make boat setpoint msg less pedantic

formatting
pure pursuit
2026-06-08 07:00:05 +08:00 · 2024-06-12 16:46:41 +02:00 · 2024-06-12 14:07:51 +02:00 · 2024-06-12 11:41:11 +02:00 · 2024-05-21 09:55:22 +02:00 · 2024-05-17 13:57:00 +02:00
318 changed files with 3366 additions and 7177 deletions
@@ -47,7 +47,7 @@ pipeline {
                     "ark_fmu-v6x_bootloader",
                     "ark_fmu-v6x_default",
                     "ark_pi6x_bootloader",
-                     "ark_pi6x_default",
+                     "ark_pi6x_default"
                     "atl_mantis-edu_default",
                     "av_x-v1_default",
                     "bitcraze_crazyflie21_default",
@@ -15,6 +15,7 @@
 	"extensions": [
 		"chiehyu.vscode-astyle",
 		"dan-c-underwood.arm",
+		"editorconfig.editorconfig",
 		"fredericbonnet.cmake-test-adapter",
 		"github.vscode-pull-request-github",
 		"marus25.cortex-debug",
@@ -1,7 +1,7 @@
 root = true

 [*]
-insert_final_newline = false
+insert_final_newline = true

 [{*.{c,cpp,cc,h,hpp},CMakeLists.txt,Kconfig}]
 indent_style = tab
@@ -4,6 +4,7 @@
    "recommendations": [
        "chiehyu.vscode-astyle",
        "dan-c-underwood.arm",
+        "editorconfig.editorconfig",
        "fredericbonnet.cmake-test-adapter",
        "github.vscode-pull-request-github",
        "marus25.cortex-debug",
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2017 - 2024 PX4 Development Team. All rights reserved.
+# Copyright (c) 2017 - 2022 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -132,9 +132,7 @@ list(GET VERSION_LIST 2 PX4_VERSION_PATCH)
 string(REPLACE "-" ";" PX4_VERSION_PATCH ${PX4_VERSION_PATCH})
 list(GET PX4_VERSION_PATCH 0 PX4_VERSION_PATCH)

-# # Capture only the hash part after 'g'
-string(REGEX MATCH "g([a-f0-9]+)$" GIT_HASH "${PX4_GIT_TAG}")
-set(PX4_GIT_HASH ${CMAKE_MATCH_1})
+message(STATUS "PX4 version: ${PX4_GIT_TAG} (${PX4_VERSION_MAJOR}.${PX4_VERSION_MINOR}.${PX4_VERSION_PATCH})")

 define_property(GLOBAL PROPERTY PX4_MODULE_LIBRARIES
                 BRIEF_DOCS "PX4 module libs"
@@ -1,6 +1,6 @@
 ############################################################################
 #
-# Copyright (c) 2015 - 2024 PX4 Development Team. All rights reserved.
+# Copyright (c) 2015 - 2020 PX4 Development Team. All rights reserved.
 #
 # Redistribution and use in source and binary forms, with or without
 # modification, are permitted provided that the following conditions
@@ -323,32 +323,7 @@ px4io_update:
 	cp build/cubepilot_io-v2_default/cubepilot_io-v2_default.bin boards/cubepilot/cubeyellow/extras/cubepilot_io-v2_default.bin
 	git status

-bootloaders_update: \
-	ark_fmu-v6x_bootloader \
-	ark_pi6x_bootloader \
-	cuav_nora_bootloader \
-	cuav_x7pro_bootloader \
-	cubepilot_cubeorange_bootloader \
-	cubepilot_cubeorangeplus_bootloader \
-	hkust_nxt-dual_bootloader \
-	hkust_nxt-v1_bootloader \
-	holybro_durandal-v1_bootloader \
-	holybro_kakuteh7_bootloader \
-	holybro_kakuteh7mini_bootloader \
-	holybro_kakuteh7v2_bootloader \
-	matek_h743_bootloader \
-	matek_h743-mini_bootloader \
-	matek_h743-slim_bootloader \
-	modalai_fc-v2_bootloader \
-	mro_ctrl-zero-classic_bootloader \
-	mro_ctrl-zero-h7_bootloader \
-	mro_ctrl-zero-h7-oem_bootloader \
-	mro_pixracerpro_bootloader \
-	px4_fmu-v6c_bootloader \
-	px4_fmu-v6u_bootloader \
-	px4_fmu-v6x_bootloader \
-	px4_fmu-v6xrt_bootloader \
-	siyi_n7_bootloader
+bootloaders_update: ark_fmu-v6x_bootloader cuav_nora_bootloader cuav_x7pro_bootloader cubepilot_cubeorange_bootloader holybro_durandal-v1_bootloader holybro_kakuteh7_bootloader matek_h743_bootloader matek_h743-mini_bootloader matek_h743-slim_bootloader modalai_fc-v2_bootloader mro_ctrl-zero-classic_bootloader mro_ctrl-zero-h7_bootloader mro_ctrl-zero-h7-oem_bootloader mro_pixracerpro_bootloader px4_fmu-v6c_bootloader px4_fmu-v6u_bootloader px4_fmu-v6x_bootloader
 	git status

 .PHONY: coverity_scan
@@ -72,8 +72,6 @@ if(CONFIG_MODULES_ROVER_POS_CONTROL)
 	px4_add_romfs_files(
 		rc.rover_apps
 		rc.rover_defaults
-
-		rc.boat_defaults # hack
 	)
 endif()

@@ -84,6 +82,13 @@ if(CONFIG_MODULES_DIFFERENTIAL_DRIVE)
 	)
 endif()

+if(CONFIG_MODULES_BOAT)
+	px4_add_romfs_files(
+		rc.boat_apps
+		rc.boat_defaults
+	)
+endif()
+
 if(CONFIG_MODULES_UUV_ATT_CONTROL)
 	px4_add_romfs_files(
 		rc.uuv_apps
@@ -0,0 +1,59 @@
+#!/bin/sh
+#
+# @name RC Boat
+#
+# @type Boat
+# @class Boat
+#
+# @output Servo1 Steering
+# @output Motor1 Throttle
+
+. ${R}etc/init.d/rc.boat_defaults
+
+# Failsafe
+param set-default NAV_RCL_ACT 6 # Disarm on stick input loss
+param set-default NAV_DLL_ACT 6 # Disarm on ground station loss
+param set-default COM_DL_LOSS_T 5 # timeout for ground station connection
+param set-default COM_RC_LOSS_T 10 # timeout for stick input
+param set-default COM_RCL_EXCEPT 1 # Continue mission without stick input
+
+param set-default COM_ARM_WO_GPS 1 # Disable GPS prearm check
+param set-default COM_DISARM_LAND -1 # Don't disarm automatically
+param set-default COM_DISARM_PRFLT -1
+
+# Steering PWM output
+param set-default PWM_AUX_FUNC1 201
+param set-default PWM_AUX_DIS1 1500
+param set-default PWM_AUX_MIN1 1000
+param set-default PWM_AUX_MAX1 2000
+# Engine throttle PWM output
+param set-default PWM_AUX_FUNC2 101
+param set-default PWM_AUX_DIS2 900
+param set-default PWM_AUX_MIN2 940 # Engine doesn't rev below that
+param set-default PWM_AUX_MAX2 2000 # Maximum trhottle at which it's not so easy to flip the boat
+
+param set-default CA_AIRFRAME 5
+
+# Estimation
+param set-default EKF2_MULTI_IMU 0 # Disable multi-IMU
+param set-default SENS_IMU_MODE 1
+param set-default CAL_MAG0_PRIO 0 # Disable internal Magnetometer
+param set-default MBE_ENABLE 0 # Disable online mag calibration when disarmed
+param set-default EKF2_GPS_CTRL 15 # Enable GPS heading fusion
+param set-default SENS_GPS_MASK 0 # Disable multi-GPS blending
+
+# Estimation workarounds, should be double-checked if necessary
+param set-default EKF2_GBIAS_INIT 0.01
+param set-default EKF2_SYNT_MAG_Z 1 # Why? Who said magnetometer Z is not usable?
+
+param set-default EKF2_GPS_V_NOISE 0.751 # Lower certainty for GPS
+param set-default EKF2_GPS_POS_X 2.5 # GPS position, accurate?
+param set-default EKF2_REQ_EPV 10 # Accept GPS easier
+param set-default EKF2_REQ_HDRIFT 1
+param set-default EKF2_REQ_SACC 2
+param set-default EKF2_REQ_VDRIFT 20
+
+param set-default EKF2_MAG_CHK_STR 0.5 # Accept mag easier
+param set-default COM_ARM_MAG_STR 0 # Disable magnetic field strength prearm check
+param set-default COM_ARM_MAG_ANG 360 # Disable internal/external magnetometer consistency check
+param set-default EKF2_ABL_LIM 1 # Higher accelerometer bias limit, was sometimes above the threshold, GPS reporting 0 altitude issue?
@@ -157,3 +157,9 @@ if(CONFIG_MODULES_UUV_ATT_CONTROL)
 		60002_uuv_bluerov2_heavy
 	)
 endif()
+
+if(CONFIG_MODULES_BOAT)
+	px4_add_romfs_files(
+		70001_boat
+	)
+endif()
@@ -0,0 +1,11 @@
+#!/bin/sh
+# Standard apps for a differential drive rover.
+
+# Start the attitude and position estimator.
+ekf2 start &
+
+# Start rover differential drive controller.
+boat start
+
+# Start Land Detector.
+land_detector start rover
@@ -5,7 +5,7 @@
 # NOTE: Script variables are declared/initialized/unset in the rcS script.
 #

