 0.5
 param set-default NAV_LOITER_RAD 2

ROMFS/px4fmu_common/init.d-posix/airframes/17001_tf-g1

@@ -20,7 +20,6 @@ param set-default FW_W_EN 1
 
 param set-default FW_RR_P 0.08
 
-param set-default MIS_LTRMIN_ALT 50
 param set-default MIS_TAKEOFF_ALT 3
 
 param set-default NAV_ACC_RAD 20

ROMFS/px4fmu_common/init.d-posix/airframes/17002_tf-g2

@@ -20,7 +20,6 @@ param set-default FW_W_EN 1
 
 param set-default FW_RR_P 0.08
 
-param set-default MIS_LTRMIN_ALT 50
 param set-default MIS_TAKEOFF_ALT 7
 
 param set-default NAV_ACC_RAD 20

ROMFS/px4fmu_common/init.d-posix/px4-rc.mavlink

@@ -3,7 +3,7 @@
 
 udp_offboard_port_local=$((14580+px4_instance))
 udp_offboard_port_remote=$((14540+px4_instance))
-[ $px4_instance -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
+[ "$px4_instance" -gt 9 ] && udp_offboard_port_remote=14549 # use the same ports for more than 10 instances to avoid port overlaps
 udp_onboard_payload_port_local=$((14280+px4_instance))
 udp_onboard_payload_port_remote=$((14030+px4_instance))
 udp_onboard_gimbal_port_local=$((13030+px4_instance))

ROMFS/px4fmu_common/init.d-posix/px4-rc.simulator

@@ -13,108 +13,97 @@ if [ "$PX4_SIMULATOR" = "sihsim" ] || [ "$(param show -q SYS_AUTOSTART)" -eq "0"
 		sensor_mag_sim start
 
 	else
-		echo "ERROR  [init] simulator_sih failed to start"
+		echo "ERROR [init] simulator_sih failed to start"
 		exit 1
 	fi
 
 elif [ "$PX4_SIMULATOR" = "gz" ]; then
 
 	# source generated gazebo_env.sh for IGN_GAZEBO_RESOURCE_PATH
-	if [ -f gazebo_env.sh ]; then
+	if [ -f ./gazebo_env.sh ]; then
 		. ./gazebo_env.sh
+
 	elif [ -f ../gazebo_env.sh ]; then
 		. ../gazebo_env.sh
 	fi
 
-# shellcheck disable=SC2236
-	if [ ! -z $PX4_GZ_VERBOSE ]; then
-		if [ "$PX4_GZ_VERBOSE" -le "4" ] && [ "$PX4_GZ_VERBOSE" -ge "1" ]; then
-			gz_verbose=$PX4_GZ_VERBOSE
-		else
-			gz_verbose=4
-			echo "WARN  [init] PX4_GZ_VERBOSE was passed: $PX4_GZ_VERBOSE, not in range [1,4], defaulting to: $gz_verbose."
-		fi
-		echo "INFO  [init] PX4_GZ_VERBOSE set to $gz_verbose."
-	else
-		gz_verbose=1
-		echo "INFO  [init] PX4_GZ_VERBOSE not explicitly set, defaulting to: $gz_verbose."
-	fi
+	gz_command="ign" # "ign" before garden
+	gz_sub_command="gazebo" # "gazebo" before garden
 
-	gz_world=$( ign topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
-	
-	gz_version_major=$( ign gazebo --versions | sed 's/\..*//g' )
-	gz_version_minor=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/\..*//g' )
-	gz_version_point=$( ign gazebo --versions | sed 's/'"${gz_version_major}"\.'//; s/'"${gz_version_minor}"\.'//')
+	# look for running ${gz_command} gazebo world
+	gz_world=$( ${gz_command} topic -l | grep -m 1 -e "/world/.*/clock" | sed 's/\/world\///g; s/\/clock//g' )
 
-	if [ "$gz_version_major" -gt "6" ] || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -gt "12" ]; } || { [ "$gz_version_major" -eq "6" ] && [ "$gz_version_minor" -eq "12" ] && [ "$gz_version_point" -gt "0" ]; }; then
-		echo "INFO  [init] using latest version of MultiCopterMotor plugin."
-	else
-		echo "WARN  [init] using older version of MultiCopterMotor plugin, please update to latest gazebo > 6.12.0."
-		if [ "$PX4_SIM_MODEL" = "x500" ]; then
-			PX4_SIM_MODEL="x500-Legacy"
-			echo "WARN  [init] setting PX4_SIM_MODEL -> $PX4_SIM_MODEL from x500 till gazebo > 6.12.0"
-		fi
-	fi
+	# shellcheck disable=SC2153
+	if [ -z "${gz_world}" ] && [ -n "${PX4_GZ_WORLDS}" ] && [ -n "${PX4_GZ_WORLD}" ]; then
 
-	if [ -z $gz_world ]; then
+		echo "INFO  [init] starting gazebo with world: ${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf"
 
-		# starting ign gazebo with ${PX4_GZ_WORLD} world
-		echo "INFO  [init] starting ign gazebo"
-# shellcheck disable=SC2153
-		ign gazebo --verbose=$gz_verbose -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
+		${gz_command} ${gz_sub_command} --verbose=1 -r -s "${PX4_GZ_WORLDS}/${PX4_GZ_WORLD}.sdf" &
 
-		if [ -z $HEADLESS ]; then
+		if [ -z "${HEADLESS}" ]; then
 			# HEADLESS not set, starting ign gazebo gui
-			ign gazebo -g &
+			${gz_command} gazebo -g &
 		fi
+
 	else
-		echo "INFO  [init] ign gazebo already running world: $gz_world"
-		PX4_GZ_WORLD=$gz_world
+		echo "INFO  [init] gazebo already running world: ${gz_world}"
+		PX4_GZ_WORLD=${gz_world}
 	fi
 
-# shellcheck disable=SC2236
-	if [ ! -z $PX4_GZ_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ]; then
+	# start gz_bridge
+	if [ -n "${PX4_GZ_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ]; then
+		# model specified, gz_bridge will spawn model
 
-# shellcheck disable=SC2236
-		if [ ! -z $PX4_GZ_MODEL_POSE ]; then
+		if [ -n "${PX4_GZ_MODEL_POSE}" ]; then
 			# Clean potential input line formatting.
-			model_pose="$( echo ${PX4_GZ_MODEL_POSE} | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
+			model_pose="$( echo "${PX4_GZ_MODEL_POSE}" | sed -e 's/^[ \t]*//; s/[ \t]*$//; s/,/ /g; s/  / /g; s/ /,/g' )"
 			echo "INFO  [init] PX4_GZ_MODEL_POSE set, spawning at: ${model_pose}"
+
 		else
 			echo "WARN  [init] PX4_GZ_MODEL_POSE not set, spawning at origin."
 			model_pose="0,0,0,0,0,0"
 		fi
+
 		# start gz bridge with pose arg.
-		if gz_bridge start -p "${model_pose}"  -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
+		if gz_bridge start -p "${model_pose}" -m "${PX4_GZ_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
+
 		else
-			echo "ERROR  [init] ign gazebo failed to start"
+			echo "ERROR [init] gazebo failed to start"
 			exit 1
 		fi
-	elif [ ! -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
+
+	elif [ -n "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
+		# model name specificed, gz_bridge will attach to existing model
+
 		if gz_bridge start -n "${PX4_GZ_MODEL_NAME}" -w "${PX4_GZ_WORLD}"; then
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
+
 		else
-			echo "ERROR  [init] ign gazebo failed to start"
+			echo "ERROR [init] gazebo failed to start"
 			exit 1
 		fi
-	elif [ ! -z $PX4_SIM_MODEL ] && [ -z $PX4_GZ_MODEL_NAME ] && [ -z $PX4_GZ_MODEL ]; then
+
+	elif [ -n "${PX4_SIM_MODEL}" ] && [ -z "${PX4_GZ_MODEL_NAME}" ] && [ -z "${PX4_GZ_MODEL}" ]; then
+
 		echo "WARN  [init] PX4_GZ_MODEL_NAME or PX4_GZ_MODEL not set using PX4_SIM_MODEL."
+
 		if gz_bridge start -m "${PX4_SIM_MODEL}" -w "${PX4_GZ_WORLD}" -i "${px4_instance}"; then
 			sensor_baro_sim start
 			sensor_gps_sim start
 			sensor_mag_sim start
+
 		else
-			echo "ERROR  [init] ign gazebo failed to start"
+			echo "ERROR [init] gazebo failed to start"
 			exit 1
 		fi
 
 	else
-		echo "ERROR  [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
+		echo "ERROR [init] failed to pass only PX4_GZ_MODEL_NAME or PX4_GZ_MODEL"
 		exit 1
 	fi
 
@@ -131,13 +120,13 @@ else
 			echo "PX4 SIM HOST: localhost"
 			simulator_mavlink start -c $simulator_tcp_port
 		else
-			echo "PX4 SIM HOST: $PX4_SIM_HOST_ADDR"
-			simulator_mavlink start -t $PX4_SIM_HOST_ADDR $simulator_tcp_port
+			echo "PX4 SIM HOST: ${PX4_SIM_HOST_ADDR}"
+			simulator_mavlink start -t "${PX4_SIM_HOST_ADDR}" "${simulator_tcp_port}"
 		fi
 
 	else
-		echo "PX4 SIM HOST: $PX4_SIM_HOSTNAME"
-		simulator_mavlink start -h $PX4_SIM_HOSTNAME $simulator_tcp_port
+		echo "PX4 SIM HOST: ${PX4_SIM_HOSTNAME}"
+		simulator_mavlink start -h "${PX4_SIM_HOSTNAME}" "${simulator_tcp_port}"
 	fi
 
 fi

ROMFS/px4fmu_common/init.d-posix/rcS

@@ -74,7 +74,7 @@ if [ -f $PARAM_FILE ]; then
 	then
 		echo "ERROR [init] param import failed"
 
