[DO NOT MERGE] test param save from HPWORK

ecl: apply same GNSS speed accuracy for EKF2 and yaw estimator
commander: report estimator mag fault detection to ground station
2026-06-18 02:20:07 +08:00 · 2021-03-25 15:33:01 -04:00 · 2021-03-25 12:57:36 -04:00 · 2021-03-25 12:57:36 -04:00 · 2021-03-25 12:57:36 -04:00 · 2021-03-25 09:53:15 -04:00
332 changed files with 6060 additions and 2568 deletions
@@ -71,6 +71,7 @@ pipeline {
                     "nxp_fmuk66-v3_socketcan",
                     "nxp_fmurt1062-v1_default",
                     "nxp_ucans32k146_default",
+                     "nxp_ucans32k146_canbootloader",
                     "omnibus_f4sd_default",
                     "px4_fmu-v2_default",
                     "px4_fmu-v2_fixedwing",
@@ -95,6 +96,7 @@ pipeline {
                     "px4_fmu-v5x_base_phy_DP83848C",
                     "px4_fmu-v5x_default",
                     "px4_fmu-v6u_default",
+                     "px4_fmu-v6u_test",
                     "px4_fmu-v6x_default",
                     "px4_io-v2_default",
                     "spracing_h7extreme_default",
@@ -1009,6 +1009,7 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "df"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "dmesg"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gps status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener adc_report"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener battery_status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "listener cpuload"'
@@ -1071,6 +1072,7 @@ void statusFTDI() {
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "uorb top -1 -a"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ver all"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "work_queue status"'
+  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "gyro_calibration status; param show CAL_GYRO*"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "ekf2 status"'
  sh './Tools/HIL/run_nsh_cmd.py --device `find /dev/serial -name *usb-*` --cmd "free"'
  // stop logger
@@ -50,6 +50,7 @@ jobs:
          nxp_fmuk66-v3_socketcan,
          nxp_fmurt1062-v1_default,
          nxp_ucans32k146_default,
+          nxp_ucans32k146_canbootloader,
          omnibus_f4sd_default,
          px4_fmu-v2_default,
          px4_fmu-v2_fixedwing,
@@ -72,6 +73,7 @@ jobs:
          px4_fmu-v5x_base_phy_DP83848C,
          px4_fmu-v5x_default,
          px4_fmu-v6u_default,
+          px4_fmu-v6u_test,
          px4_fmu-v6x_default,
          px4_io-v2_default,
          spracing_h7extreme_default,
@@ -0,0 +1,77 @@
+name: Deploy metadata for all targets
+
+on:
+  push:
+    branches:
+    - 'master'
+    - 'release/*'
+    - 'pr-metadata-test'
+
+jobs:
+  enumerate_targets:
+    runs-on: ubuntu-latest
+    outputs:
+      matrix: ${{ steps.set-matrix.outputs.matrix }}
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+    - id: set-matrix
+      run: echo "::set-output name=matrix::$(./Tools/generate_board_targets_json.py)"
+  build:
+    runs-on: ubuntu-latest
+    needs: enumerate_targets
+    strategy:
+      matrix: ${{fromJson(needs.enumerate_targets.outputs.matrix)}}
+    container: px4io/px4-dev-${{ matrix.container }}:2021-02-04
+    steps:
+    - uses: actions/checkout@v1
+      with:
+        token: ${{secrets.ACCESS_TOKEN}}
+
+    - name: Prepare ccache timestamp
+      id: ccache_cache_timestamp
+      shell: cmake -P {0}
+      run: |
+        string(TIMESTAMP current_date "%Y-%m-%d-%H;%M;%S" UTC)
+        message("::set-output name=timestamp::${current_date}")
+    - name: ccache cache files
+      uses: actions/cache@v2
+      with:
+        path: ~/.ccache
+        key: ${{matrix.target}}-ccache-${{steps.ccache_cache_timestamp.outputs.timestamp}}
+        restore-keys: ${{matrix.target}}-ccache-
+    - name: setup ccache
+      run: |
+          mkdir -p ~/.ccache
+          echo "base_dir = ${GITHUB_WORKSPACE}" > ~/.ccache/ccache.conf
+          echo "compression = true" >> ~/.ccache/ccache.conf
+          echo "compression_level = 5" >> ~/.ccache/ccache.conf
+          echo "max_size = 100M" >> ~/.ccache/ccache.conf
+          ccache -s
+          ccache -z
+
+    - name: make ${{matrix.target}}
+      run: make ${{matrix.target}}
+    - name: ccache post-run
+      run: ccache -s
+
+    - name: parameter metadata
+      run: |
+        make ${{matrix.target}} ver_gen
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/${{ matrix.target }} >> $GITHUB_ENV
+        cd build/${{ matrix.target }}
+        mkdir _metadata || true
+        cp parameters.* _metadata
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/${{ matrix.target }}/_metadata/'
+        DEST_DIR: 'Firmware/${{ env.version }}/${{ matrix.target }}/'
+
@@ -4,9 +4,8 @@ on:
  push:
    branches:
    - 'master'
-  pull_request:
-    branches:
-    - '*'
+    - 'release/*'
+    - 'pr-metadata-test'

 jobs:

@@ -51,9 +50,18 @@ jobs:
    - name: parameter metadata
      run: |
        make parameters_metadata
-        cd build/px4_sitl_default/docs
-        ls -ls *
-      # TODO: deploy 'parameters.md, parameters.xml to S3 px4-travis:Firmware/master/
+        ./src/lib/version/get_git_tag_or_branch_version.sh build/px4_sitl_default >> $GITHUB_ENV
+
+    - uses: jakejarvis/s3-sync-action@master
+      with:
+        args: --acl public-read
+      env:
+        AWS_S3_BUCKET: 'px4-travis'
+        AWS_ACCESS_KEY_ID: ${{ secrets.AWS_ACCESS_KEY_ID }}
+        AWS_SECRET_ACCESS_KEY: ${{ secrets.AWS_SECRET_ACCESS_KEY }}
+        AWS_REGION: 'us-west-1'
+        SOURCE_DIR: 'build/px4_sitl_default/docs/'
+        DEST_DIR: 'Firmware/${{ env.version }}/_general/'

  uorb_graph:
    runs-on: ubuntu-latest
@@ -113,7 +113,7 @@ include(px4_parse_function_args)
 include(px4_git)

 execute_process(
-	COMMAND git describe --always --tags
+	COMMAND git describe --exclude ext/* --always --tags
 	OUTPUT_VARIABLE PX4_GIT_TAG
 	OUTPUT_STRIP_TRAILING_WHITESPACE
 	WORKING_DIRECTORY ${PX4_SOURCE_DIR}
@@ -454,3 +454,10 @@ add_custom_target(size
 	WORKING_DIRECTORY ${PX4_BINARY_DIR}
 	USES_TERMINAL
 	)
+
+# install python requirements using configured python
+add_custom_target(install_python_requirements
+	COMMAND ${PYTHON_EXECUTABLE} -m pip install --requirement ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	DEPENDS ${PX4_SOURCE_DIR}/Tools/setup/requirements.txt
+	USES_TERMINAL
+)
@@ -303,7 +303,6 @@ check_%:
 	@echo

 uorb_graphs:
-	@./Tools/uorb_graph/create_from_startupscript.sh
 	@./Tools/uorb_graph/create.py --src-path src --exclude-path src/examples --file Tools/uorb_graph/graph_full
 	@$(MAKE) --no-print-directory px4_fmu-v2_default uorb_graph
 	@$(MAKE) --no-print-directory px4_fmu-v4_default uorb_graph
@@ -319,7 +318,7 @@ coverity_scan: px4_sitl_default
 .PHONY: parameters_metadata airframe_metadata module_documentation px4_metadata doxygen

 parameters_metadata:
-	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters
+	@$(MAKE) --no-print-directory px4_sitl_default metadata_parameters ver_gen

 airframe_metadata:
 	@$(MAKE) --no-print-directory px4_sitl_default metadata_airframes
@@ -8,26 +8,30 @@

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

+PX4 is highly portable, OS-independent and supports Linux, NuttX and QuRT out of the box.
+
 * Official Website: http://px4.io (License: BSD 3-clause, [LICENSE](https://github.com/PX4/PX4-Autopilot/blob/master/LICENSE))
 * [Supported airframes](https://docs.px4.io/master/en/airframes/airframe_reference.html) ([portfolio](http://px4.io/#airframes)):
-  * [Multicopters](https://docs.px4.io/master/en/airframes/airframe_reference.html#copter)
-  * [Fixed wing](https://docs.px4.io/master/en/airframes/airframe_reference.html#plane)
-  * [VTOL](https://docs.px4.io/master/en/airframes/airframe_reference.html#vtol)
-  * many more experimental types (Rovers, Blimps, Boats, Submarines, Autogyros, etc)
+  * [Multicopters](https://docs.px4.io/master/en/frames_multicopter/)
+  * [Fixed wing](https://docs.px4.io/master/en/frames_plane/)
+  * [VTOL](https://docs.px4.io/master/en/frames_vtol/)
+  * [Autogyro](https://docs.px4.io/master/en/frames_autogyro/)
+  * [Rover](https://docs.px4.io/master/en/frames_rover/)
+  * many more experimental types (Blimps, Boats, Submarines, Autogyros, etc)
 * Releases: [Downloads](https://github.com/PX4/PX4-Autopilot/releases)


