FailureDetector: check if ESCs have current

And increase the timeout to 300ms, as some ESCs only update with 10Hz.
TEST PositionControl: use aux2 to switch between thrust vs attitude
2026-06-05 23:20:05 +08:00 · 2022-06-03 09:53:56 +02:00 · 2022-06-03 09:52:45 +02:00 · 2022-05-31 14:33:27 +02:00 · 2022-05-31 14:16:33 +02:00 · 2022-05-23 15:37:48 +02:00
218 changed files with 2022 additions and 5009 deletions
@@ -809,9 +809,6 @@ void runTests() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "top once"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'

-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ostest"'
-  sh './Tools/HIL/reboot.py --device `find /dev/serial -name *usb-*`' // reboot after ostest
-
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "commander_tests" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "controllib_test"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "lightware_laser_test"'
@@ -867,15 +864,12 @@ void printTopics() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener distance_sensor" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener ekf2_timestamps" || true'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener esc_status" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_fake_pos" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_pos" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_aid_src_gnss_vel" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_attitude" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_baro_bias" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_event_flags" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_global_position" || true'
-  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_gps_status" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_test_ratios" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovation_variances" || true'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener estimator_innovations" || true'
@@ -126,6 +126,8 @@
        },
        "search.showLineNumbers": true,
        "telemetry.enableTelemetry": false,
+        "terminal.integrated.copyOnSelection": true,
+        "terminal.integrated.rightClickBehavior": "paste",
        "terminal.integrated.scrollback": 5000,
        "window.title": "${dirty} ${activeEditorMedium}${separator}${rootName}",
        "workbench.editor.highlightModifiedTabs": true,
@@ -331,7 +331,7 @@ px4io_update: px4_io-v2_default cubepilot_io-v2_default
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-bootloaders_update: 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
+bootloaders_update: cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_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-v6u_bootloader px4_fmu-v6x_bootloader
 	git status

 .PHONY: coverity_scan
@@ -95,9 +95,10 @@ fi

 if param compare SYS_AUTOCONFIG 1
 then
-	# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
-	param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
 	set AUTOCNF yes
+
+	# Wipe out params except RC*, flight modes, total flight time, accel cal, gyro cal, next flight UUID
+	param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
 fi

 # multi-instance setup
@@ -195,6 +196,14 @@ fi

 . "$autostart_file"

+#
+# If autoconfig parameter was set, reset it and save parameters.
+#
+if [ $AUTOCNF = yes ]
+then
+	param set SYS_AUTOCONFIG 0
+fi
+
 # Simulator IMU data provided at 250 Hz
 param set IMU_INTEG_RATE 250

@@ -267,5 +276,3 @@ fi

 mavlink boot_complete
 replay trystart
-
-uorb_explained start
@@ -21,6 +21,7 @@ set +e
 # it wastes flash
 #
 set R /
+set AUTOCNF no
 set FCONFIG /fs/microsd/etc/config.txt
 set FEXTRAS /fs/microsd/etc/extras.txt
 set FRC /fs/microsd/etc/rc.txt
@@ -176,12 +177,13 @@ else
 	fi

 	#
-	# If the airframe has been previously reset SYS_AUTCONFIG will have been set to 1 and other params will be reset on the next boot.
+	# Set AUTOCNF flag to use it in AUTOSTART scripts.
 	#
 	if param greater SYS_AUTOCONFIG 0
 	then
-		# Reset params except Airframe, RC calibration, sensor calibration, flight modes, total flight time, and next flight UUID.
-		param reset_all SYS_AUTOSTART RC* CAL_* COM_FLTMODE* LND_FLIGHT* TC_* COM_FLIGHT*
+		# Wipe out params except RC*, flight modes, total flight time, calibration parameters, next flight UUID
+		param reset_all SYS_AUTO* RC* COM_FLTMODE* LND_FLIGHT* TC_* CAL_ACC* CAL_GYRO* COM_FLIGHT*
+		set AUTOCNF yes
 	fi

 	#
@@ -272,6 +274,14 @@ else
 		. $FCONFIG
 	fi

+	#
+	# If autoconfig parameter was set, reset it and save parameters.
+	#
+	if [ $AUTOCNF = yes ]
+	then
+		param set SYS_AUTOCONFIG 0
+	fi
+
 	#
 	# Check if UAVCAN is enabled, default to it for ESCs.
 	#
@@ -555,6 +565,7 @@ fi
 # Unset all script parameters to free RAM.
 #
 unset R
+unset AUTOCNF
 unset FCONFIG
 unset FEXTRAS
 unset FRC
@@ -95,7 +95,7 @@ def do_nsh_cmd(port_url, baudrate, cmd):


    timeout_start = time.monotonic()
-    timeout = 600 # 10 minutes
+    timeout = 240 # 4 minutes

    return_code = 0

@@ -11,7 +11,7 @@ from pyulog import ULog
 from analysis.detectors import InAirDetector, PreconditionError
 from analysis.metrics import calculate_ecl_ekf_metrics
 from analysis.checks import perform_ecl_ekf_checks
-from analysis.post_processing import get_gps_check_fail_flags
+from analysis.post_processing import get_estimator_check_flags

 def analyse_ekf(
        ulog: ULog, check_levels: Dict[str, float], multi_instance: int = 0,
@@ -40,11 +40,6 @@ def analyse_ekf(
    except:
        raise PreconditionError('could not find estimator_status instance', multi_instance)

-    try:
-        estimator_status_flags = ulog.get_dataset('estimator_status_flags', multi_instance).data
-    except:
-        raise PreconditionError('could not find estimator_status_flags instance', multi_instance)
-
    try:
        _ = ulog.get_dataset('estimator_innovations', multi_instance).data
    except:
@@ -66,14 +61,14 @@ def analyse_ekf(
        'in_air_transition_time': round(in_air.take_off + in_air.log_start, 2),
        'on_ground_transition_time': round(in_air.landing + in_air.log_start, 2)}

-    gps_fail_flags = get_gps_check_fail_flags(estimator_status)
+    control_mode, innov_flags, gps_fail_flags = get_estimator_check_flags(estimator_status)

    sensor_checks, innov_fail_checks = find_checks_that_apply(
-        estimator_status_flags, estimator_status,
+        control_mode, estimator_status,
        pos_checks_when_sensors_not_fused=pos_checks_when_sensors_not_fused)

    metrics = calculate_ecl_ekf_metrics(
-        ulog, estimator_status_flags, innov_fail_checks, sensor_checks, in_air, in_air_no_ground_effects,
+        ulog, innov_flags, innov_fail_checks, sensor_checks, in_air, in_air_no_ground_effects,
        multi_instance, red_thresh=red_thresh, amb_thresh=amb_thresh)

    check_status, master_status = perform_ecl_ekf_checks(
@@ -83,12 +78,12 @@ def analyse_ekf(


 def find_checks_that_apply(
-    estimator_status_flags: dict, estimator_status: dict, pos_checks_when_sensors_not_fused: bool = False) ->\
+    control_mode: dict, estimator_status: dict, pos_checks_when_sensors_not_fused: bool = False) ->\
        Tuple[List[str], List[str]]:
    """
    finds the checks that apply and stores them in lists for the std checks and the innovation
    fail checks.
-    :param estimator_status_flags:
+    :param control_mode:
    :param estimator_status:
    :param b_pos_only_when_sensors_fused:
    :return: a tuple of two lists that contain strings for the std checks and for the innovation
@@ -102,7 +97,7 @@ def find_checks_that_apply(
    innov_fail_checks.append('posv')

    # Magnetometer Sensor Checks
-    if (np.amax(estimator_status_flags['cs_yaw_align']) > 0.5):
+    if (np.amax(control_mode['yaw_aligned']) > 0.5):
        sensor_checks.append('mag')

        innov_fail_checks.append('magx')
@@ -111,14 +106,13 @@ def find_checks_that_apply(
        innov_fail_checks.append('yaw')

    # Velocity Sensor Checks
-    if (np.amax(estimator_status_flags['cs_gps']) > 0.5):
+    if (np.amax(control_mode['using_gps']) > 0.5):
        sensor_checks.append('vel')
-        innov_fail_checks.append('velh')
-        innov_fail_checks.append('velv')
+        innov_fail_checks.append('vel')

    # Position Sensor Checks
-    if (pos_checks_when_sensors_not_fused or (np.amax(estimator_status_flags['cs_gps']) > 0.5)
-        or (np.amax(estimator_status_flags['cs_ev_pos']) > 0.5)):
+    if (pos_checks_when_sensors_not_fused or (np.amax(control_mode['using_gps']) > 0.5)
+        or (np.amax(control_mode['using_evpos']) > 0.5)):
        sensor_checks.append('pos')
        innov_fail_checks.append('posh')

@@ -134,7 +128,7 @@ def find_checks_that_apply(
        innov_fail_checks.append('hagl')

    # optical flow sensor checks
-    if (np.amax(estimator_status_flags['cs_opt_flow']) > 0.5):
+    if (np.amax(control_mode['using_optflow']) > 0.5):
        innov_fail_checks.append('ofx')
        innov_fail_checks.append('ofy')

@@ -123,8 +123,7 @@ def perform_sensor_innov_checks(
                                              ('magy', 'magy_fail_percentage', 'mag'),
                                              ('magz', 'magz_fail_percentage', 'mag'),
                                              ('yaw', 'yaw_fail_percentage', 'yaw'),
-                                              ('velh', 'vel_fail_percentage', 'vel'),
-                                              ('velv', 'vel_fail_percentage', 'vel'),
+                                              ('vel', 'vel_fail_percentage', 'vel'),
                                              ('posh', 'pos_fail_percentage', 'pos'),
                                              ('tas', 'tas_fail_percentage', 'tas'),
                                              ('hagl', 'hagl_fail_percentage', 'hagl'),
@@ -11,7 +11,7 @@ import numpy as np
 from analysis.detectors import InAirDetector

 def calculate_ecl_ekf_metrics(
-        ulog: ULog, estimator_status_flags: Dict[str, float], innov_fail_checks: List[str],
+        ulog: ULog, innov_flags: Dict[str, float], innov_fail_checks: List[str],
        sensor_checks: List[str], in_air: InAirDetector, in_air_no_ground_effects: InAirDetector,
        multi_instance: int = 0, red_thresh: float = 1.0, amb_thresh: float = 0.5) -> Tuple[dict, dict, dict, dict]:

@@ -20,7 +20,7 @@ def calculate_ecl_ekf_metrics(
        red_thresh=red_thresh, amb_thresh=amb_thresh)

    innov_fail_metrics = calculate_innov_fail_metrics(
-        estimator_status_flags, innov_fail_checks, in_air, in_air_no_ground_effects)
+        innov_flags, innov_fail_checks, in_air, in_air_no_ground_effects)

    imu_metrics = calculate_imu_metrics(ulog, multi_instance, in_air_no_ground_effects)

@@ -90,10 +90,10 @@ def calculate_sensor_metrics(


 def calculate_innov_fail_metrics(
-        estimator_status_flags: dict, innov_fail_checks: List[str], in_air: InAirDetector,
+        innov_flags: dict, innov_fail_checks: List[str], in_air: InAirDetector,
        in_air_no_ground_effects: InAirDetector) -> dict:
    """
-    :param estimator_status_flags:
+    :param innov_flags:
    :param innov_fail_checks:
    :param in_air:
    :param in_air_no_ground_effects:
@@ -103,18 +103,17 @@ def calculate_innov_fail_metrics(
    innov_fail_metrics = dict()

    # calculate innovation check fail metrics
-    for signal_id, signal, result in [('posv', 'reject_ver_pos', 'hgt_fail_percentage'),
-                                      ('magx', 'reject_mag_x', 'magx_fail_percentage'),
-                                      ('magy', 'reject_mag_y', 'magy_fail_percentage'),
-                                      ('magz', 'reject_mag_z', 'magz_fail_percentage'),
-                                      ('yaw', 'reject_yaw', 'yaw_fail_percentage'),
-                                      ('velh', 'reject_hor_vel', 'vel_fail_percentage'),
-                                      ('velv', 'reject_ver_vel', 'vel_fail_percentage'),
-                                      ('posh', 'reject_hor_pos', 'pos_fail_percentage'),
-                                      ('tas', 'reject_airspeed', 'tas_fail_percentage'),
-                                      ('hagl', 'reject_hagl', 'hagl_fail_percentage'),
-                                      ('ofx', 'reject_optflow_x', 'ofx_fail_percentage'),
-                                      ('ofy', 'reject_optflow_y', 'ofy_fail_percentage')]:
+    for signal_id, signal, result in [('posv', 'posv_innov_fail', 'hgt_fail_percentage'),
+                                      ('magx', 'magx_innov_fail', 'magx_fail_percentage'),
+                                      ('magy', 'magy_innov_fail', 'magy_fail_percentage'),
+                                      ('magz', 'magz_innov_fail', 'magz_fail_percentage'),
+                                      ('yaw', 'yaw_innov_fail', 'yaw_fail_percentage'),
+                                      ('vel', 'vel_innov_fail', 'vel_fail_percentage'),
+                                      ('posh', 'posh_innov_fail', 'pos_fail_percentage'),
+                                      ('tas', 'tas_innov_fail', 'tas_fail_percentage'),
+                                      ('hagl', 'hagl_innov_fail', 'hagl_fail_percentage'),
+                                      ('ofx', 'ofx_innov_fail', 'ofx_fail_percentage'),
+                                      ('ofy', 'ofy_innov_fail', 'ofy_fail_percentage')]:

        # only run innov fail checks, if they apply.
        if signal_id in innov_fail_checks:
@@ -126,7 +125,7 @@ def calculate_innov_fail_metrics(
                in_air_detector = in_air

            innov_fail_metrics[result] = calculate_stat_from_signal(
-                estimator_status_flags, 'estimator_status_flags', signal, in_air_detector,
+                innov_flags, 'estimator_status', signal, in_air_detector,
                lambda x: 100.0 * np.mean(x > 0.5))

    return innov_fail_metrics
@@ -153,7 +152,7 @@ def calculate_imu_metrics(ulog: ULog, multi_instance, in_air_no_ground_effects:

            if vehicle_imu_status_data['accel_device_id'][0] == estimator_status_data['accel_device_id'][0]:

-                for signal, result in [('gyro_coning_vibration', 'imu_coning'),
+                for signal, result in [('delta_angle_coning_metric', 'imu_coning'),
                                       ('gyro_vibration_metric', 'imu_hfgyro'),
                                       ('accel_vibration_metric', 'imu_hfaccel')]:

@@ -7,6 +7,115 @@ from typing import Tuple

 import numpy as np

+
+def get_estimator_check_flags(estimator_status: dict) -> Tuple[dict, dict, dict]:
+    """
+    :param estimator_status:
+    :return:
+    """
+    control_mode = get_control_mode_flags(estimator_status)
+    innov_flags = get_innovation_check_flags(estimator_status)
+    gps_fail_flags = get_gps_check_fail_flags(estimator_status)
+    return control_mode, innov_flags, gps_fail_flags
+
+
+def get_control_mode_flags(estimator_status: dict) -> dict:
+    """
+    :param estimator_status:
+    :return:
+    """
+
+    control_mode = dict()
+    # extract control mode metadata from estimator_status.control_mode_flags
+    # 0 - true if the filter tilt alignment is complete
+    # 1 - true if the filter yaw alignment is complete
+    # 2 - true if GPS measurements are being fused
+    # 3 - true if optical flow measurements are being fused
+    # 4 - true if a simple magnetic yaw heading is being fused
+    # 5 - true if 3-axis magnetometer measurement are being fused
+    # 6 - true if synthetic magnetic declination measurements are being fused
+    # 7 - true when the vehicle is airborne
+    # 8 - true when wind velocity is being estimated
+    # 9 - true when baro height is being fused as a primary height reference
+    # 10 - true when range finder height is being fused as a primary height reference
+    # 11 - true when range finder height is being fused as a primary height reference
+    # 12 - true when local position data from external vision is being fused
+    # 13 - true when yaw data from external vision measurements is being fused
+    # 14 - true when height data from external vision measurements is being fused
+    # 15 - true when synthetic sideslip measurements are being fused
+    # 16 - true true when the mag field does not match the expected strength
+    # 17 - true true when the vehicle is operating as a fixed wing vehicle
+    # 18 - true when the magnetometer has been declared faulty and is no longer being used
+    # 19 - true true when airspeed measurements are being fused
+    # 20 - true true when protection from ground effect induced static pressure rise is active
+    # 21 - true when rng data wasn't ready for more than 10s and new rng values haven't changed enough
+    # 22 - true when yaw (not ground course) data from a GPS receiver is being fused
+    # 23 - true when the in-flight mag field alignment has been completed
+    # 24 - true when local earth frame velocity data from external vision measurements are being fused
+    # 25 - true when we are using a synthesized measurement for the magnetometer Z component
+    control_mode['tilt_aligned'] = ((2 ** 0 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['yaw_aligned'] = ((2 ** 1 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['using_gps'] = ((2 ** 2 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['using_optflow'] = ((2 ** 3 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['using_magyaw'] = ((2 ** 4 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['using_mag3d'] = ((2 ** 5 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['using_magdecl'] = ((2 ** 6 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['airborne'] = ((2 ** 7 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['estimating_wind'] = ((2 ** 8 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['using_barohgt'] = ((2 ** 9 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['using_rnghgt'] = ((2 ** 10 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['using_gpshgt'] = ((2 ** 11 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['using_evpos'] = ((2 ** 12 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['using_evyaw'] = ((2 ** 13 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['using_evhgt'] = ((2 ** 14 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['fuse_beta'] = ((2 ** 15 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['mag_field_disturbed'] = ((2 ** 16 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['fixed_wing'] = ((2 ** 17 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['mag_fault'] = ((2 ** 18 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['fuse_aspd'] = ((2 ** 19 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['gnd_effect'] = ((2 ** 20 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['rng_stuck'] = ((2 ** 21 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['gps_yaw'] = ((2 ** 22 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['mag_aligned_in_flight'] = ((2 ** 23 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['ev_vel'] = ((2 ** 24 & estimator_status['control_mode_flags']) > 0) * 1
+    control_mode['synthetic_mag_z'] = ((2 ** 25 & estimator_status['control_mode_flags']) > 0) * 1
+    return control_mode
+
+def get_innovation_check_flags(estimator_status: dict) -> dict:
+    """
+    :param estimator_status:
+    :return:
+    """
+
+    innov_flags = dict()
+    # innovation_check_flags summary
+    # 0 - true if velocity observations have been rejected
+    # 1 - true if horizontal position observations have been rejected
+    # 2 - true if true if vertical position observations have been rejected
+    # 3 - true if the X magnetometer observation has been rejected
+    # 4 - true if the Y magnetometer observation has been rejected
+    # 5 - true if the Z magnetometer observation has been rejected
+    # 6 - true if the yaw observation has been rejected
+    # 7 - true if the airspeed observation has been rejected
+    # 8 - true if synthetic sideslip observation has been rejected
+    # 9 - true if the height above ground observation has been rejected
+    # 10 - true if the X optical flow observation has been rejected
+    # 11 - true if the Y optical flow observation has been rejected
+    innov_flags['vel_innov_fail'] = ((2 ** 0 & estimator_status['innovation_check_flags']) > 0) * 1
+    innov_flags['posh_innov_fail'] = ((2 ** 1 & estimator_status['innovation_check_flags']) > 0) * 1
+    innov_flags['posv_innov_fail'] = ((2 ** 2 & estimator_status['innovation_check_flags']) > 0) * 1
+    innov_flags['magx_innov_fail'] = ((2 ** 3 & estimator_status['innovation_check_flags']) > 0) * 1
+    innov_flags['magy_innov_fail'] = ((2 ** 4 & estimator_status['innovation_check_flags']) > 0) * 1
+    innov_flags['magz_innov_fail'] = ((2 ** 5 & estimator_status['innovation_check_flags']) > 0) * 1
+    innov_flags['yaw_innov_fail'] = ((2 ** 6 & estimator_status['innovation_check_flags']) > 0) * 1
+    innov_flags['tas_innov_fail'] = ((2 ** 7 & estimator_status['innovation_check_flags']) > 0) * 1
+    innov_flags['sli_innov_fail'] = ((2 ** 8 & estimator_status['innovation_check_flags']) > 0) * 1
+    innov_flags['hagl_innov_fail'] = ((2 ** 9 & estimator_status['innovation_check_flags']) > 0) * 1
+    innov_flags['ofx_innov_fail'] = ((2 ** 10 & estimator_status['innovation_check_flags']) > 0) * 1
+    innov_flags['ofy_innov_fail'] = ((2 ** 11 & estimator_status['innovation_check_flags']) > 0) * 1
+    return innov_flags
+
+
 def get_gps_check_fail_flags(estimator_status: dict) -> dict:
    """
    :param estimator_status:
@@ -11,7 +11,7 @@ import numpy as np
 from matplotlib.backends.backend_pdf import PdfPages
 from pyulog import ULog