-		param dump $PARAM_FILE
+		bsondump $PARAM_FILE
 
 		# try to make a backup copy
 		cp $PARAM_FILE param_import_fail.bson
@@ -85,7 +85,7 @@ if [ -f $PARAM_FILE ]; then
 			echo "[init] importing from parameter backup"
 
 			# dump current backup file contents for comparison
-			param dump $PARAM_BACKUP_FILE
+			bsondump $PARAM_BACKUP_FILE
 
 			param import $PARAM_BACKUP_FILE
 
@@ -142,7 +142,9 @@ then
 	param set CAL_GYRO2_ID 1311004 # 1311004: DRV_IMU_DEVTYPE_SIM, BUS: 3, ADDR: 1, TYPE: SIMULATION
 
 	param set CAL_MAG0_ID 197388
+	param set CAL_MAG0_PRIO 50
 	param set CAL_MAG1_ID 197644
+	param set CAL_MAG1_PRIO 50
 
 	param set SENS_BOARD_X_OFF 0.000001
 	param set SENS_DPRES_OFF 0.001
@@ -225,7 +227,7 @@ then
 elif [ ! -e "$autostart_file" ] && [ "$SYS_AUTOSTART" -ne "0" ]
 then
 	echo "Error: no autostart file found ($autostart_file)"
-	exit 1
+	#exit 1
 fi
 
 #user defined params for instances can be in PATH
@@ -260,7 +262,19 @@ fi
 navigator start
 
 # Try to start the microdds_client with UDP transport if module exists
-microdds_client start -t udp -p 8888
+microdds_ns=""
+if [ "$px4_instance" -ne "0" ]
+then
+	# Assign new xrce dds key based on instance number and set default namespace
+	param set XRCE_DDS_KEY ${px4_instance}
+	microdds_ns="-n px4_$px4_instance"
+fi
+if [ -n "$PX4_MICRODDS_NS" ]
+then
+	# Override namespace if environment variable is defined
+	microdds_ns="-n $PX4_MICRODDS_NS"
+fi
+microdds_client start -t udp -p 8888 $microdds_ns
 
 if param greater -s MNT_MODE_IN -1
 then

ROMFS/px4fmu_common/init.d/airframes/1002_standard_vtol.hil

@@ -31,7 +31,6 @@ param set-default MC_PITCH_P 6
 param set-default MC_PITCHRATE_P 0.2
 param set-default MC_ROLL_P 6
 param set-default MC_ROLLRATE_P 0.3
-param set-default MIS_LTRMIN_ALT 10
 param set-default MIS_TAKEOFF_ALT 10
 param set-default MIS_YAW_TMT 10
 

ROMFS/px4fmu_common/init.d/airframes/1102_tailsitter_duo_sih.hil

@@ -22,7 +22,7 @@ param set-default VT_ELEV_MC_LOCK 0
 param set-default VT_MOT_COUNT 2
 param set-default VT_TYPE 0
 param set-default VT_FW_DIFTHR_EN 1
-param set-default VT_FW_DIFTHR_SC 0.3
+param set-default VT_FW_DIFTHR_S_Y 0.3
 param set-default MPC_MAN_Y_MAX 60
 param set-default MC_PITCH_P 5
 

ROMFS/px4fmu_common/init.d/airframes/50000_generic_ground_vehicle

@@ -39,7 +39,6 @@ param set-default GND_THR_CRUISE 0.3
 param set-default GND_THR_MAX 0.5
 param set-default GND_THR_MIN 0
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 0.5

ROMFS/px4fmu_common/init.d/airframes/50003_aion_robotics_r1_rover

@@ -44,7 +44,6 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 0.5

ROMFS/px4fmu_common/init.d/airframes/50004_nxpcup_car_dfrobot_gpx

@@ -45,7 +45,6 @@ param set-default GND_SPEED_D 0.001
 param set-default GND_SPEED_IMAX 0.125
 param set-default GND_SPEED_THR_SC 1
 
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 0.5

ROMFS/px4fmu_common/init.d/rc.boat_defaults

@@ -13,7 +13,6 @@ param set-default MAV_TYPE 11
 #
 # Default parameters for UGVs.
 #
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 2

ROMFS/px4fmu_common/init.d/rc.fw_defaults

@@ -43,8 +43,8 @@ param set-default RTL_LAND_DELAY -1
 param set-default NAV_ACC_RAD 10
 
 param set-default MIS_DIST_WPS 5000
-param set-default MIS_LTRMIN_ALT 25
 param set-default MIS_TAKEOFF_ALT 25
+param set-default MIS_TKO_LAND_REQ 2
 
 #
 # FW takeoff acceleration can easily exceed ublox GPS 2G default.

ROMFS/px4fmu_common/init.d/rc.rover_defaults

@@ -13,7 +13,6 @@ param set-default MAV_TYPE 10
 #
 # Default parameters for UGVs.
 #
-param set-default MIS_LTRMIN_ALT 0.01
 param set-default MIS_TAKEOFF_ALT 0.01
 
 param set-default NAV_ACC_RAD 2

ROMFS/px4fmu_common/init.d/rc.sensors

@@ -191,7 +191,10 @@ then
 	ist8308 -X -q start
 	ist8310 -X -q start
 	lis2mdl -X -q start
-	lis3mdl -X -q start
+	if ! lis3mdl -X -q start
+	then
+		lis3mdl -X -q -a 0x1c start
+	fi
 	qmc5883l -X -q start
 	rm3100 -X -q start
 

ROMFS/px4fmu_common/init.d/rc.vtol_defaults

@@ -19,6 +19,7 @@ param set-default EKF2_FUSE_BETA 1
 param set-default HTE_VXY_THR 2.0
 
 param set-default MIS_DIST_WPS 5000
+param set-default MIS_TKO_LAND_REQ 2
 
 param set-default MPC_ACC_HOR_MAX 2
 param set-default MPC_VEL_MANUAL 5

ROMFS/px4fmu_common/init.d/rcS

@@ -130,7 +130,7 @@ else
 		echo "ERROR [init] param import failed"
 		set STARTUP_TUNE 2 # tune 2 = ERROR_TUNE
 
-		param dump $PARAM_FILE
+		bsondump $PARAM_FILE
 
 		if [ -d "/fs/microsd" ]
 		then
@@ -143,7 +143,7 @@ else
 				echo "[init] importing from parameter backup"
 
 				# dump current backup file contents for comparison
-				param dump $PARAM_BACKUP_FILE
+				bsondump $PARAM_BACKUP_FILE
 
 				param import $PARAM_BACKUP_FILE
 
@@ -162,7 +162,7 @@ else
 		param select-backup $PARAM_BACKUP_FILE
 	fi
 
-	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X
+	if ver hwcmp PX4_FMU_V5X PX4_FMU_V6X ARK_FMU_V6X
 	then
 		netman update -i eth0
 	fi
@@ -264,23 +264,6 @@ else
 		. $FCONFIG
 	fi
 
-	#
-	# Check if UAVCAN is enabled, default to it for ESCs.
-	#
-	if param greater -s UAVCAN_ENABLE 0
-	then
-		# Start core UAVCAN module.
-		if ! uavcan start
-		then
-			tune_control play error
-		fi
-	else
-		if param greater -s CYPHAL_ENABLE 0
-		then
-			cyphal start
-		fi
-	fi
-
 	#
 	# Start IO for PWM output or RC input if enabled
 	#
@@ -527,6 +510,23 @@ else
 	fi
 	unset BOARD_BOOTLOADER_UPGRADE
 
+	#
+	# Check if UAVCAN is enabled, default to it for ESCs.
+	#
+	if param greater -s UAVCAN_ENABLE 0
+	then
+		# Start core UAVCAN module.
+		if ! uavcan start
+		then
+			tune_control play error
+		fi
+	else
+		if param greater -s CYPHAL_ENABLE 0
+		then
+			cyphal start
+		fi
+	fi
+
 #
 # End of autostart.
 #

Tools/HIL/test_airframes.sh

@@ -43,13 +43,13 @@ do
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param reset SYS_HITL'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param save'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump'
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/mtd_params'
 
 	${DIR}/reboot.py --device ${SERIAL_DEVICE}
 
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param status'
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/mtd_params' || true
-	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'param dump /fs/microsd/parameters_backup.bson' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/mtd_params' || true
+	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'bsondump /fs/microsd/parameters_backup.bson' || true
 
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'ps'
 	${DIR}/run_nsh_cmd.py --device ${SERIAL_DEVICE} --cmd 'work_queue status'

Tools/generate_board_targets_json.py

@@ -28,7 +28,7 @@ args = parser.parse_args()
 verbose = args.verbose
 
 build_configs = []
-excluded_boards = ['modalai_voxl2']  # TODO: fix and enable
+excluded_boards = ['modalai_voxl2', 'px4_ros2']  # TODO: fix and enable
 excluded_manufacturers = ['atlflight']
 excluded_platforms = ['qurt']
 excluded_labels = [