-## PX4 Users
+## Building a PX4 based drone, rover, boat or robot

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


-## PX4 Developers
+## Changing code and contributing

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

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


@@ -69,10 +73,8 @@ The PX4 Dev Team syncs up on a [weekly dev call](https://dev.px4.io/master/en/co
    * [Daniel Agar](https://github.com/dagar)
  * [State Estimation](https://github.com/PX4/PX4-Autopilot/issues?q=is%3Aopen+is%3Aissue+label%3A%22state+estimation%22)
    * [Paul Riseborough](https://github.com/priseborough)
-  * Vision based navigation
-    * [Julian Kent](https://github.com/jkflying)
-  * Obstacle Avoidance
-    * [Martina Rivizzigno](https://github.com/mrivi)
+  * Vision based navigation and Obstacle Avoidance
+    * [Markus Achtelik](https://github.com/markusachtelik)
  * RTPS/ROS2 Interface
    * [Nuno Marques](https://github.com/TSC21)

@@ -80,7 +82,9 @@ See also [maintainers list](https://px4.io/community/maintainers/) (px4.io) and

 ## Supported Hardware

-This repository contains code supporting these boards:
+This repository contains code supporting Pixhawk standard boards (best supported, best tested, recommended choice) and proprietary boards.
+
+### Pixhawk Standard Boards
  * FMUv2
    * [Pixhawk](https://docs.px4.io/master/en/flight_controller/pixhawk.html)
    * [Pixfalcon](https://docs.px4.io/master/en/flight_controller/pixfalcon.html)
@@ -88,19 +92,25 @@ This repository contains code supporting these boards:
    * [Pixhawk 2](https://docs.px4.io/master/en/flight_controller/pixhawk-2.html)
    * [Pixhawk Mini](https://docs.px4.io/master/en/flight_controller/pixhawk_mini.html)
    * [CUAV Pixhack v3](https://docs.px4.io/master/en/flight_controller/pixhack_v3.html)
-  * FMUv4
+  * FMUv4 (STM32F4)
    * [Pixracer](https://docs.px4.io/master/en/flight_controller/pixracer.html)
    * [Pixhawk 3 Pro](https://docs.px4.io/master/en/flight_controller/pixhawk3_pro.html)
-  * FMUv5 (ARM Cortex M7)
+  * FMUv5 (STM32F7)
    * [Pixhawk 4](https://docs.px4.io/master/en/flight_controller/pixhawk4.html)
    * [Pixhawk 4 mini](https://docs.px4.io/master/en/flight_controller/pixhawk4_mini.html)
    * [CUAV V5+](https://docs.px4.io/master/en/flight_controller/cuav_v5_plus.html)
    * [CUAV V5 nano](https://docs.px4.io/master/en/flight_controller/cuav_v5_nano.html)
+  * FMUv6X and FMUv6U (STM32H7)
+    * Various vendors will provide FMUv6X and FMUv6U based designs Q2/2021
+
+### Manufacturer and Community supported
+  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
+  * [Hex Cube Orange](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_orange.html)
+  * [Hex Cube Yellow](https://docs.px4.io/master/en/flight_controller/cubepilot_cube_yellow.html)
  * [Airmind MindPX V2.8](http://www.mindpx.net/assets/accessories/UserGuide_MindPX.pdf)
  * [Airmind MindRacer V1.2](http://mindpx.net/assets/accessories/mindracer_user_guide_v1.2.pdf)
  * [Bitcraze Crazyflie 2.0](https://docs.px4.io/master/en/flight_controller/crazyflie2.html)
  * [Omnibus F4 SD](https://docs.px4.io/master/en/flight_controller/omnibus_f4_sd.html)
-  * [Holybro Durandal](https://docs.px4.io/master/en/flight_controller/durandal.html)
  * [Holybro Kakute F7](https://docs.px4.io/master/en/flight_controller/kakutef7.html)
  * [Raspberry PI with Navio 2](https://docs.px4.io/master/en/flight_controller/raspberry_pi_navio2.html)

@@ -21,6 +21,7 @@ fi

 # initialize script variables
 set AUX_MODE                    none
+set AUX_BANK2			none
 set IO_PRESENT                  no
 set MAV_TYPE                    none
 set MIXER                       none
@@ -153,6 +154,8 @@ param set-default SENS_IMU_MODE 0
 param set-default EKF2_MULTI_MAG 2
 param set-default SENS_MAG_MODE 0

+param set-default IMU_GYRO_FFT_EN 1
+
 # By default log from boot until first disarm.
 param set-default SDLOG_MODE 1
 # enable default, estimator replay and vision/avoidance logging profiles
@@ -235,6 +238,16 @@ then
 	camera_feedback start
 fi

+if param compare -s IMU_GYRO_FFT_EN 1
+then
+	gyro_fft start
+fi
+
+if param compare -s IMU_GYRO_CAL_EN 1
+then
+	gyro_calibration start
+fi
+
 # Configure vehicle type specific parameters.
 # Note: rc.vehicle_setup is the entry point for rc.interface,
 #       rc.fw_apps, rc.mc_apps, rc.rover_apps, and rc.vtol_apps.
@@ -247,7 +260,7 @@ then
 	sh etc/init.d-posix/rc.mavlink_override
 else
 	# GCS link
-	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f -p
+	mavlink start -x -u $udp_gcs_port_local -r 4000000 -f
 	mavlink stream -r 50 -s POSITION_TARGET_LOCAL_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s LOCAL_POSITION_NED -u $udp_gcs_port_local
 	mavlink stream -r 50 -s GLOBAL_POSITION_INT -u $udp_gcs_port_local
@@ -259,13 +272,13 @@ else
 	mavlink stream -r 10 -s OPTICAL_FLOW_RAD -u $udp_gcs_port_local

 	# API/Offboard link
-	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote -p
+	mavlink start -x -u $udp_offboard_port_local -r 4000000 -f -m onboard -o $udp_offboard_port_remote

 	# Onboard link to camera
-	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote -p
+	mavlink start -x -u $udp_onboard_payload_port_local -r 4000 -f -m onboard -o $udp_onboard_payload_port_remote

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

 # execute autostart post script if any
@@ -26,48 +26,48 @@

 param set-default BAT_N_CELLS 6

-param set-default FW_AIRSPD_MAX   30
-param set-default FW_AIRSPD_MIN   19
-param set-default FW_AIRSPD_TRIM  23
+param set-default FW_AIRSPD_MAX 30
+param set-default FW_AIRSPD_MIN 19
+param set-default FW_AIRSPD_TRIM 23
 param set-default FW_L1_R_SLEW_MAX 40
 param set-default FW_LND_EARLYCFG 1
-param set-default FW_MAN_P_MAX	30
-param set-default FW_PR_I	0.1
-param set-default FW_PSP_OFF	3
+param set-default FW_MAN_P_MAX 30
+param set-default FW_PR_I 0.1
+param set-default FW_PSP_OFF 3
 param set-default FW_P_LIM_MAX 18
 param set-default FW_P_LIM_MIN -25
-param set-default FW_RLL_TO_YAW_FF	0.1
-param set-default FW_RR_I	0.1
-param set-default FW_RR_P	0.08
+param set-default FW_RLL_TO_YAW_FF 0.1
+param set-default FW_RR_I 0.1
+param set-default FW_RR_P 0.08
 param set-default FW_R_LIM 45
-param set-default FW_R_RMAX	50
+param set-default FW_R_RMAX 50
 param set-default FW_THR_CRUISE 0.65
 param set-default FW_THR_MIN 0.3
 param set-default FW_THR_SLEW_MAX 0.6
 param set-default FW_T_HRATE_FF 0
-param set-default FW_T_SINK_MAX	15
-param set-default FW_T_SINK_MIN	3
-param set-default FW_YR_I	0.1
-param set-default FW_YR_P	0.15
+param set-default FW_T_SINK_MAX 15
+param set-default FW_T_SINK_MIN 3
+param set-default FW_YR_I 0.1
+param set-default FW_YR_P 0.15

 param set-default IMU_GYRO_CUTOFF 40

 param set-default IMU_DGYRO_CUTOFF 15
-param set-default MC_PITCHRATE_I	0.2
+param set-default MC_PITCHRATE_I 0.2
 param set-default MC_PITCHRATE_MAX 60
-param set-default MC_ROLLRATE_I	0.2
+param set-default MC_ROLLRATE_I 0.2
 param set-default MC_ROLLRATE_MAX 60
 param set-default MC_YAWRATE_I 0.15
 param set-default MC_YAWRATE_MAX 40
 param set-default MC_YAWRATE_P 0.3

-param set-default MIS_TAKEOFF_ALT	30
+param set-default MIS_TAKEOFF_ALT 30

-param set-default MPC_ACC_DOWN_MAX	2
-param set-default MPC_ACC_HOR_MAX	2
-param set-default MPC_ACC_UP_MAX	3
+param set-default MPC_ACC_DOWN_MAX 2
+param set-default MPC_ACC_HOR_MAX 2
+param set-default MPC_ACC_UP_MAX 3
 param set-default MC_AIRMODE 1
-param set-default MPC_JERK_AUTO	4
+param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
@@ -76,7 +76,7 @@ param set-default MPC_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
 param set-default MPC_TKO_RAMP_T 1.8
-param set-default MPC_TKO_SPEED	1
+param set-default MPC_TKO_SPEED 1
 param set-default MPC_VEL_MANUAL 3
 param set-default MPC_XY_CRUISE 3
 param set-default MPC_XY_VEL_MAX 3.5
@@ -84,7 +84,7 @@ param set-default MPC_YAWRAUTO_MAX 40
 param set-default MPC_Z_VEL_MAX_DN 1.5
 param set-default MPC_Z_VEL_MAX_UP 2