-from analysis.post_processing import magnetic_field_estimates_from_states, get_gps_check_fail_flags
+from analysis.post_processing import magnetic_field_estimates_from_states, get_estimator_check_flags
 from plotting.data_plots import TimeSeriesPlot, InnovationPlot, ControlModeSummaryPlot, \
    CheckFlagsPlot
 from analysis.detectors import PreconditionError
@@ -33,11 +33,6 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
    except:
        raise PreconditionError('could not find estimator_status instance', multi_instance)

-    try:
-        estimator_status_flags = ulog.get_dataset('estimator_status_flags', multi_instance).data
-    except:
-        raise PreconditionError('could not find estimator_status_flags instance', multi_instance)
-
    try:
        estimator_states = ulog.get_dataset('estimator_states', multi_instance).data
    except:
@@ -73,13 +68,12 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
    except:
        raise PreconditionError('could not find innovation data')

-    gps_fail_flags = get_gps_check_fail_flags(estimator_status)
+    control_mode, innov_flags, gps_fail_flags = get_estimator_check_flags(estimator_status)

    status_time = 1e-6 * estimator_status['timestamp']
-    status_flags_time = 1e-6 * estimator_status_flags['timestamp']

    b_finishes_in_air, b_starts_in_air, in_air_duration, in_air_transition_time, \
-    on_ground_transition_time = detect_airtime(estimator_status_flags, status_flags_time)
+    on_ground_transition_time = detect_airtime(control_mode, status_time)

    with PdfPages(output_plot_filename) as pdf_pages:

@@ -179,9 +173,9 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str

        # plot control mode summary A
        data_plot = ControlModeSummaryPlot(
-            status_flags_time, estimator_status_flags, [['cs_tilt_align', 'cs_yaw_align'],
-            ['cs_gps', 'cs_opt_flow', 'cs_ev_pos'], ['cs_baro_hgt', 'cs_gps_hgt',
-             'cs_rng_hgt', 'cs_ev_hgt'], ['cs_mag_hdg', 'cs_mag_3d', 'cs_mag_dec']],
+            status_time, control_mode, [['tilt_aligned', 'yaw_aligned'],
+            ['using_gps', 'using_optflow', 'using_evpos'], ['using_barohgt', 'using_gpshgt',
+             'using_rnghgt', 'using_evhgt'], ['using_magyaw', 'using_mag3d', 'using_magdecl']],
            x_label='time (sec)', y_labels=['aligned', 'pos aiding', 'hgt aiding', 'mag aiding'],
            annotation_text=[['tilt alignment', 'yaw alignment'], ['GPS aiding', 'optical flow aiding',
             'external vision aiding'], ['Baro aiding', 'GPS aiding', 'rangefinder aiding',
@@ -194,7 +188,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
        # plot control mode summary B
        # construct additional annotations for the airborne plot
        airborne_annotations = list()
-        if np.amin(np.diff(estimator_status_flags['cs_in_air'])) > -0.5:
+        if np.amin(np.diff(control_mode['airborne'])) > -0.5:
            airborne_annotations.append(
                (on_ground_transition_time, 'air to ground transition not detected'))
        else:
@@ -203,7 +197,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
        if in_air_duration > 0.0:
            airborne_annotations.append(((in_air_transition_time + on_ground_transition_time) / 2,
                                         'duration = {:.1f} sec'.format(in_air_duration)))
-        if np.amax(np.diff(estimator_status_flags['cs_in_air'])) < 0.5:
+        if np.amax(np.diff(control_mode['airborne'])) < 0.5:
            airborne_annotations.append(
                (in_air_transition_time, 'ground to air transition not detected'))
        else:
@@ -211,7 +205,7 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
                (in_air_transition_time, 'in-air at {:.1f} sec'.format(in_air_transition_time)))

        data_plot = ControlModeSummaryPlot(
-            status_flags_time, estimator_status_flags, [['cs_in_air'], ['cs_wind']],
+            status_time, control_mode, [['airborne'], ['estimating_wind']],
            x_label='time (sec)', y_labels=['airborne', 'estimating wind'], annotation_text=[[], []],
            additional_annotation=[airborne_annotations, []],
            plot_title='EKF Control Status - Figure B', pdf_handle=pdf_pages)
@@ -220,15 +214,15 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str

        # plot innovation_check_flags summary
        data_plot = CheckFlagsPlot(
-            status_flags_time, estimator_status_flags, [['reject_hor_vel', 'reject_hor_pos'], ['reject_ver_vel', 'reject_ver_pos',
-                                                                               'reject_hagl'],
-                                       ['reject_mag_x', 'reject_mag_y', 'reject_mag_z',
-                                        'reject_yaw'], ['reject_airspeed'], ['reject_sideslip'],
-                                       ['reject_optflow_x',
-                                        'reject_optflow_y']], x_label='time (sec)',
+            status_time, innov_flags, [['vel_innov_fail', 'posh_innov_fail'], ['posv_innov_fail',
+                                                                               'hagl_innov_fail'],
+                                       ['magx_innov_fail', 'magy_innov_fail', 'magz_innov_fail',
+                                        'yaw_innov_fail'], ['tas_innov_fail'], ['sli_innov_fail'],
+                                       ['ofx_innov_fail',
+                                        'ofy_innov_fail']], x_label='time (sec)',
            y_labels=['failed', 'failed', 'failed', 'failed', 'failed', 'failed'],
            y_lim=(-0.1, 1.1),
-            legend=[['vel NE', 'pos NE'], ['vel D', 'hgt absolute', 'hgt above ground'],
+            legend=[['vel NED', 'pos NE'], ['hgt absolute', 'hgt above ground'],
                    ['mag_x', 'mag_y', 'mag_z', 'yaw'], ['airspeed'], ['sideslip'],
                    ['flow X', 'flow Y']],
            plot_title='EKF Innovation Test Fails', annotate=False, pdf_handle=pdf_pages)
@@ -350,33 +344,33 @@ def create_pdf_report(ulog: ULog, multi_instance: int, output_plot_filename: str
        data_plot.close()


-def detect_airtime(estimator_status_flags, status_flags_time):
+def detect_airtime(control_mode, status_time):
    # define flags for starting and finishing in air
    b_starts_in_air = False
    b_finishes_in_air = False
    # calculate in-air transition time
-    if (np.amin(estimator_status_flags['cs_in_air']) < 0.5) and (np.amax(estimator_status_flags['cs_in_air']) > 0.5):
-        in_air_transtion_time_arg = np.argmax(np.diff(estimator_status_flags['cs_in_air']))
-        in_air_transition_time = status_flags_time[in_air_transtion_time_arg]
-    elif (np.amax(estimator_status_flags['cs_in_air']) > 0.5):
-        in_air_transition_time = np.amin(status_flags_time)
+    if (np.amin(control_mode['airborne']) < 0.5) and (np.amax(control_mode['airborne']) > 0.5):
+        in_air_transtion_time_arg = np.argmax(np.diff(control_mode['airborne']))
+        in_air_transition_time = status_time[in_air_transtion_time_arg]
+    elif (np.amax(control_mode['airborne']) > 0.5):
+        in_air_transition_time = np.amin(status_time)
        print('log starts while in-air at ' + str(round(in_air_transition_time, 1)) + ' sec')
        b_starts_in_air = True
    else:
        in_air_transition_time = float('NaN')
        print('always on ground')
    # calculate on-ground transition time
-    if (np.amin(np.diff(estimator_status_flags['cs_in_air'])) < 0.0):
-        on_ground_transition_time_arg = np.argmin(np.diff(estimator_status_flags['cs_in_air']))
-        on_ground_transition_time = status_flags_time[on_ground_transition_time_arg]
-    elif (np.amax(estimator_status_flags['cs_in_air']) > 0.5):
-        on_ground_transition_time = np.amax(status_flags_time)
+    if (np.amin(np.diff(control_mode['airborne'])) < 0.0):
+        on_ground_transition_time_arg = np.argmin(np.diff(control_mode['airborne']))
+        on_ground_transition_time = status_time[on_ground_transition_time_arg]
+    elif (np.amax(control_mode['airborne']) > 0.5):
+        on_ground_transition_time = np.amax(status_time)
        print('log finishes while in-air at ' + str(round(on_ground_transition_time, 1)) + ' sec')
        b_finishes_in_air = True
    else:
        on_ground_transition_time = float('NaN')
        print('always on ground')
-    if (np.amax(np.diff(estimator_status_flags['cs_in_air'])) > 0.5) and (np.amin(np.diff(estimator_status_flags['cs_in_air'])) < -0.5):
+    if (np.amax(np.diff(control_mode['airborne'])) > 0.5) and (np.amin(np.diff(control_mode['airborne'])) < -0.5):
        if ((on_ground_transition_time - in_air_transition_time) > 0.0):
            in_air_duration = on_ground_transition_time - in_air_transition_time
        else:
@@ -136,8 +136,11 @@ class firmware(object):

        self.image = bytearray(zlib.decompress(base64.b64decode(self.desc['image'])))

-        # pad image to 4-byte length
-        while ((len(self.image) % 4) != 0):
+        # PX4 bootloader in theory requires only 4-byte padding,
+        # but a bug exists with the flash block caching where if the data
+        # does not fill up the block, it will not be written (left as all 1s).
+        # So pad up to the flash block size (8 words).
+        while ((len(self.image) % (4 * 8)) != 0):
            self.image.extend(b'\xff')

    def property(self, propname):
@@ -130,7 +130,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -173,7 +174,7 @@ CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI4=y
 CONFIG_STM32_SPI4_DMA=y
-CONFIG_STM32_SPI4_DMA_BUFFER=512
+CONFIG_STM32_SPI4_DMA_BUFFER=1024
 CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_SPI_DMATHRESHOLD=8
 CONFIG_STM32_TIM10=y
@@ -105,7 +105,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -107,7 +107,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -107,7 +107,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -107,7 +107,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -140,7 +140,8 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -162,7 +162,8 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -126,7 +126,8 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -125,7 +125,8 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -108,7 +108,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -139,7 +139,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -111,7 +111,6 @@ MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
 	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
-
 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
 	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
@@ -187,12 +186,7 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
+	} > AXI_SRAM AT > FLASH