-set VEHICLE_TYPE rover
+set VEHICLE_TYPE boat

 # MAV_TYPE_SURFACE_BOAT 11
 param set-default MAV_TYPE 11
@@ -32,6 +32,15 @@ then
 	. ${R}etc/init.d/rc.rover_apps
 fi

+#
+# Boat setup.
+#
+if [ $VEHICLE_TYPE = boat ]
+then
+	# Start standard Boat apps.
+	. ${R}etc/init.d/rc.boat_apps
+fi
+
 #
 # Differential Rover setup.
 #
@@ -439,14 +439,6 @@ else
 	# Must be started after the serial config is read
 	rc_input start $RC_INPUT_ARGS

-	# Manages USB interface
-	if ! cdcacm_autostart start
-	then
-		sercon
-		echo "Starting MAVLink on /dev/ttyACM0"
-		mavlink start -d /dev/ttyACM0
-	fi
-
 	#
 	# Play the startup tune (if not disabled or there is an error)
 	#
@@ -6,7 +6,7 @@ function check_git_submodule {
 if [[ -f $1"/.git" || -d $1"/.git" ]]; then

 	# always update within CI environment or configuring withing VSCode CMake where you can't interact
-	if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ]; then
+	if [ "$CI" == "true" ] || [ -n "${VSCODE_PID+set}" ] || [ -n "${CLION_IDE+set}" ]; then
 		git submodule --quiet sync --recursive -- $1
 		git submodule --quiet update --init --recursive --jobs=8 -- $1  || true
 		git submodule --quiet sync --recursive -- $1
@@ -34,24 +34,23 @@ def extract_timer(line):
    if search:
        return search.group(1), 'generic'

-    # nxp rt1062 format: initIOPWM(PWM::FlexPWM2),
-    search = re.search('PWM::Flex([0-9a-zA-Z_]+)[,\)]', line, re.IGNORECASE)
+    # NXP FlexPWM format format: initIOPWM(PWM::FlexPWM2),
+    search = re.search('PWM::Flex([0-9a-zA-Z_]+)..PWM::Submodule([0-9])[,\)]', line, re.IGNORECASE)
    if search:
-        return search.group(1), 'imxrt'
+        return (search.group(1) + '_' +  search.group(2)), 'imxrt'

    return None, 'unknown'

-def extract_timer_from_channel(line, num_channels_already_found):
+def extract_timer_from_channel(line, timer_names):
    # Try format: initIOTimerChannel(io_timers, {Timer::Timer5, Timer::Channel1}, {GPIO::PortA, GPIO::Pin0}),
    search = re.search('Timer::([0-9a-zA-Z_]+), ', line, re.IGNORECASE)
    if search:
        return search.group(1)

-    # nxp rt1062 format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
-    search = re.search('PWM::(PWM[0-9]+)[_,\)]', line, re.IGNORECASE)
+    # NXP FlexPWM format: initIOTimerChannel(io_timers, {PWM::PWM2_PWM_A, PWM::Submodule0}, IOMUX::Pad::GPIO_B0_06),
+    search = re.search('PWM::(PWM[0-9]+).*PWM::Submodule([0-9])', line, re.IGNORECASE)
    if search:
-        # imxrt uses a 1:1 timer group to channel association
-        return str(num_channels_already_found)
+        return str(timer_names.index((search.group(1) + '_' +  search.group(2))))

    return None

@@ -69,6 +68,7 @@ def get_timer_groups(timer_config_file, verbose=False):
    open_idx, close_idx = find_matching_brackets(('{', '}'), timer_config, verbose)
    timers_str = timer_config[open_idx:close_idx]
    timers = []
+    timer_names = []
    for line in timers_str.splitlines():
        line = line.strip()
        if len(line) == 0 or line.startswith('//'):
@@ -77,14 +77,12 @@ def get_timer_groups(timer_config_file, verbose=False):

        if timer_type == 'imxrt':
            if verbose: print('imxrt timer found')
-            max_num_channels = 16 # Just add a fixed number of timers
-            timers = [str(i) for i in range(max_num_channels)]
-            dshot_support = {str(i): False for i in range(max_num_channels)}
+            timer_names.append(timer)
+            timers.append(str(len(timers)))
+            dshot_support = {str(i): False for i in range(16)}
            for i in range(8): # First 8 channels support dshot
                dshot_support[str(i)] = True
-            break
-
-        if timer:
+        elif timer:
            if verbose: print('found timer def: {:}'.format(timer))
            dshot_support[timer] = 'DMA' in line
            timers.append(timer)
@@ -111,7 +109,7 @@ def get_timer_groups(timer_config_file, verbose=False):
            continue

        if verbose: print('--'+line+'--')
-        timer = extract_timer_from_channel(line, len(channel_timers))
+        timer = extract_timer_from_channel(line, timer_names)

        if timer:
            if verbose: print('Found timer: {:} in channel line {:}'.format(timer, line))
@@ -1,7 +1,7 @@
 #!/usr/bin/env python3
 ############################################################################
 #
-#   Copyright (c) 2012-2024 PX4 Development Team. All rights reserved.
+#   Copyright (c) 2012-2017 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
@@ -50,6 +50,9 @@
 #       Currently only used for informational purposes.
 #

+# for python2.7 compatibility
+from __future__ import print_function
+
 import sys
 import argparse
 import binascii
@@ -67,32 +70,35 @@ from sys import platform as _platform
 try:
    import serial
 except ImportError as e:
-    print(f"Failed to import serial: {e}")
+    print("Failed to import serial: " + str(e))
    print("")
    print("You may need to install it using:")
-    print("    python -m pip install pyserial")
+    print("    pip3 install --user pyserial")
    print("")
    sys.exit(1)


+# Define time to use time.time() by default
+def _time():
+    return time.time()
+
 # Detect python version
 if sys.version_info[0] < 3:
-    raise RuntimeError("Python 2 is not supported. Please try again using Python 3.")
-    sys.exit(1)
-
-
-# Use monotonic time where available
-def _time():
-    try:
-        return time.monotonic()
-    except Exception:
-        return time.time()
+    runningPython3 = False
+else:
+    runningPython3 = True
+    if sys.version_info[1] >=3:
+        # redefine to use monotonic time when available
+        def _time():
+            try:
+                return time.monotonic()
+            except Exception:
+                return time.time()

 class FirmwareNotSuitableException(Exception):
    def __init__(self, message):
        super(FirmwareNotSuitableException, self).__init__(message)

-
 class firmware(object):
    '''Loads a firmware file'''

@@ -157,13 +163,13 @@ class firmware(object):

    def crc(self, padlen):
        state = self.__crc32(self.image, int(0))
-        for _ in range(len(self.image), (padlen - 1), 4):
+        for i in range(len(self.image), (padlen - 1), 4):
            state = self.__crc32(self.crcpad, state)
        return state


-class uploader:
-    '''Uploads a firmware file to the PX4 bootloader'''
+class uploader(object):
+    '''Uploads a firmware file to the PX FMU bootloader'''

    # protocol bytes
    INSYNC          = b'\x12'
@@ -189,8 +195,6 @@ class uploader:
    GET_CHIP        = b'\x2c'     # rev5+  , get chip version
    SET_BOOT_DELAY  = b'\x2d'     # rev5+  , set boot delay
    GET_CHIP_DES    = b'\x2e'     # rev5+  , get chip description in ASCII
-    GET_VERSION     = b'\x2f'     # rev5+  , get chip description in ASCII
-    CHIP_FULL_ERASE = b'\x40'     # full erase of flash, rev6+
    MAX_DES_LENGTH  = 20