-param set-default NAV_ACC_RAD	3
+param set-default NAV_ACC_RAD 3

 param set-default PWM_MAIN_DIS3 1000
 param set-default PWM_MAIN_MIN3 1120
@@ -112,3 +112,4 @@ set MIXER babyshark
 set MIXER_AUX pass

 set PWM_OUT 5678
+set PWM_AUX_OUT 1234
@@ -1,57 +0,0 @@
-#!/bin/sh
-#
-# @name Generic Quadplane VTOL (PWM14)
-#
-# @type Standard VTOL
-# @class VTOL
-#
-# @maintainer
-#
-# @output MAIN1 motor 1
-# @output MAIN2 motor 2
-# @output MAIN3 motor 3
-# @output MAIN4 motor 4
-# @output MAIN5 Aileron 1
-# @output MAIN6 Aileron 2
-# @output MAIN7 Elevator
-# @output MAIN8 Rudder
-# @output MAIN9 Pusher motor
-#
-# @board px4_fmu-v2 exclude
-# @board bitcraze_crazyflie exclude
-#
-
-. ${R}etc/init.d/rc.vtol_defaults
-
-
-param set-default PWM_MAIN_RATE 400
-
-param set-default PWM_MAIN_MIN1 1100
-param set-default PWM_MAIN_MIN2 1100
-param set-default PWM_MAIN_MIN3 1100
-param set-default PWM_MAIN_MIN4 1100
-
-param set-default PWM_MAIN_MAX1 1900
-param set-default PWM_MAIN_MAX2 1900
-param set-default PWM_MAIN_MAX3 1900
-param set-default PWM_MAIN_MAX4 1900
-
-param set-default PWM_MAIN_DIS1 900
-param set-default PWM_MAIN_DIS2 900
-param set-default PWM_MAIN_DIS3 900
-param set-default PWM_MAIN_DIS4 900
-param set-default PWM_MAIN_DIS5 1500
-param set-default PWM_MAIN_DIS6 1500
-param set-default PWM_MAIN_DIS7 1500
-param set-default PWM_MAIN_DIS8 1500
-param set-default PWM_MAIN_DIS9 900
-
-param set-default VT_TYPE 2
-param set-default VT_MOT_ID 1234
-param set-default VT_FW_MOT_OFFID 1234
-set MAV_TYPE 22
-
-set MIXER quad_x_vtol_AAERT
-set MIXER_AUX none
-
-set PWM_OUT 1234
@@ -0,0 +1,41 @@
+#!/bin/sh
+#
+# @name Generic Quadplane VTOL Tiltrotor
+#
+# @type VTOL Tiltrotor
+# @class VTOL
+#
+# @maintainer
+#
+# @output MAIN1 motor 1
+# @output MAIN2 motor 2
+# @output MAIN3 motor 3
+# @output MAIN4 motor 4
+# @output AUX1 Motor tilt front left
+# @output AUX2 Motor tilt front right
+# @output AUX3 Motor tilt rear left
+# @output AUX4 Motor tilt rear right
+# @output AUX5 Aileron left
+# @output AUX6 Aileron right
+# @output AUX7 Elevator
+# @output AUX8 Rudder
+#
+# @board px4_fmu-v2 exclude
+# @board bitcraze_crazyflie exclude
+#
+
+. ${R}etc/init.d/rc.vtol_defaults
+
+
+param set-default PWM_MAIN_RATE 400
+
+param set-default VT_IDLE_PWM_MC 1100
+param set-default VT_TYPE 1
+param set-default VT_MOT_ID 1234
+param set-default VT_FW_MOT_OFFID 24
+set MAV_TYPE 21
+
+set MIXER quad_x
+set MIXER_AUX vtol_TTTTAAER
+
+set PWM_OUT 1234
@@ -18,6 +18,7 @@
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
 # @board bitcraze_crazyflie exclude
+# @board cuav_x7pro exclude
 #

 set VEHICLE_TYPE mc
@@ -111,10 +112,12 @@ param set-default NAV_RCL_ACT 6
 # TELEM1 ttyS1 - Wifi module
 param set-default MAV_0_CONFIG 101
 param set-default MAV_0_RATE 0
-param set-default MAV_0_MODE 2	# onboard
+# onboard
+param set-default MAV_0_MODE 2
 param set-default SER_TEL1_BAUD 921600

 # TELEM2 ttyS2 - Sub 1-Ghz
 param set-default MAV_1_CONFIG 102
-param set-default MAV_1_MODE 0	# normal
+# normal
+param set-default MAV_1_MODE 0
 param set-default SER_TEL2_BAUD 57600
@@ -15,6 +15,8 @@
 # @board px4_fmu-v4pro exclude
 # @board px4_fmu-v5 exclude
 # @board px4_fmu-v5x exclude
+# @board bitcraze_crazyflie exclude
+# @board cuav_x7pro exclude
 #
 # @maintainer Hyon Lim <lim@uvify.com>
 #
@@ -119,12 +121,14 @@ param set-default NAV_RCL_ACT 6
 # TELEM1 ttyS1 - Wifi module
 param set-default MAV_0_CONFIG 101
 param set-default MAV_0_RATE 0
-param set-default MAV_0_MODE 2	# onboard
+# onboard
+param set-default MAV_0_MODE 2
 param set-default SER_TEL1_BAUD 921600

 # TELEM2 ttyS2 - Sub 1-Ghz
 param set-default MAV_1_CONFIG 102
-param set-default MAV_1_MODE 0	# normal
+# normal
+param set-default MAV_1_MODE 0
 param set-default SER_TEL2_BAUD 57600

 # DSHOT
@@ -122,7 +122,7 @@ param set-default BAT_V_DIV 10.133

 # TELEM1 ttyS1
 param set-default MAV_0_CONFIG 101
-param set-default MAV_0_MODE 0	# onboard
+param set-default MAV_0_MODE 0
 param set-default MAV_0_FORWARD 1
 param set-default SER_TEL1_BAUD 57600

@@ -137,7 +137,7 @@ px4_add_romfs_files(
 	13012_convergence
 	13013_deltaquad
 	13014_vtol_babyshark
-	13015_generic_vtol_standard
+	13030_generic_vtol_quad_tiltrotor
 	13050_generic_vtol_octo
 	13200_generic_vtol_tailsitter

@@ -30,9 +30,9 @@ then
 fi

 # USE_IO is set to 'no' for all boards w/o px4io driver or SYS_USE_IO disabled
-if [ $USE_IO = no ]
+if [ $USE_IO = no -a $AUX_BANK2 = none ]
 then
-	set MIXER_AUX none
+	set AUX_MODE none
 fi

 #
@@ -147,6 +147,7 @@ then
 	if mixer load ${OUTPUT_DEV} ${MIXER_FILE}
 	then
 		echo "INFO  [init] Mixer: ${MIXER_FILE} on ${OUTPUT_DEV}"
+
 	else
 		echo "ERROR  [init] Failed loading mixer: ${MIXER_FILE}"
 		tune_control play -t 18 # tune 18 = PROG_PX4IO_ERR
@@ -178,6 +179,7 @@ then

 	if [ $MIXER_AUX_FILE != none ]
 	then
+		# Start the output module
 		if $OUTPUT_CMD mode_${AUX_MODE}
 		then
 			# Append aux mixer to main device.
@@ -199,6 +201,7 @@ then
 					echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
 				fi
 			else
+				echo "INFO  [init] setting PWM_AUX_OUT none"
 				set PWM_AUX_OUT none
 			fi
 		else
@@ -223,6 +226,36 @@ then
 	fi
 fi

+if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
+then
+	#
+	# Load aux mixer.
+	#
+	if [ -f ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix ]
+	then
+		set MIXER_AUX_FILE ${SDCARD_MIXERS_PATH}/${MIXER_AUX}.aux.mix
+	else
+
+		if [ -f /etc/mixers/${MIXER_AUX}.aux.mix ]
+		then
+			set MIXER_AUX_FILE /etc/mixers/${MIXER_AUX}.aux.mix
+		fi
+	fi
+
+	if mixer load ${OUTPUT_AUX_DEV} ${MIXER_AUX_FILE}
+	then
+		echo "INFO  [init] Mixer: ${MIXER_AUX_FILE} on ${OUTPUT_AUX_DEV}"
+
+		# Set PWM_AUX output frequency.
+		if [ $PWM_AUX_RATE != none ]
+		then
+			pwm rate -c ${PWM_AUX_OUT} -r ${PWM_AUX_RATE} -d ${OUTPUT_AUX_DEV}
+		fi
+	else
+		echo "ERROR  [init] Failed loading mixer: ${MIXER_AUX_FILE}"
+	fi
+fi
+
 if [ $OUTPUT_MODE = pwm_out -o $OUTPUT_MODE = io ]
 then
 	if [ $PWM_OUT != none ]
@@ -124,26 +124,25 @@ then
 	# differential pressure sensors
 	if [ ${VEHICLE_TYPE} = fw -o ${VEHICLE_TYPE} = vtol ]
 	then
-		if param compare CBRK_AIRSPD_CHK 0
+		# Always try to start the airspeed sensors
+		# even if their usage might be disabled
+		sdp3x_airspeed start -X -q
+		sdp3x_airspeed start -X -a 0x22 -q
+
+		# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
+		# detected as MS5525 because the chip manufacturer was so
+		# clever to assign the same I2C address and skip a WHO_AM_I
+		# register.
+		if [ $BOARD_FMUV3 = 21 ]
 		then
-			sdp3x_airspeed start -X -q
-			sdp3x_airspeed start -X -a 0x22 -q
-
-			# Pixhawk 2.1 has a MS5611 on I2C which gets wrongly
-			# detected as MS5525 because the chip manufacturer was so
-			# clever to assign the same I2C address and skip a WHO_AM_I
-			# register.
-			if [ $BOARD_FMUV3 = 21 ]
-			then
-				ms5525_airspeed start -X -b 2 -q
-			else
-				ms5525_airspeed start -X -q
-			fi
-
-			ms4525_airspeed start -X -q
-
-			ets_airspeed start -X -q
+			ms5525_airspeed start -X -b 2 -q
+		else
+			ms5525_airspeed start -X -q
 		fi
+
+		ms4525_airspeed start -X -q
+
+		ets_airspeed start -X -q
 	fi
 fi