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -60,7 +60,6 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
@@ -139,7 +138,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -111,7 +111,6 @@ MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
 	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
-
 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
 	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
@@ -187,12 +186,7 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
+	} > AXI_SRAM AT > FLASH

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -1,245 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_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_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/cuav/x7pro/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32h7"
-CONFIG_ARCH_CHIP_STM32H743XI=y
-CONFIG_ARCH_CHIP_STM32H7=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_BASEPRI_WAR=y
-CONFIG_ARMV7M_DCACHE=y
-CONFIG_ARMV7M_DTCM=y
-CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=95150
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x004c
-CONFIG_CDCACM_PRODUCTSTR="PX4 CUAV X7Pro"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=12000
-CONFIG_CDCACM_VENDORID=0x3163
-CONFIG_CDCACM_VENDORSTR="CUAV"
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_EXAMPLES_CALIB_UDELAY=y
-CONFIG_EXPERIMENTAL=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_MAX_TASKS=64
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=4
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_PROGMEM=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_OTG_ID_GPIO_DISABLE=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAM_SIZE=245760
-CONFIG_RAM_START=0x20010000
-CONFIG_RAW_BINARY=y
-CONFIG_READLINE_CMD_HISTORY=y
-CONFIG_READLINE_TABCOMPLETION=y
-CONFIG_RTC_DATETIME=y
-CONFIG_SCHED_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_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=256
-CONFIG_STM32H7_ADC1=y
-CONFIG_STM32H7_ADC3=y
-CONFIG_STM32H7_BBSRAM=y
-CONFIG_STM32H7_BBSRAM_FILES=5
-CONFIG_STM32H7_BDMA=y
-CONFIG_STM32H7_BKPSRAM=y
-CONFIG_STM32H7_DMA1=y
-CONFIG_STM32H7_DMA2=y
-CONFIG_STM32H7_DMACAPABLE=y
-CONFIG_STM32H7_FLOWCONTROL_BROKEN=y
-CONFIG_STM32H7_I2C1=y
-CONFIG_STM32H7_I2C2=y
-CONFIG_STM32H7_I2C3=y
-CONFIG_STM32H7_I2C4=y
-CONFIG_STM32H7_I2C_DYNTIMEO=y
-CONFIG_STM32H7_I2C_DYNTIMEO_STARTSTOP=10
-CONFIG_STM32H7_OTGFS=y
-CONFIG_STM32H7_PROGMEM=y
-CONFIG_STM32H7_RTC=y
-CONFIG_STM32H7_RTC_HSECLOCK=y
-CONFIG_STM32H7_RTC_MAGIC_REG=1
-CONFIG_STM32H7_SAVE_CRASHDUMP=y
-CONFIG_STM32H7_SDMMC1=y
-CONFIG_STM32H7_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32H7_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32H7_SPI1=y
-CONFIG_STM32H7_SPI1_DMA=y
-CONFIG_STM32H7_SPI1_DMA_BUFFER=1024
-CONFIG_STM32H7_SPI2=y
-CONFIG_STM32H7_SPI4=y
-CONFIG_STM32H7_SPI4_DMA=y
-CONFIG_STM32H7_SPI4_DMA_BUFFER=1024
-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_TIM15=y
-CONFIG_STM32H7_TIM1=y
-CONFIG_STM32H7_TIM3=y
-CONFIG_STM32H7_TIM4=y
-CONFIG_STM32H7_TIM5=y
-CONFIG_STM32H7_TIM8=y
-CONFIG_STM32H7_UART4=y
-CONFIG_STM32H7_UART7=y
-CONFIG_STM32H7_UART8=y
-CONFIG_STM32H7_USART1=y
-CONFIG_STM32H7_USART2=y
-CONFIG_STM32H7_USART6=y
-CONFIG_STM32H7_USART_BREAKS=y
-CONFIG_STM32H7_USART_INVERT=y
-CONFIG_STM32H7_USART_SINGLEWIRE=y
-CONFIG_STM32H7_USART_SWAP=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TESTING_OSTEST=y
-CONFIG_TESTING_OSTEST_FPUTESTDISABLE=y
-CONFIG_TESTING_OSTEST_STACKSIZE=10240
-CONFIG_TTY_SIGINT=y
-CONFIG_TTY_SIGTSTP=y
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_TXBUFSIZE=1500
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=600
-CONFIG_UART7_SERIAL_CONSOLE=y
-CONFIG_UART7_TXBUFSIZE=1500
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=600
-CONFIG_UART8_TXBUFSIZE=1500
-CONFIG_USART1_BAUD=57600
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_TXBUFSIZE=1500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_TXBUFSIZE=1500
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_IFLOWCONTROL=y
-CONFIG_USART6_OFLOWCONTROL=y
-CONFIG_USART6_RXBUFSIZE=600
-CONFIG_USART6_TXBUFSIZE=1500
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
-CONFIG_WATCHDOG=y
@@ -140,7 +140,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -187,12 +187,7 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
+	} > AXI_SRAM AT > FLASH

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -60,7 +60,6 @@ CONFIG_DEFAULT_SMALL=y
 CONFIG_DEV_FIFO_SIZE=0
 CONFIG_DEV_PIPE_MAXSIZE=1024
 CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
 CONFIG_EXAMPLES_CALIB_UDELAY=y
 CONFIG_EXPERIMENTAL=y
 CONFIG_FAT_DMAMEMORY=y
@@ -139,7 +138,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -197,9 +197,6 @@ CONFIG_STM32H7_USART_SWAP=y
 CONFIG_SYSTEM_CDCACM=y
 CONFIG_SYSTEM_NSH=y
 CONFIG_TASK_NAME_SIZE=24
-CONFIG_TESTING_OSTEST=y
-CONFIG_TESTING_OSTEST_FPUTESTDISABLE=y
-CONFIG_TESTING_OSTEST_STACKSIZE=10240
 CONFIG_TTY_SIGINT=y
 CONFIG_TTY_SIGTSTP=y
 CONFIG_UART4_BAUD=57600
@@ -141,7 +141,8 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -120,7 +120,8 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -157,7 +158,7 @@ CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=512
+CONFIG_STM32_SPI1_DMA_BUFFER=1024
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI2_DMA=y
 CONFIG_STM32_SPI3=y
@@ -122,7 +122,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -108,7 +108,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -140,7 +140,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -109,17 +109,16 @@

 MEMORY
 {
-	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
-
-	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
-	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
-	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
-	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08020000, LENGTH = 1920K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
 }

 OUTPUT_ARCH(arm)
@@ -157,7 +156,7 @@ SECTIONS
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);

-	} > FLASH
+	} > flash

 	/*
 	 * Init functions (static constructors and the like)
@@ -166,17 +165,17 @@ SECTIONS
 		_sinit = ABSOLUTE(.);
 		KEEP(*(.init_array .init_array.*))
 		_einit = ABSOLUTE(.);
-	} > FLASH
+	} > flash


 	.ARM.extab : {
 		*(.ARM.extab*)
-	} > FLASH
+	} > flash

 	__exidx_start = ABSOLUTE(.);
 	.ARM.exidx : {
 		*(.ARM.exidx*)
-	} > FLASH
+	} > flash
 	__exidx_end = ABSOLUTE(.);

 	_eronly = ABSOLUTE(.);
@@ -187,12 +186,7 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
+	} > sram AT > flash

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -201,7 +195,7 @@ SECTIONS
 		*(COMMON)
 		. = ALIGN(4);
 		_ebss = ABSOLUTE(.);
-	} > AXI_SRAM
+	} > sram

 	/* Emit the the D3 power domain section for locating BDMA data */

@@ -210,7 +204,7 @@ SECTIONS
 		*(.sram4)
 		. = ALIGN(4);
 		_sram4_heap_start = ABSOLUTE(.);
-	} > SRAM4
+	} > sram4

 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
@@ -140,7 +140,8 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -139,7 +139,8 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -109,17 +109,16 @@

 MEMORY
 {
-	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
-
-	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
-	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
-	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
-	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08020000, LENGTH = 1792K /* params in last sector */
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
 }

 OUTPUT_ARCH(arm)
@@ -157,7 +156,7 @@ SECTIONS
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);

-	} > FLASH
+	} > flash

 	/*
 	 * Init functions (static constructors and the like)
@@ -166,17 +165,17 @@ SECTIONS
 		_sinit = ABSOLUTE(.);
 		KEEP(*(.init_array .init_array.*))
 		_einit = ABSOLUTE(.);
-	} > FLASH
+	} > flash


 	.ARM.extab : {
 		*(.ARM.extab*)
-	} > FLASH
+	} > flash

 	__exidx_start = ABSOLUTE(.);
 	.ARM.exidx : {
 		*(.ARM.exidx*)
-	} > FLASH
+	} > flash
 	__exidx_end = ABSOLUTE(.);

 	_eronly = ABSOLUTE(.);
@@ -187,12 +186,7 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
+	} > sram AT > flash

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -201,7 +195,7 @@ SECTIONS
 		*(COMMON)
 		. = ALIGN(4);
 		_ebss = ABSOLUTE(.);
-	} > AXI_SRAM
+	} > sram

 	/* Emit the the D3 power domain section for locating BDMA data */

@@ -210,7 +204,7 @@ SECTIONS
 		*(.sram4)
 		. = ALIGN(4);
 		_sram4_heap_start = ABSOLUTE(.);
-	} > SRAM4
+	} > sram4

 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
@@ -140,7 +140,8 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -126,7 +126,8 @@ CONFIG_SCHED_LPWORK=y
 CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_PASSTHRU_UBLOX=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -126,7 +126,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -1,7 +1,7 @@
 /****************************************************************************
 * scripts/script.ld
 *
- *   Copyright (C) 2020 Gregory Nutt. All rights reserved.
+ *   Copyright (C) 2016, 2019 Gregory Nutt. All rights reserved.
 *   Author: Gregory Nutt <gnutt@nuttx.org>
 *
 *
@@ -34,7 +34,7 @@
 *
 ****************************************************************************/

-/* The board uses an STM32H743II and has 2048Kb of main FLASH memory.
+/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory.
 * The flash memory is partitioned into a User Flash memory and a System
 * Flash memory. Each of these memories has two banks:
 *
@@ -59,8 +59,8 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * There's a switch on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
+ * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
 * The STM32H743ZI also has 1024Kb of data SRAM.
@@ -109,17 +109,16 @@

 MEMORY
 {
-	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
-
-	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
-	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
-	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
-	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08020000, LENGTH = 1920K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
 }