    REBOOT          = b'\x30'
@@ -201,7 +205,6 @@ class uploader:
    INFO_BOARD_ID   = b'\x02'        # board type
    INFO_BOARD_REV  = b'\x03'        # board revision
    INFO_FLASH_SIZE = b'\x04'        # max firmware size in bytes
-    BL_VERSION      = b'\x07'        # get bootloader version, e.g. major.minor.patch.githash (up to 20 chars)

    PROG_MULTI_MAX  = 252            # protocol max is 255, must be multiple of 4
    READ_MULTI_MAX  = 252            # protocol max is 255
@@ -232,7 +235,6 @@ class uploader:
        self.baudrate_bootloader = baudrate_bootloader
        self.baudrate_flightstack = baudrate_flightstack
        self.baudrate_flightstack_idx = -1
-        self.force_erase = False

    def close(self):
        if self.port is not None:
@@ -355,22 +357,19 @@ class uploader:
            self.port.baudrate = self.baudrate_bootloader * 2.33
        except NotImplementedError as e:
            # This error can occur because pySerial on Windows does not support odd baudrates
-            print(f"{e} -> could not check for FTDI device, assuming USB connection")
+            print(str(e) + " -> could not check for FTDI device, assuming USB connection")
            return

        self.__send(uploader.GET_SYNC +
                    uploader.EOC)
        try:
            self.__getSync(False)
-        except RuntimeError:
+        except:
            # if it fails we are on a real serial port - only leave this enabled on Windows
            if sys.platform.startswith('win'):
                self.ackWindowedMode = True
        finally:
-            try:
-                self.port.baudrate = self.baudrate_bootloader
-            except Exception:
-                pass
+            self.port.baudrate = self.baudrate_bootloader

    # send the GET_DEVICE command and wait for an info parameter
    def __getInfo(self, param):
@@ -411,17 +410,6 @@ class uploader:
        pieces = value.split(b",")
        return pieces

-    def __getVersion(self):
-        self.__send(uploader.GET_VERSION + uploader.EOC)
-        try:
-            length = self.__recv_int()
-            value = self.__recv(length)
-            self.__getSync()
-        except RuntimeError:
-            # Bootloader doesn't support version call
-            return "unknown"
-        return value.decode()
-
    def __drawProgressBar(self, label, progress, maxVal):
        if maxVal < progress:
            progress = maxVal
@@ -433,16 +421,10 @@ class uploader:

    # send the CHIP_ERASE command and wait for the bootloader to become ready
    def __erase(self, label):
-        print(f"Windowed mode: {self.ackWindowedMode}")
+        print("Windowed mode: %s" % self.ackWindowedMode)
        print("\n", end='')
-
-        if self.force_erase:
-            print("Trying force erase of full chip...\n")
-            self.__send(uploader.CHIP_FULL_ERASE +
-                        uploader.EOC)
-        else:
-            self.__send(uploader.CHIP_ERASE +
-                        uploader.EOC)
+        self.__send(uploader.CHIP_ERASE +
+                    uploader.EOC)

        # erase is very slow, give it 30s
        deadline = _time() + 30.0
@@ -459,14 +441,9 @@ class uploader:

            if self.__trySync():
                self.__drawProgressBar(label, 10.0, 10.0)
-                if self.force_erase:
-                    print("\nForce erase done.\n")
                return

-        if self.force_erase:
-            raise RuntimeError("timed out waiting for erase, force erase is likely not supported by bootloader!")
-        else:
-            raise RuntimeError("timed out waiting for erase")
+        raise RuntimeError("timed out waiting for erase")

    # send a PROG_MULTI command to write a collection of bytes
    def __program_multi(self, data, windowMode):
@@ -604,11 +581,8 @@ class uploader:
        self.board_rev = self.__getInfo(uploader.INFO_BOARD_REV)
        self.fw_maxsize = self.__getInfo(uploader.INFO_FLASH_SIZE)

-        self.version = self.__getVersion()
-
    # upload the firmware
-    def upload(self, fw_list, force=False, boot_delay=None, boot_check=False, force_erase=False):
-        self.force_erase = force_erase
+    def upload(self, fw_list, force=False, boot_delay=None, boot_check=False):
        # select correct binary
        found_suitable_firmware = False
        for file in fw_list:
@@ -637,8 +611,6 @@ class uploader:
        print("Loaded firmware for board id: %s,%s size: %d bytes (%.2f%%) " % (fw.property('board_id'), fw.property('board_revision'), fw.property('image_size'), percent))
        print()

-        print(f"Bootloader version: {self.version}")
-
        # Make sure we are doing the right thing
        start = _time()
        if self.board_type != fw.property('board_id'):
@@ -668,14 +640,14 @@ class uploader:
            self.otp_coa = self.otp[32:160]
            # show user:
            try:
-                print("Sn: ", end='')
+                print("sn: ", end='')
                for byte in range(0, 12, 4):
                    x = self.__getSN(byte)
                    x = x[::-1]  # reverse the bytes
                    self.sn = self.sn + x
                    print(binascii.hexlify(x).decode('Latin-1'), end='')  # show user
                print('')
-                print("Chip: %08x" % self.__getCHIP())
+                print("chip: %08x" % self.__getCHIP())

                otp_id = self.otp_id.decode('Latin-1')
                if ("PX4" in otp_id):
@@ -685,19 +657,17 @@ class uploader:
                    print("OTP pid: " + binascii.hexlify(self.otp_pid).decode('Latin-1'))
                    print("OTP coa: " + binascii.b2a_base64(self.otp_coa).decode('Latin-1'))

-            except Exception as e:
+            except Exception:
                # ignore bad character encodings
-                print(f"Exception ignored: {e}")
                pass

        # Silicon errata check was added in v5
        if (self.bl_rev >= 5):
            des = self.__getCHIPDes()
            if (len(des) == 2):
-                family, revision = des
-                print(f"Family: {family.decode()}")
-                print(f"Revision: {revision.decode()}")
-                print(f"Flash: {self.fw_maxsize} bytes")
+                print("family: %s" % des[0])
+                print("revision: %s" % des[1])
+                print("flash: %d bytes" % self.fw_maxsize)

                # Prevent uploads where the maximum image size of the board config is smaller than the flash
                # of the board. This is a hint the user chose the wrong config and will lack features
@@ -708,7 +678,8 @@ class uploader:
                # https://github.com/PX4/Firmware/blob/master/src/drivers/boards/common/stm32/board_mcu_version.c#L125-L144

                if self.fw_maxsize > fw.property('image_maxsize') and not force:
-                    raise RuntimeError(f"Board can accept larger flash images ({self.fw_maxsize} bytes) than board config ({fw.property('image_maxsize')} bytes). Please use the correct board configuration to avoid lacking critical functionality.")
+                    raise RuntimeError("Board can accept larger flash images (%u bytes) than board config (%u bytes). Please use the correct board configuration to avoid lacking critical functionality."
+                                       % (self.fw_maxsize, fw.property('image_maxsize')))
        else:
            # If we're still on bootloader v4 on a Pixhawk, we don't know if we
            # have the silicon errata and therefore need to flash px4_fmu-v2
@@ -809,13 +780,16 @@ class uploader:


 def main():
+    # Python2 is EOL
+    if not runningPython3:
+        raise RuntimeError("Python 2 is not supported. Please try again using Python 3.")
+
    # Parse commandline arguments
    parser = argparse.ArgumentParser(description="Firmware uploader for the PX autopilot system.")
    parser.add_argument('--port', action="store", required=True, help="Comma-separated list of serial port(s) to which the FMU may be attached")
    parser.add_argument('--baud-bootloader', action="store", type=int, default=115200, help="Baud rate of the serial port (default is 115200) when communicating with bootloader, only required for true serial ports.")
    parser.add_argument('--baud-flightstack', action="store", default="57600", help="Comma-separated list of baud rate of the serial port (default is 57600) when communicating with flight stack (Mavlink or NSH), only required for true serial ports.")
    parser.add_argument('--force', action='store_true', default=False, help='Override board type check, or silicon errata checks and continue loading')
-    parser.add_argument('--force-erase', action="store_true", help="Do not perform the blank check, always erase every sector of the application space")
    parser.add_argument('--boot-delay', type=int, default=None, help='minimum boot delay to store in flash')
    parser.add_argument('--use-protocol-splitter-format', action='store_true', help='use protocol splitter format for reboot')
    parser.add_argument('firmware', action="store", nargs='+', help="Firmware file(s)")
@@ -893,10 +867,9 @@ def main():
                        # Windows, don't open POSIX ports
                        if "/" not in port:
                            up = uploader(port, args.baud_bootloader, baud_flightstack)
-                except Exception as e:
+                except Exception:
                    # open failed, rate-limit our attempts
                    time.sleep(0.05)
-                    print(f"Exception ignored: {e}")