@@ -516,6 +516,11 @@ else
 		gyro_fft start
 	fi

+	if param compare -s IMU_GYRO_CAL_EN 1
+	then
+		gyro_calibration start
+	fi
+
 	#
 	# Optional board supplied extras: rc.board_extras
 	#
@@ -90,6 +90,7 @@ px4_add_romfs_files(
 	Viper.main.mix
 	vtol_AAERT.aux.mix
 	vtol_AAVVT.aux.mix
+	vtol_TTTTAAER.aux.mix
 	vtol_convergence.main.mix
 	vtol_delta.aux.mix
 	vtol_tailsitter_duo.main.mix
@@ -0,0 +1,39 @@
+# Generic quadplane tiltrotor servo mixer
+
+# Tilt mechanism servo mixer
+---------------------------
+# front left up:2000 down:1000
+M: 1
+S: 1 4      0 -20000  10000 -10000  10000
+
+# front right up:1000 down:2000
+M: 1
+S: 1 4      0  20000 -10000 -10000  10000
+
+# rear left up:2000 down:1000
+M: 1
+S: 1 4      0 -20000  10000 -10000  10000
+
+# rear right up:1000 down:2000
+M: 1
+S: 1 4      0  20000 -10000 -10000  10000
+
+
+# Aileron mixer
+# ---------------------------------
+M: 1
+S: 1 0  10000  10000      0 -10000  10000
+
+M: 1
+S: 1 0  10000  10000      0 -10000  10000
+
+
+# Elevator mixer
+# ------------
+M: 1
+S: 1 1  -10000  -10000    0 -10000  10000
+
+# Rudder mixer
+# ------------
+M: 1
+S: 1 2  10000  10000      0 -10000  10000
@@ -103,12 +103,6 @@ class TestHardwareMethods(unittest.TestCase):
    def test_bson(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "bson"))

-    def test_commander(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "commander"))
-
-    def test_controllib(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "controllib"))
-
    # def test_dataman(self):
    #     self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "dataman"))

@@ -172,9 +166,6 @@ class TestHardwareMethods(unittest.TestCase):
    def test_time(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "time"))

-    def test_uorb(self):
-        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "uorb"))
-
    def test_versioning(self):
        self.assertTrue(do_test(self.TEST_DEVICE, self.TEST_BAUDRATE, "versioning"))

@@ -0,0 +1,96 @@
+#!/usr/bin/env python3
+""" Script to generate a JSON config with all build targets (for CI) """
+
+import argparse
+import os
+import sys
+import json
+import re
+
+source_dir = os.path.join(os.path.dirname(os.path.abspath(__file__)), '..')
+
+parser = argparse.ArgumentParser(description='Generate build targets')
+
+parser.add_argument('-v', '--verbose', dest='verbose', action='store_true',
+                    help='Verbose Output')
+parser.add_argument('-p', '--pretty', dest='pretty', action='store_true',
+                    help='Pretty output instead of a single line')
+
+args = parser.parse_args()
+verbose = args.verbose
+
+build_configs = []
+excluded_manufacturers = ['atlflight']
+excluded_platforms = ['qurt']
+excluded_labels = [
+    'stackcheck',
+    'nolockstep', 'replay', 'test',
+    'uavcanv1' # TODO: fix and enable
+    ]
+
+def process_target(cmake_file, target_name):
+    ret = None
+    is_board_def = False
+    platform = None
+    toolchain = None
+    for line in open(cmake_file, 'r'):
+        if 'px4_add_board' in line:
+            is_board_def = True
+        if not is_board_def:
+            continue
+
+        re_platform = re.search('PLATFORM\s+([^\s]+)', line)
+        if re_platform: platform = re_platform.group(1)
+
+        re_toolchain = re.search('TOOLCHAIN\s+([^\s]+)', line)
+        if re_toolchain: toolchain = re_toolchain.group(1)
+
+    if is_board_def:
+        assert platform, f"PLATFORM not found in {cmake_file}"
+
+        if platform not in excluded_platforms:
+            # get the container based on the platform and toolchain
+            container = platform
+            if platform == 'posix':
+                container = 'base-focal'
+                if toolchain:
+                    if toolchain.startswith('aarch64'):
+                        container = 'aarch64'
+                    elif toolchain == 'arm-linux-gnueabihf':
+                        container = 'armhf'
+                    else:
+                        if verbose: print(f'possibly unmatched toolchain: {toolchain}')
+            elif platform == 'nuttx':
+                container = 'nuttx-focal'
+
+            ret = {'target': target_name, 'container': container}
+    return ret
+
+for manufacturer in os.scandir(os.path.join(source_dir, 'boards')):
+    if not manufacturer.is_dir():
+        continue
+    if manufacturer.name in excluded_manufacturers:
+        if verbose: print(f'excluding manufacturer {manufacturer.name}')
+        continue
+
+    for board in os.scandir(manufacturer.path):
+        if not board.is_dir():
+            continue
+        for files in os.scandir(board.path):
+            if files.is_file() and files.name.endswith('.cmake'):
+                label = files.name[:-6]
+                target_name = manufacturer.name + '_' + board.name + '_' + label
+                if label in excluded_labels:
+                    if verbose: print(f'excluding label {label} ({target_name})')
+                    continue
+                target = process_target(files.path, target_name)
+                if target is not None:
+                    build_configs.append(target)
+
+
+github_action_config = { 'include': build_configs }
+extra_args = {}
+if args.pretty:
+    extra_args['indent'] = 2
+print(json.dumps(github_action_config, **extra_args))
+
@@ -1099,7 +1099,7 @@ if num_baros >= 2:
    baro_1_x_resample = fit_coef_baro_1_x(temp_rel_resample)

    # baro 2 vs temperature
-    plt.figure(9,figsize=(20,13))
+    plt.figure(10,figsize=(20,13))

    # draw plots
    plt.plot(sensor_baro_1['temperature'],100*sensor_baro_1['pressure']-100*median_pressure,'b')
@@ -1157,7 +1157,7 @@ if num_baros >= 3:
    baro_2_x_resample = fit_coef_baro_2_x(temp_rel_resample)

    # baro 2 vs temperature
-    plt.figure(10,figsize=(20,13))
+    plt.figure(11,figsize=(20,13))

    # draw plots
    plt.plot(sensor_baro_2['temperature'],100*sensor_baro_2['pressure']-100*median_pressure,'b')
@@ -1210,7 +1210,7 @@ if num_baros >= 4:
    baro_3_x_resample = fit_coef_baro_3_x(temp_rel_resample)

    # baro 3 vs temperature
-    plt.figure(11,figsize=(20,13))
+    plt.figure(12,figsize=(20,13))

    # draw plots
    plt.plot(sensor_baro_3['temperature'],100*sensor_baro_3['pressure']-100*median_pressure,'b')
@@ -65,7 +65,7 @@ def get_version():

    if os.path.isdir(os.path.join(px4_dir, '.git')):
        # If inside a clone PX4 Firmware repository, get version from "git describe"
-        cmd = 'git describe --abbrev=0 --tags'
+        cmd = 'git describe --exclude ext/* --abbrev=0 --tags'
        try:
            version = subprocess.check_output(
                cmd, cwd=px4_dir, shell=True).decode().strip()
@@ -99,13 +99,13 @@ if args.summary != None:
 if args.description != None:
 	desc['description']	= str(args.description)
 if args.git_identity != None:
-	cmd = "git --git-dir '{:}/.git' describe --always --tags".format(args.git_identity)
+	cmd = "git --git-dir '{:}/.git' describe --exclude ext/* --always --tags".format(args.git_identity)
 	p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
-	desc['git_identity']	= str(p.read().strip())
+	desc['git_identity']	= p.read().strip().decode('utf-8')
 	p.close()
 	cmd = "git --git-dir '{:}/.git' rev-parse --verify HEAD".format(args.git_identity)
 	p = subprocess.Popen(cmd, shell=True, stdout=subprocess.PIPE).stdout
-	desc['git_hash']	= str(p.read().strip())
+	desc['git_hash']	= p.read().strip().decode('utf-8')
 	p.close()
 if args.parameter_xml != None:
 	f = open(args.parameter_xml, "rb")
@@ -61,6 +61,8 @@ def main():
                        help="Board architecture for this run")
    args = parser.parse_args()