 OUTPUT_ARCH(arm)
@@ -157,7 +156,7 @@ SECTIONS
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);

-	} > FLASH
+	} > flash

 	/*
 	 * Init functions (static constructors and the like)
@@ -166,17 +165,17 @@ SECTIONS
 		_sinit = ABSOLUTE(.);
 		KEEP(*(.init_array .init_array.*))
 		_einit = ABSOLUTE(.);
-	} > FLASH
+	} > flash


 	.ARM.extab : {
 		*(.ARM.extab*)
-	} > FLASH
+	} > flash

 	__exidx_start = ABSOLUTE(.);
 	.ARM.exidx : {
 		*(.ARM.exidx*)
-	} > FLASH
+	} > flash
 	__exidx_end = ABSOLUTE(.);

 	_eronly = ABSOLUTE(.);
@@ -187,12 +186,7 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
+	} > sram AT > flash

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -201,7 +195,7 @@ SECTIONS
 		*(COMMON)
 		. = ALIGN(4);
 		_ebss = ABSOLUTE(.);
-	} > AXI_SRAM
+	} > sram

 	/* Emit the the D3 power domain section for locating BDMA data */

@@ -210,7 +204,7 @@ SECTIONS
 		*(.sram4)
 		. = ALIGN(4);
 		_sram4_heap_start = ABSOLUTE(.);
-	} > SRAM4
+	} > sram4

 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
@@ -130,7 +130,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -34,7 +34,7 @@
 *
 ****************************************************************************/

-/* The board uses an STM32H743II and has 2048Kb of main FLASH memory.
+/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory.
 * The flash memory is partitioned into a User Flash memory and a System
 * Flash memory. Each of these memories has two banks:
 *
@@ -59,8 +59,8 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * There's a switch on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
+ * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
 * The STM32H743ZI also has 1024Kb of data SRAM.
@@ -109,17 +109,16 @@

 MEMORY
 {
-	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
-
-	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
-	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
-	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
-	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08020000, LENGTH = 1920K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
 }

 OUTPUT_ARCH(arm)
@@ -157,7 +156,7 @@ SECTIONS
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);

-	} > FLASH
+	} > flash

 	/*
 	 * Init functions (static constructors and the like)
@@ -166,17 +165,17 @@ SECTIONS
 		_sinit = ABSOLUTE(.);
 		KEEP(*(.init_array .init_array.*))
 		_einit = ABSOLUTE(.);
-	} > FLASH
+	} > flash


 	.ARM.extab : {
 		*(.ARM.extab*)
-	} > FLASH
+	} > flash

 	__exidx_start = ABSOLUTE(.);
 	.ARM.exidx : {
 		*(.ARM.exidx*)
-	} > FLASH
+	} > flash
 	__exidx_end = ABSOLUTE(.);

 	_eronly = ABSOLUTE(.);
@@ -187,12 +186,7 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
+	} > sram AT > flash

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -201,7 +195,7 @@ SECTIONS
 		*(COMMON)
 		. = ALIGN(4);
 		_ebss = ABSOLUTE(.);
-	} > AXI_SRAM
+	} > sram

 	/* Emit the the D3 power domain section for locating BDMA data */

@@ -210,7 +204,7 @@ SECTIONS
 		*(.sram4)
 		. = ALIGN(4);
 		_sram4_heap_start = ABSOLUTE(.);
-	} > SRAM4
+	} > sram4

 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
@@ -127,7 +127,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -34,7 +34,7 @@
 *
 ****************************************************************************/

-/* The board uses an STM32H743II and has 2048Kb of main FLASH memory.
+/* The Durandal-v1 uses an STM32H743II has 2048Kb of main FLASH memory.
 * The flash memory is partitioned into a User Flash memory and a System
 * Flash memory. Each of these memories has two banks:
 *
@@ -59,8 +59,8 @@
 *   2) BOOT=1: Boot address defined by user option byte BOOT_ADD1[15:0].
 *      ST programmed value: System bootloader at 0x1FF0:0000
 *
- * There's a switch on board, the BOOT0 pin is at ground so by default,
- * the STM32 will boot to address 0x0800:0000 in FLASH unless the switch is
+ * The Durandal has a Swtich on board, the BOOT0 pin is at ground so by default,
+ * the STM32 will boot to address 0x0800:0000 in FLASH unless the swiutch is
 * drepresed, then the boot will be from 0x1FF0:0000
 *
 * The STM32H743ZI also has 1024Kb of data SRAM.
@@ -109,17 +109,16 @@

 MEMORY
 {
-	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
-
-	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
-	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
-	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
-	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08020000, LENGTH = 1920K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
 }

 OUTPUT_ARCH(arm)
@@ -157,7 +156,7 @@ SECTIONS
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);

-	} > FLASH
+	} > flash

 	/*
 	 * Init functions (static constructors and the like)
@@ -166,17 +165,17 @@ SECTIONS
 		_sinit = ABSOLUTE(.);
 		KEEP(*(.init_array .init_array.*))
 		_einit = ABSOLUTE(.);
-	} > FLASH
+	} > flash


 	.ARM.extab : {
 		*(.ARM.extab*)
-	} > FLASH
+	} > flash

 	__exidx_start = ABSOLUTE(.);
 	.ARM.exidx : {
 		*(.ARM.exidx*)
-	} > FLASH
+	} > flash
 	__exidx_end = ABSOLUTE(.);

 	_eronly = ABSOLUTE(.);
@@ -187,12 +186,7 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
+	} > sram AT > flash

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -201,7 +195,7 @@ SECTIONS
 		*(COMMON)
 		. = ALIGN(4);
 		_ebss = ABSOLUTE(.);
-	} > AXI_SRAM
+	} > sram

 	/* Emit the the D3 power domain section for locating BDMA data */

@@ -210,7 +204,7 @@ SECTIONS
 		*(.sram4)
 		. = ALIGN(4);
 		_sram4_heap_start = ABSOLUTE(.);
-	} > SRAM4
+	} > sram4

 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
@@ -138,7 +138,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC2_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -140,7 +140,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC2_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -109,17 +109,16 @@

 MEMORY
 {
-	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
-	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
-
-	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
-	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
-	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
-	SRAM1     (rwx) : ORIGIN = 0x30000000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM2     (rwx) : ORIGIN = 0x30020000, LENGTH =  128K /* D2 domain AHB bus */
-	SRAM3     (rwx) : ORIGIN = 0x30040000, LENGTH =   32K /* D2 domain AHB bus */
-	SRAM4     (rwx) : ORIGIN = 0x38000000, LENGTH =   64K /* D3 domain */
-	BKPRAM    (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
+	itcm  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
+	flash (rx)  : ORIGIN = 0x08020000, LENGTH = 1920K
+	dtcm1 (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
+	dtcm2 (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
+	sram  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K
+	sram1 (rwx) : ORIGIN = 0x30000000, LENGTH =  128K
+	sram2 (rwx) : ORIGIN = 0x30020000, LENGTH =  128K
+	sram3 (rwx) : ORIGIN = 0x30040000, LENGTH =   32K
+	sram4 (rwx) : ORIGIN = 0x38000000, LENGTH =   64K
+	bbram (rwx) : ORIGIN = 0x38800000, LENGTH =    4K
 }

 OUTPUT_ARCH(arm)
@@ -158,7 +157,7 @@ SECTIONS
 		*(.gnu.linkonce.r.*)
 		_etext = ABSOLUTE(.);

-	} > FLASH
+	} > flash

 	/*
 	 * Init functions (static constructors and the like)
@@ -167,17 +166,17 @@ SECTIONS
 		_sinit = ABSOLUTE(.);
 		KEEP(*(.init_array .init_array.*))
 		_einit = ABSOLUTE(.);
-	} > FLASH
+	} > flash


 	.ARM.extab : {
 		*(.ARM.extab*)
-	} > FLASH
+	} > flash

 	__exidx_start = ABSOLUTE(.);
 	.ARM.exidx : {
 		*(.ARM.exidx*)
-	} > FLASH
+	} > flash
 	__exidx_end = ABSOLUTE(.);

 	_eronly = ABSOLUTE(.);
@@ -188,12 +187,7 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
+	} > sram AT > flash

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -202,7 +196,7 @@ SECTIONS
 		*(COMMON)
 		. = ALIGN(4);
 		_ebss = ABSOLUTE(.);
-	} > AXI_SRAM
+	} > sram

 	/* Emit the the D3 power domain section for locating BDMA data */

@@ -211,7 +205,7 @@ SECTIONS
 		*(.sram4)
 		. = ALIGN(4);
 		_sram4_heap_start = ABSOLUTE(.);
-	} > SRAM4
+	} > sram4

 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
@@ -141,7 +141,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -187,12 +187,7 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
+	} > AXI_SRAM AT > FLASH

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -204,7 +199,6 @@ SECTIONS
 	} > AXI_SRAM

 	/* Emit the the D3 power domain section for locating BDMA data */
-
 	.sram4_reserve (NOLOAD) :
 	{
 		*(.sram4)
@@ -212,6 +206,7 @@ SECTIONS
 		_sram4_heap_start = ABSOLUTE(.);
 	} > SRAM4

+
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }
@@ -225,4 +220,13 @@ SECTIONS
 	.debug_line 0 : { *(.debug_line) }
 	.debug_pubnames 0 : { *(.debug_pubnames) }
 	.debug_aranges 0 : { *(.debug_aranges) }
+
+	.ramfunc : {
+		_sramfuncs = .;
+		*(.ramfunc  .ramfunc.*)
+		. = ALIGN(4);
+		_eramfuncs = .;
+	} > ITCM_RAM AT > FLASH
+
+	_framfuncs = LOADADDR(.ramfunc);
 }
@@ -139,7 +139,8 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -139,7 +139,8 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -141,7 +141,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -187,12 +187,7 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
+	} > AXI_SRAM AT > FLASH

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -204,7 +199,6 @@ SECTIONS
 	} > AXI_SRAM

 	/* Emit the the D3 power domain section for locating BDMA data */
-
 	.sram4_reserve (NOLOAD) :
 	{
 		*(.sram4)
@@ -212,6 +206,7 @@ SECTIONS
 		_sram4_heap_start = ABSOLUTE(.);
 	} > SRAM4