                    # and loop to the next port
                    continue
@@ -911,10 +884,10 @@ def main():
                        up.identify()
                        found_bootloader = True
                        print()
-                        print(f"Found board id: {up.board_type},{up.board_rev} bootloader protocol revision {up.bl_rev} on {port}")
+                        print("Found board id: %s,%s bootloader version: %s on %s" % (up.board_type, up.board_rev, up.bl_rev, port))
                        break

-                    except (RuntimeError, serial.SerialException):
+                    except Exception:

                        if not up.send_reboot(args.use_protocol_splitter_format):
                            break
@@ -934,14 +907,14 @@ def main():

                try:
                    # ok, we have a bootloader, try flashing it
-                    up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay, force_erase=args.force_erase)
+                    up.upload(args.firmware, force=args.force, boot_delay=args.boot_delay)

                    # if we made this far without raising exceptions, the upload was successful
                    successful = True

-                except RuntimeError as e:
+                except RuntimeError as ex:
                    # print the error
-                    print(f"\n\nError: {e}")
+                    print("\nERROR: %s" % ex.args)

                except FirmwareNotSuitableException:
                    unsuitable_board = True
@@ -12,7 +12,6 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
@@ -6,6 +6,7 @@
 param set-default CBRK_IO_SAFETY 0
 param set-default CANNODE_SUB_MBD 1
 param set-default CANNODE_SUB_RTCM 1
+param set-default GPS_1_GNSS 63
 param set-default MBE_ENABLE 1
 param set-default SENS_IMU_CLPNOTI 0

@@ -47,7 +47,7 @@
 #define GPIO_BTN_SAFETY       /* PB15 */ (GPIO_INPUT|GPIO_PULLDOWN|GPIO_PORTB|GPIO_PIN15)

 /* Safety LED */
-#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_PUSHPULL|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)
+#define GPIO_LED_SAFETY       /* PA1  */ (GPIO_OUTPUT|GPIO_OPENDRAIN|GPIO_SPEED_2MHz|GPIO_OUTPUT_SET|GPIO_PORTA|GPIO_PIN1)

 /* Tone alarm output. */
 #define TONE_ALARM_TIMER             2    /* timer 2 */
@@ -14,6 +14,7 @@ CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_COMMON_HYGROMETERS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
+CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16507=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20948=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_IRLOCK=y
@@ -8,7 +8,6 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS4"
 CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
@@ -8,9 +8,7 @@ CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_BROADCOM_AFBRS50=y
-CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
@@ -32,10 +32,19 @@ then
 	param set-default SENS_TEMP_ID 2490378
 fi

+param set-default EKF2_BARO_DELAY 39
+param set-default EKF2_BARO_NOISE 0.9
+param set-default EKF2_HGT_REF 0
+param set-default EKF2_MAG_DELAY 60
+param set-default EKF2_MAG_NOISE 0.06
 param set-default EKF2_MULTI_IMU 2
 param set-default EKF2_OF_CTRL 1
+param set-default EKF2_OF_DELAY 28
 param set-default EKF2_OF_N_MIN 0.05
 param set-default EKF2_RNG_A_HMAX 25
+param set-default EKF2_RNG_DELAY 105
+param set-default EKF2_RNG_NOISE 0.03
 param set-default EKF2_RNG_QLTY_T 0.1
+param set-default EKF2_RNG_SFE 0.03

 param set-default SENS_FLOW_RATE 150
@@ -1,13 +1,13 @@
 CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_ROMFSROOT="cannode"
-CONFIG_BOARD_NO_HELP=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_DRIVERS_BAROMETER_BMP388=y
 CONFIG_DRIVERS_BOOTLOADERS=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
 CONFIG_DRIVERS_MAGNETOMETER_BOSCH_BMM150=y
+CONFIG_DRIVERS_MAGNETOMETER_ST_IIS2MDC=y
 CONFIG_DRIVERS_SAFETY_BUTTON=y
 CONFIG_DRIVERS_TONE_ALARM=y
 CONFIG_BOARD_UAVCAN_INTERFACES=1
@@ -8,4 +8,7 @@ icm42688p -R 0 -s start

 bmp388 -I -b 1 start

-bmm150 -I -b 1 start
+if ! iis2mdc -R 4 -I -b 1 start
+then
+	bmm150 -I -b 1 start
+fi
@@ -2,7 +2,6 @@ CONFIG_BOARD_TOOLCHAIN="arm-none-eabi"
 CONFIG_BOARD_ARCHITECTURE="cortex-m7"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_MAIERTEK_MPC2520=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
 CONFIG_DRIVERS_MAGNETOMETER_ISENTEK_IST8310=y
@@ -3,7 +3,6 @@ CONFIG_BOARD_ARCHITECTURE="cortex-m4"
 CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_BAROMETER_LPS25H=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L0X=y
 CONFIG_DRIVERS_GPS=y
@@ -4,7 +4,6 @@ CONFIG_BOARD_CONSTRAINED_FLASH=y
 CONFIG_BOARD_CONSTRAINED_MEMORY=y
 CONFIG_BOARD_COMPILE_DEFINITIONS="-Wno-narrowing"
 CONFIG_DRIVERS_BAROMETER_BMP388=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_VL53L1X=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088_I2C=y
@@ -7,14 +7,12 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_COMMON_BAROMETERS=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
@@ -6,7 +6,6 @@ CONFIG_BOARD_SERIAL_TEL1="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS3"
 CONFIG_DRIVERS_ADC_ADS1115=y
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
@@ -11,11 +11,9 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
@@ -194,12 +194,6 @@

 #define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */

-/* UART clock selection */
-/* reset to default to overwrite any changes done by any bootloader */
-
-#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
-#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
-
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2

@@ -11,11 +11,9 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20649=y
@@ -195,12 +195,6 @@

 #define STM32_RCC_D3CCIPR_ADCSRC     RCC_D3CCIPR_ADCSEL_PLL2     /* ADC 1 2 3 clock source */

-/* UART clock selection */
-/* reset to default to overwrite any changes done by any bootloader */
-
-#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
-#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
-
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2

@@ -12,7 +12,6 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -8,7 +8,6 @@ CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
@@ -7,7 +7,6 @@ CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
@@ -12,7 +12,6 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -97,9 +97,9 @@
 #define INTERFACE_USART_CONFIG         "/dev/ttyS5,57600"
 #define BOOT_DELAY_ADDRESS             0x000001a0
 #define BOARD_TYPE                     1013
-#define BOARD_FLASH_SECTORS            (14)
-#define BOARD_FLASH_SIZE               (16 * 128 * 1024)
-#define APP_RESERVATION_SIZE 	       (1 * 128 * 1024)
+#define _FLASH_KBYTES                  (*(uint32_t *)0x1FF1E880)
+#define BOARD_FLASH_SECTORS            (15)
+#define BOARD_FLASH_SIZE               (_FLASH_KBYTES * 1024)

 #define OSC_FREQ                       16

@@ -11,7 +11,6 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -11,7 +11,6 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -9,7 +9,6 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_BOARD_SERIAL_RC="/dev/ttyS4"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20689=y
@@ -9,7 +9,6 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -9,7 +9,6 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -9,7 +9,6 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -11,7 +11,6 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -7,7 +7,6 @@ CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
@@ -7,7 +7,6 @@ CONFIG_BOARD_SERIAL_TEL3="/dev/ttyS5"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
@@ -8,7 +8,6 @@ CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
@@ -12,7 +12,6 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -12,7 +12,6 @@ CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM42688P=y
@@ -9,7 +9,7 @@ When running PX4 directly on the QRB5165 SoC it runs partially on the Sensor Low
 The portion running on the DSP hosts the flight critical portions of PX4 such as
 the IMU, barometer, magnetometer, GPS, ESC, and power management drivers, and the
 state estimation. The DSP acts as the real time portion of the system. Non flight
-critical applications such as Mavlink, logging, and commander are running on the
+critical applications such as Mavlink, and logging are running on the
 ARM CPU cluster (aka apps proc). The DSP and ARM CPU cluster communicate via a
 Qualcomm proprietary shared memory interface.