+    err_count = 0
+
    # go through temp folder
    for (root, dirs, files) in os.walk(args.folder):
        for file in files:
@@ -90,8 +92,17 @@ def main():
            # read file line by line
            pruned_content = ""
            board_excluded = False
+
            with io.open(file_path, "r", newline=None) as f:
                for line in f:
+                    # abort if spurious tabs are found
+                    if re.search(r"[a-zA-Z0-9]+\t.+", line):
+                        file_local = re.sub(args.folder, '', file_path)
+                        print("ERROR: Spurious TAB character in file " + file_local)
+                        print("Line: " + line)
+                        err_count += 1
+
+                    # find excluded boards
                    if re.search(r'\b{0} exclude\b'.format(args.board), line):
                        board_excluded = True
                    # handle mixer files differently than startup files
@@ -116,6 +127,9 @@ def main():
            else:
                os.remove(file_path)

+    if (err_count > 0):
+        exit(1)
+

 if __name__ == '__main__':
    main()
@@ -13,6 +13,7 @@

 INSTALL_NUTTX="true"
 INSTALL_SIM="true"
+INSTALL_ARCH=`uname -m`

 # Parse arguments
 for arg in "$@"
@@ -149,7 +150,7 @@ if [[ $INSTALL_NUTTX == "true" ]]; then

 	else
 		echo "Installing arm-none-eabi-gcc-${NUTTX_GCC_VERSION}";
-		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-x86_64-linux.tar.bz2 && \
+		wget -O /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 https://armkeil.blob.core.windows.net/developer/Files/downloads/gnu-rm/${NUTTX_GCC_VERSION_SHORT}/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-${INSTALL_ARCH}-linux.tar.bz2 && \
 			sudo tar -jxf /tmp/gcc-arm-none-eabi-${NUTTX_GCC_VERSION}-linux.tar.bz2 -C /opt/;

 		# add arm-none-eabi-gcc to user's PATH
@@ -1,2 +1,4 @@
 *.json

+*.fv
+*.fv.pdf
@@ -1,13 +0,0 @@
-#! /bin/bash
-# create the graph from a posix (e.g. SITL) startup script
-
-SCRIPT_DIR="$( cd "$( dirname "${BASH_SOURCE[0]}" )" && pwd )"
-
-startup_file="$SCRIPT_DIR"/../../posix-configs/SITL/init/ekf2/typhoon_h480
-[ -n "$1" ] && startup_file=$1
-# get the modules as comma-separated list
-modules=$(cat "$startup_file"|cut -f1 -d' '|sort|uniq|tr '\n' ,)
-
-cd "$SCRIPT_DIR/../.."
-"$SCRIPT_DIR"/create.py --src-path src -m "$modules" -f "$SCRIPT_DIR/graph_runtime_sitl"
-
@@ -61,6 +61,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -116,7 +116,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
@@ -127,9 +126,6 @@ CONFIG_SCHED_HPWORKPRIORITY=249
 CONFIG_SCHED_HPWORKSTACKSIZE=1280
 CONFIG_SCHED_INSTRUMENTATION=y
 CONFIG_SCHED_INSTRUMENTATION_EXTERNAL=y
-CONFIG_SCHED_LPWORK=y
-CONFIG_SCHED_LPWORKPRIORITY=50
-CONFIG_SCHED_LPWORKSTACKSIZE=1632
 CONFIG_SCHED_WAITPID=y
 CONFIG_SDCLONE_DISABLE=y
 CONFIG_SDIO_BLOCKSETUP=y
@@ -0,0 +1,33 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)
+
+px4_add_board(
+	PLATFORM nuttx
+	VENDOR ark
+	MODEL can-flow
+	LABEL debug
+	TOOLCHAIN arm-none-eabi
+	ARCHITECTURE cortex-m4
+	CONSTRAINED_MEMORY
+	ROMFSROOT cannode
+	UAVCAN_INTERFACES 1
+	DRIVERS
+		bootloaders
+		imu/bosch/bmi088
+		optical_flow/paw3902
+		uavcannode
+	MODULES
+		#ekf2
+		load_mon
+		#sensors
+	SYSTEMCMDS
+		mft
+		mtd
+		param
+		perf
+		reboot
+		system_time
+		top
+		topic_listener
+		ver
+		work_queue
+)
@@ -7,6 +7,7 @@ px4_add_board(
 	LABEL default
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
+	CONSTRAINED_FLASH
 	CONSTRAINED_MEMORY
 	ROMFSROOT cannode
 	UAVCAN_INTERFACES 1
@@ -17,14 +18,17 @@ px4_add_board(
 		uavcannode
 	MODULES
 		#ekf2
-		load_mon
+		#load_mon
 		#sensors
 	SYSTEMCMDS
+		mft
+		mtd
 		param
-		perf
-		reboot
-		top
-		topic_listener
-		ver
-		work_queue
+		#perf
+		#reboot
+		#system_time
+		#top
+		#topic_listener
+		#ver
+		#work_queue
 )
@@ -4,6 +4,6 @@
 #------------------------------------------------------------------------------

 # Internal SPI
-paw3902 -s start
-bmi088 -A -s -R 0 start
-bmi088 -G -s -R 0 start
+paw3902 -s start -Y 90
+bmi088 -A -s -R 4 start
+bmi088 -G -s -R 4 start
@@ -96,7 +96,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
@@ -107,9 +106,6 @@ 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_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0
@@ -51,12 +51,14 @@ else()
 		can.c
 		i2c.cpp
 		init.c
+		led.c
 		spi.cpp
 	)

 	target_link_libraries(drivers_board
 		PRIVATE
 			arch_spi
+			drivers__led # drv_led_start
 			nuttx_arch
 			nuttx_drivers
 			px4_layer
@@ -53,8 +53,12 @@
 #define GPIO_BOOT_CONFIG      /* PC15 */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTC|GPIO_PIN15|GPIO_EXTI)

 /* LEDs are driven with push open drain to support Anode to 5V or 3.3V */
-#define GPIO_LED_RED          /* PB3  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
-#define GPIO_LED_BLUE         /* PA8  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
+#define GPIO_nLED_RED          /* PB3  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN3)
+#define GPIO_nLED_BLUE         /* PA8  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN8)
+
+#define BOARD_HAS_CONTROL_STATUS_LEDS      1
+#define BOARD_OVERLOAD_LED     LED_RED
+#define BOARD_ARMED_STATE_LED  LED_BLUE

 #define FLASH_BASED_PARAMS

@@ -49,6 +49,12 @@

 #include <nuttx/board.h>

+__BEGIN_DECLS
+extern void led_init(void);
+extern void bootloader_led_on(int led);
+extern void bootloader_led_off(int led);
+__END_DECLS
+
 /************************************************************************************
 * Name: stm32_boardinitialize
 *
@@ -69,6 +75,8 @@ __EXPORT void stm32_boardinitialize(void)
 	putreg32(getreg32(STM32_RCC_APB1RSTR) | RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);
 	putreg32(getreg32(STM32_RCC_APB1RSTR) & ~RCC_APB1RSTR_CAN1RST, STM32_RCC_APB1RSTR);

+	led_init();
+
 #if defined(OPT_WAIT_FOR_GETNODEINFO_JUMPER_GPIO)
 	stm32_configgpio(GPIO_GETNODEINFO_JUMPER);
 #endif
@@ -152,48 +160,27 @@ size_t board_get_hardware_version(uavcan_HardwareVersion_t *hw_version)
 *   None
 *
 ****************************************************************************/
-// #define led(n, code, r , g , b, h) {.red = (r),.green = (g), .blue = (b),.hz = (h)}
-
-// typedef begin_packed_struct struct led_t {
-// 	uint8_t red;
-// 	uint8_t green;
-// 	uint8_t blue;
-// 	uint8_t hz;
-// } end_packed_struct led_t;
-
-// static const  led_t i2l[] = {
-
-// 	led(0, off,                             0,     0,     0,     0),
-// 	led(1, reset,                          128,   128,   128,   30),
-// 	led(2, autobaud_start,                  0,   128,     0,     1),
-// 	led(3, autobaud_end,                    0,   128,     0,     2),
-// 	led(4, allocation_start,                0,     0,    64,     2),
-// 	led(5, allocation_end,                  0,   128,    64,     3),
-// 	led(6, fw_update_start,                32,   128,    64,     3),
-// 	led(7, fw_update_erase_fail,           32,   128,    32,     3),
-// 	led(8, fw_update_invalid_response,     64,     0,     0,     1),
-// 	led(9, fw_update_timeout,              64,     0,     0,     2),
-// 	led(a, fw_update_invalid_crc,          64,     0,     0,     4),
-// 	led(b, jump_to_app,                     0,   128,     0,    10),
-
-// };
-
 void board_indicate(uiindication_t indication)
 {
-	// switch(indication) {
-	// 	case off:
-	// 		led_off(GPIO_nLED_RED);
-	// 		led_off(GPIO_nLED_BLUE);
-	// 		break;
-	// 	case reset:
-	// 		led_on(GPIO_nLED_RED);
-	// 		led_on(GPIO_nLED_BLUE);
-	// 		break;
-	// 	case jump_to_app:
-	// 		led_on(GPIO_nLED_RED);
-	// 		led_off(GPIO_nLED_BLUE);
-	// 		break;
-	// 	default:
-	// 		break;
-	// }
+	if (indication == off) {
+		bootloader_led_off(GPIO_nLED_RED);
+		bootloader_led_off(GPIO_nLED_BLUE);
+
+	} else if (indication == fw_update_start) {
+		bootloader_led_on(GPIO_nLED_RED);
+		bootloader_led_on(GPIO_nLED_BLUE);
+
+	} else if ((indication == fw_update_erase_fail) || (indication == fw_update_invalid_response)
+		   || (indication == fw_update_timeout) || (indication == fw_update_invalid_crc)) {
+		bootloader_led_on(GPIO_nLED_RED);
+		bootloader_led_off(GPIO_nLED_BLUE);
+
+	} else if (indication == allocation_start) {
+		bootloader_led_on(GPIO_nLED_RED);
+		bootloader_led_off(GPIO_nLED_BLUE);
+
+	} else {
+		bootloader_led_off(GPIO_nLED_RED);
+		bootloader_led_on(GPIO_nLED_BLUE);
+	}
 }
@@ -69,6 +69,12 @@
 #  include <parameters/flashparams/flashfs.h>
 #endif