+
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }
@@ -225,4 +220,13 @@ SECTIONS
 	.debug_line 0 : { *(.debug_line) }
 	.debug_pubnames 0 : { *(.debug_pubnames) }
 	.debug_aranges 0 : { *(.debug_aranges) }
+
+	.ramfunc : {
+		_sramfuncs = .;
+		*(.ramfunc  .ramfunc.*)
+		. = ALIGN(4);
+		_eramfuncs = .;
+	} > ITCM_RAM AT > FLASH
+
+	_framfuncs = LOADADDR(.ramfunc);
 }
@@ -141,7 +141,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -187,12 +187,7 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
+	} > AXI_SRAM AT > FLASH

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -204,7 +199,6 @@ SECTIONS
 	} > AXI_SRAM

 	/* Emit the the D3 power domain section for locating BDMA data */
-
 	.sram4_reserve (NOLOAD) :
 	{
 		*(.sram4)
@@ -212,6 +206,7 @@ SECTIONS
 		_sram4_heap_start = ABSOLUTE(.);
 	} > SRAM4

+
 	/* Stabs debugging sections. */
 	.stab 0 : { *(.stab) }
 	.stabstr 0 : { *(.stabstr) }
@@ -225,4 +220,13 @@ SECTIONS
 	.debug_line 0 : { *(.debug_line) }
 	.debug_pubnames 0 : { *(.debug_pubnames) }
 	.debug_aranges 0 : { *(.debug_aranges) }
+
+	.ramfunc : {
+		_sramfuncs = .;
+		*(.ramfunc  .ramfunc.*)
+		. = ALIGN(4);
+		_eramfuncs = .;
+	} > ITCM_RAM AT > FLASH
+
+	_framfuncs = LOADADDR(.ramfunc);
 }
@@ -139,7 +139,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -111,7 +111,6 @@ MEMORY
 {
 	ITCM_RAM  (rwx) : ORIGIN = 0x00000000, LENGTH =   64K
 	FLASH      (rx) : ORIGIN = 0x08020000, LENGTH = 1920K
-
 	DTCM1_RAM (rwx) : ORIGIN = 0x20000000, LENGTH =   64K
 	DTCM2_RAM (rwx) : ORIGIN = 0x20010000, LENGTH =   64K
 	AXI_SRAM  (rwx) : ORIGIN = 0x24000000, LENGTH =  512K /* D1 domain AXI bus */
@@ -187,12 +186,7 @@ SECTIONS
 		*(.gnu.linkonce.d.*)
 		CONSTRUCTORS
 		_edata = ABSOLUTE(.);
-
-		/* Pad out last section as the STM32H7 Flash write size is 256 bits. 32 bytes */
-		. = ALIGN(16);
-		FILL(0xffff)
-		. += 16;
-	} > AXI_SRAM AT > FLASH  = 0xffff
+	} > AXI_SRAM AT > FLASH

 	.bss : {
 		_sbss = ABSOLUTE(.);
@@ -139,7 +139,8 @@ CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDMMC1_SDIO_MODE=y
 CONFIG_SDMMC1_SDIO_PULLUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -131,7 +131,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -171,7 +172,7 @@ CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=512
+CONFIG_STM32_SPI1_DMA_BUFFER=1024
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_SPI_DMATHRESHOLD=8
@@ -187,7 +187,8 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -187,7 +187,8 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -185,7 +185,8 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -186,7 +186,8 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -1,226 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_KINETIS_EDMA_HOE is not set
-# CONFIG_MMCSD_HAVE_WRITEPROTECT is not set
-# CONFIG_MMCSD_MMCSUPPORT is not set
-# CONFIG_MMCSD_SPI is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/nxp/fmuk66-v3/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="kinetis"
-CONFIG_ARCH_CHIP_KINETIS=y
-CONFIG_ARCH_CHIP_MK66FN2M0VMD18=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_LOOPSPERMSEC=15175
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_BULKIN_REQLEN=96
-CONFIG_CDCACM_PRODUCTID=0x001c
-CONFIG_CDCACM_PRODUCTSTR="PX4 FMUK66 v3.x"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=8000
-CONFIG_CDCACM_VENDORID=0x1FC9
-CONFIG_CDCACM_VENDORSTR="NXP SEMICONDUCTORS"
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_DISABLE_POSIX_TIMERS=y
-CONFIG_ETH0_PHY_TJA1100=y
-CONFIG_EXAMPLES_CALIB_UDELAY=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_AUTOMOUNTER=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_IOB_NBUFFERS=24
-CONFIG_IOB_THROTTLE=0
-CONFIG_KINETIS_ADC0=y
-CONFIG_KINETIS_ADC1=y
-CONFIG_KINETIS_CRC=y
-CONFIG_KINETIS_EDMA=y
-CONFIG_KINETIS_EDMA_ELINK=y
-CONFIG_KINETIS_EDMA_ERCA=y
-CONFIG_KINETIS_EDMA_ERGA=y
-CONFIG_KINETIS_EDMA_NTCD=16
-CONFIG_KINETIS_EMAC_RMIICLK1588CLKIN=y
-CONFIG_KINETIS_ENET=y
-CONFIG_KINETIS_FLEXCAN0=y
-CONFIG_KINETIS_FLEXCAN1=y
-CONFIG_KINETIS_GPIOIRQ=y
-CONFIG_KINETIS_I2C0=y
-CONFIG_KINETIS_I2C1=y
-CONFIG_KINETIS_LPTMR0=y
-CONFIG_KINETIS_LPUART0=y
-CONFIG_KINETIS_LPUART0_RXDMA=y
-CONFIG_KINETIS_MERGE_TTY=y
-CONFIG_KINETIS_PDB=y
-CONFIG_KINETIS_PIT=y
-CONFIG_KINETIS_PORTAINTS=y
-CONFIG_KINETIS_PORTBINTS=y
-CONFIG_KINETIS_PORTCINTS=y
-CONFIG_KINETIS_PORTDINTS=y
-CONFIG_KINETIS_PORTEINTS=y
-CONFIG_KINETIS_RTC=y
-CONFIG_KINETIS_SDHC=y
-CONFIG_KINETIS_SERIALBRK_BSDCOMPAT=y
-CONFIG_KINETIS_SPI0=y
-CONFIG_KINETIS_SPI1=y
-CONFIG_KINETIS_SPI2=y
-CONFIG_KINETIS_UART0=y
-CONFIG_KINETIS_UART0_RXDMA=y
-CONFIG_KINETIS_UART1=y
-CONFIG_KINETIS_UART1_RXDMA=y
-CONFIG_KINETIS_UART2=y
-CONFIG_KINETIS_UART2_RXDMA=y
-CONFIG_KINETIS_UART4=y
-CONFIG_KINETIS_UART4_RXDMA=y
-CONFIG_KINETIS_UARTFIFOS=y
-CONFIG_KINETIS_UART_BREAKS=y
-CONFIG_KINETIS_UART_EXTEDED_BREAK=y
-CONFIG_KINETIS_UART_INVERT=y
-CONFIG_KINETIS_USBDCD=y
-CONFIG_KINETS_LPUART_LOWEST=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_LPUART0_BAUD=57600
-CONFIG_LPUART0_SERIAL_CONSOLE=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_MULTIBLOCK_DISABLE=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NETDEV_PHY_IOCTL=y
-CONFIG_NETINIT_THREAD=y
-CONFIG_NETINIT_THREAD_PRIORITY=49
-CONFIG_NETUTILS_TELNETD=y
-CONFIG_NET_ARP_IPIN=y
-CONFIG_NET_ARP_SEND=y
-CONFIG_NET_BROADCAST=y
-CONFIG_NET_ICMP=y
-CONFIG_NET_ICMP_SOCKET=y
-CONFIG_NET_SOCKOPTS=y
-CONFIG_NET_SOLINGER=y
-CONFIG_NET_TCP=y
-CONFIG_NET_TCPBACKLOG=y
-CONFIG_NET_TCP_WRITE_BUFFERS=y
-CONFIG_NET_UDP=y
-CONFIG_NET_UDP_CHECKSUMS=y
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_BASENAME=y
-CONFIG_NSH_DISABLE_DIRNAME=y
-CONFIG_NSH_DISABLE_EXPORT=y
-CONFIG_NSH_DISABLE_HEXDUMP=y
-CONFIG_NSH_DISABLE_LOSETUP=y
-CONFIG_NSH_DISABLE_MKFIFO=y
-CONFIG_NSH_DISABLE_MKRD=y
-CONFIG_NSH_DISABLE_PUT=y
-CONFIG_NSH_DISABLE_REBOOT=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_DISABLE_UNAME=y
-CONFIG_NSH_DISABLE_WGET=y
-CONFIG_NSH_DISABLE_XD=y
-CONFIG_NSH_FILEIOSIZE=512
-CONFIG_NSH_IOBUFFER_SIZE=256
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_READLINE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_TELNETD_CLIENTSTACKSIZE=1280
-CONFIG_NSH_TELNETD_DAEMONSTACKSIZE=1024
-CONFIG_NSH_VARS=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAM_SIZE=262144
-CONFIG_RAM_START=0x1fff0000
-CONFIG_RAW_BINARY=y
-CONFIG_RTC=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_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_PREALLOCHOLDERS=32
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_CUTERM=y
-CONFIG_SYSTEM_CUTERM_DEFAULT_BAUD=57600
-CONFIG_SYSTEM_NSH=y
-CONFIG_SYSTEM_PING=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TELNET_IOTHREAD_STACKSIZE=512
-CONFIG_TELNET_MAXLCLIENTS=1
-CONFIG_TELNET_RXBUFFER_SIZE=128
-CONFIG_TELNET_TXBUFFER_SIZE=128
-CONFIG_TESTING_OSTEST=y
-CONFIG_TESTING_OSTEST_FPUTESTDISABLE=y
-CONFIG_TESTING_OSTEST_STACKSIZE=10240
-CONFIG_UART1_RXBUFSIZE=600
-CONFIG_UART1_TXBUFSIZE=1100
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_IFLOWCONTROL=y
-CONFIG_UART4_OFLOWCONTROL=y
-CONFIG_UART4_RXBUFSIZE=600
-CONFIG_UART4_TXBUFSIZE=1100
-CONFIG_USBDEV=y
-CONFIG_USBDEV_BUSPOWERED=y
-CONFIG_USBDEV_DUALSPEED=y
-CONFIG_USBDEV_MAXPOWER=500
-CONFIG_USEC_PER_TICK=1000
-CONFIG_USERMAIN_STACKSIZE=2944
-CONFIG_USER_ENTRYPOINT="nsh_main"
-CONFIG_WATCHDOG=y
@@ -205,7 +205,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -0,0 +1,4 @@
+CONFIG_DRIVERS_OSD=n
+CONFIG_DRIVERS_TELEMETRY_FRSKY_TELEMETRY=n
+CONFIG_MODULES_ATTITUDE_ESTIMATOR_Q=n
+CONFIG_MODULES_EKF2=y
@@ -115,7 +115,8 @@ CONFIG_SCHED_LPWORKPRIORITY=50
 CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
 CONFIG_SIG_SIGALRM_ACTION=y
@@ -152,7 +153,7 @@ CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=512
+CONFIG_STM32_SPI1_DMA_BUFFER=1024
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI2_DMA=y
 CONFIG_STM32_SPI3=y
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# board specific sensors init
+# PX4 FMUv2 specific board sensors init
 #------------------------------------------------------------------------------

 rgbled start -I
@@ -65,6 +65,12 @@ then
 	# sensor heating is available, but we disable it for now
 	param set-default SENS_EN_THERMAL 0