@@ -27,6 +27,7 @@ The full instructions are available here:
 ```
 px4$ boards/modalai/voxl2/scripts/run-docker.sh
 root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/clean.sh
+root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-deps.sh
 root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-apps.sh
 root@9373fa1401b8:/usr/local/workspace# boards/modalai/voxl2/scripts/build-slpi.sh
 root@9373fa1401b8:/usr/local/workspace# exit
@@ -69,16 +70,15 @@ pxh>
 ## Notes

 You cannot cleanly shutdown PX4 with the shutdown command on VOXL 2. You have
-to power cycle the board and restart everything.
+to power cycle the board and restart everything. Starting with SDK 1.3.0 it is possible
+to cleanly shutdown PX4 on VOXL 2.

 ## Tips

-Start with a VOXL 2 that only has the system image installed, not the SDK
-
-Run the command ```voxl-px4 -s``` on target to run the self-test
+Always use the latest SDK release

 In order to see DSP specific debug messages the mini-dm tool in the Hexagon SDK
-can be used:
+can be used (Most messages are passed to the apps proc but certain low level messages are not):
 ```
 modalai@modalai-XPS-15-9570:/local/mnt/workspace/Qualcomm/Hexagon_SDK/4.1.0.4/tools/debug/mini-dm/Ubuntu18$ sudo ./mini-dm
 [sudo] password for modalai:
@@ -20,7 +20,6 @@ adb shell chmod a+x /usr/bin/voxl-px4-hitl-start

 # Push configuration file
 adb shell mkdir -p /etc/modalai
-adb push boards/modalai/voxl2/target/voxl-px4-set-default-parameters.config /etc/modalai
 adb push boards/modalai/voxl2/target/voxl-px4-fake-imu-calibration.config /etc/modalai
 adb push boards/modalai/voxl2/target/voxl-px4-hitl-set-default-parameters.config /etc/modalai

@@ -129,12 +129,6 @@ else
    DAEMON="-d"
 fi

-if [ ! -f /data/px4/param/parameters ]; then
-   echo "[INFO] Setting default parameters for PX4 on voxl"
-   px4 $DAEMON -s /etc/modalai/voxl-px4-set-default-parameters.config
-   /bin/sync
-fi
-
 if [ $SENSOR_CAL == "FAKE" ]; then
   /bin/echo "[INFO] Setting up fake sensor calibration values"
   px4 $DAEMON -s /etc/modalai/voxl-px4-fake-imu-calibration.config
@@ -1,192 +0,0 @@
-#!/bin/sh
-# PX4 commands need the 'px4-' prefix in bash.
-# (px4-alias.sh is expected to be in the PATH)
-. px4-alias.sh
-
-param select /data/px4/param/parameters
-
-# Make sure we are running at 800Hz on IMU
-param set IMU_GYRO_RATEMAX 800
-
-# EKF2 Parameters
-param set EKF2_IMU_POS_X 0.027
-param set EKF2_IMU_POS_Y 0.009
-param set EKF2_IMU_POS_Z -0.019
-param set EKF2_EV_DELAY 5
-param set EKF2_AID_MASK 280
-param set EKF2_ABL_LIM 0.8
-param set EKF2_TAU_POS 0.25
-param set EKF2_TAU_VEL 0.25
-
-param set MC_AIRMODE 0
-
-param set MC_YAW_P 2.0
-param set MC_YAWRATE_P 0.15
-param set MC_YAWRATE_I 0.1
-param set MC_YAWRATE_D 0.0
-param set MC_YAWRATE_K 1.0
-
-param set MC_PITCH_P 5.5
-param set MC_PITCHRATE_P 0.08
-param set MC_PITCHRATE_I 0.2
-param set MC_PITCHRATE_D 0.0013
-param set MC_PITCHRATE_K 1.0
-
-param set MC_ROLL_P 5.5
-param set MC_ROLLRATE_P 0.08
-param set MC_ROLLRATE_I 0.2
-param set MC_ROLLRATE_D 0.0013
-param set MC_ROLLRATE_K 1.0
-
-param set MPC_VELD_LP 5.0
-
-# tweak MPC_THR_MIN to prevent roll/pitch losing control
-# authority under rapid downward acceleration
-param set MPC_THR_MAX 0.75
-param set MPC_THR_MIN 0.08
-param set MPC_THR_HOVER 0.42
-param set MPC_MANTHR_MIN 0.05
-
-# default position mode with a little expo, smooth mode is terrible
-param set MPC_POS_MODE 0
-param set MPC_YAW_EXPO 0.20
-param set MPC_XY_MAN_EXPO 0.20
-param set MPC_Z_MAN_EXPO 0.20
-
-# max velocities
-param set MPC_VEL_MANUAL 5.0
-param set MPC_XY_VEL_MAX 5.0
-param set MPC_XY_CRUISE 5.0
-param set MPC_Z_VEL_MAX_DN 1.5
-param set MPC_Z_VEL_MAX_UP 4.0
-param set MPC_LAND_SPEED 1.0
-
-# Horizontal position PID
-param set MPC_XY_P 0.95
-param set MPC_XY_VEL_P_ACC 3.00
-param set MPC_XY_VEL_I_ACC 0.10
-param set MPC_XY_VEL_D_ACC 0.00
-
-# Vertical position PID
-# PX4 Defaults
-param set MPC_Z_P 1.0
-param set MPC_Z_VEL_P_ACC 8.0
-param set MPC_Z_VEL_I_ACC 2.0
-param set MPC_Z_VEL_D_ACC 0.0
-
-param set MPC_TKO_RAMP_T 1.50
-param set MPC_TKO_SPEED	1.50
-
-# Set the ESC outputs to function as motors
-param set VOXL_ESC_FUNC1 101
-param set VOXL_ESC_FUNC2 103
-param set VOXL_ESC_FUNC3 104
-param set VOXL_ESC_FUNC4 102
-
-param set VOXL_ESC_SDIR1 0
-param set VOXL_ESC_SDIR2 0
-param set VOXL_ESC_SDIR3 0
-param set VOXL_ESC_SDIR4 0
-
-param set VOXL_ESC_CONFIG 1
-param set VOXL_ESC_REV 0
-param set VOXL_ESC_MODE 0
-param set VOXL_ESC_BAUD 2000000
-param set VOXL_ESC_RPM_MAX 10500
-param set VOXL_ESC_RPM_MIN 1000
-
-# Set the Voxl2 IO outputs to function as motors
-param set VOXL2_IO_FUNC1 101
-param set VOXL2_IO_FUNC2 102
-param set VOXL2_IO_FUNC3 103
-param set VOXL2_IO_FUNC4 104
-
-param set VOXL2_IO_BAUD 921600
-param set VOXL2_IO_MIN 1000
-param set VOXL2_IO_MAX 2000
-
-# Some parameters for control allocation
-param set CA_ROTOR_COUNT 4
-param set CA_R_REV 0
-param set CA_AIRFRAME 0
-param set CA_ROTOR_COUNT 4
-param set CA_ROTOR0_PX 0.15
-param set CA_ROTOR0_PY 0.15
-param set CA_ROTOR1_PX -0.15
-param set CA_ROTOR1_PY -0.15
-param set CA_ROTOR2_PX 0.15
-param set CA_ROTOR2_PY -0.15
-param set CA_ROTOR2_KM -0.05
-param set CA_ROTOR3_PX -0.15
-param set CA_ROTOR3_PY 0.15
-param set CA_ROTOR3_KM -0.05
-
-# Some parameter settings to disable / ignore certain preflight checks
-
-# No GPS driver yet so disable it
-param set SYS_HAS_GPS 0
-
-# Allow arming wihtout a magnetometer (Need magnetometer driver)
-param set SYS_HAS_MAG 0
-param set EKF2_MAG_TYPE	5
-
-# Allow arming without battery check (Need voxlpm driver)
-param set CBRK_SUPPLY_CHK 894281
-
-# Allow arming without an SD card
-param set COM_ARM_SDCARD 0
-
-# Allow arming wihtout CPU load information
-param set COM_CPU_MAX 0.0
-
-# Disable auto disarm. This is number of seconds to wait for takeoff
-# after arming. If no takeoff happens then it will disarm. A negative
-# value disables this.
-param set COM_DISARM_PRFLT -1
-
-# This parameter doesn't exist anymore. Need to see what the new method is.
-# param set MAV_BROADCAST 0
-
-# Doesn't work without setting this to Quadcopter
-param set MAV_TYPE 2
-
-# Parameters that we don't use but QGC complains about if they aren't there
-param set SYS_AUTOSTART 4001
-
-# Default RC channel mappings
-param set RC_MAP_ACRO_SW 0
-param set RC_MAP_ARM_SW 0
-param set RC_MAP_AUX1 0
-param set RC_MAP_AUX2 0
-param set RC_MAP_AUX3 0
-param set RC_MAP_AUX4 0
-param set RC_MAP_AUX5 0
-param set RC_MAP_AUX6 0
-param set RC_MAP_FAILSAFE 0
-param set RC_MAP_FLAPS 0
-param set RC_MAP_FLTMODE 6
-param set RC_MAP_GEAR_SW 0
-param set RC_MAP_KILL_SW 7
-param set RC_MAP_LOITER_SW 0
-param set RC_MAP_MAN_SW 0
-param set RC_MAP_MODE_SW 0
-param set RC_MAP_OFFB_SW 0
-param set RC_MAP_PARAM1 0
-param set RC_MAP_PARAM2 0
-param set RC_MAP_PARAM3 0
-param set RC_MAP_PITCH 2
-param set RC_MAP_POSCTL_SW 0
-param set RC_MAP_RATT_SW 0
-param set RC_MAP_RETURN_SW 0
-param set RC_MAP_ROLL 1
-param set RC_MAP_STAB_SW 0
-param set RC_MAP_THROTTLE 3
-param set RC_MAP_TRANS_SW 0
-param set RC_MAP_YAW 4
-
-param save
-
-sleep 2
-
-# Need px4-shutdown otherwise Linux system shutdown is called
-px4-shutdown
@@ -12,7 +12,6 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -197,12 +197,6 @@