Tools/msg/px_generate_uorb_topic_files.py

@@ -122,21 +122,13 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
     for field in spec.parsed_fields():
         field_name_and_type.update({field.name: field.type})
 
-    # assert if the timestamp field exists
-    try:
-        assert 'timestamp' in field_name_and_type
-    except AssertionError:
-        print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\tNo 'timestamp' field found in " +
-              spec.short_name + " msg definition!")
-        exit(1)
-
     # assert if the timestamp field is of type uint64
-    try:
-        assert field_name_and_type.get('timestamp') == 'uint64'
-    except AssertionError:
-        print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
-              " msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
-        exit(1)
+    # try:
+    #     assert field_name_and_type.get('timestamp') == 'uint64'
+    # except AssertionError:
+    #     print("[ERROR] uORB topic files generator:\n\tgenerate_output_from_file:\t'timestamp' field in " + spec.short_name +
+    #           " msg definition is not of type uint64 but rather of type " + field_name_and_type.get('timestamp') + "!")
+    #     exit(1)
 
     topics = get_topics(filename)
 

Tools/px4airframes/markdownout.py

@@ -51,9 +51,9 @@ div.frame_variant td, div.frame_variant th {
   text-align : left;
 }
 </style>\n\n"""
- 
+
         type_set = set()
-        
+
         if len(image_path) > 0 and image_path[-1] != '/':
             image_path = image_path + '/'
 
@@ -62,7 +62,7 @@ div.frame_variant td, div.frame_variant th {
                result += '## %s\n\n' % group.GetClass()
                type_set.add(group.GetClass())
 
-            result += '### %s\n\n' % group.GetName()
+            result += '### %s\n\n' % group.GetType()
 
             # Display an image of the frame
             image_name = group.GetImageName()
@@ -73,11 +73,11 @@ div.frame_variant td, div.frame_variant th {
             # check if all outputs are equal for the group: if so, show them
             # only once
             all_outputs = {}
-            num_configs = len(group.GetParams())
-            for param in group.GetParams():
-                if not self.IsExcluded(param, board):
-                    for output_name in param.GetOutputCodes():
-                        value = param.GetOutputValue(output_name)
+            num_configs = len(group.GetAirframes())
+            for airframe in group.GetAirframes():
+                if not self.IsExcluded(airframe, board):
+                    for output_name in airframe.GetOutputCodes():
+                        value = airframe.GetOutputValue(output_name)
                         key_value_pair = (output_name, value)
                         if key_value_pair not in all_outputs:
                             all_outputs[key_value_pair] = 0
@@ -104,18 +104,17 @@ div.frame_variant td, div.frame_variant th {
             result += ' </thead>\n'
             result += '<tbody>\n'
 
-            for param in group.GetParams():
-                if not self.IsExcluded(param, board):
-                    #print("generating: {0} {1}".format(param.GetName(), excluded))
-                    name = param.GetName()
-                    airframe_id = param.GetId()
+            for airframe in group.GetAirframes():
+                if not self.IsExcluded(airframe, board):
+                    name = airframe.GetName()
+                    airframe_id = airframe.GetId()
                     airframe_id_entry = '<p><code>SYS_AUTOSTART</code> = %s</p>' % (airframe_id)
-                    maintainer = param.GetMaintainer()
+                    maintainer = airframe.GetMaintainer()
                     maintainer_entry = ''
                     if maintainer != '':
                         maintainer_entry = 'Maintainer: %s' % (html.escape(maintainer))
-                    url = param.GetFieldValue('url')
-                    name_anchor='%s_%s_%s' % (group.GetClass(),group.GetName(),name)
+                    url = airframe.GetFieldValue('url')
+                    name_anchor='%s_%s_%s' % (group.GetClass(),group.GetType(),name)
                     name_anchor=name_anchor.replace(' ','_').lower()
                     name_anchor=name_anchor.replace('"','_').lower()
                     name_anchor='id="%s"' % name_anchor
@@ -124,8 +123,8 @@ div.frame_variant td, div.frame_variant th {
                         name_entry = '<a href="%s">%s</a>' % (url, name)
                     outputs = '<ul>'
                     has_outputs = False
-                    for output_name in param.GetOutputCodes():
-                        value = param.GetOutputValue(output_name)
+                    for output_name in airframe.GetOutputCodes():
+                        value = airframe.GetOutputValue(output_name)
                         valstrs = value.split(";")
                         key_value_pair = (output_name, value)
                         if all_outputs[key_value_pair] < num_configs:
@@ -152,9 +151,9 @@ div.frame_variant td, div.frame_variant th {
 
         self.output = result
 
-    def IsExcluded(self, param, board):
-        for code in param.GetArchCodes():
-            if "CONFIG_ARCH_BOARD_{0}".format(code) == board and param.GetArchValue(code) == "exclude":
+    def IsExcluded(self, airframe, board):
+        for code in airframe.GetArchCodes():
+            if "CONFIG_ARCH_BOARD_{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
                 return True
         return False
 

Tools/px4airframes/rcout.py

@@ -3,6 +3,9 @@ import codecs
 import os
 
 class RCOutput():
+    """
+        Generates RC scripts for the airframes
+    """
     def __init__(self, groups, board, post_start=False):
 
         result = (  "#\n"
@@ -34,33 +37,33 @@ class RCOutput():
         result += "set AIRFRAME none\n"
         result += "\n"
         for group in groups:
-            result += "# GROUP: %s\n\n" % group.GetName()
-            for param in group.GetParams():
+            result += "# GROUP: %s\n\n" % group.GetType()
+            for airframe in group.GetAirframes():
                 excluded = False
-                for code in param.GetArchCodes():
-                    if "{0}".format(code) == board and param.GetArchValue(code) == "exclude":
+                for code in airframe.GetArchCodes():
+                    if "{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
                         excluded = True
                 if excluded:
                     continue
 
                 if post_start:
                     # Path to post-start sript
-                    path = param.GetPostPath()
+                    path = airframe.GetPostPath()
                 else:
                     # Path to start script
-                    path = param.GetPath()
+                    path = airframe.GetPath()
 
                 if not path:
                     continue
 
                 path = os.path.split(path)[1]
 
-                id_val = param.GetId()
-                name = param.GetFieldValue("short_desc")
-                long_desc = param.GetFieldValue("long_desc")
+                id_val = airframe.GetId()
+                name = airframe.GetFieldValue("short_desc")
+                long_desc = airframe.GetFieldValue("long_desc")
 
                 result +=   "#\n"
-                result +=   "# %s\n" % param.GetName()
+                result +=   "# %s\n" % airframe.GetName()
                 result +=   "if param compare SYS_AUTOSTART %s\n" % id_val
                 result +=   "then\n"
                 result +=   "\tset AIRFRAME %s\n" % path

Tools/px4airframes/srcparser.py

@@ -2,31 +2,38 @@ import sys
 import re
 import os
 
-class ParameterGroup(object):
+class AirframeGroup(object):
     """
-    Single parameter group
+    Airframe group
+
+    type: specific vehicle type (e.g. VTOL Tiltrotor, VTOL Quadrotor, etc.)
+    class: vehicle class (e.g. Multicopter, Fixed Wing, etc.)
     """
-    def __init__(self, name, af_class):
-        self.name = name
+    def __init__(self, type, af_class):
+        self.type = type
         self.af_class = af_class
-        self.params = []
+        self.airframes = []
 
 
-    def AddParameter(self, param):
+    def AddAirframe(self, airframe):
         """
-        Add parameter to the group
+        Add airframe to the airframe group
         """
-        self.params.append(param)
+        self.airframes.append(airframe)
 
-    def GetName(self):
+    def GetType(self):
         """
-        Get parameter group name
+        Get airframe group's vehicle type
+
+        e.g. VTOL Tiltrotor, VTOL Quadrotor, etc.
         """
-        return self.name
+        return self.type
 
     def GetClass(self):
         """
-        Get parameter group vehicle type.
+        Get airframe group's vehicle class
+
+        e.g. Multicopter, Fixed Wing, etc.
         """
         return self.af_class
 