+__BEGIN_DECLS
+extern void led_init(void);
+extern void led_on(int led);
+extern void led_off(int led);
+__END_DECLS
+
 /************************************************************************************
 * Name: stm32_boardinitialize
 *
@@ -121,6 +127,9 @@ __EXPORT int board_app_initialize(uintptr_t arg)
 {
 	px4_platform_init();

+	// Configure LEDs.
+	board_autoled_initialize();
+
 #if defined(FLASH_BASED_PARAMS)
 	static sector_descriptor_t params_sector_map[] = {
 		{2, 16 * 1024, 0x08008000},
@@ -138,7 +147,14 @@ __EXPORT int board_app_initialize(uintptr_t arg)

 #endif // FLASH_BASED_PARAMS

-	//px4_platform_configure();
+	/* initial LED state */
+	drv_led_start();
+	led_off(LED_RED);
+	led_on(LED_BLUE);
+
+	/* Configure the HW based on the manifest */
+
+	px4_platform_configure();

 	return OK;
 }
@@ -55,14 +55,17 @@
 */
 __BEGIN_DECLS
 extern void led_init(void);
+extern void bootloader_led_on(int led);
+extern void bootloader_led_off(int led);
 extern void led_on(int led);
 extern void led_off(int led);
 extern void led_toggle(int led);
 __END_DECLS

+#  define xlat(p) (p)
 static uint32_t g_ledmap[] = {
-	GPIO_LED_RED,
-	GPIO_LED_BLUE,
+	GPIO_nLED_BLUE,
+	GPIO_nLED_RED,
 };

 __EXPORT void led_init(void)
@@ -70,10 +73,21 @@ __EXPORT void led_init(void)
 	/* Configure LED GPIOs for output */
 	for (size_t l = 0; l < (sizeof(g_ledmap) / sizeof(g_ledmap[0])); l++) {
 		stm32_configgpio(g_ledmap[l]);
-		stm32_gpiowrite(g_ledmap[l], true);
 	}
 }

+__EXPORT void bootloader_led_on(int led)
+{
+	/* Pull Down to switch on */
+	stm32_gpiowrite(led, false);
+}
+
+__EXPORT void bootloader_led_off(int led)
+{
+	/* Pull Up to switch on */
+	stm32_gpiowrite(led, true);
+}
+
 static void phy_set_led(int led, bool state)
 {
 	/* Pull Down to switch on */
@@ -82,21 +96,20 @@ static void phy_set_led(int led, bool state)

 static bool phy_get_led(int led)
 {
-
 	return !stm32_gpioread(g_ledmap[led]);
 }

 __EXPORT void led_on(int led)
 {
-	phy_set_led(led, true);
+	phy_set_led(xlat(led), true);
 }

 __EXPORT void led_off(int led)
 {
-	phy_set_led(led, false);
+	phy_set_led(xlat(led), false);
 }

 __EXPORT void led_toggle(int led)
 {
-	phy_set_led(led, !phy_get_led(led));
+	phy_set_led(xlat(led), !phy_get_led(xlat(led)));
 }
@@ -67,6 +67,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -58,6 +58,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -66,6 +66,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -58,6 +58,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -61,6 +61,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -155,9 +155,6 @@ 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_MODE=y
@@ -43,6 +43,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -123,9 +123,6 @@ 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_SEM_NNESTPRIO=8
@@ -122,9 +122,6 @@ 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_SEM_NNESTPRIO=8
@@ -1,22 +1,5 @@
+include (${CMAKE_CURRENT_LIST_DIR}/uavcan_board_identity)

-
-# UAVCAN boot loadable Module ID
-set(uavcanblid_sw_version_major 0)
-set(uavcanblid_sw_version_minor 1)
-add_definitions(
-	-DAPP_VERSION_MAJOR=${uavcanblid_sw_version_major}
-	-DAPP_VERSION_MINOR=${uavcanblid_sw_version_minor}
-)
-
-set(uavcanblid_hw_version_major 1)
-set(uavcanblid_hw_version_minor 0)
-set(uavcanblid_name "\"org.cuav.can-gps-v1\"")
-
-add_definitions(
-	-DHW_UAVCAN_NAME=${uavcanblid_name}
-	-DHW_VERSION_MAJOR=${uavcanblid_hw_version_major}
-	-DHW_VERSION_MINOR=${uavcanblid_hw_version_minor}
-)
 add_definitions(-DUSE_S_RGB_LED_DMA)

 px4_add_board(
@@ -26,6 +9,7 @@ px4_add_board(
 	LABEL debug
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m4
+	CONSTRAINED_MEMORY
 	ROMFSROOT cannode
 	UAVCAN_INTERFACES 1
 	DRIVERS
@@ -48,6 +32,7 @@ px4_add_board(
 		top
 		topic_listener
 		tune_control
+		uorb
 		ver
 		work_queue
 )
@@ -22,17 +22,17 @@ px4_add_board(
 		tone_alarm
 		uavcannode
 	MODULES
-		load_mon
+		#load_mon
 	SYSTEMCMDS
-		i2cdetect
-		led_control
+		#i2cdetect
+		#led_control
 		param
-		perf
-		reboot
-		top
-		topic_listener
-		tune_control
-		uorb
-		ver
-		work_queue
+		#perf
+		#reboot
+		#top
+		#topic_listener
+		#tune_control
+		#uorb
+		#ver
+		#work_queue
 )
@@ -3,6 +3,8 @@
 # board specific defaults
 #------------------------------------------------------------------------------

+param set-default CBRK_IO_SAFETY 0
+
 neopixel start
 safety_button start
 tone_alarm start
@@ -96,7 +96,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
@@ -107,9 +106,6 @@ 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_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0
@@ -65,6 +65,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -16,7 +16,7 @@ bmi088 -s -b 4 -G -R 2 start
 ms5611 -s -b 4 start

 # SPI6
-#icm20649 -s -b 6 -R 2 start # TODO: not started by default until NuttX SPI6 BDMA is fixed
+icm20649 -s -b 6 -R 2 start
 ms5611 -s -b 6 start

 # External compass on GPS1/I2C1: standard CUAV GPS/compass puck (with lights, safety button, and buzzer)
@@ -88,7 +88,6 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -121,7 +120,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -134,9 +132,6 @@ 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
@@ -154,8 +149,10 @@ 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
@@ -187,6 +184,8 @@ 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_SPI_DMATHRESHOLD=8
 CONFIG_STM32H7_TIM12=y
@@ -29,18 +29,15 @@ px4_add_board(
 		dshot
 		gps
 		heater
-		#imu # all available imu drivers
-		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
+		#imu # all relevant IMU drivers
+		imu/analog_devices/adis16470
 		imu/bosch/bmi088
 		imu/invensense/icm20649
 		imu/invensense/icm20689
 		irlock
-		lights/blinkm
 		lights/rgbled
-		lights/rgbled_ncp5623c
-		lights/rgbled_pwm
+		#lights/rgbled_ncp5623c
+		#lights/rgbled_pwm
 		magnetometer # all available magnetometer drivers
 		optical_flow # all available optical flow drivers
 		#osd
@@ -50,7 +47,6 @@ px4_add_board(
 		pwm_out_sim
 		pwm_out
 		rc_input
-		roboclaw
 		safety_button
 		telemetry # all available telemetry drivers
 		test_ppm
@@ -68,6 +64,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -118,6 +115,7 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
 		fake_magnetometer
 		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
 		#hello
@@ -3,6 +3,9 @@
 # board specific defaults
 #------------------------------------------------------------------------------

+# Enables the 2nd bank of mixers
+set AUX_BANK2 yes
+
 param set-default BAT_V_DIV 18
 param set-default BAT1_V_DIV 18
 param set-default BAT2_V_DIV 18
@@ -14,5 +17,7 @@ param set-default BAT2_A_PER_V 24
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1

+param set-default IMU_GYRO_FFT_EN 1
+
 rgbled_pwm start
 safety_button start
@@ -5,8 +5,10 @@
 board_adc start

 # SPI1
-#adis16470 -s start
-icm20689 -s -b 1 -R 2 start
+if ! icm20689 -s -b 1 -R 2 start
+then
+	adis16470 -s -b 1 -R 2 start
+fi

 # SPI2
 rm3100 -s -b 2 start
@@ -250,25 +250,27 @@
 #define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */

 /* SPI */
-#define GPIO_SPI1_SCK    GPIO_SPI1_SCK_3    /* PG11 */
-#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1   /* PA6 */
-#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3   /* PD7 */
+#define ADJ_SLEW_RATE(p) (((p) & ~GPIO_SPEED_MASK) | (GPIO_SPEED_2MHz))