+	# l3gd20 (external/isolated SPI4)
+	l3gd20 -s -b 4 -R 4 start
+
+	# lsm303d (external/isolated SPI4)
+	lsm303d -s -b 4 -R 6 start
+
 	# ms5611 (external/isolated SPI4)
 	ms5611 -s -b 4 start

@@ -83,13 +89,6 @@ then
 		mpu9250 -s -b 1 start
 	fi

-	# l3gd20 (external/isolated SPI4)
-	# low quality sensor disabled by default to save memory
-	#l3gd20 -s -b 4 -R 4 start
-
-	# lsm303d (external/isolated SPI4)
-	lsm303d -s -b 4 -R 6 start
-
 else
 	# $BOARD_FMUV3 = 0 -> FMUv2

@@ -133,7 +133,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -174,11 +175,11 @@ CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=512
+CONFIG_STM32_SPI1_DMA_BUFFER=1024
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI4=y
 CONFIG_STM32_SPI4_DMA=y
-CONFIG_STM32_SPI4_DMA_BUFFER=512
+CONFIG_STM32_SPI4_DMA_BUFFER=1024
 CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_SPI_DMATHRESHOLD=32
 CONFIG_STM32_TIM10=y
@@ -5,4 +5,3 @@

 param set-default BAT1_V_DIV 10.177939394
 param set-default BAT1_A_PER_V 15.391030303
-
@@ -1,6 +1,6 @@
 #!/bin/sh
 #
-# board specific sensors init
+# PX4 FMUv3 specific board sensors init
 #------------------------------------------------------------------------------

 rgbled start -I
@@ -65,6 +65,12 @@ then
 	# sensor heating is available, but we disable it for now
 	param set-default SENS_EN_THERMAL 0

+	# l3gd20 (external/isolated SPI4)
+	l3gd20 -s -b 4 -R 4 start
+
+	# lsm303d (external/isolated SPI4)
+	lsm303d -s -b 4 -R 6 start
+
 	# ms5611 (external/isolated SPI4)
 	ms5611 -s -b 4 start

@@ -83,13 +89,6 @@ then
 		mpu9250 -s -b 1 start
 	fi

-	# l3gd20 (external/isolated SPI4)
-	# low quality sensor disabled by default to save memory
-	#l3gd20 -s -b 4 -R 4 start
-
-	# lsm303d (external/isolated SPI4)
-	lsm303d -s -b 4 -R 6 start
-
 else
 	# $BOARD_FMUV3 = 0 -> FMUv2