@@ -34,86 +41,84 @@ class ParameterGroup(object):
         """
         Get parameter group image base name (w/o extension)
         """
-        if (self.name == "Standard Plane"):
+        if (self.type == "Standard Plane"):
             return "Plane"
-        elif (self.name == "Flying Wing"):
+        elif (self.type == "Flying Wing"):
             return "FlyingWing"
-        elif (self.name == "Quadrotor x"):
+        elif (self.type == "Quadrotor x"):
             return "QuadRotorX"
-        elif (self.name == "Quadrotor +"):
+        elif (self.type == "Quadrotor +"):
             return "QuadRotorPlus"
-        elif (self.name == "Hexarotor x"):
+        elif (self.type == "Hexarotor x"):
             return "HexaRotorX"
-        elif (self.name == "Hexarotor +"):
+        elif (self.type == "Hexarotor +"):
             return "HexaRotorPlus"
-        elif (self.name == "Octorotor +"):
+        elif (self.type == "Octorotor +"):
             return "OctoRotorPlus"
-        elif (self.name == "Octorotor x"):
+        elif (self.type == "Octorotor x"):
             return "OctoRotorX"
-        elif (self.name == "Octorotor Coaxial"):
+        elif (self.type == "Octorotor Coaxial"):
             return "OctoRotorXCoaxial"
-        elif (self.name == "Octo Coax Wide"):
+        elif (self.type == "Octo Coax Wide"):
             return "OctoRotorXCoaxial"
-        elif (self.name == "Quadrotor Wide"):
+        elif (self.type == "Quadrotor Wide"):
             return "QuadRotorWide"
-        elif (self.name == "Quadrotor H"):
+        elif (self.type == "Quadrotor H"):
             return "QuadRotorH"
-        elif (self.name == "Dodecarotor cox"):
+        elif (self.type == "Dodecarotor cox"):
             return "DodecaRotorXCoaxial"
-        elif (self.name == "Simulation"):
+        elif (self.type == "Simulation"):
             return "AirframeSimulation"
-        elif (self.name == "Plane A-Tail"):
+        elif (self.type == "Plane A-Tail"):
             return "PlaneATail"
-        elif (self.name == "Plane V-Tail"):
+        elif (self.type == "Plane V-Tail"):
             return "PlaneVTail"
-        elif (self.name == "VTOL Duo Tailsitter"):
+        elif (self.type == "VTOL Duo Tailsitter"):
             return "VTOLDuoRotorTailSitter"
-        elif (self.name == "Standard VTOL"):
+        elif (self.type == "Standard VTOL"):
             return "VTOLPlane"
-        elif (self.name == "VTOL Quad Tailsitter"):
+        elif (self.type == "VTOL Quad Tailsitter"):
             return "VTOLQuadRotorTailSitter"
-        elif (self.name == "VTOL Tiltrotor"):
+        elif (self.type == "VTOL Tiltrotor"):
             return "VTOLTiltRotor"
-        elif (self.name == "VTOL Octoplane"):
+        elif (self.type == "VTOL Octoplane"):
             return "VTOLPlaneOcto"
-        elif (self.name == "Coaxial Helicopter"):
+        elif (self.type == "Coaxial Helicopter"):
             return "HelicopterCoaxial"
-        elif (self.name == "Helicopter"):
+        elif (self.type == "Helicopter"):
             return "Helicopter"
-        elif (self.name == "Hexarotor Coaxial"):
+        elif (self.type == "Hexarotor Coaxial"):
             return "Y6B"
-        elif (self.name == "Y6A"):
+        elif (self.type == "Y6A"):
             return "Y6A"
-        elif (self.name == "Tricopter Y-"):
+        elif (self.type == "Tricopter Y-"):
             return "YMinus"
-        elif (self.name == "Tricopter Y+"):
+        elif (self.type == "Tricopter Y+"):
             return "YPlus"
-        elif (self.name == "Autogyro"):
+        elif (self.type == "Autogyro"):
             return "Autogyro"
-        elif (self.name == "Airship"):
+        elif (self.type == "Airship"):
             return "Airship"
-        elif (self.name == "Rover"):
+        elif (self.type == "Rover"):
             return "Rover"
-        elif (self.name == "Boat"):
+        elif (self.type == "Boat"):
             return "Boat"
-        elif (self.name == "Balloon"):
+        elif (self.type == "Balloon"):
             return "Balloon"
-        elif (self.name == "Vectored 6 DOF UUV"):
+        elif (self.type == "Vectored 6 DOF UUV"):
             return "Vectored6DofUUV"
         return "AirframeUnknown"
 
-    def GetParams(self):
+    def GetAirframes(self):
         """
-        Returns the parsed list of parameters. Every parameter is a Parameter
-        object. Note that returned object is not a copy. Modifications affect
-        state of the parser.
+        Returns the parsed list of airframes objects. Note that returned
+        object is not a copy. Modifications affect state of the parser.
         """
+        return sorted(self.airframes, key=lambda x: x.GetId())
 
-        return sorted(self.params, key=lambda x: x.GetId())
-
-class Parameter(object):
+class Airframe(object):
     """
-    Single parameter
+    Single Airframe definition
     """
 
     # Define sorting order of the fields
@@ -288,7 +293,7 @@ class SourceParser(object):
     }
 
     def __init__(self):
-        self.param_groups = {}
+        self.airframe_groups = {}
 
     def GetSupportedExtensions(self):
         """
@@ -347,10 +352,10 @@ class SourceParser(object):
                             tag, desc = m.group(1, 2)
                             if (tag == "output"):
                                 key, text = desc.split(' ', 1)
-                                outputs[key] = text;
+                                outputs[key] = text
                             elif (tag == "board"):
                                 key, text = desc.split(' ', 1)
-                                archs[key] = text;
+                                archs[key] = text
                             else:
                                 tags[tag] = desc
                             current_tag = tag
@@ -427,7 +432,7 @@ class SourceParser(object):
             post_path = None
 
         # We already know this is an airframe config, so add it
-        param = Parameter(path, post_path, airframe_name, airframe_type, airframe_class, airframe_id, maintainer)
+        airframe = Airframe(path, post_path, airframe_name, airframe_type, airframe_class, airframe_id, maintainer)
 
         # Done with file, store
         for tag in tags:
@@ -440,24 +445,24 @@ class SourceParser(object):
             if tag == "name":
                 airframe_name = tags[tag]
             else:
-                param.SetField(tag, tags[tag])
+                airframe.SetField(tag, tags[tag])
 
         # Store outputs
         for output in outputs:
-            param.SetOutput(output, outputs[output])
+            airframe.SetOutput(output, outputs[output])
 
         # Store outputs
         for arch in archs:
-            param.SetArch(arch, archs[arch])
+            airframe.SetArch(arch, archs[arch])
 
         # Store the parameter
 
         # Create a class-specific airframe group. This is needed to catch cases where an airframe type might cross classes (e.g. simulation)
-        class_group_identifier=airframe_type+airframe_class
-        if class_group_identifier not in self.param_groups:
-            #self.param_groups[airframe_type] = ParameterGroup(airframe_type)  #HW TEST REMOVE
-            self.param_groups[class_group_identifier] = ParameterGroup(airframe_type, airframe_class)
-        self.param_groups[class_group_identifier].AddParameter(param)
+        class_group_identifier=airframe_type + airframe_class
+        if class_group_identifier not in self.airframe_groups:
+            #self.airframe_groups[airframe_type] = ParameterGroup(airframe_type)  #HW TEST REMOVE
+            self.airframe_groups[class_group_identifier] = AirframeGroup(airframe_type, airframe_class)
+        self.airframe_groups[class_group_identifier].AddAirframe(airframe)
 
         return True
 
@@ -473,8 +478,8 @@ class SourceParser(object):
         Validates the airframe meta data.
         """
         seenParamNames = []
-        for group in self.GetParamGroups():
-            for param in group.GetParams():
+        for group in self.GetAirframeGroups():
+            for param in group.GetAirframes():
                 name  = param.GetName()
                 board = param.GetFieldValue("board")
                 # Check for duplicates
@@ -487,27 +492,27 @@ class SourceParser(object):
 
         return True
 
-    def GetParamGroups(self):
+    def GetAirframeGroups(self):
         """
-        Returns the parsed list of parameters. Every parameter is a Parameter
+        Returns the parsed list of Airframe groups. Every Airframe is an Airframe
         object. Note that returned object is not a copy. Modifications affect
         state of the parser.
         """
-        groups = self.param_groups.values()
-        groups = sorted(groups, key=lambda x: x.GetName())
+        groups = self.airframe_groups.values()
+        groups = sorted(groups, key=lambda x: x.GetType())
         groups = sorted(groups, key=lambda x: x.GetClass())
-        groups = sorted(groups, key=lambda x: self.priority.get(x.GetName(), 0), reverse=True)
+        groups = sorted(groups, key=lambda x: self.priority.get(x.GetType(), 0), reverse=True)
 
         #Rename duplicate groups to include the class (creating unique headings in page TOC)
         duplicate_test=set()
         duplicate_set=set()
         for group in groups:
-            if group.GetName() in duplicate_test:
-                duplicate_set.add(group.GetName())
+            if group.GetType() in duplicate_test:
+                duplicate_set.add(group.GetType())
             else:
-                duplicate_test.add(group.GetName() )
+                duplicate_test.add(group.GetType() )
         for group in groups:
-            if group.GetName() in duplicate_set:
-                group.name=group.GetName()+' (%s)' % group.GetClass()
+            if group.GetType() in duplicate_set:
+                group.name=group.GetType()+' (%s)' % group.GetClass()
 
         return groups

Tools/px4airframes/xmlout.py

@@ -28,28 +28,28 @@ class XMLOutput():
         xml_version.text = "1"
         for group in groups:
             xml_group = ET.SubElement(xml_parameters, "airframe_group")
-            xml_group.attrib["name"] = group.GetName()
+            xml_group.attrib["name"] = group.GetType()
             xml_group.attrib["image"] = group.GetImageName()
-            for param in group.GetParams():
+            for airframe in group.GetAirframes():
 