-#define GPIO_SPI2_SCK    GPIO_SPI2_SCK_6    /* PI1 */
-#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3   /* PI2 */
-#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4   /* PI3 */
+#define GPIO_SPI1_SCK    ADJ_SLEW_RATE(GPIO_SPI1_SCK_3) /* PG11 */
+#define GPIO_SPI1_MISO   GPIO_SPI1_MISO_1               /* PA6  */
+#define GPIO_SPI1_MOSI   GPIO_SPI1_MOSI_3               /* PD7  */

-#define GPIO_SPI4_SCK    GPIO_SPI4_SCK_2    /* PE2 */
-#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1   /* PE13 */
-#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2   /* PE6 */
+#define GPIO_SPI2_SCK    ADJ_SLEW_RATE(GPIO_SPI2_SCK_6) /* PI1  */
+#define GPIO_SPI2_MISO   GPIO_SPI2_MISO_3               /* PI2  */
+#define GPIO_SPI2_MOSI   GPIO_SPI2_MOSI_4               /* PI3  */

-#define GPIO_SPI5_SCK    GPIO_SPI5_SCK_1    /* PF7 */
-#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1   /* PF8 */
-#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2   /* PF9 */
+#define GPIO_SPI4_SCK    ADJ_SLEW_RATE(GPIO_SPI4_SCK_2) /* PE2  */
+#define GPIO_SPI4_MISO   GPIO_SPI4_MISO_1               /* PE13 */
+#define GPIO_SPI4_MOSI   GPIO_SPI4_MOSI_2               /* PE6  */

-#define GPIO_SPI6_SCK    GPIO_SPI6_SCK_1    /* PG13 */
-#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1   /* PG12 */
-#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2   /* PA7 */
+#define GPIO_SPI5_SCK    ADJ_SLEW_RATE(GPIO_SPI5_SCK_1) /* PF7  */
+#define GPIO_SPI5_MISO   GPIO_SPI5_MISO_1               /* PF8  */
+#define GPIO_SPI5_MOSI   GPIO_SPI5_MOSI_2               /* PF9  */
+
+#define GPIO_SPI6_SCK    ADJ_SLEW_RATE(GPIO_SPI6_SCK_1) /* PG13 */
+#define GPIO_SPI6_MISO   GPIO_SPI6_MISO_1               /* PG12 */
+#define GPIO_SPI6_MOSI   GPIO_SPI6_MOSI_2               /* PA7  */

 /* I2C */
 #define GPIO_I2C1_SCL GPIO_I2C1_SCL_2       /* PB8  */
@@ -88,7 +88,6 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -121,7 +120,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -134,9 +132,6 @@ 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
@@ -154,8 +149,10 @@ 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
@@ -187,6 +184,8 @@ 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_SPI_DMATHRESHOLD=8
 CONFIG_STM32H7_TIM12=y
@@ -37,7 +37,7 @@

 constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
-		initSPIDevice(DRV_DEVTYPE_UNUSED, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortE, GPIO::Pin7}), // ADIS16470
+		initSPIDevice(DRV_IMU_DEVTYPE_ADIS16470, SPI::CS{GPIO::PortF, GPIO::Pin10}, SPI::DRDY{GPIO::PortE, GPIO::Pin7}),
 		initSPIDevice(DRV_IMU_DEVTYPE_ICM20689, SPI::CS{GPIO::PortG, GPIO::Pin6}, SPI::DRDY{GPIO::PortJ, GPIO::Pin0}),
 	}, {GPIO::PortE, GPIO::Pin3}),
 	initSPIBus(SPI::Bus::SPI2, {
@@ -57,7 +57,7 @@ px4_add_board(
 		uavcan
 	MODULES
 		airspeed_selector
-		attitude_estimator_q
+		#attitude_estimator_q
 		battery_status
 		camera_feedback
 		commander
@@ -68,11 +68,12 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
-		#gyro_fft
+		gyro_calibration
+		gyro_fft
 		land_detector
 		landing_target_estimator
 		load_mon
-		local_position_estimator
+		#local_position_estimator
 		logger
 		mavlink
 		mc_att_control
@@ -82,10 +83,10 @@ px4_add_board(
 		#micrortps_bridge
 		navigator
 		rc_update
-		rover_pos_control
+		#rover_pos_control
 		sensors
-		sih
-		temperature_compensation
+		#sih
+		#temperature_compensation
 		vmount
 		vtol_att_control
 	SYSTEMCMDS
@@ -66,6 +66,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -122,7 +122,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -135,9 +134,6 @@ 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_MODE=y
@@ -155,6 +151,7 @@ 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_BKPSRAM=y
@@ -123,7 +123,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -136,9 +135,6 @@ 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
@@ -156,6 +152,7 @@ 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_BKPSRAM=y
@@ -30,8 +30,6 @@ px4_add_board(
 		#heater
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
 		imu/invensense/icm20602
 		imu/invensense/icm20649
 		imu/invensense/icm20948
@@ -67,6 +65,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -30,8 +30,6 @@ px4_add_board(
 		#heater
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
 		imu/invensense/icm20602
 		imu/invensense/icm20649
 		imu/invensense/icm20948
@@ -67,6 +65,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -121,7 +121,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -132,9 +131,6 @@ 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_MODE=y
@@ -122,7 +122,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -133,9 +132,6 @@ 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_MODE=y
@@ -44,6 +44,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -101,7 +101,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=262144
 CONFIG_RAM_START=0x20000000
 CONFIG_RAW_BINARY=y
@@ -112,9 +111,6 @@ 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_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0
@@ -30,8 +30,6 @@ px4_add_board(
 		heater
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
 		imu/bosch/bmi088
 		imu/invensense/icm20689
 		irlock
@@ -66,6 +64,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -89,7 +89,6 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -122,7 +121,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -133,9 +131,6 @@ 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
@@ -153,8 +148,10 @@ 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
@@ -7,7 +7,6 @@ px4_add_board(
 	TOOLCHAIN arm-none-eabi
 	ARCHITECTURE cortex-m7
 	ROMFSROOT px4fmu_common
-	CONSTRAINED_FLASH
 	SERIAL_PORTS
 		TEL1:/dev/ttyS0 # UART1
 		TEL2:/dev/ttyS1 # UART2
@@ -22,13 +21,15 @@ px4_add_board(
 		gps
 		imu/invensense/icm20689
 		imu/invensense/mpu6000
-		magnetometer
-		optical_flow/px4flow
+		#magnetometer
+		magnetometer/isentek/ist8310
+		#optical_flow/px4flow
 		osd
-		pwm_out_sim
+		#pwm_out_sim
 		pwm_out
 		rc_input
-		telemetry
+		#telemetry
+		telemetry/frsky_telemetry
 		tone_alarm
 	MODULES
 		attitude_estimator_q
@@ -38,6 +39,7 @@ px4_add_board(
 		#ekf2
 		events
 		flight_mode_manager
+		gyro_calibration
 		#gyro_fft
 		land_detector
 		load_mon
@@ -55,26 +57,26 @@ px4_add_board(
 	SYSTEMCMDS
 		bl_update
 		dmesg
-		dumpfile
-		esc_calib
+		#dumpfile
+		#esc_calib
 		hardfault_log
-		i2cdetect
-		led_control
+		#i2cdetect
+		#led_control
 		mixer
 		#motor_ramp
-		motor_test
-		nshterm
+		#motor_test
+		#nshterm
 		param
 		perf
 		pwm
 		reboot
-		reflect
-		sd_bench
+		#reflect
+		#sd_bench
 		top
-		topic_listener
-		tune_control
-		uorb
-		usb_connected
+		#topic_listener
+		#tune_control
+		#uorb
+		#usb_connected
 		ver
 		work_queue
 	)
@@ -124,7 +124,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -135,9 +134,6 @@ 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_SEM_NNESTPRIO=8
@@ -29,8 +29,6 @@ px4_add_board(
 		#heater
 		#imu # all available imu drivers
 		imu/analog_devices/adis16448
-		imu/adis16477
-		imu/adis16497
 		imu/bosch/bmi055
 		imu/invensense/icm20602
 		imu/invensense/icm20689
@@ -70,6 +68,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -121,7 +121,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -132,9 +131,6 @@ 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_MODE=y
@@ -60,6 +60,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -41,9 +41,12 @@ then
 		if param compare MAV_1_CONFIG 0
 		then
 			echo "V106 - Defualt configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
-			param set-default MAV_1_CONFIG 102 # TELEM2
-			param set-default MAV_1_MODE 2	# Onboard
-			param set-default SER_TEL2_BAUD 921600 # VIO data
+			# TELEM2
+			param set-default MAV_1_CONFIG 102
+			# Onboard
+			param set-default MAV_1_MODE 2
+			# VIO data
+			param set-default SER_TEL2_BAUD 921600
 		fi
 	fi

@@ -51,9 +54,12 @@ then
 	if [ $AUTOCNF = yes ]
 	then
 		echo "V106 - Auto Configuring TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
-		param set-default MAV_1_CONFIG 102 # TELEM2
-		param set-default MAV_1_MODE 2	# Onboard
-		param set-default SER_TEL2_BAUD 921600 # VIO data
+		# TELEM2
+		param set-default MAV_1_CONFIG 102
+		# Onboard
+		param set-default MAV_1_MODE 2
+		# VIO data
+		param set-default SER_TEL2_BAUD 921600
 	fi
 fi