 #define STM32_FDCANCLK               STM32_HSE_FREQUENCY

-/* UART clock selection */
-/* reset to default to overwrite any changes done by any bootloader */
-
-#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
-#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
-
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2

@@ -10,7 +10,6 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -9,7 +9,6 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -10,7 +10,6 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -197,12 +197,6 @@

 #define STM32_FDCANCLK               STM32_HSE_FREQUENCY

-/* UART clock selection */
-/* reset to default to overwrite any changes done by any bootloader */
-
-#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
-#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
-
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2

@@ -10,7 +10,6 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -196,12 +196,6 @@

 #define STM32_FDCANCLK               STM32_HSE_FREQUENCY

-/* UART clock selection */
-/* reset to default to overwrite any changes done by any bootloader */
-
-#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
-#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
-
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2

@@ -9,11 +9,9 @@ CONFIG_DRIVERS_BAROMETER_DPS310=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI085=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI088=y
@@ -196,12 +196,6 @@

 #define STM32_FDCANCLK               STM32_HSE_FREQUENCY

-/* UART clock selection */
-/* reset to default to overwrite any changes done by any bootloader */
-
-#define STM32_RCC_D2CCIP2R_USART234578_SEL RCC_D2CCIP2R_USART234578SEL_RCC
-#define STM32_RCC_D2CCIP2R_USART16_SEL     RCC_D2CCIP2R_USART16SEL_RCC
-
 /* FLASH wait states */
 #define BOARD_FLASH_WAITSTATES 2

