systemcmds/manual_control: command line stick input for testing

2026-06-11 11:00:05 +08:00 · 2021-06-02 09:30:22 -04:00
572 changed files with 3829 additions and 14612 deletions
@@ -23,7 +23,6 @@ jobs:
          "shellcheck_all",
          "NO_NINJA_BUILD=1 px4_fmu-v5_default",
          "NO_NINJA_BUILD=1 px4_sitl_default",
-          "BUILD_MICRORTPS_AGENT=1 px4_sitl_rtps",
          "airframe_metadata",
          "module_documentation",
          "parameters_metadata",
@@ -18,7 +18,7 @@ jobs:
    - name: Install Python3
      run: sudo apt-get install python3 python3-setuptools python3-pip -y
    - name: Install tools
-      run: pip3 install --user mypy types-requests flake8
+      run: pip3 install --user mypy flake8
    - name: Check MAVSDK test scripts with mypy
      run: $HOME/.local/bin/mypy --strict test/mavsdk_tests/*.py
    - name: Check MAVSDK test scripts with flake8
@@ -15,11 +15,10 @@ jobs:
      fail-fast: false
      matrix:
        config:
-          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo",   model: "iris"          } # Alaska
-          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "AddressSanitizer", model: "standard_vtol" } # Australia
-          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo",   model: "tailsitter"    } # Florida
-          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",         model: "standard_vtol" } # Zurich
-
+          - {latitude:  "59.617693", longitude: "-151.145316", altitude:  "48", build_type: "RelWithDebInfo", model: "iris"          } # Alaska
+          - {latitude: "-38.071235", longitude:  "145.281220", altitude:  "31", build_type: "RelWithDebInfo", model: "standard_vtol" } # Australia
+          - {latitude:  "29.660316", longitude:  "-82.316658", altitude:  "30", build_type: "RelWithDebInfo", model: "tailsitter"    } # Florida
+          - {latitude:  "47.397742", longitude:    "8.545594", altitude: "488", build_type: "Coverage",       model: "standard_vtol" } # Zurich
    container:
      image: px4io/px4-dev-simulation-focal:2021-04-29
      options: --privileged --ulimit core=-1 --security-opt seccomp=unconfined
@@ -108,5 +108,3 @@ src/systemcmds/topic_listener/listener_generated.cpp
 # SITL
 dataman
 eeprom/
-
-!src/drivers/distance_sensor/broadcom/afbrs50/Lib/*
@@ -67,6 +67,3 @@
 	path = src/drivers/uavcan_v1/legacy_data_types
 	url = https://github.com/PX4/public_regulated_data_types.git
 	branch = legacy
-[submodule "src/lib/crypto/monocypher"]
-	path = src/lib/crypto/monocypher
-	url = https://github.com/PX4/Monocypher.git
@@ -51,16 +51,6 @@ CONFIG:
      buildType: MinSizeRel
      settings:
        CONFIG: px4_fmu-v5x_default
-    px4_fmu-v6x_default:
-      short: px4_fmu-v6x
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6x_default
-    px4_fmu-v6x_bootloader:
-      short: px4_fmu-v6x_bootloader
-      buildType: MinSizeRel
-      settings:
-        CONFIG: px4_fmu-v6x_bootloader
    airmind_mindpx-v2_default:
      short: airmind_mindpx-v2
      buildType: MinSizeRel
@@ -63,7 +63,7 @@ all: px4_sitl_default
 space := $(subst ,, )

 define make_list
-     $(shell [ -f .github/workflows/compile_${1}.yml ] && cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
+     $(shell cat .github/workflows/compile_${1}.yml | sed -E 's|[[:space:]]+(.*),|check_\1|g' | grep check_${2})
 endef

 # Parsing
@@ -165,11 +165,6 @@ ifdef PYTHON_EXECUTABLE
 	CMAKE_ARGS += -DPYTHON_EXECUTABLE=${PYTHON_EXECUTABLE}
 endif

-# Check if the microRTPS agent is to be built
-ifdef BUILD_MICRORTPS_AGENT
-  CMAKE_ARGS += -DBUILD_MICRORTPS_AGENT=ON
-endif
-
 # Functions
 # --------------------------------------------------------------------
 # describe how to build a cmake config
@@ -0,0 +1,8 @@
+#!/bin/sh
+#
+# @name 3DR Iris Quadrotor SITL (RTPS)
+#
+# @type Quadrotor Wide
+#
+
+. ${R}etc/init.d-posix/airframes/10016_iris
@@ -0,0 +1,4 @@
+#!/bin/sh
+# shellcheck disable=SC2154
+
+micrortps_client start -t UDP -r $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
@@ -46,6 +46,8 @@ px4_add_romfs_files(
 	1014_solo
 	1015_iris_obs_avoid
 	1015_iris_obs_avoid.post
+	1016_iris_rtps
+	1016_iris_rtps.post
 	1017_iris_opt_flow_mockup
 	1018_iris_vision_velocity
 	1019_iris_dual_gps
@@ -225,12 +225,6 @@ sensors start
 commander start
 navigator start