@@ -74,9 +80,11 @@ then
 	then
 		if ! param compare MAV_1_CONFIG 102
 		then
-			echo "V110 - Defualt configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
-			param set-default MAV_1_CONFIG 102 # TELEM2
-			param set-default MAV_1_MODE 2	# Onboard
+			echo "V110 - Default configuration TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
+			# TELEM2
+			param set-default MAV_1_CONFIG 102
+			# Onboard
+			param set-default MAV_1_MODE 2
 			param set-default SER_TEL2_BAUD 921600
 		fi
 	fi
@@ -85,8 +93,10 @@ then
 	if [ $AUTOCNF = yes ]
 	then
 		echo "V110 - Auto Configuring TELEM2 on /dev/ttyS4 at 921600 in Normal Mode"
-		param set-default MAV_1_CONFIG 102 # TELEM2
-		param set-default MAV_1_MODE 2	# Onboard
+		# TELEM2
+		param set-default MAV_1_CONFIG 102
+		# Onboard
+		param set-default MAV_1_MODE 2
 		param set-default SER_TEL2_BAUD 921600
 	fi
 fi
@@ -120,7 +120,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -131,9 +130,6 @@ 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_SDMMC2_SDIO_PULLUP=y
@@ -64,6 +64,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -121,7 +120,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -132,9 +130,6 @@ 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_MODE=y
@@ -64,6 +64,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -35,7 +35,6 @@ CONFIG_ARMV7M_BASEPRI_WAR=y
 CONFIG_ARMV7M_DCACHE=y
 CONFIG_ARMV7M_DTCM=y
 CONFIG_ARMV7M_ICACHE=y
-CONFIG_ARMV7M_LAZYFPU=y
 CONFIG_ARMV7M_MEMCPY=y
 CONFIG_ARMV7M_USEBASEPRI=y
 CONFIG_BOARDCTL_RESET=y
@@ -121,7 +120,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -132,9 +130,6 @@ 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_MODE=y
@@ -66,6 +66,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -123,7 +123,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -136,9 +135,6 @@ 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
@@ -156,8 +152,10 @@ 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
@@ -199,7 +199,7 @@ SECTIONS
 	} > AXI_SRAM

 	/* Emit the the D3 power domain section for locating BDMA data */
-	.SRAM4 (NOLOAD) :
+	.sram4 (NOLOAD) :
 	{
 	} > SRAM4

@@ -66,6 +66,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -1,5 +1,5 @@
 {
-    "board_id": 1024,
+    "board_id": 1023,
    "magic": "mRo-ctrl-zero-h7",
    "description": "Firmware for the mRo-ctrl-zero-h7 board",
    "image": "",
@@ -44,7 +44,7 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_PRODUCTID=0x1024
+CONFIG_CDCACM_PRODUCTID=0x1023
 CONFIG_CDCACM_PRODUCTSTR="mRoControlZeroH7"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
@@ -123,7 +123,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -136,9 +135,6 @@ 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
@@ -156,6 +152,7 @@ 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_BKPSRAM=y
@@ -199,7 +199,7 @@ SECTIONS
 	} > AXI_SRAM

 	/* Emit the the D3 power domain section for locating BDMA data */
-	.SRAM4 (NOLOAD) :
+	.sram4 (NOLOAD) :
 	{
 	} > SRAM4

@@ -11,12 +11,13 @@ px4_add_board(
 	TESTING
 	UAVCAN_INTERFACES 2
 	SERIAL_PORTS
-		TEL1:/dev/ttyS0
-		TEL2:/dev/ttyS1
-		GPS1:/dev/ttyS2
-		#RC:/dev/ttyS3
-		#CONSOLE:/dev/ttyS4
-		#FRSKY:/dev/ttyS5
+		#SPARE:/dev/ttyS0
+		TEL1:/dev/ttyS1
+		TEL2:/dev/ttyS2
+		GPS1:/dev/ttyS3
+		#RC:/dev/ttyS4
+		#CONSOLE:/dev/ttyS5
+		#FRSKY:/dev/ttyS6
 	DRIVERS
 		adc/board_adc
 		#barometer # all available barometer drivers
@@ -65,6 +66,7 @@ px4_add_board(
 		flight_mode_manager
 		fw_att_control
 		fw_pos_control_l1
+		gyro_calibration
 		gyro_fft
 		land_detector
 		landing_target_estimator
@@ -105,6 +107,7 @@ px4_add_board(
 		reboot
 		reflect
 		sd_bench
+		serial_test
 		system_time
 		tests # tests and test runner
 		top
@@ -116,14 +119,15 @@ px4_add_board(
 		work_queue
 	EXAMPLES
 		fake_gps
+		fake_gyro
 		fake_magnetometer
-		fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
-		hello
-		hwtest # Hardware test
+		#fixedwing_control # Tutorial code from https://px4.io/dev/example_fixedwing_control
+		#hello
+		#hwtest # Hardware test
 		#matlab_csv_serial
-		px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
-		px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
-		rover_steering_control # Rover example app
-		uuv_example_app
-		work_item
+		#px4_mavlink_debug # Tutorial code from http://dev.px4.io/en/debug/debug_values.html
+		#px4_simple_app # Tutorial code from http://dev.px4.io/en/apps/hello_sky.html
+		#rover_steering_control # Rover example app
+		#uuv_example_app
+		#work_item
 	)
@@ -0,0 +1,10 @@
+#!/bin/sh
+#
+# board specific extras init
+#------------------------------------------------------------------------------
+
+# Run FrSky Telemetry on Pixracer on the FrSky port if not enabled already
+if param compare TEL_FRSKY_CONFIG 0
+then
+	frsky_telemetry start -d /dev/ttyS6 -t 15
+fi
@@ -237,8 +237,8 @@
 #define GPIO_UART4_TX    GPIO_UART4_TX_2       /* PA0  */
 #define GPIO_UART4_RX    GPIO_UART4_RX_2       /* PA1  */

-//#define GPIO_USART6_TX   GPIO_USART6_TX_2      /* PG14 */
-//#define GPIO_USART6_RX   GPIO_USART6_RX_1      /* PC7  */
+#define GPIO_USART6_TX   0                     /* USART6 is RX-only */
+#define GPIO_USART6_RX   GPIO_USART6_RX_1      /* PC7  */

 #define GPIO_UART7_TX    GPIO_UART7_TX_3       /* PE8  */
 #define GPIO_UART7_RX    GPIO_UART7_RX_3       /* PE7  */
@@ -252,7 +252,7 @@
 #define GPIO_CAN1_TX     GPIO_CAN1_TX_3        /* PD1  */

 #define GPIO_CAN2_RX     GPIO_CAN2_RX_1        /* PB12 */
-#define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13  */
+#define GPIO_CAN2_TX     GPIO_CAN2_TX_1        /* PB13 */


 /* SPI */
@@ -90,7 +90,6 @@ CONFIG_MEMSET_OPTSPEED=y
 CONFIG_MMCSD=y
 CONFIG_MMCSD_SDIO=y
 CONFIG_MMCSD_SDIOWAIT_WRCOMPLETE=y
-CONFIG_MM_REGIONS=3
 CONFIG_MTD=y
 CONFIG_MTD_BYTE_WRITE=y
 CONFIG_MTD_PARTITION=y
@@ -123,7 +122,6 @@ CONFIG_PRIORITY_INHERITANCE=y
 CONFIG_PTHREAD_MUTEX_ROBUST=y
 CONFIG_PTHREAD_STACK_MIN=512
 CONFIG_RAMTRON_SETSPEED=y
-CONFIG_RAMTRON_WRITEWAIT=y
 CONFIG_RAM_SIZE=245760
 CONFIG_RAM_START=0x20010000
 CONFIG_RAW_BINARY=y
@@ -136,12 +134,9 @@ 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_MODE=y
+CONFIG_SDMMC1_SDIO_PULLUP=y
 CONFIG_SEM_NNESTPRIO=8
 CONFIG_SEM_PREALLOCHOLDERS=0
 CONFIG_SERIAL_IFLOWCONTROL_WATERMARKS=y
@@ -156,8 +151,10 @@ 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
@@ -198,6 +195,7 @@ CONFIG_STM32H7_UART8=y
 CONFIG_STM32H7_USART1=y
 CONFIG_STM32H7_USART2=y
 CONFIG_STM32H7_USART3=y
+CONFIG_STM32H7_USART6=y
 CONFIG_STM32H7_USART_BREAKS=y
 CONFIG_STM32H7_USART_INVERT=y
 CONFIG_STM32H7_USART_SINGLEWIRE=y
@@ -227,6 +225,8 @@ CONFIG_USART3_IFLOWCONTROL=y
 CONFIG_USART3_OFLOWCONTROL=y
 CONFIG_USART3_RXBUFSIZE=600
 CONFIG_USART3_TXBUFSIZE=3000
+CONFIG_USART6_BAUD=57600
+CONFIG_USART6_RXBUFSIZE=600
 CONFIG_USBDEV=y
 CONFIG_USBDEV_BUSPOWERED=y
 CONFIG_USBDEV_MAXPOWER=500
@@ -197,7 +197,7 @@ SECTIONS
 	} > AXI_SRAM

 	/* Emit the the D3 power domain section for locating BDMA data */
-	.SRAM4 (NOLOAD) :
+	.sram4 (NOLOAD) :
 	{
 	} > SRAM4

--- a/Show More
+++ b/Show More