@@ -9,7 +9,6 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -10,7 +10,6 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -11,7 +11,6 @@ CONFIG_DRIVERS_BAROMETER_MPL3115A2=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y
@@ -11,7 +11,6 @@ CONFIG_DRIVERS_BAROMETER_MPL3115A2=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DISTANCE_SENSOR_SRF05=y
@@ -7,7 +7,6 @@ CONFIG_BOARD_SERIAL_URT6="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS1"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_BMP280=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_DRIVERS_DSHOT=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_ICM20602=y
@@ -9,8 +9,6 @@ CONFIG_BOARD_SERIAL_TEL2="/dev/ttyS2"
 CONFIG_BOARD_SERIAL_TEL4="/dev/ttyS6"
 CONFIG_DRIVERS_ADC_BOARD_ADC=y
 CONFIG_DRIVERS_BAROMETER_MS5611=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
-CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_IMU_INVENSENSE_MPU6000=y
 CONFIG_DRIVERS_IMU_ST_L3GD20=y
@@ -11,11 +11,9 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
@@ -11,11 +11,9 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_ANALOG_DEVICES_ADIS16448=y
@@ -12,7 +12,6 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -10,7 +10,6 @@ CONFIG_COMMON_BAROMETERS=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -6,7 +6,6 @@ CONFIG_COMMON_OPTICAL_FLOW=n
 CONFIG_COMMON_TELEMETRY=n
 CONFIG_DRIVERS_CAMERA_CAPTURE=n
 CONFIG_DRIVERS_CAMERA_TRIGGER=n
-CONFIG_DRIVERS_CDCACM_AUTOSTART=n
 CONFIG_DRIVERS_IRLOCK=n
 CONFIG_DRIVERS_PCA9685_PWM_OUT=n
 CONFIG_DRIVERS_PWM_INPUT=n
@@ -0,0 +1,17 @@
+CONFIG_DRIVERS_IRLOCK=n
+CONFIG_MODULES_AIRSPEED_SELECTOR=n
+CONFIG_MODULES_BOAT=y
+CONFIG_MODULES_FLIGHT_MODE_MANAGER=n
+CONFIG_MODULES_FW_ATT_CONTROL=n
+CONFIG_MODULES_FW_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_FW_POS_CONTROL=n
+CONFIG_MODULES_FW_RATE_CONTROL=n
+CONFIG_MODULES_LANDING_TARGET_ESTIMATOR=n
+CONFIG_MODULES_MC_ATT_CONTROL=n
+CONFIG_MODULES_MC_AUTOTUNE_ATTITUDE_CONTROL=n
+CONFIG_MODULES_MC_HOVER_THRUST_ESTIMATOR=n
+CONFIG_MODULES_MC_POS_CONTROL=n
+CONFIG_MODULES_MC_RATE_CONTROL=n
+CONFIG_MODULES_VTOL_ATT_CONTROL=n
+CONFIG_EKF2_AUX_GLOBAL_POSITION=y
+# CONFIG_EKF2_WIND is not set
@@ -14,7 +14,6 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
@@ -10,11 +10,9 @@ CONFIG_DRIVERS_BAROMETER_MS5611=y
 CONFIG_DRIVERS_BATT_SMBUS=y
 CONFIG_DRIVERS_CAMERA_CAPTURE=y
 CONFIG_DRIVERS_CAMERA_TRIGGER=y
-CONFIG_DRIVERS_CDCACM_AUTOSTART=y
 CONFIG_COMMON_DIFFERENTIAL_PRESSURE=y
 CONFIG_COMMON_DISTANCE_SENSOR=y
 CONFIG_DRIVERS_DSHOT=y
-CONFIG_DRIVERS_GNSS_SEPTENTRIO=y
 CONFIG_DRIVERS_GPS=y
 CONFIG_DRIVERS_HEATER=y
 CONFIG_DRIVERS_IMU_BOSCH_BMI055=y
--- a/Show More
+++ b/Show More
Author	SHA1	Message	Date
PerFrivik	7a77c05b65	make boat setpoint msg less pedantic	2024-06-12 16:46:41 +02:00
PerFrivik	bb4648130f	formatting	2024-06-12 14:07:51 +02:00
PerFrivik	9f74849f3f	pure pursuit updated pure pursuit temp forgot to wrap heading error working guidance, with every case covered removed unwanted files	2024-06-12 11:41:11 +02:00
PerFrivik	611bb6e980	airframe fixes	2024-05-21 09:55:22 +02:00
PerFrivik	cae77467ca	Boat Module	2024-05-17 13:57:00 +02:00
Daniel Agar	d359f6236e	ekf2: symforce zero more efficiently (#23133 ) - increase symforce CppConfig zero_initialization_sparsity_threshold so that a Matrix setZero() call is performed instead of individually zeroing Co-authored-by: bresch <brescianimathieu@gmail.com>	2024-05-17 11:20:30 +02:00
bresch	ea39032b45	mag_ctrl: combine common conditions for mag_hdg and mag_3d	2024-05-17 11:19:04 +02:00
bresch	d796009302	mag_ctrl: do not fuse synthetic mag but do not zero the innovation	2024-05-17 11:19:04 +02:00
Daniel Agar	bb5dfc7d51	integrationtests: mavros/mission_test.py bump yaw_error_std threshold (heading init is delayed, but not wrong)	2024-05-17 11:19:04 +02:00
Daniel Agar	5173830718	ekf2: mag fusion don't update all states or tilt by default - cleanup some of the legacy mag flags	2024-05-17 11:19:04 +02:00
Daniel Agar	bfc39cf341	ekf2: mag control always populate estimator aid src	2024-05-17 11:19:04 +02:00
Daniel Agar	95ae5a657d	ekf2: merge mag_3d_control + mag_control	2024-05-17 11:19:04 +02:00
bresch	b42799fac2	wind_est_replay: allow setting the initial scale factor	2024-05-17 09:17:08 +02:00
bresch	440465702e	wind_est_replay: fix cov matrix format and data indexing	2024-05-17 09:17:08 +02:00
fury1895	6a966ab065	px4/fmu-v6x: set mavlink dialect to development	2024-05-17 07:51:14 +02:00
Alexis Guijarro	5fe955c243	mRo Control Zero Classic: Definition for GPS2 by default added	2024-05-16 09:45:33 -07:00
alexklimaj	ecf4af7cf7	boards: ark cannode add ADIS16507 driver	2024-05-16 09:56:25 -04:00
Thomas Frans	9fd1c54570	style(editorconfig): update newline setting The setting wasn't consistent with the one used in the Visual Studio Code settings, which caused different newline formatting depending on whether the user uses Visual Studio Code or another editor that uses EditorConfig.	2024-05-15 11:40:11 -04:00
dirksavage88	ee2a8c9bda	increase lp default stack to 2000 Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2024-05-15 11:08:48 -04:00
Hamish Willee	2e7a99ac41	VectorNav.cpp - fix docs link to usage guide	2024-05-15 11:07:50 -04:00
Konrad	17916b7fdc	uxcre_dds_client: use topic name as defined in the dds_topics.yaml to register stream	2024-05-15 11:07:01 -04:00
Eric Katzfey	293389abf3	Minor updates to the VOXL 2 board README file	2024-05-14 12:25:22 -04:00
Eric Katzfey	839f5bbb12	Removed obsolete voxl 2 board default parameter setting	2024-05-14 11:08:43 -04:00
Peter van der Perk	253208fdd4	fmu-v6xrt: Add I2C driver launcher	2024-05-08 11:34:13 -04:00
Peter van der Perk	5789803665	fmu-v6xrt: Enable debug features for more verbose hardfault output	2024-05-08 06:14:24 -04:00
Julian Oes	b1b9c8fd99	gps: add note to param This notes the reference yaw angle for the Septentrio Mosaic-H. It's unfortunately a bit tricky in that Unicore has the main antenna in front by default while Septentrio decided to put the aux antenna in front. Signed-off-by: Julian Oes <julian@oes.ch>	2024-05-07 21:15:44 -04:00
Benjamin Philipp Ketterer	5d025e6d3d	increased uxrce-dds stack size to prevent overflow	2024-05-07 21:13:58 -04:00
alexklimaj	b9a696d025	boards: ark septentrio gps add iis2mdc	2024-05-07 21:12:15 -04:00
RomanBapst	ca9cb2214f	quadchute: fixed sign for handling altitude resets Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-05-07 16:01:09 +02:00
muramura	b5467d88f7	gps: Change the IF statement to a SWITCH statement	2024-05-07 15:58:15 +02:00
Konrad	6984e6da7f	TECS:use tas_setpoint instead of measured tas for specific kinetic energy calculation	2024-05-07 14:20:07 +02:00
Konrad	f56f4c7033	TECS: enable specific energy weights to have a value up to 2	2024-05-07 14:20:07 +02:00
Konrad	f8a20e1964	TECS: increase airspeed control limit for fast descend	2024-05-07 14:20:07 +02:00
Konrad	6a789b54c6	TECS: allow for fast descend up to maximum airspeed. Use pitch control loop to control max airspeed while giving minimal throttle.	2024-05-07 14:20:07 +02:00
Beat Küng	e17faece3d	mavlink_ftp: do not store reply on kErrNoSessionsAvailable This would interfere with an existing ongoing session	2024-05-07 07:26:12 +02:00
Beat Küng	f002b08e6a	mavlink_ftp: ensure there's enough space for the 2. path in _workRename Prevents accessing invalid memory when reading ptr + oldpath_sz + 1 and oldpath_sz fills out the whole or N-1 bytes of the payload.	2024-05-07 07:26:12 +02:00
Beat Küng	f16115d8be	mavlink_ftp: handle relative paths correctly by ensuring there's a '/' in between when concatenating the path with _root_dir.	2024-05-07 07:26:12 +02:00
Julian Oes	f04d17d160	Tools: skip submodule check in CLion Same as what's required for VSCode. Signed-off-by: Julian Oes <julian@oes.ch>	2024-05-05 11:33:24 +12:00
Beat Küng	9e6dcb1f60	fix mavlink: cmd_logging_{start,stop}_acknowledgement flags were not reset Regression from https://github.com/PX4/PX4-Autopilot/pull/23043 Also avoids a race condition by making sure the command ack is handled before sending out the mavlink message (in case an external component reacts immediately to the mavlink message).	2024-05-03 06:59:55 +02:00
Alex Klimaj	36ea872e72	drivers: adis16507 reschedule reset after failed self test	2024-05-02 17:52:26 -04:00
Daniel Agar	224d6f2fa7	ekf2: ekf_helper.cpp remove duplicate method comments (comment on declaration only, not definition)	2024-05-02 17:40:58 -04:00
Daniel Agar	c1fc893cca	ekf2: move gyro/accel/wind covariance reset helpers to covariance.cpp	2024-05-02 17:40:58 -04:00
Daniel Agar	63c2ea33c1	ekf2: move Ekf::resetQuatStateYaw() to yaw_fusion.cpp	2024-05-02 17:40:58 -04:00