-# Try to start the micrortps_client with UDP transport if module exists
-if px4-micrortps_client status > /dev/null 2>&1
-then
-	# shellcheck disable=SC2154
-	micrortps_client start -t UDP $((2019+2*px4_instance)) -s $((2020+2*px4_instance))
-fi

 if param greater -s MNT_MODE_IN -1
 then
@@ -71,6 +71,7 @@ param set-default MPC_JERK_AUTO 4
 param set-default MPC_LAND_SPEED 1
 param set-default MPC_MAN_TILT_MAX 25
 param set-default MPC_MAN_Y_MAX 40
+param set-default MPC_POS_MODE 3
 param set-default MPC_SPOOLUP_TIME 1.5
 param set-default MPC_THR_HOVER 0.45
 param set-default MPC_TILTMAX_AIR 25
@@ -2,7 +2,7 @@
 #
 # @name Aion Robotics R1 UGV
 #
-# @url https://www.aionrobotics.com/r1
+# @url http://docs.aionrobotics.com/en/latest/r1-ugv.html
 #
 # @type Rover
 # @class Rover
@@ -226,8 +226,6 @@ then
 	fi
 fi

-param set PWM_AUX_OUT ${PWM_AUX_OUT}
-
 if [ $MIXER_AUX != none -a $AUX_MODE = none -a -e $OUTPUT_AUX_DEV ]
 then
 	#
@@ -270,8 +268,6 @@ then
 	fi
 fi

-param set PWM_MAIN_OUT ${PWM_OUT}
-
 if [ $EXTRA_MIXER_MODE != none ]
 then

@@ -26,12 +26,6 @@ then
 	batt_smbus start -X
 fi

-# Start batmon driver if enabled using BATMON_DRIVER_EN
-if param compare -s BATMON_DRIVER_EN 1
-then
-	batmon start -X  #start on external bus
-fi
-
 # Sensors on the PWM interface bank
 if param compare -s SENS_EN_LL40LS 1
 then
@@ -117,14 +111,7 @@ fi
 # ADIS16448 spi external IMU
 if param compare -s SENS_EN_ADIS164X 1
 then
-	if param compare -s SENS_OR_ADIS164X 0
-	then
-		adis16448 -S start
-	fi
-	if param compare -s SENS_OR_ADIS164X 4
-	then
-		adis16448 -S start -R 4
-	fi
+	adis16448 -S start
 fi

 # probe for optional external I2C devices
@@ -81,6 +81,33 @@ then
 			hardfault_log reset
 		fi
 	fi
+
+	# Prevent MacOS and Ubuntu from creating unnecessary temporary files on the microSD card
+
+	# block MacOS Spotlight indexing (.Spotlight-V100 folder)
+	if [ ! -f "/fs/microsd/.metadata_never_index" ]; then
+		cat > /fs/microsd/.metadata_never_index
+	fi
+
+	# block MacOS trashes
+	if [ ! -f "/fs/microsd/.Trashes" ]; then
+		cat > /fs/microsd/.Trashes
+	fi
+
+	# block MacOS logging of filesystem events
+	if [ ! -d "/fs/microsd/.fseventsd" ]; then
+		mkdir /fs/microsd/.fseventsd
+	fi
+
+	if [ ! -f "/fs/microsd/.fseventsd/no_log" ]; then
+		cat > /fs/microsd/.fseventsd/no_log
+	fi
+
+	# block Ubuntu trash
+	if [ ! -f "/fs/microsd/.Trash-1000" ]; then
+		cat > /fs/microsd/.Trash-1000
+	fi
+
 else
 	# tune SD_INIT
 	set STARTUP_TUNE 14 # tune 14 = SD_INIT
@@ -377,30 +404,21 @@ else

 	if param greater -s TRIG_MODE 0
 	then
-		if param compare TRIG_PINS_EX 0
+		# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
+		if param compare TRIG_PINS 56
 		then
-			# We ONLY support trigger on pins 5+6 or 7+8 when simultanously using AUX for actuator output.
-			if param compare TRIG_PINS 56
-			then
-				# clear pins 5 and 6
-				set FMU_MODE pwm4
-				set AUX_MODE pwm4
-			else
-				if param compare TRIG_PINS 78
-				then
-					# clear pins 7 and 8
-					set FMU_MODE pwm6
-					set AUX_MODE pwm6
-				else
-					set FMU_MODE none
-					set AUX_MODE none
-				fi
-			fi
+			# clear pins 5 and 6
+			set FMU_MODE pwm4
+			set AUX_MODE pwm4
 		else
-			if param compare TRIG_PINS_EX 12288
+			if param compare TRIG_PINS 78
 			then
-				set FMU_MODE pwm12
-				set AUX_MODE pwm12
+				# clear pins 7 and 8
+				set FMU_MODE pwm6
+				set AUX_MODE pwm6
+			else
+				set FMU_MODE none
+				set AUX_MODE none
 			fi
 		fi