                 # check if there is an exclude tag for this airframe
                 excluded = False
-                for code in param.GetArchCodes():
-                    if "CONFIG_ARCH_BOARD_{0}".format(code) == board and param.GetArchValue(code) == "exclude":
+                for code in airframe.GetArchCodes():
+                    if "CONFIG_ARCH_BOARD_{0}".format(code) == board and airframe.GetArchValue(code) == "exclude":
                         excluded = True
 
                 if not excluded:
-                    #print("generating: {0} {1}".format(param.GetName(), excluded))
+                    #print("generating: {0} {1}".format(airframe.GetName(), excluded))
                     xml_param = ET.SubElement(xml_group, "airframe")
-                    xml_param.attrib["name"] = param.GetName()
-                    xml_param.attrib["id"] = param.GetId()
-                    xml_param.attrib["maintainer"] = param.GetMaintainer()
-                    for code in param.GetFieldCodes():
-                        value = param.GetFieldValue(code)
+                    xml_param.attrib["name"] = airframe.GetName()
+                    xml_param.attrib["id"] = airframe.GetId()
+                    xml_param.attrib["maintainer"] = airframe.GetMaintainer()
+                    for code in airframe.GetFieldCodes():
+                        value = airframe.GetFieldValue(code)
                         xml_field = ET.SubElement(xml_param, code)
                         xml_field.text = value
-                    for code in param.GetOutputCodes():
-                        value = param.GetOutputValue(code)
+                    for code in airframe.GetOutputCodes():
+                        value = airframe.GetOutputValue(code)
                         valstrs = value.split(";")
                         xml_field = ET.SubElement(xml_param, "output")
                         xml_field.attrib["name"] = code

Tools/px_process_airframes.py

@@ -35,12 +35,11 @@
 #
 # PX4 airframe config processor (main executable file)
 #
-# This tool scans the PX4 ROMFS code for declarations of airframes
-#
-# Currently supported formats are:
-#   * XML for the parametric UI generator
-#   * Markdown for the PX4 dev guide (https://github.com/PX4/Devguide)
+# This tool scans the PX4 ROMFS directory for declarations of airframes
 #
+# Currently supported output formats are:
+#   * XML for the parametric UI generator (Used in QGC)
+#   * Markdown for the PX4 User guide (https://github.com/PX4/PX4-user_guide)
 #
 
 from __future__ import print_function
@@ -104,31 +103,31 @@ def main():
     # We can't validate yet
     # if not parser.Validate():
     #     sys.exit(1)
-    param_groups = parser.GetParamGroups()
+    airframe_groups = parser.GetAirframeGroups()
 
     # Output to XML file
     if args.xml:
         if args.verbose: print("Creating XML file " + args.xml)
-        out = xmlout.XMLOutput(param_groups, args.board)
+        out = xmlout.XMLOutput(airframe_groups, args.board)
         out.Save(args.xml)
 
     # Output to markdown file
     if args.markdown:
         if args.verbose: print("Creating markdown file " + args.markdown)
-        out = markdownout.MarkdownTablesOutput(param_groups, args.board, args.image_path)
+        out = markdownout.MarkdownTablesOutput(airframe_groups, args.board, args.image_path)
         out.Save(args.markdown)
 
     # Output to start scripts
     if args.start_script:
         # Airframe start script
         if args.verbose: print("Creating start script " + args.start_script)
-        out = rcout.RCOutput(param_groups, args.board)
+        out = rcout.RCOutput(airframe_groups, args.board)
         out.Save(args.start_script)
 
         # Airframe post-start script
         post_start_script = args.start_script + '.post'
         if args.verbose: print("Creating post-start script " + post_start_script)
-        out_post = rcout.RCOutput(param_groups, args.board, post_start=True)
+        out_post = rcout.RCOutput(airframe_groups, args.board, post_start=True)
         out_post.Save(post_start_script)
 
     if (args.verbose): print("All done!")

Tools/px_uploader.py

@@ -582,7 +582,35 @@ class uploader(object):
         self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)
 
     # upload the firmware
-    def upload(self, fw, force=False, boot_delay=None):
+    def upload(self, fw_list, force=False, boot_delay=None, boot_check=False):
+        # select correct binary
+        found_suitable_firmware = False
+        for file in fw_list:
+            fw = firmware(file)
+            if self.board_type == fw.property('board_id'):
+                if len(fw_list) > 1: print("using firmware binary {}".format(file))
+                found_suitable_firmware = True
+                break
+
+        if not found_suitable_firmware:
+            msg = "Firmware not suitable for this board (Firmware board_type=%u board_id=%u)" % (
+                self.board_type, fw.property('board_id'))
+            print("WARNING: %s" % msg)
+            if force:
+                if len(fw_list) > 1:
+                    raise FirmwareNotSuitableException("force flashing failed, more than one file provided, none suitable")
+                print("FORCED WRITE, FLASHING ANYWAY!")
+            else:
+                raise FirmwareNotSuitableException(msg)
+
+        percent = fw.property('image_size') / fw.property('image_maxsize')
+        binary_size = float(fw.property('image_size'))
+        binary_max_size = float(fw.property('image_maxsize'))
+        percent = (binary_size / binary_max_size) * 100
+
+        print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%) " % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
+        print()
+
         # Make sure we are doing the right thing
         start = _time()
         if self.board_type != fw.property('board_id'):
@@ -764,7 +792,7 @@ def main():
     parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
     parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
     parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
-    parser.add_argument('firmware', action="store", help="Firmware file to be uploaded")
+    parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
     args = parser.parse_args()
 
     if args.use_protocol_splitter_format:
@@ -776,17 +804,7 @@ def main():
         print("WARNING: You should uninstall ModemManager as it conflicts with any non-modem serial device (like Pixhawk)")
         print("==========================================================================================================")
 
-    # Load the firmware file
-    fw = firmware(args.firmware)
-
-    percent = fw.property('image_size') / fw.property('image_maxsize')
-    binary_size = float(fw.property('image_size'))
-    binary_max_size = float(fw.property('image_maxsize'))
-    percent = (binary_size / binary_max_size) * 100
-
-    print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%), waiting for the bootloader..." % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
-    print()
-
+    print("Waiting for bootloader...")
     # tell any GCS that might be connected to the autopilot to give up
     # control of the serial port
 
@@ -889,7 +907,7 @@ def main():
 
                 try:
                     # ok, we have a bootloader, try flashing it
-                    up.upload(fw, force=args.force, boot_delay=args.boot_delay)
+                    up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay)
 
                     # if we made this far without raising exceptions, the upload was successful
                     successful = True

Tools/serial/generate_config.py

@@ -136,9 +136,9 @@ serial_ports = {
         "default_baudrate": 1, # set default to an unusable value to detect that this serial port has not been configured
         },
 
-    # Pixhawk Payload Bus
-    "PPB": {
-        "label": "Pixhawk Payload Bus",
+    # EXT2
+    "EXT2": {
+        "label": "EXT2",
         "index": 401,
         "default_baudrate": 57600,
         },

Tools/simulation/gz/models/x500-Legacy/model.config

@@ -1,11 +0,0 @@
-<?xml version="1.0"?>
-<model>
-  <name>x500-Legacy</name>
-  <version>1.0</version>
-  <sdf version="1.9">model.sdf</sdf>
-  <author>
-    <name>Benjamin Perseghetti</name>
-    <email>bperseghetti@rudislabs.com</email>
-  </author>
-  <description>Model of the NXP HoverGames Drone development kit (KIT-HGDRONEK66). The PX4 software compatible kit provides mechanical, RC remote and other components needed to evaluate the RDDRONE-FMUK66 reference design. The FMU includes 100Base-T1 Automotive Ethernet, dual CAN transceivers, as well as SE050 secure element, and works with add on boards NavQPlus, MR-T1ETH8, MR-T1ADAPT, and CAN-nodes such as UCANS32K1SIC.  Kit may be used with, and contains the components needed for the HoverGames.com coding challenges.</description>
-</model>

Tools/simulation/gz/models/x500-Legacy/model.sdf

@@ -1,76 +0,0 @@
-<?xml version="1.0" encoding="UTF-8"?>
-<sdf version='1.9'>
-  <model name='x500-Legacy'>
-    <include merge='true'>
-      <uri>model://x500-NoPlugin</uri>
-    </include>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>/x500-Legacy_0</robotNamespace>
-      <jointName>rotor_0_joint</jointName>
-      <linkName>rotor_0</linkName>
-      <turningDirection>ccw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>0</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>/x500-Legacy_0</robotNamespace>
-      <jointName>rotor_1_joint</jointName>
-      <linkName>rotor_1</linkName>
-      <turningDirection>ccw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>1</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>/x500-Legacy_0</robotNamespace>
-      <jointName>rotor_2_joint</jointName>
-      <linkName>rotor_2</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>2</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-    <plugin filename="ignition-gazebo-multicopter-motor-model-system" name="ignition::gazebo::systems::MulticopterMotorModel">
-      <robotNamespace>/x500-Legacy_0</robotNamespace>
-      <jointName>rotor_3_joint</jointName>
-      <linkName>rotor_3</linkName>
-      <turningDirection>cw</turningDirection>
-      <timeConstantUp>0.0125</timeConstantUp>
-      <timeConstantDown>0.025</timeConstantDown>
-      <maxRotVelocity>1000.0</maxRotVelocity>
-      <motorConstant>8.54858e-06</motorConstant>
-      <momentConstant>0.016</momentConstant>
-      <commandSubTopic>command/motor_speed</commandSubTopic>
-      <motorNumber>3</motorNumber>
-      <rotorDragCoefficient>8.06428e-05</rotorDragCoefficient>
-      <rollingMomentCoefficient>1e-06</rollingMomentCoefficient>
-      <rotorVelocitySlowdownSim>10</rotorVelocitySlowdownSim>
-      <motorType>velocity</motorType>
-    </plugin>
-  </model>
-</sdf>