@@ -130,7 +130,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -171,11 +172,11 @@ CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=512
+CONFIG_STM32_SPI1_DMA_BUFFER=1024
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI4=y
 CONFIG_STM32_SPI4_DMA=y
-CONFIG_STM32_SPI4_DMA_BUFFER=512
+CONFIG_STM32_SPI4_DMA_BUFFER=1024
 CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_SPI_DMATHRESHOLD=32
 CONFIG_STM32_TIM10=y
@@ -1,236 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_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_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_STM32_CCMEXCLUDE is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fmu-v3/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32"
-CONFIG_ARCH_CHIP_STM32=y
-CONFIG_ARCH_CHIP_STM32F427V=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x0011
-CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v2.x"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=2000
-CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_VENDORSTR="3D Robotics"
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_EXAMPLES_CALIB_UDELAY=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=2
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAM_SIZE=262144
-CONFIG_RAM_START=0x20000000
-CONFIG_RAW_BINARY=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_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDIO_BLOCKSETUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_STM32_ADC1=y
-CONFIG_STM32_BBSRAM=y
-CONFIG_STM32_BBSRAM_FILES=5
-CONFIG_STM32_BKPSRAM=y
-CONFIG_STM32_CCMDATARAM=y
-CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
-CONFIG_STM32_DMA1=y
-CONFIG_STM32_DMA2=y
-CONFIG_STM32_FLASH_CONFIG_I=y
-CONFIG_STM32_FLOWCONTROL_BROKEN=y
-CONFIG_STM32_I2C1=y
-CONFIG_STM32_I2C2=y
-CONFIG_STM32_I2CTIMEOMS=10
-CONFIG_STM32_I2CTIMEOTICKS=10
-CONFIG_STM32_JTAG_SW_ENABLE=y
-CONFIG_STM32_OTGFS=y
-CONFIG_STM32_PWR=y
-CONFIG_STM32_RTC=y
-CONFIG_STM32_RTC_HSECLOCK=y
-CONFIG_STM32_RTC_MAGIC=0xfacefeee
-CONFIG_STM32_RTC_MAGIC_REG=1
-CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
-CONFIG_STM32_SAVE_CRASHDUMP=y
-CONFIG_STM32_SDIO=y
-CONFIG_STM32_SDIO_CARD=y
-CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32_SPI1=y
-CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=512
-CONFIG_STM32_SPI2=y
-CONFIG_STM32_SPI4=y
-CONFIG_STM32_SPI4_DMA=y
-CONFIG_STM32_SPI4_DMA_BUFFER=512
-CONFIG_STM32_SPI_DMA=y
-CONFIG_STM32_SPI_DMATHRESHOLD=32
-CONFIG_STM32_TIM10=y
-CONFIG_STM32_TIM11=y
-CONFIG_STM32_TIM3=y
-CONFIG_STM32_TIM9=y
-CONFIG_STM32_UART4=y
-CONFIG_STM32_UART7=y
-CONFIG_STM32_UART8=y
-CONFIG_STM32_USART1=y
-CONFIG_STM32_USART2=y
-CONFIG_STM32_USART3=y
-CONFIG_STM32_USART6=y
-CONFIG_STM32_USART_BREAKS=y
-CONFIG_STM32_USART_SINGLEWIRE=y
-CONFIG_STM32_WWDG=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TESTING_OSTEST=y
-CONFIG_TESTING_OSTEST_FPUTESTDISABLE=y
-CONFIG_TESTING_OSTEST_STACKSIZE=10240
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=300
-CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=300
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=300
-CONFIG_UART7_RXDMA=y
-CONFIG_UART7_SERIAL_CONSOLE=y
-CONFIG_UART7_TXBUFSIZE=300
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=300
-CONFIG_UART8_TXBUFSIZE=300
-CONFIG_USART1_RXBUFSIZE=128
-CONFIG_USART1_TXBUFSIZE=32
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_RXDMA=y
-CONFIG_USART2_TXBUFSIZE=1100
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_IFLOWCONTROL=y
-CONFIG_USART3_OFLOWCONTROL=y
-CONFIG_USART3_RXBUFSIZE=300
-CONFIG_USART3_RXDMA=y
-CONFIG_USART3_TXBUFSIZE=600
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=300
-CONFIG_USART6_RXDMA=y
-CONFIG_USART6_TXBUFSIZE=300
-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"
@@ -130,7 +130,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -170,7 +171,7 @@ CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=512
+CONFIG_STM32_SPI1_DMA_BUFFER=1024
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI4=y
 CONFIG_STM32_SPI_DMA=y
@@ -1,234 +0,0 @@
-#
-# This file is autogenerated: PLEASE DO NOT EDIT IT.
-#
-# You can use "make menuconfig" to make any modifications to the installed .config file.
-# You can then do "make savedefconfig" to generate a new defconfig file that includes your
-# modifications.
-#
-# CONFIG_DISABLE_ENVIRON is not set
-# CONFIG_DISABLE_PSEUDOFS_OPERATIONS is not set
-# CONFIG_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_DF is not set
-# CONFIG_NSH_DISABLE_EXEC is not set
-# CONFIG_NSH_DISABLE_EXIT is not set
-# CONFIG_NSH_DISABLE_GET is not set
-# CONFIG_NSH_DISABLE_ITEF is not set
-# CONFIG_NSH_DISABLE_LOOPS is not set
-# CONFIG_NSH_DISABLE_MKFATFS is not set
-# CONFIG_NSH_DISABLE_SEMICOLON is not set
-# CONFIG_NSH_DISABLE_TIME is not set
-# CONFIG_STM32_CCMEXCLUDE is not set
-CONFIG_ARCH="arm"
-CONFIG_ARCH_BOARD_CUSTOM=y
-CONFIG_ARCH_BOARD_CUSTOM_DIR="../../../../boards/px4/fmu-v4/nuttx-config"
-CONFIG_ARCH_BOARD_CUSTOM_DIR_RELPATH=y
-CONFIG_ARCH_BOARD_CUSTOM_NAME="px4"
-CONFIG_ARCH_CHIP="stm32"
-CONFIG_ARCH_CHIP_STM32=y
-CONFIG_ARCH_CHIP_STM32F427V=y
-CONFIG_ARCH_INTERRUPTSTACK=512
-CONFIG_ARCH_STACKDUMP=y
-CONFIG_ARMV7M_MEMCPY=y
-CONFIG_ARMV7M_USEBASEPRI=y
-CONFIG_ARM_MPU_EARLY_RESET=y
-CONFIG_BOARDCTL_RESET=y
-CONFIG_BOARD_CRASHDUMP=y
-CONFIG_BOARD_LOOPSPERMSEC=16717
-CONFIG_BOARD_RESET_ON_ASSERT=2
-CONFIG_BUILTIN=y
-CONFIG_C99_BOOL8=y
-CONFIG_CDCACM=y
-CONFIG_CDCACM_IFLOWCONTROL=y
-CONFIG_CDCACM_PRODUCTID=0x0012
-CONFIG_CDCACM_PRODUCTSTR="PX4 FMU v4.x"
-CONFIG_CDCACM_RXBUFSIZE=600
-CONFIG_CDCACM_TXBUFSIZE=2000
-CONFIG_CDCACM_VENDORID=0x26ac
-CONFIG_CDCACM_VENDORSTR="3D Robotics"
-CONFIG_DEBUG_FULLOPT=y
-CONFIG_DEBUG_HARDFAULT_ALERT=y
-CONFIG_DEBUG_SYMBOLS=y
-CONFIG_DEFAULT_SMALL=y
-CONFIG_DEV_FIFO_SIZE=0
-CONFIG_DEV_PIPE_MAXSIZE=1024
-CONFIG_DEV_PIPE_SIZE=70
-CONFIG_DISABLE_MQUEUE=y
-CONFIG_EXAMPLES_CALIB_UDELAY=y
-CONFIG_FAT_DMAMEMORY=y
-CONFIG_FAT_LCNAMES=y
-CONFIG_FAT_LFN=y
-CONFIG_FAT_LFN_ALIAS_HASH=y
-CONFIG_FDCLONE_STDIO=y
-CONFIG_FS_BINFS=y
-CONFIG_FS_CROMFS=y
-CONFIG_FS_FAT=y
-CONFIG_FS_FATTIME=y
-CONFIG_FS_PROCFS=y
-CONFIG_FS_PROCFS_INCLUDE_PROGMEM=y
-CONFIG_FS_PROCFS_REGISTER=y
-CONFIG_FS_ROMFS=y
-CONFIG_GRAN=y
-CONFIG_GRAN_INTR=y
-CONFIG_HAVE_CXX=y
-CONFIG_HAVE_CXXINITIALIZE=y
-CONFIG_I2C=y
-CONFIG_I2C_RESET=y
-CONFIG_IDLETHREAD_STACKSIZE=750
-CONFIG_LIBC_LONG_LONG=y
-CONFIG_LIBC_STRERROR=y
-CONFIG_MEMSET_64BIT=y
-CONFIG_MEMSET_OPTSPEED=y
-CONFIG_MMCSD=y
-CONFIG_MMCSD_SDIO=y
-CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=2
-CONFIG_MTD=y
-CONFIG_MTD_BYTE_WRITE=y
-CONFIG_MTD_PARTITION=y
-CONFIG_MTD_RAMTRON=y
-CONFIG_NAME_MAX=40
-CONFIG_NSH_ARCHINIT=y
-CONFIG_NSH_ARGCAT=y
-CONFIG_NSH_BUILTIN_APPS=y
-CONFIG_NSH_CMDPARMS=y
-CONFIG_NSH_CROMFSETC=y
-CONFIG_NSH_DISABLE_IFCONFIG=y
-CONFIG_NSH_DISABLE_IFUPDOWN=y
-CONFIG_NSH_DISABLE_TELNETD=y
-CONFIG_NSH_LINELEN=128
-CONFIG_NSH_MAXARGUMENTS=15
-CONFIG_NSH_NESTDEPTH=8
-CONFIG_NSH_QUOTE=y
-CONFIG_NSH_ROMFSETC=y
-CONFIG_NSH_ROMFSSECTSIZE=128
-CONFIG_NSH_STRERROR=y
-CONFIG_NSH_VARS=y
-CONFIG_PIPES=y
-CONFIG_PREALLOC_TIMERS=50
-CONFIG_PRIORITY_INHERITANCE=y
-CONFIG_PTHREAD_MUTEX_ROBUST=y
-CONFIG_PTHREAD_STACK_MIN=512
-CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAM_SIZE=262144
-CONFIG_RAM_START=0x20000000
-CONFIG_RAW_BINARY=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_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
-CONFIG_SCHED_WAITPID=y
-CONFIG_SDCLONE_DISABLE=y
-CONFIG_SDIO_BLOCKSETUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
-CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
-CONFIG_SERIAL_TERMIOS=y
-CONFIG_SIG_DEFAULT=y
-CONFIG_SIG_SIGALRM_ACTION=y
-CONFIG_SIG_SIGUSR1_ACTION=y
-CONFIG_SIG_SIGUSR2_ACTION=y
-CONFIG_SIG_SIGWORK=4
-CONFIG_STACK_COLORATION=y
-CONFIG_START_DAY=30
-CONFIG_START_MONTH=11
-CONFIG_STDIO_BUFFER_SIZE=32
-CONFIG_STM32_ADC1=y
-CONFIG_STM32_BBSRAM=y
-CONFIG_STM32_BBSRAM_FILES=5
-CONFIG_STM32_BKPSRAM=y
-CONFIG_STM32_CCMDATARAM=y
-CONFIG_STM32_DISABLE_IDLE_SLEEP_DURING_DEBUG=y
-CONFIG_STM32_DMA1=y
-CONFIG_STM32_DMA2=y
-CONFIG_STM32_FLASH_CONFIG_I=y
-CONFIG_STM32_FLOWCONTROL_BROKEN=y
-CONFIG_STM32_I2C1=y
-CONFIG_STM32_I2CTIMEOMS=10
-CONFIG_STM32_I2CTIMEOTICKS=10
-CONFIG_STM32_JTAG_SW_ENABLE=y
-CONFIG_STM32_OTGFS=y
-CONFIG_STM32_PWR=y
-CONFIG_STM32_RTC=y
-CONFIG_STM32_RTC_HSECLOCK=y
-CONFIG_STM32_RTC_MAGIC=0xfacefeee
-CONFIG_STM32_RTC_MAGIC_REG=1
-CONFIG_STM32_RTC_MAGIC_TIME_SET=0xfacefeef
-CONFIG_STM32_SAVE_CRASHDUMP=y
-CONFIG_STM32_SDIO=y
-CONFIG_STM32_SDIO_CARD=y
-CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
-CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
-CONFIG_STM32_SPI1=y
-CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=512
-CONFIG_STM32_SPI2=y
-CONFIG_STM32_SPI4=y
-CONFIG_STM32_SPI_DMA=y
-CONFIG_STM32_SPI_DMATHRESHOLD=8
-CONFIG_STM32_TIM10=y
-CONFIG_STM32_TIM11=y
-CONFIG_STM32_TIM8=y
-CONFIG_STM32_TIM9=y
-CONFIG_STM32_UART4=y
-CONFIG_STM32_UART7=y
-CONFIG_STM32_UART8=y
-CONFIG_STM32_USART1=y
-CONFIG_STM32_USART2=y
-CONFIG_STM32_USART3=y
-CONFIG_STM32_USART6=y
-CONFIG_STM32_USART_BREAKS=y
-CONFIG_STM32_USART_SINGLEWIRE=y
-CONFIG_STM32_WWDG=y
-CONFIG_SYSTEM_CDCACM=y
-CONFIG_SYSTEM_NSH=y
-CONFIG_TASK_NAME_SIZE=24
-CONFIG_TESTING_OSTEST=y
-CONFIG_TESTING_OSTEST_FPUTESTDISABLE=y
-CONFIG_TESTING_OSTEST_STACKSIZE=10240
-CONFIG_UART4_BAUD=57600
-CONFIG_UART4_RXBUFSIZE=300
-CONFIG_UART4_RXDMA=y
-CONFIG_UART4_TXBUFSIZE=300
-CONFIG_UART7_BAUD=57600
-CONFIG_UART7_RXBUFSIZE=300
-CONFIG_UART7_RXDMA=y
-CONFIG_UART7_SERIAL_CONSOLE=y
-CONFIG_UART7_TXBUFSIZE=300
-CONFIG_UART8_BAUD=57600
-CONFIG_UART8_RXBUFSIZE=300
-CONFIG_UART8_TXBUFSIZE=300
-CONFIG_USART1_RXBUFSIZE=600
-CONFIG_USART1_RXDMA=y
-CONFIG_USART1_TXBUFSIZE=2500
-CONFIG_USART2_BAUD=57600
-CONFIG_USART2_IFLOWCONTROL=y
-CONFIG_USART2_OFLOWCONTROL=y
-CONFIG_USART2_RXBUFSIZE=600
-CONFIG_USART2_RXDMA=y
-CONFIG_USART2_TXBUFSIZE=1100
-CONFIG_USART3_BAUD=57600
-CONFIG_USART3_IFLOWCONTROL=y
-CONFIG_USART3_OFLOWCONTROL=y
-CONFIG_USART3_RXBUFSIZE=1200
-CONFIG_USART3_RXDMA=y
-CONFIG_USART3_TXBUFSIZE=900
-CONFIG_USART6_BAUD=57600
-CONFIG_USART6_RXBUFSIZE=300
-CONFIG_USART6_RXDMA=y
-CONFIG_USART6_TXBUFSIZE=300
-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"
@@ -132,7 +132,8 @@ CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y
-CONFIG_SEM_PREALLOCHOLDERS=32
+CONFIG_SEM_NNESTPRIO=8
+CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
 CONFIG_SERIAL_TERMIOS=y
 CONFIG_SIG_DEFAULT=y
@@ -176,7 +177,7 @@ CONFIG_STM32_SERIALBRK_BSDCOMPAT=y
 CONFIG_STM32_SERIAL_DISABLE_REORDERING=y
 CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI1_DMA=y
-CONFIG_STM32_SPI1_DMA_BUFFER=512
+CONFIG_STM32_SPI1_DMA_BUFFER=1024
 CONFIG_STM32_SPI2=y
 CONFIG_STM32_SPI5=y
 CONFIG_STM32_SPI6=y
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
Beat Küng	767cb3dc79	FailureDetector: check if ESCs have current And increase the timeout to 300ms, as some ESCs only update with 10Hz.	2022-06-03 09:53:56 +02:00
Beat Küng	b7c721f3f6	TEST PositionControl: use aux2 to switch between thrust vs attitude	2022-06-03 09:52:45 +02:00
Beat Küng	588e1572e3	mc_rate_control: pass through 3D thrust	2022-05-31 14:33:27 +02:00
Beat Küng	923b5b15bd	TEST: allow omnicopter to rotate via AUX1 & use 3D thrust in pos/mission mode	2022-05-31 14:16:33 +02:00
Beat Küng	1decf904d7	failure_detector: allow disabling attitude failure (as already documented)	2022-05-23 15:37:48 +02:00
Beat Küng	49956f2c44	control_allocator: show motor axis for MC (as advanced)	2022-05-23 15:37:14 +02:00
Alex Mikhalev	8267f4fd1e	scripts: Hotfix px_uploader.py to avoid PX4BL bug Signed-off-by: Alex Mikhalev <alex@corvus-robotics.com>	2022-05-23 15:37:06 +02:00