@@ -22,5 +22,4 @@ exec find boards msg src platforms test \
    -path src/modules/micrortps_bridge/micro-CDR -prune -o \
    -path src/modules/micrortps_bridge/microRTPS_client -prune -o \
    -path test/mavsdk_tests/catch2 -prune -o \
-    -path src/lib/crypto/monocypher -prune -o \
    -type f \( -name "*.c" -o -name "*.h" -o -name "*.cpp" -o -name "*.hpp" \) | grep $PATTERN
@@ -1,15 +0,0 @@
-#!/usr/bin/env bash
-set -e
-
-SCRIPT_DIR=$0
-if [[ ${SCRIPT_DIR:0:1} != '/' ]]; then
-  SCRIPT_DIR=$(dirname $(realpath -s "$PWD/$0"))
-fi
-
-PX4_DIR=$(cd "$(dirname $(dirname $SCRIPT_DIR))" && pwd)
-
-if [ -d $PX4_DIR/build/*_rtps ]; then
-  cd $PX4_DIR/build/*_rtps/src/modules/micrortps_bridge/micrortps_agent/
-  cmake -Bbuild
-  cmake --build build -j$(nproc --all)
-fi
@@ -81,8 +81,7 @@ def sign(bin_file_path, key_file_path=None, generated_key_file=None):
        # Align to 4 bytes. Signature always starts at
        # 4 byte aligned address, but the signee size
        # might not be aligned
-        if len(signee_bin)%4 != 0:
-            signee_bin += bytearray(b'\xff')*(4-len(signee_bin)%4)
+        signee_bin += bytearray(b'\xff')*(4-len(signee_bin)%4)

    try:
        with open(key_file_path,mode='r') as f:
@@ -134,7 +133,7 @@ if(__name__ == "__main__"):
    parser.add_argument("signee", help=".bin file to add signature", nargs='?', default=None)
    parser.add_argument("signed", help="signed output .bin", nargs='?', default=None)

-    parser.add_argument("--key", help="key.json file", default="Tools/test_keys/test_keys.json")
+    parser.add_argument("--key", help="key.json file", default="Tools/test_keys.json")
    parser.add_argument("--rdct", help="binary R&D certificate file", default=None)
    parser.add_argument("--genkey", help="new generated key", default=None)
    args = parser.parse_args()
@@ -153,7 +152,7 @@ if(__name__ == "__main__"):
        sys.exit(1)

    # Issue a warning when signing with testing key
-    if args.key=='Tools/test_keys/test_keys.json':
+    if args.key=='Tools/test_keys.json':
        print("WARNING: Signing with PX4 test key")

    # Sign the binary
@@ -20,7 +20,7 @@ function spawn_model() {
 	X=${X:=0.0}
 	Y=${Y:=$((3*${N}))}

-	SUPPORTED_MODELS=("iris" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
+	SUPPORTED_MODELS=("iris" "iris_rtps" "plane" "standard_vtol" "rover" "r1_rover" "typhoon_h480")
 	if [[ " ${SUPPORTED_MODELS[*]} " != *"$MODEL"* ]];
 	then
 		echo "ERROR: Currently only vehicle model $MODEL is not supported!"
@@ -12,7 +12,6 @@ import sys, select
 import termios
 from timeit import default_timer as timer
 from argparse import ArgumentParser
-import os

 try:
    from pymavlink import mavutil
@@ -136,20 +135,15 @@ def main():

    mav_serialport.write('\n') # make sure the shell is started

-    # disable echo & avoid buffering on stdin
+    # setup the console, so we can read one char at a time
    fd_in = sys.stdin.fileno()
-    try:
-        old_attr = termios.tcgetattr(fd_in)
-        new_attr = termios.tcgetattr(fd_in)
-        new_attr[3] = new_attr[3] & ~termios.ECHO # lflags
-        new_attr[3] = new_attr[3] & ~termios.ICANON
-        termios.tcsetattr(fd_in, termios.TCSANOW, new_attr)
-    except termios.error:
-        # tcgetattr can fail if stdin is not a tty
-        old_attr = None
-    ubuf_stdin = os.fdopen(fd_in, 'rb', buffering=0)
+    old_attr = termios.tcgetattr(fd_in)
+    new_attr = termios.tcgetattr(fd_in)
+    new_attr[3] = new_attr[3] & ~termios.ECHO # lflags
+    new_attr[3] = new_attr[3] & ~termios.ICANON

    try:
+        termios.tcsetattr(fd_in, termios.TCSANOW, new_attr)
        cur_line = ''
        command_history = []
        cur_history_index = 0
@@ -162,19 +156,11 @@ def main():

        next_heartbeat_time = timer()

-        quit_time = None
-        while quit_time is None or quit_time > timer():
+        while True:
            while True:
-                i, o, e = select.select([ubuf_stdin], [], [], 0)
+                i, o, e = select.select([sys.stdin], [], [], 0)
                if not i: break
-                ch = ubuf_stdin.read(1).decode('utf8')
-
-                if len(ch) == 0: # EOF
-                    if quit_time is None:
-                        # run a bit longer to read the response (we could also
-                        # read until we get a prompt)
-                        quit_time = timer() + 1
-                    break
+                ch = sys.stdin.read(1)