Tools/simulation/jmavsim/jmavsim_run.sh

@@ -73,4 +73,5 @@ fi
 ant create_run_jar copy_res
 cd out/production
 
-java -XX:GCTimeRatio=20 -Djava.ext.dirs= -jar jmavsim_run.jar $device $extra_args
+java --add-exports java.base/java.lang=ALL-UNNAMED --add-exports java.desktop/sun.awt=ALL-UNNAMED --add-exports java.desktop/sun.java2d=ALL-UNNAMED \
+	-XX:GCTimeRatio=20 -Djava.ext.dirs= -jar jmavsim_run.jar $device $extra_args

boards/airmind/mindpx-v2/default.px4board

@@ -79,8 +79,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y

boards/airmind/mindpx-v2/nuttx-config/nsh/defconfig

@@ -7,6 +7,7 @@
 #
 # 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
@@ -36,9 +37,11 @@ CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARDCTL=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
@@ -54,6 +57,25 @@ CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MODCMDS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PRINTF is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_TEST 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_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
@@ -118,12 +140,13 @@ CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
+CONFIG_LIBC_MAX_EXITFUNS=1
 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
@@ -226,5 +249,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"

boards/airmind/mindpx-v2/src/can.c

@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "stm32.h"
 #include "stm32_can.h"

boards/airmind/mindpx-v2/src/usb.c

@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"
 

boards/ark/can-flow/nuttx-config/canbootloader/defconfig

@@ -23,6 +23,25 @@ CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MODCMDS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PRINTF is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_TEST 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_DISABLE_MOUNTPOINT=y
 CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_PTHREAD=y
@@ -35,7 +54,7 @@ CONFIG_IDLETHREAD_STACKSIZE=4096
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_LIB_BOARDCTL=y
+CONFIG_BOARDCTL=y
 CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
@@ -58,4 +77,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096

boards/ark/can-flow/nuttx-config/nsh/defconfig

@@ -5,20 +5,51 @@
 # You can then do "make savedefconfig" to generate a new defconfig file that includes your
 # modifications.
 #
-# CONFIG_DISABLE_OS_API is not set
+# 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_ARP is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_NSLOOKUP 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_STM32_DMACAPABLE 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/ark/can-flow/nuttx-config"
@@ -32,8 +63,10 @@ CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARDCTL=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CLOCK_MONOTONIC=y
@@ -95,12 +128,13 @@ CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
+CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=254
 CONFIG_SCHED_HPWORKSTACKSIZE=3000
 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
@@ -149,5 +183,5 @@ CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2624
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2624
+CONFIG_INIT_ENTRYPOINT="nsh_main"

boards/ark/can-flow/src/can.c

@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "stm32.h"
 #include "stm32_can.h"

boards/ark/can-gps/nuttx-config/canbootloader/defconfig

@@ -23,6 +23,25 @@ CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MODCMDS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PRINTF is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_TEST 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_DISABLE_MOUNTPOINT=y
 CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_PTHREAD=y
@@ -35,7 +54,7 @@ CONFIG_IDLETHREAD_STACKSIZE=4096
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_LIB_BOARDCTL=y
+CONFIG_BOARDCTL=y
 CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
@@ -58,4 +77,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096

boards/ark/can-gps/nuttx-config/nsh/defconfig

@@ -5,20 +5,51 @@
 # You can then do "make savedefconfig" to generate a new defconfig file that includes your
 # modifications.
 #
-# CONFIG_DISABLE_OS_API is not set
+# 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_ARP is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_NSLOOKUP 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_STM32_DMACAPABLE 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/ark/can-gps/nuttx-config"
@@ -32,8 +63,10 @@ CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARDCTL=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CLOCK_MONOTONIC=y
@@ -97,12 +130,13 @@ CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
+CONFIG_LIBC_MAX_EXITFUNS=1
 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
@@ -154,5 +188,5 @@ CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2624
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2624
+CONFIG_INIT_ENTRYPOINT="nsh_main"

boards/ark/can-gps/src/can.c

@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "stm32.h"
 #include "stm32_can.h"

boards/ark/can-rtk-gps/nuttx-config/canbootloader/defconfig

@@ -23,6 +23,25 @@ CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MODCMDS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PRINTF is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_TEST 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_DISABLE_MOUNTPOINT=y
 CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_PTHREAD=y
@@ -35,7 +54,7 @@ CONFIG_IDLETHREAD_STACKSIZE=4096
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_LIB_BOARDCTL=y
+CONFIG_BOARDCTL=y
 CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
@@ -58,4 +77,4 @@ CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_STM32_TIM8=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096

boards/ark/can-rtk-gps/nuttx-config/nsh/defconfig

@@ -5,20 +5,51 @@
 # You can then do "make savedefconfig" to generate a new defconfig file that includes your
 # modifications.
 #
-# CONFIG_DISABLE_OS_API is not set
+# 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_ARP is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_NSLOOKUP 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_STM32_DMACAPABLE 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/ark/can-rtk-gps/nuttx-config"
@@ -32,8 +63,10 @@ CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARDCTL=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CLOCK_MONOTONIC=y
@@ -97,12 +130,13 @@ CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
+CONFIG_LIBC_MAX_EXITFUNS=1
 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
@@ -155,5 +189,5 @@ CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2624
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2624
+CONFIG_INIT_ENTRYPOINT="nsh_main"

boards/ark/can-rtk-gps/src/can.c

@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "stm32.h"
 #include "stm32_can.h"

boards/ark/cannode/nuttx-config/canbootloader/defconfig

@@ -23,6 +23,25 @@ CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MODCMDS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PRINTF is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_TEST 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_DISABLE_MOUNTPOINT=y
 CONFIG_DISABLE_MQUEUE=y
 CONFIG_DISABLE_PTHREAD=y
@@ -35,7 +54,7 @@ CONFIG_IDLETHREAD_STACKSIZE=4096
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_LIB_BOARDCTL=y
+CONFIG_BOARDCTL=y
 CONFIG_FS_PROCFS_MAX_TASKS=0
 CONFIG_MM_REGIONS=2
 CONFIG_NAME_MAX=0
@@ -58,4 +77,4 @@ CONFIG_STM32_FLASH_CONFIG_G=y
 CONFIG_STM32_NOEXT_VECTORS=y
 CONFIG_TASK_NAME_SIZE=0
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=4096
+CONFIG_INIT_STACKSIZE=4096

boards/ark/cannode/nuttx-config/nsh/defconfig

@@ -5,20 +5,51 @@
 # You can then do "make savedefconfig" to generate a new defconfig file that includes your
 # modifications.
 #
-# CONFIG_DISABLE_OS_API is not set
+# 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_ARP is not set
+# CONFIG_NSH_DISABLE_CAT is not set
+# CONFIG_NSH_DISABLE_CD is not set
+# CONFIG_NSH_DISABLE_CP is not set
+# CONFIG_NSH_DISABLE_DATE is not set
 # CONFIG_NSH_DISABLE_DF is not set
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
 # CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
+# CONFIG_NSH_DISABLE_EXPORT is not set
+# CONFIG_NSH_DISABLE_FREE is not set
 # CONFIG_NSH_DISABLE_GET is not set
+# CONFIG_NSH_DISABLE_HELP is not set
 # CONFIG_NSH_DISABLE_ITEF is not set
+# CONFIG_NSH_DISABLE_KILL is not set
 # CONFIG_NSH_DISABLE_LOOPS is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
 # CONFIG_NSH_DISABLE_MKFATFS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_NSLOOKUP 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_STM32_DMACAPABLE 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/ark/cannode/nuttx-config"
@@ -32,8 +63,10 @@ CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARDCTL=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CLOCK_MONOTONIC=y
@@ -97,12 +130,13 @@ CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
+CONFIG_LIBC_MAX_EXITFUNS=1
 CONFIG_SCHED_HPWORK=y
 CONFIG_SCHED_HPWORKPRIORITY=254
 CONFIG_SCHED_HPWORKSTACKSIZE=3000
 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
@@ -156,5 +190,5 @@ CONFIG_USART2_RXBUFSIZE=600
 CONFIG_USART2_SERIAL_CONSOLE=y
 CONFIG_USART2_TXBUFSIZE=1100
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2624
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2624
+CONFIG_INIT_ENTRYPOINT="nsh_main"

boards/ark/cannode/src/can.c

@@ -50,7 +50,7 @@
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "stm32.h"
 #include "stm32_can.h"

boards/ark/fmu-v6x/default.px4board

@@ -6,6 +6,7 @@ CONFIG_BOARD_SERIAL_GPS2="/dev/ttyS7"
 CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS6"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
+CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
@@ -69,6 +70,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
 CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_HARDFAULT_LOG=y
 CONFIG_SYSTEMCMDS_I2CDETECT=y
@@ -80,6 +82,8 @@ CONFIG_SYSTEMCMDS_NSHTERM=y
 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

boards/ark/fmu-v6x/init/rc.board_defaults

@@ -16,6 +16,11 @@ param set-default SENS_EN_INA238 0
 param set-default SENS_EN_INA228 0
 param set-default SENS_EN_INA226 1
 