Daniel Agar	1ca4056b6a	ekf2: delete unused Ekf::resetImuBias()	2024-05-02 17:40:58 -04:00
Daniel Agar	6b3b66619b	ekf2: move baro dynamic pressure compensation to aid_sources/barometer	2024-05-02 17:40:58 -04:00
Daniel Agar	4f0eb72fc9	ekf2: move IMU down sampler to imu_down_sampler/	2024-05-02 17:40:58 -04:00
Daniel Agar	58637d3825	ekf2: move terrain estimator and derivation to terrain_estimator/	2024-05-02 17:40:58 -04:00
Daniel Agar	58de8cbb77	ekf2: move fake_height, fake_pos, zero_innovation_heading to aid_sources/	2024-05-02 17:40:58 -04:00
Daniel Agar	49c782bad9	ekf2: move bias estimators to bias_estimtor/	2024-05-02 17:40:58 -04:00
Daniel Agar	e262fde4dc	ekf2: move aux global position fusion to aid_sources/aux_global_position	2024-05-02 17:40:58 -04:00
Daniel Agar	b8d46e60a5	ekf2: move mag fusion to aid_sources/magnetometer	2024-05-02 17:40:58 -04:00
Daniel Agar	3f6c3e0649	ekf2: move output predictor to output_predictor/	2024-05-02 17:40:58 -04:00
Daniel Agar	24fdd696cb	ekf2: move range finder files to aid_sources/range_finder	2024-05-02 17:40:58 -04:00
Daniel Agar	3dbd3f8a1a	ekf2: move airspeed fusion file to aid_sources/airspeed	2024-05-02 17:40:58 -04:00
Daniel Agar	789b2b3d8a	ekf2: move sideslip fusion file to aid_sources/sideslip	2024-05-02 17:40:58 -04:00
Daniel Agar	eb8ee74066	ekf2: move baro height file to aid_sources/barometer	2024-05-02 17:40:58 -04:00
Daniel Agar	de178b1435	ekf2: move gravity fusion file to aid_sources/gravity	2024-05-02 17:40:58 -04:00
Daniel Agar	78f2ccbb60	ekf2: move optical flow files to aid_sources/optical_flow	2024-05-02 17:40:58 -04:00
Daniel Agar	fcf94e7670	ekf2: move GNSS files to aid_sources/gnss	2024-05-02 17:40:58 -04:00
Daniel Agar	31ae5b77fe	ekf2: move drag_fusion file to aid_sources/drag	2024-05-02 17:40:58 -04:00
Daniel Agar	c3fb0b1090	ekf2: move auxvel file to aid_sources/auxvel	2024-05-02 17:40:58 -04:00
Daniel Agar	b5d1e87368	ekf2: move EV files to aid_sources/external_vision	2024-05-02 17:40:58 -04:00
Peter van der Perk	f382e585e8	sd_bench: Add U option for forcing byte aligned Co-authored-by: David Sidrane <david.sidrane@nscdg.com>	2024-05-02 12:33:25 -04:00
Daniel Agar	c64104e9f1	sensors/vehicle_angular_velocity: silence gyro selection fallback warning (PX4_WARN -> PX4_DEBUG) - this warning was to catch any potential errors in sensor selection relative to what's actually available, we don't need to complain about initial selection before the EKF selector is available	2024-05-02 11:53:31 -04:00
David Sidrane	c13e3bae12	px4_fmu-v6xrt:Support_MMCSD_MULTIBLOCK with preflight	2024-05-01 20:45:42 -04:00
David Sidrane	a3e1dcce4b	NuttX with imxrt_sd-preflight backport	2024-05-01 20:45:42 -04:00
Daniel Agar	33234f4dc0	drivers/ins/vectornav: add missing sensor_gps velocity magnitude	2024-05-01 20:40:28 -04:00
Julian Oes	e79993a316	gps: split enum after rebase Signed-off-by: Julian Oes <julian@oes.ch>	2024-05-01 14:42:58 -04:00
alexklimaj	b308c4fbcc	boards: ark rtk gps safety led open drain	2024-05-01 14:42:58 -04:00
alexklimaj	c90ccabbe0	gps: add ZED-F9P-15B	2024-05-01 14:42:58 -04:00
alexklimaj	2498ce6a5c	boards: add iis2mdc mag to ark pi6x	2024-04-30 21:26:42 -04:00
alexklimaj	67b39314bf	boards: update ark_pi6x EKF delays	2024-04-30 21:26:42 -04:00
Daniel Agar	b6da0b141d	ekf2: GPS yaw only invalidate yaw_align if stopping due to fusion failure	2024-04-29 21:04:21 -04:00
Beat Küng	547209e1dc	libevents: update submodule And remove obsolete libevents_definitions.h	2024-04-29 07:22:40 -07:00
bresch	9dc7719d4a	ekf2: Only reset to GNSS heading if necessary When North-East (e.g.: GNSS pos/vel) aiding is active, the heading estimate is constrained and consistent with the vel/pos aiding. Reset to GNSS heading should only occur if no N-E aiding is active or if the filter is not yes aligned. Otherwise, just wait for the consistency check to pass again (will pass at some point if the heading uncertainty of the filter is getting too high).	2024-04-29 07:22:01 -07:00
Jukka Laitinen	6435e25929	commander: Use PX4_STACK_ADJUSTED to increase stack for 64-bit targets Signed-off-by: Jukka Laitinen <jukkax@ssrc.tii.ae>	2024-04-29 08:11:54 +02:00
Hamish Willee	902712b97f	LogMessage.msg - expand out descriptive string (#23054 )	2024-04-29 14:02:09 +12:00
Peter van der Perk	500332e424	imxrt: flexpwm remove 1:1 mapping requirement	2024-04-27 07:57:32 -04:00
Silvan Fuhrer	34cb69898e	FW Position Controller: fix Altitude mode without valid z reference (e.g. no GPS) Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-04-26 10:44:40 +02:00
oravla5	f91103af6e	boards: removed CONFIG_SYSTEMCMDS_REFLECT from Sky-Drones AIRLink board support	2024-04-26 09:42:06 +02:00
oravla5	9d6ac0b87a	mavlink: Added MAV_{i}_HL_FREQ parameter	2024-04-26 09:42:06 +02:00
oravla5	2b2e1c9521	mavlink: Added parsing of CLI option to configure HL frequency	2024-04-26 09:42:06 +02:00
oravla5	e7b4c5903f	px4_cli: Added px4_get_parameter_value function overload for float type	2024-04-26 09:42:06 +02:00
bresch	7cefc3172a	estimatorCheck: get param only if handle is valid	2024-04-25 14:48:23 -04:00
murata,katsutoshi	ba448fb549	MC Auto: add fixed yaw mode	2024-04-25 13:53:05 +02:00
oravla5	98b23e41f7	mavlink: fixed compilation error after var renaming	2024-04-25 08:23:32 +02:00
oravla5	283ae60a15	telemetry: removed iridium driver	2024-04-25 08:23:32 +02:00
oravla5	3cb48feb61	high_latency_stream: minor PR fix	2024-04-25 08:23:32 +02:00
oravla5	bf1266af11	mavlink: added back gimbal v1 protocol command	2024-04-25 08:23:32 +02:00
oravla5	03652beef8	commander: fixed format	2024-04-25 08:23:32 +02:00
oravla5	d0e7f2c368	high_latency_stream: heading taken from vehicle_attitude topic	2024-04-25 08:23:32 +02:00
Igor Mišić	d0532f45b2	telemetry: enable iridium	2024-04-25 08:23:32 +02:00
Igor Mišić	61ca65d863	mavlink: use high_latency_data_link_lost as backup to normal data_link	2024-04-25 08:23:32 +02:00
Igor Mišić	4f8de500af	iridiumsbd: update logic for detecting if the modem is not responsive	2024-04-25 08:23:32 +02:00
Igor Mišić	5be0adc779	mavlink: don't send command ACK for internal commands over Iridium	2024-04-25 08:23:32 +02:00
Igor Mišić	29af189cd0	mavlink: don't send events over Iridium	2024-04-25 08:23:32 +02:00
Igor Mišić	208909d471	mavlink: use high_latency_data_link_lost as backup to normal data_link	2024-04-25 08:23:32 +02:00
Igor Mišić	de23c10b68	commander: improve handling high latency link lost/regain	2024-04-25 08:23:32 +02:00
Igor Mišić	d3b853a7f9	mavlink: fix handling of transmission enable/disable Co-authored-by: RomanBapst <bapstroman@gmail.com>	2024-04-25 08:23:32 +02:00
Igor Mišić	760bcdec2f	high_latency_stream: fixed bug where fields were not updating - topic update was checked twice in the same loop and thus the second time the topic would never indicate to have updated Co-authored-by: RomanBapst <bapstroman@gmail.com>	2024-04-25 08:23:32 +02:00
Igor Mišić	df2cc4af05	commander: fix check for availability of high latency link Signed-off-by: RomanBapst <bapstroman@gmail.com>	2024-04-25 08:23:32 +02:00
Beat Küng	f543951e10	commander: set correct health component when reporting errors	2024-04-24 16:06:32 -04:00
Jacob Dahl	69e082c83d	drivers/magnetometer: new ST IIS2MDC Magnetometer driver	2024-04-24 13:01:18 -07:00
dirksavage88	6a3e57d428	Shift vertical orientation above scaling yaw operation, cp angle sign change Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2024-04-24 15:58:12 -04:00
dirksavage88	0f6f4c5b07	fix to orientation offsets for scaled yaw, removed unused param Signed-off-by: dirksavage88 <dirksavage88@gmail.com>	2024-04-24 15:58:12 -04:00
Thomas Frans	65c7e034dc	VSCode: add EditorConfig extension to recommended and devcontainer.json	2024-04-24 15:52:23 -04:00
Daniel Agar	eb59bb9de9	simulation/gz_bridge: eliminate implicit float conversion	2024-04-24 15:51:30 -04:00
bresch	b508df39a2	imu consistency: don't scale param threshold	2024-04-24 15:51:07 -04:00
bresch	8bf1cf0b15	ekf2_params: reduce "short" description	2024-04-24 15:09:57 -04:00
Silvan Fuhrer	97191bd60f	autopilot_tester: for mission end timeout check take speed factor into account And increase the (simulation time) timeouts. Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-04-23 16:37:31 +02:00
Silvan Fuhrer	818e318334	autopilot_tester: reduce mission distance for wind world Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-04-23 16:37:31 +02:00
Silvan Fuhrer	59232c27ae	autopilot_tester: use normal VTOL mission for airspeed blockage test Signed-off-by: Silvan Fuhrer <silvan@auterion.com>	2024-04-23 16:37:31 +02:00
fury1895	2683128205	PM Selector Auterion: remove INA226_SHUNT value reset (skynode only)	2024-04-23 16:02:35 +02:00