                # provide a simple shell with command history
                if ch == '\n':
@@ -196,8 +182,8 @@ def main():
                        cur_line = cur_line[:-1]
                        sys.stdout.write(ch)
                elif ord(ch) == 27:
-                    ch = ubuf_stdin.read(1).decode('utf8') # skip one
-                    ch = ubuf_stdin.read(1).decode('utf8')
+                    ch = sys.stdin.read(1) # skip one
+                    ch = sys.stdin.read(1)
                    if ch == 'A': # arrow up
                        if cur_history_index > 0:
                            cur_history_index -= 1
@@ -237,8 +223,7 @@ def main():
        mav_serialport.close()

    finally:
-        if old_attr:
-            termios.tcsetattr(fd_in, termios.TCSADRAIN, old_attr)
+        termios.tcsetattr(fd_in, termios.TCSADRAIN, old_attr)


 if __name__ == '__main__':
@@ -6,7 +6,7 @@ import html
 class MarkdownTablesOutput():
    def __init__(self, groups, board, image_path):
        result = ("# Airframes Reference\n"
-                  "> **Note** **This list is [auto-generated](https://github.com/PX4/PX4-Autopilot/blob/master/Tools/px4airframes/markdownout.py) from the source code**.\n"
+                  "> **Note** **This list is [auto-generated](https://github.com/PX4/Firmware/edit/master/Tools/px4airframes/markdownout.py) from the source code**.\n"
                  "> \n"
                  "> **AUX** channels may not be present on some flight controllers.\n"
                  "> If present, PWM AUX channels are commonly labelled **AUX OUT**.\n"
@@ -28,7 +28,7 @@ available commands, and in most cases `command help` will print the usage.
 Since this is generated from source, errors must be reported/fixed
 in the [PX4-Autopilot](https://github.com/PX4/PX4-Autopilot) repository.
 The documentation pages can be generated by running the following command from
-the root of the PX4-Autopilot directory:
+the root of the Firmware directory:
 ```
 make module_documentation
 ```
@@ -66,7 +66,7 @@ The generated files will be written to the `modules` directory.
        result = ''
        for module in module_list:
            result += "## %s\n" % module.name()
-            result += "Source: [%s](https://github.com/PX4/PX4-Autopilot/tree/master/src/%s)\n\n" % (module.scope(), module.scope())
+            result += "Source: [%s](https://github.com/PX4/Firmware/tree/master/src/%s)\n\n" % (module.scope(), module.scope())
            doc = module.documentation()
            if len(doc) > 0:
                result += "%s\n" % doc
@@ -1,5 +0,0 @@
-//Public key to verify signed binaries
-0x4d, 0xb0, 0xc2, 0x1, 0x5, 0x55, 0x2a, 0x3c, 
-0xd7, 0xfb, 0xaf, 0x5c, 0xba, 0x7a, 0xb0, 0x81, 
-0x1b, 0x36, 0x63, 0xdb, 0x28, 0x52, 0x5e, 0xdb, 
-0x14, 0x36, 0xf2, 0x57, 0x8d, 0x2, 0xb7, 0xfd, 
@@ -46,7 +46,6 @@ px4_add_board(
 		rc_input
 		roboclaw
 		rpm
-		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -95,6 +94,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -53,7 +53,6 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
-#include <syslog.h>

 #include <nuttx/board.h>
 #include <nuttx/spi/spi.h>
@@ -12,9 +12,7 @@ px4_add_board(
 	UAVCAN_INTERFACES 1
 	DRIVERS
 		bootloaders
-		distance_sensor/broadcom/afbrs50
 		imu/bosch/bmi088
-		imu/invensense/icm42688p
 		optical_flow/paw3902
 		uavcannode
 	MODULES
@@ -22,13 +20,14 @@ px4_add_board(
 		load_mon
 		#sensors
 	SYSTEMCMDS
+		mft
+		mtd
 		param
 		perf
 		reboot
 		system_time
 		top
-		#topic_listener
-		uorb
+		topic_listener
 		ver
 		work_queue
 )
@@ -13,9 +13,7 @@ px4_add_board(
 	UAVCAN_INTERFACES 1
 	DRIVERS
 		bootloaders
-		distance_sensor/broadcom/afbrs50
 		imu/bosch/bmi088
-		imu/invensense/icm42688p
 		optical_flow/paw3902
 		uavcannode
 	MODULES
@@ -23,13 +21,14 @@ px4_add_board(
 		#load_mon
 		#sensors
 	SYSTEMCMDS
+		mft
+		mtd
 		param
 		#perf
 		#reboot
 		#system_time
 		#top
 		#topic_listener
-		#uorb
 		#ver
 		#work_queue
 )
@@ -4,12 +4,6 @@
 #------------------------------------------------------------------------------

 # Internal SPI
-paw3902 -s start -Y 180
-
-if ! icm42688p -R 0 -s start
-then
-	bmi088 -A -s -R 4 start
-	bmi088 -G -s -R 4 start
-fi
-
-afbrs50 start
+paw3902 -s start -Y 90
+bmi088 -A -s -R 4 start
+bmi088 -G -s -R 4 start
@@ -133,8 +133,8 @@
 #define GPIO_SPI1_MOSI  GPIO_SPI1_MOSI_1
 #define GPIO_SPI1_SCK   GPIO_SPI1_SCK_1

-#define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1 /* PB14 */
-#define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1 /* PB15 */
-#define GPIO_SPI2_SCK   GPIO_SPI2_SCK_1  /* PB10 */
+#define GPIO_SPI2_MISO  GPIO_SPI2_MISO_1
+#define GPIO_SPI2_MOSI  GPIO_SPI2_MOSI_1
+#define GPIO_SPI2_SCK   GPIO_SPI2_SCK_1