-param set-default SYS_USE_IO 1
+if ver hwtypecmp ARKV6X001000 ARKV6X001001 ARKV6X001002 ARKV6X001003 ARKV6X001004 ARKV6X001005 ARKV6X001006 ARKV6X001007
+then
+	param set-default SYS_USE_IO 0
+else
+	param set-default SYS_USE_IO 1
+fi
 
 safety_button start

boards/ark/fmu-v6x/nuttx-config/bootloader/defconfig

@@ -7,6 +7,7 @@
 #
 # CONFIG_DEV_CONSOLE is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_SPI_EXCHANGE is not set
 # CONFIG_STM32H7_SYSCFG is not set
 CONFIG_ARCH="arm"
@@ -23,10 +24,12 @@ CONFIG_ARMV7M_ICACHE=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARDCTL=y
 CONFIG_BOARD_INITTHREAD_PRIORITY=254
 CONFIG_BOARD_LATE_INITIALIZE=y
 CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
@@ -40,6 +43,25 @@ CONFIG_CLOCK_MONOTONIC=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MODCMDS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PRINTF is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_TEST 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_DISABLE_MQUEUE=y
 CONFIG_DISABLE_PTHREAD=y
 CONFIG_EXPERIMENTAL=y
@@ -51,7 +73,6 @@ CONFIG_IDLETHREAD_STACKSIZE=750
 CONFIG_LIBC_FLOATINGPOINT=y
 CONFIG_LIBC_LONG_LONG=y
 CONFIG_LIBC_STRERROR=y
-CONFIG_LIB_BOARDCTL=y
 CONFIG_MEMSET_64BIT=y
 CONFIG_MEMSET_OPTSPEED=y
 CONFIG_PREALLOC_TIMERS=50
@@ -92,5 +113,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="bootloader_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="bootloader_main"

boards/ark/fmu-v6x/nuttx-config/nsh/defconfig

@@ -7,6 +7,7 @@
 #
 # 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
@@ -14,14 +15,44 @@
 # CONFIG_NSH_DISABLEBG is not set
 # CONFIG_NSH_DISABLESCRIPT is not set
 # CONFIG_NSH_DISABLE_ARP 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_IFCONFIG is not set
+# CONFIG_NSH_DISABLE_IFUPDOWN 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_NSLOOKUP 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_TELNETD 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/ark/fmu-v6x/nuttx-config"
@@ -40,11 +71,11 @@ 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=95751
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
 CONFIG_CDCACM_IFLOWCONTROL=y
 CONFIG_CDCACM_PRODUCTID=0x0039
@@ -86,6 +117,8 @@ CONFIG_HAVE_CXXINITIALIZE=y
 CONFIG_I2C=y
 CONFIG_I2C_RESET=y
 CONFIG_IDLETHREAD_STACKSIZE=750
+CONFIG_INIT_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
 CONFIG_IOB_NBUFFERS=24
 CONFIG_IOB_THROTTLE=0
 CONFIG_IPCFG_BINARY=y
@@ -93,6 +126,7 @@ CONFIG_IPCFG_CHARDEV=y
 CONFIG_IPCFG_PATH="/fs/mtd_net"
 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
@@ -115,6 +149,7 @@ CONFIG_NETINIT_DHCPC=y
 CONFIG_NETINIT_DNS=y
 CONFIG_NETINIT_DNSIPADDR=0XC0A800FE
 CONFIG_NETINIT_DRIPADDR=0XC0A800FE
+CONFIG_NETINIT_MONITOR=y
 CONFIG_NETINIT_THREAD=y
 CONFIG_NETINIT_THREAD_PRIORITY=49
 CONFIG_NETUTILS_TELNETD=y
@@ -124,6 +159,7 @@ CONFIG_NET_BROADCAST=y
 CONFIG_NET_ETH_PKTSIZE=1518
 CONFIG_NET_ICMP=y
 CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_NACTIVESOCKETS=16
 CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
 CONFIG_NET_TCPBACKLOG=y
@@ -160,17 +196,16 @@ CONFIG_RAW_BINARY=y
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=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_SDCLONE_DISABLE=y
 CONFIG_SDMMC2_SDIO_PULLUP=y
 CONFIG_SEM_PREALLOCHOLDERS=32
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -208,6 +243,7 @@ CONFIG_STM32H7_PHYSR_100MBPS=0x8
 CONFIG_STM32H7_PHYSR_FULLDUPLEX=0x10
 CONFIG_STM32H7_PHYSR_MODE=0x10
 CONFIG_STM32H7_PHYSR_SPEED=0x8
+CONFIG_STM32H7_PHY_POLLING=y
 CONFIG_STM32H7_PROGMEM=y
 CONFIG_STM32H7_RTC=y
 CONFIG_STM32H7_RTC_AUTO_LSECLOCK_START_DRV_CAPABILITY=y
@@ -229,7 +265,6 @@ CONFIG_STM32H7_SPI5=y
 CONFIG_STM32H7_SPI6=y
 CONFIG_STM32H7_SPI6_DMA=y
 CONFIG_STM32H7_SPI6_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI_DMA=y
 CONFIG_STM32H7_TIM12=y
 CONFIG_STM32H7_TIM1=y
 CONFIG_STM32H7_TIM4=y
@@ -290,6 +325,4 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
 CONFIG_WATCHDOG=y

boards/ark/fmu-v6x/src/board_config.h

@@ -325,7 +325,6 @@
 /* RC Serial port */
 
 #define RC_SERIAL_PORT                     "/dev/ttyS5"
-#define RC_SERIAL_SINGLEWIRE
 
 /* Input Capture Channels. */
 #define INPUT_CAP1_TIMER                  1
@@ -375,11 +374,11 @@
 /* SD card bringup does not work if performed on the IDLE thread because it
  * will cause waiting.  Use either:
  *
- *  CONFIG_LIB_BOARDCTL=y, OR
+ *  CONFIG_BOARDCTL=y, OR
  *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
  */
 
-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && \
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && \
    !defined(CONFIG_BOARD_INITTHREAD)
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif

boards/ark/fmu-v6x/src/bootloader_main.c

@@ -46,6 +46,7 @@
 #include <stm32_uart.h>
 #include <arch/board/board.h>
 #include "arm_internal.h"
+#include <px4_platform/gpio.h>
 #include <px4_platform_common/init.h>
 
 extern int sercon_main(int c, char **argv);
@@ -54,6 +55,15 @@ __EXPORT void board_on_reset(int status) {}
 
 __EXPORT void stm32_boardinitialize(void)
 {
+	/* configure pins */
+	const uint32_t list[] = PX4_GPIO_INIT_LIST;
+
+	for (size_t gpio = 0; gpio < arraySize(list); gpio++) {
+		if (list[gpio] != 0) {
+			px4_arch_configgpio(list[gpio]);
+		}
+	}
+
 	/* configure USB interfaces */
 	stm32_usbinitialize();
 }

boards/ark/fmu-v6x/src/can.c

@@ -65,7 +65,7 @@ uint16_t board_get_can_interfaces(void)
 #include <arch/board/board.h>
 
 #include "chip.h"
-#include "arm_arch.h"
+#include "arm_internal.h"
 
 #include "chip.h"
 #include "stm32_can.h"

boards/ark/fmu-v6x/src/init.c

@@ -105,6 +105,7 @@ __EXPORT void board_peripheral_reset(int ms)
 {
 	/* set the peripheral rails off */
 
+	VDD_5V_HIPOWER_EN(false);
 	VDD_5V_PERIPH_EN(false);
 	board_control_spi_sensors_power(false, 0xffff);
 	VDD_3V3_SENSORS4_EN(false);
@@ -123,6 +124,7 @@ __EXPORT void board_peripheral_reset(int ms)
 	VDD_3V3_SPEKTRUM_POWER_EN(last);
 	board_control_spi_sensors_power(true, 0xffff);
 	VDD_3V3_SENSORS4_EN(true);
+	VDD_5V_HIPOWER_EN(true);
 	VDD_5V_PERIPH_EN(true);
 
 }
@@ -209,7 +211,6 @@ stm32_boardinitialize(void)
 __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	/* Power on Interfaces */
-	VDD_3V3_SD_CARD_EN(true);
 	VDD_5V_PERIPH_EN(true);
 	VDD_5V_HIPOWER_EN(true);
 	VDD_3V3_SENSORS4_EN(true);

boards/ark/fmu-v6x/src/mtd.cpp

@@ -42,11 +42,6 @@ static const px4_mft_device_t i2c3 = {             // 24LC64T on Base  8K 32 X 2
 	.bus_type = px4_mft_device_t::I2C,
 	.devid    = PX4_MK_I2C_DEVID(3, 0x51)
 };
-static const px4_mft_device_t i2c4 = {             // 24LC64T on IMU   8K 32 X 256
-	.bus_type =  px4_mft_device_t::I2C,
-	.devid    =  PX4_MK_I2C_DEVID(4, 0x50)
-};
-
 
 static const px4_mtd_entry_t fmum_fram = {
 	.device = &spi5,
@@ -71,8 +66,8 @@ static const px4_mtd_entry_t base_eeprom = {
 	.npart = 2,
 	.partd = {
 		{
-			.type = MTD_MFT,
-			.path = "/fs/mtd_mft",
+			.type = MTD_MFT_VER,
+			.path = "/fs/mtd_mft_ver",
 			.nblocks = 248
 		},
 		{
@@ -84,29 +79,11 @@ static const px4_mtd_entry_t base_eeprom = {
 	},
 };
 