 #endif /* __ARCH_BOARD_BOARD_H */
@@ -40,4 +40,6 @@
 //  DMA2 Channel/Stream Selections
 //--------------------------------------------//---------------------------//----------------
 #define DMACHAN_SPI1_RX    DMAMAP_SPI1_RX_2   // DMA2, Stream 2, Channel 3
+#define DMACHAN_SPI2_RX    DMAMAP_SPI2_RX     // DMA2, Stream 3, Channel 0
+#define DMACHAN_SPI2_TX    DMAMAP_SPI2_TX     // DMA2, Stream 4, Channel 0
 #define DMACHAN_SPI1_TX    DMAMAP_SPI1_TX_1   // DMA2, Stream 5, Channel 3
@@ -144,6 +144,8 @@ CONFIG_STM32_SPI1=y
 CONFIG_STM32_SPI1_DMA=y
 CONFIG_STM32_SPI1_DMA_BUFFER=1024
 CONFIG_STM32_SPI2=y
+CONFIG_STM32_SPI2_DMA=y
+CONFIG_STM32_SPI2_DMA_BUFFER=1024
 CONFIG_STM32_SPI_DMA=y
 CONFIG_STM32_TIM8=y
 CONFIG_STM32_USART2=y
@@ -56,13 +56,6 @@
 #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 BROADCOM_AFBR_S50_S2PI_SPI_BUS 2
-#define BROADCOM_AFBR_S50_S2PI_CS   /* PB12 */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_50MHz|GPIO_OUTPUT_SET|GPIO_PORTB|GPIO_PIN12)
-#define BROADCOM_AFBR_S50_S2PI_IRQ  /* PB4  */ (GPIO_INPUT|GPIO_PULLUP|GPIO_PORTB|GPIO_PIN4|GPIO_EXTI)
-#define BROADCOM_AFBR_S50_S2PI_CLK  /* PB10 */  GPIO_SPI2_SCK_1
-#define BROADCOM_AFBR_S50_S2PI_MOSI /* PB15 */  GPIO_SPI2_MOSI_1
-#define BROADCOM_AFBR_S50_S2PI_MISO /* PB14 */  GPIO_SPI2_MISO_1
-
 #define BOARD_HAS_CONTROL_STATUS_LEDS      1
 #define BOARD_OVERLOAD_LED     LED_RED
 #define BOARD_ARMED_STATE_LED  LED_BLUE
@@ -49,7 +49,6 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
-#include <syslog.h>

 #include <nuttx/board.h>

@@ -61,7 +60,6 @@

 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
-#include <drivers/drv_watchdog.h>

 #include <systemlib/px4_macros.h>

@@ -89,8 +87,6 @@ __END_DECLS

 __EXPORT void stm32_boardinitialize(void)
 {
-	watchdog_init();
-
 	// Configure CAN interface
 	stm32_configgpio(GPIO_CAN1_RX);
 	stm32_configgpio(GPIO_CAN1_TX);
@@ -39,7 +39,6 @@ constexpr px4_spi_bus_t px4_spi_buses[SPI_BUS_MAX_BUS_ITEMS] = {
 	initSPIBus(SPI::Bus::SPI1, {
 		initSPIDevice(DRV_GYR_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin15}, SPI::DRDY{GPIO::PortA, GPIO::Pin10}),
 		initSPIDevice(DRV_ACC_DEVTYPE_BMI088, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
-		initSPIDevice(DRV_IMU_DEVTYPE_ICM42688P, SPI::CS{GPIO::PortA, GPIO::Pin4}, SPI::DRDY{GPIO::PortB, GPIO::Pin0}),
 		initSPIDevice(DRV_FLOW_DEVTYPE_PAW3902, SPI::CS{GPIO::PortB, GPIO::Pin5}, SPI::DRDY{GPIO::PortB, GPIO::Pin2}),
 	}),
 	initSPIBus(SPI::Bus::SPI2, {
@@ -49,7 +49,6 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
-#include <syslog.h>

 #include <nuttx/board.h>

@@ -61,7 +60,6 @@

 #include <drivers/drv_hrt.h>
 #include <drivers/drv_board_led.h>
-#include <drivers/drv_watchdog.h>

 #include <systemlib/px4_macros.h>

@@ -84,8 +82,6 @@

 __EXPORT void stm32_boardinitialize(void)
 {
-	watchdog_init();
-
 	/* configure pins */
 	const uint32_t gpio[] = PX4_GPIO_INIT_LIST;
 	px4_gpio_init(gpio, arraySize(gpio));
@@ -54,7 +54,6 @@ px4_add_board(
 		pwm_out_sim
 		qshell/posix
 		rc_input
-		smart_battery/batmon
 		#telemetry # all available telemetry drivers
 	MODULES
 		airspeed_selector
@@ -97,6 +96,7 @@ px4_add_board(
 		esc_calib
 		#hardfault_log
 		led_control
+		manual_control
 		mixer
 		motor_ramp
 		motor_test
@@ -76,6 +76,7 @@ px4_add_board(
 		vtol_att_control
 	SYSTEMCMDS
 		led_control
+		manual_control
 		mixer
 		#motor_ramp
 		motor_test
@@ -53,7 +53,6 @@ px4_add_board(
 		pwm_out_sim
 		qshell/posix
 		rc_input
-		smart_battery/batmon
 		#telemetry # all available telemetry drivers
 	MODULES
 		airspeed_selector
@@ -95,6 +94,7 @@ px4_add_board(
 		esc_calib
 		#hardfault_log
 		led_control
+		manual_control
 		mixer
 		motor_ramp
 		motor_test
@@ -76,6 +76,7 @@ px4_add_board(
 		vtol_att_control
 	SYSTEMCMDS
 		led_control
+		manual_control
 		mixer
 		#motor_ramp
 		motor_test
@@ -45,7 +45,6 @@ px4_add_board(
 		rc_input
 		roboclaw
 		rpm
-		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		#tone_alarm
 		uavcan
@@ -94,6 +93,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mixer
 		motor_ramp
 		motor_test
@@ -52,7 +52,6 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
-#include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
@@ -33,7 +33,6 @@ px4_add_board(
 		magnetometer/hmc5883
 		pwm_out_sim
 		rc_input
-		smart_battery/batmon
 		#telemetry # all available telemetry drivers
 	MODULES
 		airspeed_selector
@@ -76,6 +75,7 @@ px4_add_board(
 		dyn
 		esc_calib
 		led_control
+		manual_control
 		mixer
 		motor_ramp
 		motor_test
@@ -49,6 +49,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -53,7 +53,6 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
-#include <syslog.h>