-static const px4_mtd_entry_t imu_eeprom = {
-	.device = &i2c4,
-	.npart = 2,
-	.partd = {
-		{
-			.type = MTD_CALDATA,
-			.path = "/fs/mtd_caldata",
-			.nblocks = 248
-		},
-		{
-			.type = MTD_ID,
-			.path = "/fs/mtd_id",
-			.nblocks = 8 // 256 = 32 * 8
-		}
-	},
-};
-
 static const px4_mtd_manifest_t board_mtd_config = {
-	.nconfigs   = 3,
+	.nconfigs   = 2,
 	.entries = {
 		&fmum_fram,
 		&base_eeprom,
-		&imu_eeprom
 	}
 };
 

boards/ark/fmu-v6x/src/usb.c

@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include "arm_internal.h"
 #include <chip.h>
 #include <stm32_gpio.h>
 #include <stm32_otg.h>

boards/atl/mantis-edu/nuttx-config/nsh/defconfig

@@ -7,6 +7,7 @@
 #
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_FS_PROCFS_EXCLUDE_ENVIRON is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
@@ -41,9 +42,11 @@ CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARDCTL=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
@@ -59,6 +62,25 @@ CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MODCMDS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PRINTF is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_TEST 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_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
@@ -127,12 +149,13 @@ CONFIG_RAW_BINARY=y
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
+CONFIG_LIBC_MAX_EXITFUNS=1
 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
@@ -234,5 +257,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"

boards/atl/mantis-edu/src/pwr.cpp

@@ -55,7 +55,7 @@
 #include <uORB/uORB.h>
 #include <uORB/Publication.hpp>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include "board_config.h"
 #include <stm32_pwr.h>
 

boards/av/x-v1/default.px4board

@@ -76,8 +76,9 @@ CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_GIMBAL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
-CONFIG_SYSTEMCMDS_BL_UPDATE=y
 CONFIG_SYSTEMCMDS_ACTUATOR_TEST=y
+CONFIG_SYSTEMCMDS_BL_UPDATE=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DMESG=y
 CONFIG_SYSTEMCMDS_DUMPFILE=y
 CONFIG_SYSTEMCMDS_GPIO=y

boards/av/x-v1/nuttx-config/nsh/defconfig

@@ -7,6 +7,7 @@
 #
 # CONFIG_DISABLE_ENVIRON is not set
 # CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
+# CONFIG_DISABLE_PTHREAD is not set
 # CONFIG_FS_PROCFS_EXCLUDE_ENVIRON is not set
 # CONFIG_MMCSD_HAVE_CARDDETECT is not set
 # CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
@@ -53,15 +54,36 @@ CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_ARM_MPU_EARLY_RESET=y
 CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARDCTL=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=22114
 CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MODCMDS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PRINTF is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_TEST 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_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
@@ -116,6 +138,7 @@ CONFIG_NET_ARP_SEND=y
 CONFIG_NET_BROADCAST=y
 CONFIG_NET_ICMP=y
 CONFIG_NET_ICMP_SOCKET=y
+CONFIG_NET_NACTIVESOCKETS=16
 CONFIG_NET_SOLINGER=y
 CONFIG_NET_TCP=y
 CONFIG_NET_TCPBACKLOG=y
@@ -149,12 +172,13 @@ CONFIG_RAW_BINARY=y
 CONFIG_READLINE_CMD_HISTORY=y
 CONFIG_READLINE_TABCOMPLETION=y
 CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
+CONFIG_LIBC_MAX_EXITFUNS=1
 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
@@ -266,5 +290,5 @@ CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USART6_RXDMA=y
 CONFIG_USART6_TXBUFSIZE=1500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"

boards/av/x-v1/src/board_config.h

@@ -114,11 +114,11 @@
 /* SD card bringup does not work if performed on the IDLE thread because it
  * will cause waiting.  Use either:
  *
- *  CONFIG_LIB_BOARDCTL=y, OR
+ *  CONFIG_BOARDCTL=y, OR
  *  CONFIG_BOARD_INITIALIZE=y && CONFIG_BOARD_INITTHREAD=y
  */
 
-#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_LIB_BOARDCTL) && !defined(CONFIG_BOARD_INITTHREAD)
+#if defined(CONFIG_BOARD_INITIALIZE) && !defined(CONFIG_BOARDCTL) && !defined(CONFIG_BOARD_INITTHREAD)
 #  warning SDIO initialization cannot be perfomed on the IDLE thread
 #endif
 

boards/beaglebone/blue/cmake/init.cmake

@@ -35,8 +35,8 @@ add_compile_options(-Wno-cast-align)
 
 include(ExternalProject)
 ExternalProject_Add(librobotcontrol
-	GIT_REPOSITORY https://github.com/dagar/librobotcontrol.git
-	GIT_TAG 1abcb0a # latest as of 2019-12-29
+        GIT_REPOSITORY https://github.com/beagleboard/librobotcontrol.git
+        GIT_TAG 290e14f
 	CMAKE_CACHE_ARGS -DCMAKE_TOOLCHAIN_FILE:STRING=${CMAKE_TOOLCHAIN_FILE}
 	INSTALL_COMMAND ""
 	TEST_COMMAND ""

boards/beaglebone/blue/default.px4board

@@ -1,5 +1,5 @@
 CONFIG_PLATFORM_POSIX=y
-CONFIG_BOARD_LINUX=y
+CONFIG_BOARD_LINUX_TARGET=y
 CONFIG_BOARD_TOOLCHAIN="arm-linux-gnueabihf"
 CONFIG_BOARD_ARCHITECTURE="cortex-a8"
 CONFIG_BOARD_TESTING=y
@@ -63,6 +63,7 @@ CONFIG_MODULES_TEMPERATURE_COMPENSATION=y
 CONFIG_MODULES_UUV_ATT_CONTROL=y
 CONFIG_MODULES_UUV_POS_CONTROL=y
 CONFIG_MODULES_VTOL_ATT_CONTROL=y
+CONFIG_SYSTEMCMDS_BSONDUMP=y
 CONFIG_SYSTEMCMDS_DYN=y
 CONFIG_SYSTEMCMDS_LED_CONTROL=y
 CONFIG_SYSTEMCMDS_PARAM=y
@@ -82,6 +83,4 @@ CONFIG_EXAMPLES_FAKE_MAGNETOMETER=y
 CONFIG_EXAMPLES_HELLO=y
 CONFIG_EXAMPLES_PX4_MAVLINK_DEBUG=y
 CONFIG_EXAMPLES_PX4_SIMPLE_APP=y
-CONFIG_EXAMPLES_ROVER_STEERING_CONTROL=y
-CONFIG_EXAMPLES_UUV_EXAMPLE_APP=y
 CONFIG_EXAMPLES_WORK_ITEM=y

boards/bitcraze/crazyflie/nuttx-config/nsh/defconfig

@@ -7,6 +7,7 @@
 #
 # 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
@@ -36,9 +37,11 @@ CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARDCTL=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
@@ -54,6 +57,25 @@ CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MODCMDS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PRINTF is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_TEST 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_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
@@ -115,12 +137,13 @@ CONFIG_RAM_SIZE=196608
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
+CONFIG_LIBC_MAX_EXITFUNS=1
 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
@@ -184,5 +207,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"

boards/bitcraze/crazyflie/src/spi.cpp

@@ -44,7 +44,7 @@
 #include <systemlib/px4_macros.h>
 #include <nuttx/mmcsd.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <chip.h>
 #include <stm32_gpio.h>
 #include "board_config.h"

boards/bitcraze/crazyflie/src/usb.c

@@ -51,7 +51,7 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 
-#include <arm_arch.h>
+#include <arm_internal.h>
 #include <stm32.h>
 #include "board_config.h"
 

boards/bitcraze/crazyflie21/nuttx-config/nsh/defconfig

@@ -7,6 +7,7 @@
 #
 # 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
@@ -35,9 +36,11 @@ CONFIG_ARCH_STACKDUMP=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
+CONFIG_BOARDCTL=y
 CONFIG_BOARD_CRASHDUMP=y
 CONFIG_BOARD_LOOPSPERMSEC=16717
 CONFIG_BOARD_RESET_ON_ASSERT=2
+CONFIG_BOARD_ASSERT_RESET_VALUE=0
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
@@ -52,6 +55,25 @@ CONFIG_DEBUG_FULLOPT=y
 CONFIG_DEBUG_HARDFAULT_ALERT=y
 CONFIG_DEBUG_SYMBOLS=y
 CONFIG_DEFAULT_SMALL=y
+# CONFIG_NSH_DISABLE_ECHO is not set
+# CONFIG_NSH_DISABLE_ENV is not set
+# CONFIG_NSH_DISABLE_FREE is not set
+# CONFIG_NSH_DISABLE_HELP is not set
+# CONFIG_NSH_DISABLE_KILL is not set
+# CONFIG_NSH_DISABLE_LS is not set
+# CONFIG_NSH_DISABLE_MKDIR is not set
+# CONFIG_NSH_DISABLE_MODCMDS is not set
+# CONFIG_NSH_DISABLE_MOUNT is not set
+# CONFIG_NSH_DISABLE_MV is not set
+# CONFIG_NSH_DISABLE_PRINTF is not set
+# CONFIG_NSH_DISABLE_PSSTACKUSAGE
+# CONFIG_NSH_DISABLE_PWD is not set
+# CONFIG_NSH_DISABLE_SOURCE is not set
+# CONFIG_NSH_DISABLE_SLEEP is not set
+# CONFIG_NSH_DISABLE_TEST 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_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
@@ -114,12 +136,13 @@ CONFIG_RAM_SIZE=196608
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
 CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_ATEXIT=y
+CONFIG_LIBC_MAX_EXITFUNS=1
 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
@@ -183,5 +206,5 @@ CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
 CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
+CONFIG_INIT_STACKSIZE=2944
+CONFIG_INIT_ENTRYPOINT="nsh_main"