 #include <nuttx/board.h>
 #include <nuttx/analog/adc.h>
@@ -286,6 +286,9 @@ Syslink::task_main()
 	_memory = new SyslinkMemory(this);
 	_memory->init();

+	_battery.reset();
+
+
 	//	int ret;

 	/* Open serial port */
@@ -438,7 +441,7 @@ Syslink::handle_message(syslink_message_t *msg)
 		px4_sem_post(&memory_sem);

 	} else {
-		PX4_INFO("GOT %" PRIu8, msg->type);
+		PX4_INFO("GOT %d", msg->type);
 	}

 	//Send queued messages
@@ -606,7 +609,7 @@ Syslink::handle_raw_other(syslink_message_t *sys)

 	if (c->port == CRTP_PORT_LOG) {

-		PX4_INFO("Log: %" PRIu8 " %" PRIu8, c->channel, c->data[0]);
+		PX4_INFO("Log: %d %d", c->channel, c->data[0]);

 		if (c->channel == 0) { // Table of Contents Access

@@ -629,7 +632,7 @@ Syslink::handle_raw_other(syslink_message_t *sys)

 			uint8_t cmd = c->data[0];

-			PX4_INFO("Responding to cmd: %" PRIu8, cmd);
+			PX4_INFO("Responding to cmd: %d", cmd);
 			c->data[2] = 0; // Success
 			c->size = 3 + 1;

@@ -670,7 +673,7 @@ Syslink::handle_raw_other(syslink_message_t *sys)
 		}

 	} else {
-		PX4_INFO("Got raw: %" PRIu8, c->port);
+		PX4_INFO("Got raw: %d", c->port);
 	}
 }

@@ -769,13 +772,13 @@ void status()
 		printf("%i: ROM ID: ", i);

 		for (int idi = 0; idi < idlen; idi++) {
-			printf("%02" PRIX8, id[idi]);
+			printf("%02X", id[idi]);
 		}

 		deck_descriptor_t desc;
 		read(deckfd, &desc, sizeof(desc));

-		printf("HDR:%02" PRIx8 ", VID: %02" PRIx8 " , PID: %02" PRIx8 "\n", desc.header, desc.vendorId, desc.productId);
+		printf(", VID: %02X , PID: %02X\n", desc.header, desc.vendorId, desc.productId);

 		// Print pages of memory
 		for (size_t di = 0; di < sizeof(desc); di++) {
@@ -783,7 +786,7 @@ void status()
 				printf("\n");
 			}

-			printf("%02" PRIX8 " ", ((uint8_t *)&desc)[di]);
+			printf("%02X ", ((uint8_t *)&desc)[di]);

 		}

@@ -48,6 +48,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mixer
 		motor_ramp
 		motor_test
@@ -53,7 +53,6 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
-#include <syslog.h>

 #include <nuttx/board.h>
 #include <nuttx/analog/adc.h>
@@ -53,7 +53,6 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
-#include <syslog.h>

 #include <nuttx/board.h>
 #include <nuttx/i2c/i2c_master.h>
@@ -52,7 +52,6 @@ px4_add_board(
 		roboclaw
 		rpm
 		safety_button
-		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -101,6 +100,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -17,8 +17,5 @@ param set-default BAT2_A_PER_V 24
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1

-# Set Camera trigger pins to 13/14
-param set-default TRIG_PINS_EX 12288
-
 rgbled_pwm start
 safety_button start
@@ -12,7 +12,7 @@ rm3100 -s -b 2 start

 # SPI4
 bmi088 -s -b 4 -A -R 2 start
-if ! bmi088 -s -b 4 -G -R 2 start
+if !bmi088 -s -b 4 -G -R 2 start
 then
 	icm42688p -R 2 -s start
 fi
@@ -43,8 +43,6 @@

 #include "board_config.h"

-#include <syslog.h>
-
 #include <nuttx/config.h>
 #include <nuttx/board.h>
 #include <nuttx/sdio.h>
@@ -41,7 +41,6 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 #include <stm32_otg.h>
-#include <debug.h>

 /************************************************************************************
 * Name:  stm32_usbsuspend
@@ -101,6 +101,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -53,7 +53,6 @@ px4_add_board(
 		roboclaw
 		rpm
 		safety_button
-		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -102,6 +101,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -17,9 +17,5 @@ param set-default BAT2_A_PER_V 24
 # Enable IMU thermal control
 param set-default SENS_EN_THERMAL 1

-# Set Camera trigger pins to 13/14
-param set-default TRIG_PINS_EX 12288
-
-
 rgbled_pwm start
 safety_button start
@@ -15,7 +15,7 @@ rm3100 -s -b 2 start

 # SPI4
 bmi088 -s -b 4 -A -R 2 start
-if ! bmi088 -s -b 4 -G -R 2 start
+if !bmi088 -s -b 4 -G -R 2 start
 then
 	icm42688p -R 2 -s start
 fi
@@ -43,8 +43,6 @@

 #include "board_config.h"

-#include <syslog.h>
-
 #include <nuttx/config.h>
 #include <nuttx/board.h>
 #include <nuttx/sdio.h>
@@ -41,7 +41,6 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 #include <stm32_otg.h>
-#include <debug.h>

 /************************************************************************************
 * Name:  stm32_usbsuspend
@@ -102,6 +102,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -49,7 +49,6 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
-		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -98,6 +97,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -43,8 +43,6 @@

 #include "board_config.h"

-#include <syslog.h>
-
 #include <nuttx/config.h>
 #include <nuttx/board.h>
 #include <nuttx/sdio.h>
@@ -41,8 +41,6 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 #include <stm32_otg.h>
-#include <debug.h>
-#include <syslog.h>

 /************************************************************************************
 * Name:  stm32_usbsuspend
@@ -49,7 +49,6 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
-		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -99,6 +98,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -47,7 +47,6 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
-		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -96,6 +95,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -43,8 +43,6 @@

 #include "board_config.h"

-#include <syslog.h>
-
 #include <nuttx/config.h>
 #include <nuttx/board.h>
 #include <nuttx/sdio.h>
@@ -41,9 +41,6 @@
 #include <nuttx/usb/usbdev.h>
 #include <nuttx/usb/usbdev_trace.h>
 #include <stm32_otg.h>
-#include <debug.h>
-#include <syslog.h>
-

 /************************************************************************************
 * Name:  stm32_usbsuspend
@@ -47,7 +47,6 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
-		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		test_ppm
 		tone_alarm
@@ -97,6 +96,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -51,7 +51,6 @@
 #include <stdio.h>
 #include <debug.h>
 #include <errno.h>
-#include <syslog.h>

 #include <nuttx/board.h>

@@ -33,7 +33,6 @@ px4_add_board(
 		magnetometer/lsm9ds1_mag
 		pwm_out_sim
 		rc_input
-		smart_battery/batmon
 		#telemetry # all available telemetry drivers
 	MODULES
 		airspeed_selector
@@ -76,6 +75,7 @@ px4_add_board(
 		dyn
 		esc_calib
 		led_control
+		manual_control
 		mixer
 		motor_ramp
 		motor_test
@@ -24,6 +24,7 @@ px4_add_board(
 		sensors
 	SYSTEMCMDS
 		led_control
+		manual_control
 		mft
 		mtd
 		param
@@ -49,7 +49,6 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
-#include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
@@ -65,11 +65,11 @@ using namespace time_literals;
 #define NCP5623_LED_OFF     0x00  /**< off */


-class RGBLED_NCP5623C : public device::I2C
+class RGBLED_NPC5623C : public device::I2C
 {
 public:
-	RGBLED_NCP5623C(const int bus, int bus_frequency, const int address);
-	virtual ~RGBLED_NCP5623C() = default;
+	RGBLED_NPC5623C(const int bus, int bus_frequency, const int address);
+	virtual ~RGBLED_NPC5623C() = default;

 	int   init() override;
 	int   probe() override;
@@ -84,13 +84,13 @@ private:
 	int     write(uint8_t reg, uint8_t data);
 };

-RGBLED_NCP5623C::RGBLED_NCP5623C(const int bus, int bus_frequency, const int address) :
+RGBLED_NPC5623C::RGBLED_NPC5623C(const int bus, int bus_frequency, const int address) :
 	I2C(DRV_LED_DEVTYPE_RGBLED_NCP5623C, MODULE_NAME, bus, address, bus_frequency)
 {
 }

 int
-RGBLED_NCP5623C::write(uint8_t reg, uint8_t data)
+RGBLED_NPC5623C::write(uint8_t reg, uint8_t data)
 {
 	uint8_t msg[1] = { 0x00 };
 	msg[0] = ((reg & 0xe0) | (data & 0x1f));
@@ -101,7 +101,7 @@ RGBLED_NCP5623C::write(uint8_t reg, uint8_t data)
 }

 int
-RGBLED_NCP5623C::init()
+RGBLED_NPC5623C::init()
 {
 	int ret = I2C::init();

@@ -113,7 +113,7 @@ RGBLED_NCP5623C::init()
 }

 int
-RGBLED_NCP5623C::probe()
+RGBLED_NPC5623C::probe()
 {
 	_retries = 4;

@@ -125,7 +125,7 @@ RGBLED_NCP5623C::probe()
 * Send RGB PWM settings to LED driver according to current color and brightness
 */
 int
-RGBLED_NCP5623C::send_led_rgb(uint8_t red, uint8_t green, uint8_t blue)
+RGBLED_NPC5623C::send_led_rgb(uint8_t red, uint8_t green, uint8_t blue)
 {

 	uint8_t msg[7] = {0x20, 0x70, 0x40, 0x70, 0x60, 0x70, 0x80};
@@ -139,7 +139,7 @@ RGBLED_NCP5623C::send_led_rgb(uint8_t red, uint8_t green, uint8_t blue)
 	return transfer(&msg[0], 7, nullptr, 0);
 }

-static RGBLED_NCP5623C instance(1, 100000, ADDR);
+static RGBLED_NPC5623C instance(1, 100000, ADDR);

 #define TMR_BASE        STM32_TIM1_BASE
 #define TMR_FREQUENCY   STM32_APB2_TIM1_CLKIN
@@ -53,7 +53,6 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
-#include <syslog.h>

 #include <nuttx/board.h>
 #include <nuttx/i2c/i2c_master.h>
@@ -49,9 +49,7 @@
 #include <nuttx/config.h>
 #include <board_config.h>

-#include <inttypes.h>
 #include <stdbool.h>
-#include <syslog.h>

 #include "systemlib/px4_macros.h"

@@ -138,7 +136,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

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

@@ -47,7 +47,6 @@ px4_add_board(
 		px4io
 		roboclaw
 		rpm
-		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -96,6 +95,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -52,7 +52,6 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
-#include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2018, 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -49,9 +49,7 @@
 #include <nuttx/config.h>
 #include <board_config.h>

-#include <inttypes.h>
 #include <stdbool.h>
-#include <syslog.h>

 #include "systemlib/px4_macros.h"

@@ -116,7 +114,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

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

@@ -97,6 +97,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -52,7 +52,6 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
-#include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
@@ -51,7 +51,6 @@ px4_add_board(
 		roboclaw
 		rpm
 		safety_button
-		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -100,6 +99,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -52,7 +52,6 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
-#include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2018, 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -49,9 +49,7 @@
 #include <nuttx/config.h>
 #include <board_config.h>

-#include <inttypes.h>
 #include <stdbool.h>
-#include <syslog.h>

 #include "systemlib/px4_macros.h"

@@ -164,7 +162,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

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

@@ -101,6 +101,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -44,7 +44,6 @@ px4_add_board(
 		rc_input
 		roboclaw
 		rpm
-		smart_battery/batmon
 		safety_button
 		telemetry # all available telemetry drivers
 		#tone_alarm
@@ -93,6 +92,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -92,6 +92,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -52,7 +52,6 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
-#include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
@@ -1,6 +1,6 @@
 /****************************************************************************
 *
- *   Copyright (c) 2018, 2021 PX4 Development Team. All rights reserved.
+ *   Copyright (c) 2018 PX4 Development Team. All rights reserved.
 *
 * Redistribution and use in source and binary forms, with or without
 * modification, are permitted provided that the following conditions
@@ -49,9 +49,7 @@
 #include <nuttx/config.h>
 #include <board_config.h>

-#include <inttypes.h>
 #include <stdbool.h>
-#include <syslog.h>

 #include "systemlib/px4_macros.h"

@@ -125,7 +123,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

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

@@ -94,6 +94,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -97,6 +97,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -29,7 +29,7 @@ CONFIG_BOARD_LOOPSPERMSEC=95150
 CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_PRODUCTID=0xa330
+CONFIG_CDCACM_PRODUCTID=0xa32f
 CONFIG_CDCACM_PRODUCTSTR="PX4 BL ModalAI FCv2"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
@@ -44,8 +44,8 @@ CONFIG_BOARD_RESET_ON_ASSERT=2
 CONFIG_BUILTIN=y
 CONFIG_C99_BOOL8=y
 CONFIG_CDCACM=y
-CONFIG_CDCACM_PRODUCTID=0xa330
-CONFIG_CDCACM_PRODUCTSTR="PX4 FMU ModalAI FCv2"
+CONFIG_CDCACM_PRODUCTID=0xa32f
+CONFIG_CDCACM_PRODUCTSTR="PX4 FMU ModalAI FCv1"
 CONFIG_CDCACM_RXBUFSIZE=600
 CONFIG_CDCACM_TXBUFSIZE=12000
 CONFIG_CDCACM_VENDORID=0x0483
@@ -52,7 +52,6 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
-#include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
@@ -49,9 +49,7 @@
 #include <nuttx/config.h>
 #include <board_config.h>

-#include <inttypes.h>
 #include <stdbool.h>
-#include <syslog.h>

 #include "systemlib/px4_macros.h"

@@ -117,7 +115,7 @@ __EXPORT px4_hw_mft_item board_query_manifest(px4_hw_mft_item_id_t id)
 		}

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

@@ -99,6 +99,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -48,7 +48,6 @@ px4_add_board(
 		roboclaw
 		rpm
 		safety_button
-		smart_battery/batmon
 		telemetry # all available telemetry drivers
 		tone_alarm
 		uavcan
@@ -97,6 +96,7 @@ px4_add_board(
 		hardfault_log
 		i2cdetect
 		led_control
+		manual_control
 		mft
 		mixer
 		motor_ramp
@@ -52,7 +52,6 @@
 #include <string.h>
 #include <debug.h>
 #include <errno.h>
-#include <syslog.h>

 #include <nuttx/config.h>
 #include <nuttx/board.h>
--- a/Show More
+++ b/Show More